Autopilot control system

Abstract

The present disclosure relates to an autonomous driving control system. A speed control device can perform continuous deceleration control and speed setting change control. In the continuous deceleration control, the vehicle is decelerated within a period in which a first operation is effective. In the speed setting change control, after receiving a second operation, a set speed is selected from a plurality of preset set speeds, and the target speed of the vehicle is changed to the selected set speed. When the deceleration completion speed, which is the speed when the continuous deceleration control is completed, is equal to or higher than the slowest set speed among the set speeds, the speed control device is configured to set the set speed that is equal to or lower than the deceleration completion speed and closest to the deceleration completion speed as the new target speed.

Description

Technical Field

[0001] The present invention relates to an autonomous driving control system for an autonomous vehicle. Background Art

[0002] Autonomous vehicles capable of performing autonomous driving are known. The term "autonomous driving" means that a computer performs all or part of the driving control, including vehicle speed control and steering control. For example, an autonomous vehicle has multiple driving modes, including an autonomous driving mode for autonomous driving and a manual driving mode related to driving control by an operator riding in the autonomous vehicle. Some autonomous vehicles receive an operation input from an operator in the autonomous driving mode and execute control in response to the operation input.

[0003] For example, Japanese Unexamined Patent Application Publication No. 2018-124855 discloses an autonomous vehicle provided with two emergency control switches near a driver (equivalent to an operator). The switch relatively far from the driver is always used for emergency control, and the switch relatively close to the driver is displayed on a touch panel when the health condition of the driver is detected to be poor. Summary of the Invention

[0004] It is considered that if an autonomous vehicle is configured to be able to change the vehicle speed according to the intention of an operator during traveling in the autonomous driving mode, the autonomous vehicle can become more convenient and cope with various traffic conditions. For example, when an operator in the vehicle can perform driving control for setting one of a plurality of set speeds and making the vehicle travel at the selected set speed as a target speed, or for decelerating and driving slowly when passing through a road with poor visibility, as in the case of cruise control, etc., it will improve convenience.

[0005] Here, assume a case where the vehicle is decelerated while traveling at a predetermined set speed. In this case, after the deceleration is completed, the vehicle may accelerate against the intention of the operator in an attempt to return to the predetermined set speed. This specification discloses an autonomous driving control system for a vehicle that enables an operator to perform speed control during autonomous driving, and the system is configured to be able to suppress the acceleration of the vehicle against the intention of the operator.

[0006] The automatic driving control system disclosed in this specification includes an operation input device and a speed control device. The operation input device is configured to receive a first operation and a second operation performed by an operator when the vehicle is traveling in an automatic driving mode. The speed control device is configured to control the speed of the vehicle based on the first operation and the second operation. The speed control device performs continuous deceleration control and speed setting change control. In the continuous deceleration control, the vehicle is decelerated during a period when the first operation is valid. In the speed setting change control, after receiving the second operation, a set speed is selected from a plurality of preset set speeds, and the target speed of the vehicle is changed to the selected set speed. When, after the continuous deceleration control is completed, the deceleration completion speed, which is the speed at the completion of the continuous deceleration control, is equal to or higher than the slowest set speed among the plurality of set speeds, the speed control device is configured to set the set speed that is equal to or lower than the deceleration completion speed and closest to the deceleration completion speed as the new target speed.

[0007] According to this configuration, after the continuous deceleration control is completed, the set speed that is equal to or lower than the deceleration completion speed and closest to the deceleration completion speed is set as the new target speed. Such a control scheme can suppress acceleration that goes against the operator's intention after the continuous deceleration control is completed. Moreover, since the target speed after the continuous deceleration control is completed is selected from the settable set speeds by using the speed setting change control, the vehicle is suppressed from traveling at a speed other than the preset set speeds. Therefore, consistency between the continuous deceleration control and the speed setting change control is achieved.

[0008] According to this configuration, when the deceleration completion speed is less than the slowest set speed, the speed control device can be configured to set the slowest set speed as the new target speed.

[0009] According to this configuration, since the target speed is set to the slowest set speed closest to the deceleration completion speed, acceleration that goes against the operator's intention can be suppressed compared to the case where other set speeds are set as the target speed. Moreover, since the target speed after the continuous deceleration control is completed is selected from the settable set speeds by using the speed setting change control, the vehicle is suppressed from traveling at a speed other than the preset set speeds. Therefore, consistency between the continuous deceleration control and the speed setting change control is achieved.

[0010] With this configuration, the operation input device can be a button. In this case, the first operation can be a long press operation of continuously pressing the button for a period exceeding a specified threshold. The speed control device can complete the deceleration of the vehicle immediately after releasing the button press in the first operation.

[0011] According to this configuration, since the vehicle continues to decelerate during the long-press operation, it is possible to make an analogy with traditional vehicle braking control, which continuously decelerates the vehicle during the period when the brake pedal is pressed. This makes it possible to improve the operability.

[0012] With this configuration, the second operation may be a short-press operation for continuously pressing the button within a threshold time period. In this case, the speed control device may be configured to change the target speed when a short-press operation on the button is detected.

[0013] According to this configuration, the first operation and the second operation can be distinguished by the pressing time period of the button, so that different speed controls can be performed with a single button.

[0014] The automatic driving control system in this specification can suppress acceleration that goes against the intention of the operator in the vehicle, enabling the operator to perform speed control during automatic driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Hereinafter, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the drawings, in which the same reference numerals denote the same elements, and wherein:

[0016] Figure 1 is an external view of an autonomous vehicle according to an embodiment;

[0017] Figure 2 is a first perspective view showing the interior of the cabin of an autonomous vehicle according to an embodiment;

[0018] Figure 3 is a second perspective view showing the interior of the cabin of an autonomous vehicle according to an embodiment;

[0019] Figure 4 shows the hardware configuration of an autonomous driving control system according to an embodiment;

[0020] Figure 5 shows the functional blocks of an autonomous driving control system according to an embodiment;

[0021] Figure 6 shows the touch panel screen when parking;

[0022] Figure 7 shows the touch panel screen when automatically driving;

[0023] Figure 8 is a diagram (1 / 2) of the speed setting change control executed when the deceleration button is short-pressed;

[0024] Figure 9 is a diagram (2 / 2) of the speed setting change control executed when the deceleration button is short-pressed;

[0025] Figure 10 It is an illustration (1 / 2) of the continuous deceleration control executed when the deceleration button is long-pressed;

[0026] Figure 11 It is an illustration (2 / 2) of the continuous deceleration control executed when the deceleration button is long-pressed;

[0027] Figure 12 It is an explanatory view of the target speed setting process after the continuous deceleration control;

[0028] Figure 13 It shows another example of the target speed setting process after the continuous deceleration control;

[0029] Figure 14 It shows an example of a touch panel provided with a button for speed setting change control and a button for continuous deceleration control in a separated manner;

[0030] Figure 15 It is to use Figure 14 shown in the touch panel for speed setting change control and continuous deceleration control; and

[0031] Figure 16 It shows to use Figure 14 shown in the touch panel for speed setting change control and continuous deceleration control of another example. Detailed implementation mode

[0032] The drive control system according to the embodiment will be described below with reference to the drawings. In the description, for the sake of easy understanding, specific aspects are provided. However, they only show the embodiments, and various other embodiments are possible.

[0033] Autopilot control system

[0034] Figure 1 It shows the appearance of the autonomous vehicle 10 according to the present embodiment. Figure 4 It shows the hardware configuration of the autopilot control system according to the embodiment, including the autonomous vehicle 10 and the management server 100. In the description of the specification Figure 1 and other drawings, the terms "front (FR)" and "rear" refer to the front side and the rear side in the vehicle front-rear direction. The terms "left (LH)" and "right" refer to the left side and the right side when the vehicle is facing forward (in the vehicle width direction). The terms "up (UP)" and "down" refer to the upper side and the lower side in the vehicle up-down direction (vehicle height direction).

[0035] Refer to Figure 1, for example, the autonomous vehicle 10 is a shared vehicle shared by a large number of unspecified occupants. In this embodiment, the autonomous vehicle 10 is used as a shared bus to transport passengers when driving along a specified route within a specific site. Therefore, it is assumed that the autonomous vehicle 10 stops and starts repeatedly at a relatively high frequency. It is also assumed that the autonomous vehicle 10 travels at a relatively low speed (e.g., 30 km / h or less).

[0036] However, the form of use of the autonomous vehicle 10 disclosed in this specification may vary depending on the circumstances. For example, the autonomous vehicle 10 can be used as a movable commercial space, or as a retail store to display and sell various products, or as a restaurant to cook and provide food and beverages. In another form of use, the autonomous vehicle 10 can be used as an office for administrative work and meeting with customers. The autonomous vehicle 10 can also be used in other scenarios other than commercial scenarios. For example, the autonomous vehicle 10 can be used as a means of personal transportation.

[0037] The autonomous vehicle 10 is an electric vehicle powered by a rotating electric machine 29 (see Figure 4 ) that receives power supply from a battery. The battery is a rechargeable secondary battery that is regularly charged using external power. The autonomous vehicle 10 can be other types of vehicles, not limited to electric vehicles. For example, the autonomous vehicle 10 can be an engine vehicle equipped with an engine (internal combustion engine) as a power unit, or a hybrid vehicle equipped with an engine and a rotating electric machine 29 as power units. The autonomous vehicle 10 can also be a hydrogen fuel vehicle that uses the power generated by a fuel cell to drive the rotating electric machine 29.

[0038] The autonomous vehicle 10 is a vehicle capable of autonomous driving. Specifically, the autonomous vehicle 10 can drive in multiple driving modes, including an autonomous driving mode and a manual driving mode.

[0039] The autonomous driving mode is a driving mode in which a computer mainly performs driving control. In this specification, driving control is a concept that includes shift control, speed control, and steering control. Speed control is also a concept that includes acceleration and deceleration control, target speed setting control, and target speed change control of the autonomous vehicle 10.

[0040] In this embodiment, the autonomous driving mode includes a control mode performed by the management server 100 (see Figure 4 ) and a control mode performed by the autonomous vehicle 10. The control mode performed by the management server 100 is such a control scheme in which the computer installed on the autonomous vehicle 10 performs driving control under a driving instruction from the management server 100.

[0041] The management server 100 is provided to manage and control two or more autonomous vehicles 10 and is configured to be capable of communicating with each autonomous vehicle 10. For example, in the control mode performed by the management server 100, the driving routes and driving speeds of the respective autonomous vehicles 10 are set by instructions from the management server 100, so that the autonomous vehicles 10 travel according to a predetermined route or schedule.

[0042] In the autonomous driving control (remote autonomous driving control) performed by the management server 100, the driving control performed by the computer installed on the autonomous vehicle 10 is mainly executed under the instructions of the management server 100. The hardware configuration and functional blocks of the management server 100 will be described later.

[0043] In the autonomous driving mode, the control mode performed by the autonomous vehicle 10 is basically a mode in which most of the driving control of the autonomous vehicle 10 is executed only based on the determination of the computer installed on the autonomous vehicle 10 without receiving any external instructions. From this point of view, the autonomous driving control (remote autonomous driving control) performed by the management server 100 is a so-called heteronomous autonomous driving control based on instructions from outside the autonomous vehicle 10, while the control mode performed by the autonomous vehicle 10 is an autonomous driving control scheme.

[0044] In the control mode performed by the autonomous vehicle 10, the computer of the autonomous vehicle 10 performs driving control based on the detection results of various sensors (described later) provided in the autonomous vehicle 10 without receiving instructions from the management server 100 and travels along a predetermined route. As will be described later, Figure 4 the control unit 20 shown therein corresponds to the computer that executes the driving control.

[0045] Here, in order to reflect on-site decisions made by, for example, an operator riding in the autonomous vehicle 10, vehicle control by the operator is allowed in both the autonomous driving mode performed by the management server 100 and the autonomous driving mode performed by the autonomous vehicle 10.

[0046] An operator is a person who rides in the autonomous vehicle 10 and participates in controlling the autonomous vehicle 10. For example, a person, such as an employee of a company that uses the autonomous vehicle 10 to provide transportation services and a driver with knowledge and skills related to the control of the autonomous vehicle 10, rides in the autonomous vehicle 10 as an operator. Vehicle control that enables the operator to perform so-called interruption control includes speed setting change control and continuous deceleration control, which will be described later.

[0047] In the automatic driving control system according to the present embodiment, information processing is performed such that a speed control command based on an operator's operation takes precedence over a driving control command output by the management server 100 or by the automatic driving vehicle 10 itself. For example, if a conflict occurs between a driving control command (e.g., an acceleration command) output by the management server 100 or the automatic driving vehicle 10 itself and an operator's speed control command (e.g., a deceleration command), the former command becomes invalid, and control is executed based on the latter command.

[0048] The manual driving mode is a mode in which an operator riding in the automatic driving vehicle 10 performs the driving control of the automatic driving vehicle 10 instead of the automatic driving vehicle 10 performing automatic driving. In the manual driving mode, the operator serves as the driver who directly performs the driving operation of the automatic driving vehicle 10. For example, in addition to speed control, the operator also performs steering control.

[0049] The exterior and interior of the automatic driving vehicle

[0050] Refer to Figure 1 , the automatic driving vehicle 10 has a rectangular parallelepiped shape symmetrically formed in the front-rear direction, and its exterior design is also symmetric in the front-rear direction. At the four corners of the plan view, columns 12 are provided extending in the vertical direction. Wheels 14 are provided below the columns 12.

[0051] A door 18 is provided on the left side of the automatic driving vehicle 10. For example, the door 18 is a sliding door, and when the door 18 slides open, passengers can get on and off the vehicle.

[0052] Figure 2 and Figure 3 shows the interior of the cabin of the automatic driving vehicle 10. As described above, the automatic driving vehicle 10 is used as a bus. Accordingly, the central part of the cabin serves as a floor 70 for standing passengers or placing wheelchairs used by passengers. Along the side walls of the cabin, passenger seats 72 are provided.

[0053] The automatic driving vehicle 10 has an operator seat 74, which is provided for the operator to perform the driving control of the automatic driving vehicle 10 and operate various devices (such as air conditioners, windshield wipers, etc.) provided in the automatic driving vehicle 10.

[0054] For example, the operator seat 74 can be flipped up so that when the operator is not present and automatic driving is performed, the operator seat 74 can be stored on the side wall of the cabin. In Figure 2 , the seat part 74a of the operator seat 74 is lowered and the seat surface 74b is exposed.

[0055] In front of the operator's seat 74, an armrest 76 extending in the front-rear direction is provided for an operator sitting on the operator's seat 74 to place his or her arms. At the front end of the armrest 76, a touch panel 50 (see Figure 3 ) stands up from the upper surface of the armrest 76.

[0056] The touch panel 50 faces the rear side (i.e., the side of the operator's seat 74). This enables the operator to operate the touch panel 50 with his or her hand when sitting on the operator's seat 74 and placing his or her arms on the armrest 76. Using the touch panel 50, a vehicle speed control command can be input in the autonomous driving mode, and a device control command for devices (including a flash, a horn, headlights, an air conditioner, a wiper, etc.) provided in the autonomous driving vehicle 10 can be input. Details of the display screen of the touch panel 50 will be described later.

[0057] The armrest 76 is provided with a storage portion 80. The storage portion 80 stores the operation lever 21 (see Figure 4 ) for inputting a driving control command to the autonomous driving vehicle 10 during manual driving. The storage portion 80 is covered with a lid 82 so that when the operation lever 21 is stored in the storage portion 80, the operation lever 21 is not exposed to the passenger compartment.

[0058] On the upper surface of the armrest 76, an emergency stop button 84 is also provided as an input device for an emergency stop operation of the autonomous driving vehicle 10. The emergency stop button 84 is a mechanical button (physical button) for manually inputting an emergency stop command. Here, the term "mechanical button" is used to refer to a physically tangible button, rather than a button image displayed on the touch panel 50 or the like by a program. When the operator presses the emergency stop button 84, the emergency stop button 84 sends an emergency stop signal converted into an electric signal to the control unit 20 (see Figure 4 ).

[0059] A display 86 (see Figure 3 ) is provided at the left front corner in the passenger compartment to display information about the autonomous driving vehicle 10. For example, the display 86 displays the actual speed and the target speed of the autonomous driving vehicle 10. The speed measured by the speed sensor 33 (see Figure 5 ) is displayed as the actual speed on the display 86. The target speed set by a short press operation (second operation) on the deceleration button 62 on the touch panel 50 is displayed as the target speed. The setting of the target speed will be described later. In addition, the display 86 displays information such as the ambient temperature and the next station.

[0060] Like the touch panel 50, the display 86 also faces backward, so that the touch panel 50 and the display 86 appear side by side to an operator sitting on the operator's seat. This enables the operator to visually inspect the touch panel 50 and the display 86.

[0061] Autopilot mechanism

[0062] Figure 4 The hardware configuration of an autopilot control system according to an embodiment is shown. Figure 5 The functional blocks of an autopilot control system mixed with hardware are shown. The autopilot control system includes an autonomous vehicle 10 and a management server 100. The autonomous vehicle 10 can communicate with the management server 100 via wireless communication, that is, exchange data.

[0063] Management server configuration

[0064] The management server 100 manages the operation of the autonomous vehicle 10. The management server 100 is installed in, for example, a management company that manages the operation of the autonomous vehicle 10. The management server 100 is composed of, for example, a computer.

[0065] The management server 100 includes an input-output controller 100A for controlling data input and output. The management server 100 also includes a CPU 100B, a graphics processing unit (GPU) 100C, and a deep learning accelerator (DLA) 100D as algorithm elements. The management server 100 also includes a ROM 100E, a RAM 100F, and a hard disk drive (HDD) 100G as storage units. A solid state drive (SSD) can be provided instead of the hard disk drive 100G. These components are connected to an internal bus 100J.

[0066] The management server 100 also includes an input unit 100H, such as a keyboard, a mouse, etc., for inputting data as the case may be. In addition, the management server 100 includes a display unit 100I, such as a display for browsing operation schedules and other information. The input unit 100H and the display unit 100I are connected to the internal bus 100J.

[0067] Figure 5 The functional blocks of the management server 100 are shown. The management server 100 includes a dynamic map storage unit 114 as a storage unit. The management server 100 also includes a vehicle information acquisition unit 110, a route creation unit 112, and a driving control unit 116 as functional units.

[0068] The vehicle information acquisition unit 110 receives vehicle information from each autonomous vehicle 10. The vehicle information includes the current position, vehicle speed, number of occupants, battery SOC, and information on various devices obtained by in-vehicle sensors. The vehicle information also includes driving control commands issued by an operator riding in the autonomous vehicle, such as operations performed on the emergency stop button 84 (see Figure 3 ).) and the touch panel 50.

[0069] The dynamic map storage unit 114 stores dynamic map data of the roads on which the autonomous vehicle 10 plans to travel and the areas around the roads. The dynamic map is a three-dimensional map that stores, for example, the positions and shapes (three-dimensional shapes) of roads (vehicle lanes and sidewalks). The positions of lane markings, intersections, stop lines, etc. drawn on the roads are also stored in the dynamic map. In addition, the positions and shapes (three-dimensional shapes) of structures such as buildings and vehicle traffic lights are also stored in the dynamic map.

[0070] The route creation unit 112 creates a route for the autonomous vehicle 10 to travel. For example, a driving route is created by selecting a route from roads including branches. The dynamic map data corresponding to the created driving route is extracted from the dynamic map storage unit 114 and sent to the corresponding autonomous vehicle 10.

[0071] The driving control unit 116 sends driving control commands to the corresponding autonomous vehicle 10 based on the driving route created by the route creation unit 112 and the vehicle information of the autonomous vehicle 10 obtained by the vehicle information acquisition unit. The driving control commands include steering commands and speed commands. In response to the driving control commands, the driving control unit 46 of the autonomous vehicle 10 controls the rotation motor 29, the braking mechanism 30, the steering mechanism 32, etc.

[0072] Configuration of the Autonomous Vehicle

[0073] The autonomous vehicle 10 is equipped with mechanisms for realizing autonomous driving. Referring to Figure 4 , the autonomous vehicle 10 includes a control unit 20, a camera 22, a LiDAR unit 23, a millimeter-wave radar 25, a GPS receiver 26, a clock device 27, an inverter 28, a braking mechanism 30, a steering mechanism 32, a speed sensor 33, and a touch panel 50.

[0074] The camera 22 images a field of view substantially the same as that of the LiDAR unit 23. The camera 22 includes an image sensor such as a CMOS sensor and a CCD sensor. The images (captured images) captured by the camera 22 are used for autonomous driving control, which will be described later.

[0075] The LiDAR unit 23 is a sensor for autonomous driving. For example, the LiDAR unit 23 is a ranging sensor that uses infrared light. For example, the LiDAR unit 23 scans infrared laser beams in the horizontal and vertical directions. This makes it possible to obtain three-dimensional point cloud data composed of a three-dimensional array of ranging data on the surrounding environment of the autonomous driving vehicle 10. The camera 22 and the LiDAR unit 23 are set as a sensor group unit and are mounted on four surfaces, which, for example, include the front surface, the rear surface of the autonomous driving vehicle 10, and the side surfaces connecting the front surface and the rear surface.

[0076] The millimeter-wave radar 25 is, for example, a proximity sensor that detects the distance between the autonomous driving vehicle 10 and a curb, which is, for example, the boundary between a roadway and a sidewalk, when the autonomous driving vehicle 10 stops at a station. The detection of the distance makes it possible to perform so-called precise docking control for parking the autonomous driving vehicle 10 close to the curb. The millimeter-wave radar 25 is provided at two side surfaces of the autonomous driving vehicle 10 and at the corners between the front surface and the side surfaces.

[0077] The GPS receiver 26 receives positioning signals from GPS satellites. For example, by receiving the positioning signals, the current position (latitude and longitude) of the autonomous driving vehicle 10 is obtained.

[0078] The control unit 20 can be, for example, an electronic control unit (ECU) of the autonomous driving vehicle 10. The control unit 20 is composed of a computer. Figure 4 The control unit 20 shown is similar in configuration to the management server 100. The control unit 20 includes an input / output controller 20A, a CPU 20B, a GPU 20C, a DLA 20D, a ROM 20E, a RAM 20F, and a hard disk drive (HDD) 20G. A solid-state drive (SSD) can be provided instead of the hard disk drive 20G. These components are connected to an internal bus 20J.

[0079] Figure 5 A functional block of the control unit 20 is shown. The functional block includes a sensor data analysis unit 40, a self-position estimation unit 42, a route creation unit 44, a driving control unit 46, and a target speed setting unit 47. The control unit 20 also includes a dynamic map storage unit 48 as a storage unit.

[0080] As will be described later, the control unit 20 includes a driving control unit 46 capable of performing continuous deceleration control in response to a second operation (short press), and a target speed setting unit 47 capable of performing speed setting change control in response to a first operation (long press). Therefore, the control unit 20 is equivalent to a speed control device in an autonomous driving control system.

[0081] Similar to the dynamic map storage unit 114 of the management server 100, the dynamic map storage unit 48 stores the dynamic map data of the road on which the autonomous driving vehicle 10 plans to travel and the surrounding area of the road.

[0082] The autonomous driving vehicle 10 travels autonomously based on the data of the driving route created in the route creation unit 44. For autonomous driving, the three-dimensional point cloud data of the surrounding environment of the autonomous driving vehicle 10 is acquired by the LiDAR unit 23. The camera 22 also images the surrounding environment of the autonomous driving vehicle 10.

[0083] The sensor data analysis unit 40 analyzes the objects in the images imaged by the camera 22. For example, supervised learning is used to detect the objects in the imaged images through known deep learning techniques, such as the Single Shot MultiBox Detector (SSD) and You Only Look Once (YOLO), and further detect the attributes of the detected objects (e.g., stations, passers-by, structures, etc.).

[0084] The sensor data analysis unit 40 also acquires the three-dimensional point cloud data (LiDAR data) from the LiDAR unit 23. By superimposing the images imaged by the camera 22 and the LiDAR data, it is possible to obtain what attributes the objects have (stations, passers-by, structures, etc.) and how far the objects are from the autonomous driving vehicle 10 (ego vehicle).

[0085] The own position estimation unit 42 also estimates its own position in the dynamic map based on the own position (latitude and longitude) received from the GPS receiver 26. The estimated own position is sent to the route creation unit 44 and the management server 100.

[0086] The route creation unit 44 creates a route from the estimated own position to the nearest target point. For example, a route from the own position to a station is created. When any obstacles are found on the straight line route between the own position and the station based on the three-dimensional point cloud data from the LiDAR unit 23 and the images imaged by the camera 22, a route that avoids the obstacles is created.

[0087] The driving control unit 46 performs driving control of the autonomous driving vehicle 10 based on the data obtained by superimposing the captured image and the LiDAR data as described above, its own position, and the created route obtained. For example, the driving control unit 46 autonomously controls the driving speed of the autonomous driving vehicle 10 so that the driving speed of the autonomous driving vehicle 10 coincides with the target speed set by the target speed setting unit. For example, the driving control unit 46 controls the inverter 28 to maintain the speed of the autonomous driving vehicle 10 at the target speed. The driving control unit 46 also operates the wheels 14 by controlling the steering mechanism 32 (such as an actuator) to control the autonomous driving vehicle 10 to move forward along the determined path.

[0088] The target speed setting unit 47 sets the target speed of the autonomous driving vehicle 10. As target speed candidates, a plurality of set speeds are stored in the target speed setting unit 47. For example, the set speeds V0, V1, V2, V3 are set as described hereinafter Figure 8 as shown. For example, the speed V0 can be set to 20 km / h, the speed V1 can be set to 16 km / h, the speed V2 can be set to 12 km / h, and the speed V3 can be set to 8 km / h.

[0089] As will be described hereinafter, whenever the deceleration button 62 (second operation) on the touch panel 50 is short-pressed, the target speed is changed. For example, the target speed is changed in descending order. Whenever the deceleration button 62 is short-pressed, the target speed setting is sequentially changed in the order of set speed V0 → set speed V1 → set speed V2 → set speed V3. When the target speed is set to the set speed V3 which is the slowest set speed and then the deceleration button 62 is short-pressed, the target speed is changed to the set speed V0 which is the fastest set speed. This speed setting change control will be described hereinafter.

[0090] When the autonomous driving control is remote autonomous driving control performed by the management server 100 instead of autonomous control performed by the autonomous driving vehicle 10, the captured image and the LiDAR data acquired by the sensor data analysis unit 40, the own position information acquired by the own position estimation unit 42, and the target speed set by the target speed setting unit are sent to the management server 100. In response thereto, the driving control unit 116 of the management server 100 sends a speed control command and a steering command to the driving control unit 46 of the autonomous driving vehicle 10.

[0091] Touch panel

[0092] Figure 6 and Figure 7Shows the screen displayed on the touch panel 50. The touch panel 50 serves as an operation input device capable of accepting a first operation (long press) and a second operation (short press) made by an operator. Figure Shows the display screen when the autonomous vehicle 10 is in the autonomous driving mode and in a stationary state. ​ Shows the display screen when the autonomous vehicle 10 is in the autonomous driving mode and the vehicle is moving.

[0093] First, refer to ​ , the touch panel 50 displays the following buttons (switches). That is, the touch panel 50 displays the images of the buttons, and the buttons include a driving mode button 51 for inputting a driving mode change instruction, a shift button 52 for inputting a shift control instruction, turn signal buttons 53A, 53B for controlling the turn signals, a lighting button 54 for controlling the headlights and taillights, a P brake button 55 for inputting an instruction to apply or release the electric parking brake, a hazard button 56 for turning on the hazard warning lights, a horn button 57 for operating the horn, an air conditioning tab 58 for controlling the air conditioner, a wiper tab 59 for controlling the windshield wipers, and a start (GO) button 61 for indicating start.

[0094] The driving mode button 51 is set to be operable only when the autonomous vehicle 10 is stationary. In ​ the example shown, the "Auto" button indicating the autonomous driving mode is selected. When the "Manual" button indicating the manual mode is selected, the shift button 52 is operable. However, in the autonomous driving mode, the shift button 52 is set to be inoperable to prevent the operator from initiating a shift.

[0095] The start button 61 is a button displayed on the touch panel 50 when the autonomous vehicle 10 is in the autonomous driving mode and stationary. The start button 61 is a button for inputting a start instruction to the autonomous vehicle 10. When the start button 61 is operated, the autonomous vehicle 10 starts to travel in the autonomous driving mode under the control of the control unit 20.

[0096] Refer to ​ , the touch panel 50 when the autonomous vehicle 10 is traveling in the autonomous driving mode will be described. When the autonomous vehicle 10 is traveling in the autonomous driving mode, the touch panel 50 displays a deceleration button 62 instead of the start button 61. The deceleration button 62 is a button for inputting a speed control instruction to the control unit 20, which is the speed control device of the autonomous vehicle 10.

[0097] The deceleration button 62 can accept various operations of the operator. The touch panel 50 including the deceleration button 62 serves as an input device that can accept the various operations.

[0098] The deceleration button 62 can accept a long-press operation as a first operation and a short-press operation as a second operation by distinguishing between the long-press operation and the short-press operation. Since a single button can accept multiple operations, the layout of the touch panel 50 (i.e., the button arrangement on the user interface) can be simplified.

[0099] Refer to ​ , when the deceleration button 62 on the touch panel 50 is pressed, the clock device 27 starts measuring time. For example, when the touch panel 50 is pressure-sensitive, a resistive layer is stacked on the touch panel 50, and when the touch panel 50 is pressed with a finger, a voltage is generated. By measuring this voltage, the coordinates of the point pressed on the screen can be obtained. When the obtained coordinates are determined to be within the display area of the deceleration button image, the clock device 27 starts measuring time with the determination result as a trigger.

[0100] As described later ​ As shown, when the duration of continuously pressing the deceleration button 62 is equal to or longer than a specified threshold time period Δt1 and equal to or shorter than a specified threshold time period Δt2, the target speed setting unit 47 determines that the deceleration button 62 has been short-pressed (second operation). For example, when the duration of the voltage value generated in the touch panel 50 after the clock device 27 starts measuring time (i.e., the duration of continuously pressing the same coordinates) is equal to or longer than Δt1 and equal to or shorter than Δt2, the target speed setting unit 47 determines that the deceleration button 62 has been short-pressed.

[0101] The threshold time period Δt1 is set to exclude so-called accidental presses. For example, the threshold time period Δt1 can be 0.1 second. The threshold time period Δt2 is set to distinguish between a short-press and a long-press. For example, the threshold time period Δt2 can be 1.0 second. The clock device 27 that measures the pressing time period of the deceleration button 62 can have a resolution higher than Δt1. For example, the clock device 27 uses 0.01 second as the minimum measurement unit.

[0102] When the deceleration button 62 is continuously pressed for more than the threshold time period Δt2, the target speed setting unit 47 determines that the deceleration button 62 has been long-pressed (first operation). For example, when the duration of the voltage value generated by the touch panel 50 being held at a constant value (i.e., the duration of pressing the same coordinates) exceeds Δt2, the target speed setting unit 47 determines that the deceleration button 62 has been long-pressed.

[0103] Speed control

[0104] ​ Shows the speed control in the automatic driving control system according to the present embodiment. ​The figure in [the text] shows an example of changing the speed of the autonomous vehicle 10 by speed control. The horizontal axis represents time, and the vertical axis represents speed (vehicle speed). The lower part of the graph shows a time chart of the switch operation of the deceleration button 62, which is synchronized with the graph in terms of time.

[0105] In the time chart of the deceleration button 62, for example, when a voltage value corresponding to the coordinates included in the display area of the deceleration button image on the image plane of the touch panel 50 is detected by a voltage sensor (not shown), the button is changed from OFF to ON. The ON state is maintained during the duration in which the voltage value remains the voltage value corresponding to the coordinates included in the display area of the deceleration button image.

[0106] ​ The case of interruption control is shown, where an operator riding in the autonomous vehicle 10 performs speed control during autonomous driving by the autonomous vehicle 10 or the management server 100.

[0107] ​ An example of speed setting change control caused by a short press (second operation) is shown. In ​ the example, the deceleration button 62 is intermittently short-pressed a total of four times. In the speed setting change control, after receiving the short press operation (second operation), the target speed setting unit 47 selects one set speed from a plurality of preset set speeds and changes the target speed of the autonomous vehicle 10 to the selected set speed. Then, the driving control unit 46 controls the vehicle speed to reach and maintain the changed target speed.

[0108] In ​ it, the fastest set speed V0 is set as the initial value of the target speed. When the operator presses the deceleration button 62, the target speed setting unit 47 refers to the time measured by the clock device 27. When the pressing time period is above the threshold time period Δt1 and below the threshold time period Δt2, the target speed setting unit 47 determines that a short press has been performed. After detecting the short press operation of the deceleration button 62, the target speed setting unit 47 changes the target speed from the fastest set speed V0 to the second fastest set speed V1.

[0109] From the time t2 after the target speed is changed to the time t3, the driving control unit 46 performs deceleration control to reduce the vehicle speed to the new target speed V1. For example, the driving control unit 46 reduces the drive power supplied to the rotary motor 29 by controlling the inverter 28. Alternatively, the driving control unit 46 drives the braking mechanism 30 to brake the wheels 14. The deceleration control uses feedback control based on the difference between the target speed and the actual speed obtained by the speed sensor 33.

[0110] After the vehicle reaches the target speed V1 at time t3 or later, the deceleration button 62 is briefly pressed again. Consequently, the target speed is changed to the third-fastest set speed V2. This causes deceleration control to be executed from time t5 to time t6.

[0111] After the vehicle speed reaches the target speed V2 at time t6 or later, the deceleration button 62 is briefly pressed again. Consequently, the target speed is changed to the slowest set speed V3. This causes deceleration control to be executed from time t8 to time t9.

[0112] After the vehicle reaches the slowest target speed V3 at time t9 or later, the deceleration button 62 is briefly pressed again. Consequently, the target speed is changed to the fastest set speed V0. This causes the travel control unit 46 to execute acceleration control from time t11 to time t12.

[0113] In this way, in the speed setting change control by the short-press operation (second operation), briefly pressing the deceleration button 62 cyclically changes the target speed in the order of V0 → V1 → V2 → V3 → V0.

[0114] ​ An example is shown where the target speed is changed to the fastest set speed V0 at time t11, and the deceleration button 62 is additionally briefly pressed while the travel control unit 46 executes acceleration control of the autonomous vehicle 10.

[0115] First, in the time period from time t10 to time t11, the deceleration button 62 is briefly pressed. Consequently, the target speed is changed to the fastest set speed V0. At time t11 or later, the travel control unit 46 performs acceleration control, and in the time period from time t12 to time t13 before the target speed reaches the fastest set speed V0, the deceleration button 62 is briefly pressed again.

[0116] At this time, before the actual speed reaches the fastest set speed V0, the target speed setting unit 47 changes the target speed from the fastest set speed V0 to the set speed V1. After this change, once the actual speed (actual vehicle speed) reaches the target speed V1 at time t14, the travel control unit 46 maintains the vehicle speed at speed V1.

[0117] ​ An example is shown where, in addition to the short-press operation (second operation) on the deceleration button 62, a long-press operation (first operation) is performed. When the deceleration button 62 is pressed at time t4, the target speed setting unit 47 refers to the pressing time measured by the clock device 27. When the duration of pressing the deceleration button 62 exceeds the threshold time period Δt2, the target speed setting unit 47 determines that the long-press operation (first operation) is valid and sends a signal indicating that the long-press operation has been performed to the travel control unit 46.

[0118] The travel control unit 46 monitors the long-press state of the deceleration button 62. For example, the travel control unit 46 monitors whether the voltage value corresponding to the coordinates on the deceleration button 62 on the touch panel 50 is maintained. The travel control unit 46 also performs continuous deceleration control to decelerate the autonomous driving vehicle during the period when the long-press operation is valid. For example, in the continuous deceleration control, the autonomous driving vehicle 10 decelerates at a deceleration rate similar to that in the speed setting change control.

[0119] Here, the period when the long-press operation (first operation) is valid is the operation period of the deceleration button 62 after it can be detected that the operation of the deceleration button 62 is a long-press operation (first operation). In ​ the example, the period extending from the time (time t5) when the press duration of the deceleration button 62 exceeds the threshold period Δt2 to the time (time t6) when the finger leaves the deceleration button 62 corresponds to the period when the long-press operation (first operation) is valid.

[0120] In the continuous deceleration control, the travel control unit 46 completes the deceleration of the autonomous driving vehicle 10 immediately after the press on the deceleration button 62 is released. After the continuous deceleration control is completed (time t6), the target speed setting unit 47 resets the target speed. ​ The target speed reset process executed by the target speed setting unit 47 is shown.

[0121] At the start of the continuous deceleration control (time t5), the target speed is set to the set speed V1. When the continuous deceleration control is subsequently executed and the continuous deceleration control is completed at a speed significantly lower than the target speed V1, the autonomous driving vehicle 10 may accelerate to the target speed V1. Therefore, in the autonomous driving control system according to the present embodiment, the target speed is reset to suppress the acceleration of the autonomous driving vehicle against the operator's intention after the continuous deceleration control is completed.

[0122] Refer to ​ and ​ , the target speed setting unit 47 obtains the deceleration completion speed Vs from the speed sensor 33 (see ​ ), which is the speed of the autonomous driving vehicle 10 at the time when the continuous deceleration control is completed (time t6) (S10). The target speed setting unit 47 further determines whether the deceleration completion speed Vs is equal to or higher than the slowest set speed V3 (S12).

[0123] When the deceleration completion speed Vs is equal to or higher than the slowest set speed V3, the target speed setting unit 47 sets the set speed equal to or lower than the deceleration completion speed Vs and closest to the speed Vs as the new target speed (S14). In ​In the example, the slowest set speed V3 that is equal to or lower than the deceleration completion speed Vs at time t6 and closest to the speed Vs is set as the new target speed to replace the previous target speed V1.

[0124] In this way, when the target speed is reset, a value equal to or lower than the deceleration completion speed Vs is set as the target speed. This makes it possible to avoid accelerating immediately after continuous deceleration control and can suppress a decrease in riding comfort.

[0125] Meanwhile, when in step S12, the deceleration completion speed Vs is less than the slowest set speed V3, the target speed setting unit 47 sets the slowest set speed V3 as the new target speed (S16).

[0126] For example, in ​ the example shown, the deceleration completion speed Vs is lower than the slowest set speed V3 at time t6. In this case, the new target speed is set as the slowest set speed V3, which is the value closest to the deceleration completion speed Vs.

[0127] For example, in ​ the example, during the time period from time T3 to time T6, the target speed is set as the set speed V1. At time t6 or later, when the autonomous driving vehicle 10 accelerates from the deceleration completion speed Vs to only the slowest set speed V3 instead of accelerating to the speed V1, acceleration contrary to the operator's intention can be suppressed.

[0128] Another example of speed control

[0129] ​ shows another example of the target speed reset process after continuous deceleration control. In this example, the set speed that is equal to or lower than the deceleration completion speed Vs and closest to the speed Vs is set as the new target speed without performing a comparison between the deceleration completion speed Vs and the slowest set speed V3.

[0130] This flowchart is effective when, for example, the slowest set speed V3 is set to 0 [km / h]. In other words, the deceleration completion speed Vs never becomes less than the slowest set speed V3 (=0), and the deceleration completion speed Vs is equal to or higher than the slowest set speed V3 in any case. Therefore, the difference obtained by comparing these two speeds (S12) is omitted.

[0131] Another example of a touch panel

[0132] ​ shows another example of the touch panel 50. The touch panel 50 includes a first deceleration button 62A dedicated to speed setting change control and a second deceleration button 62B dedicated to continuous deceleration control.

[0133] ​ An operation example of the first deceleration button 62A and the second deceleration button 62B is shown. The lower part of this figure shows a time chart (SL_BT1) of a switch operation (short press operation) using the first deceleration button 62A, and a time chart (SL_BT2) of a switch operation (long press operation) using the second deceleration button 62B.

[0134] In this way, buttons dedicated to speed setting change control and buttons dedicated to continuous deceleration control are provided separately, enabling reduction of accidental operations.

[0135] Since buttons dedicated to speed setting change control and buttons dedicated to continuous deceleration control are provided independently, it is not necessary to distinguish between speed setting change control and continuous deceleration control by long press operations and short press operations. For example, as ​ shown, the button operation in continuous deceleration control can be set such that: deceleration starts when the second deceleration button 62B is short pressed once, and deceleration is completed when the second deceleration button 62B is short pressed again. Therefore, in this example, the time period between the two time points when a short press is detected corresponds to the long press time period. When the deceleration time period is long, this can reduce the burden on the operator performing the pressing operation.

Claims

1. An autonomous driving control system, comprising: An operation input device configured to receive a first operation and a second operation performed by an operator while the vehicle is traveling in an autonomous driving mode; And A speed control device configured to control the speed of the vehicle according to the first operation and the second operation, wherein: The speed control device performs: Continuous deceleration control for decelerating the vehicle during a period when the first operation is valid, and Speed setting change control for selecting a set speed from a plurality of preset set speeds after receiving the second operation and changing the target speed of the vehicle to the selected set speed; and When, after the continuous deceleration control is completed, the deceleration completion speed, which is the speed at the completion of the continuous deceleration control, is equal to or higher than the slowest set speed among the plurality of set speeds, the speed control device is configured to set the set speed that is equal to or lower than the deceleration completion speed and closest to the deceleration completion speed as the new target speed, wherein, when the deceleration completion speed is less than the slowest set speed, the speed control device is configured to set the slowest set speed as the new target speed.

2. The autonomous driving control system according to claim 1, wherein: The operation input device is a button; The first operation is a long press operation of continuously pressing the button for a period exceeding a specified threshold; and The speed control device immediately completes the deceleration of the vehicle after releasing the pressing of the button during the first operation.

3. The autonomous driving control system according to claim 2, wherein: The second operation is a short press operation of continuously pressing the button within the threshold period; and The speed control device is configured to change the target speed when detecting the short press operation of the button.

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