Vehicle control device, non-volatile storage medium, and vehicle control method

Abstract

The present invention relates to a vehicle control device, a vehicle control method, and a non-volatile storage medium. When it is determined that the driver's level of participation in driving is low, the vehicle's speed can be controlled without immediately lighting the brake lights when the vehicle is traveling at a relatively high speed so as not to hinder the travel of the following vehicle. The vehicle control device comprises: a driver determination unit for determining the driver's level of participation in driving; a speed determination unit for determining the relationship between the vehicle's speed and a predetermined reference speed; and a driving plan unit for generating a first driving plan for decelerating the vehicle using a first deceleration without lighting the brake lights when it is determined that the driver's level of participation in driving is lower than a predetermined reference and the vehicle's speed is faster than the reference speed; and a second driving plan for decelerating the vehicle using a second deceleration greater than the first deceleration when it is determined that the driver's level of participation in driving is lower than a predetermined reference and the vehicle's speed is lower than the reference speed.

Description

Technical Field

[0001] The present invention relates to a vehicle control device and a computer program for vehicle control. Background Art

[0002] An automatic control device mounted on a vehicle generates a navigation route for the vehicle based on the vehicle's current position, the vehicle's destination position, and map information, and controls the vehicle to travel along the navigation route.

[0003] The automatic control device controls the vehicle's movements to maintain a safe distance between the vehicle and other vehicles. If the automatic control device determines that a safe distance cannot be maintained between the vehicle and other vehicles through automatic control, the automatic control device transfers control of the vehicle to the driver, switching the vehicle's driving from automatic to manual control.

[0004] In addition, the automatic control device controls the vehicle to stop in the lane the vehicle is traveling in when the driver has an abnormality. This is because the automatic control device cannot hand over the control of the vehicle to the driver when it determines that safe driving is not possible.

[0005] For example, Patent Document 1 proposes a vehicle automatic braking device that starts a braking operation to generate braking force after immediately flashing the brake lights during an automatic braking notice time when the driver's alertness is below the braking start alertness.

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 9-249104 Summary of the Invention

[0008] In the automatic braking device for a vehicle described in Patent Document 1, even when the vehicle is traveling at a relatively high speed, if the driver's driving alertness is below the braking start alertness, the brake lights will be immediately illuminated and the brakes will be operated, which may frighten the driver of the following vehicle and hinder driving.

[0009] Therefore, an object of the present invention is to provide a vehicle control device that, when it is determined that the driver's level of participation in driving is low, can control the speed of the vehicle without immediately lighting the brake lights when the vehicle is traveling at a relatively high speed, so as to avoid obstructing the travel of subsequent vehicles.

[0010] According to one embodiment, a vehicle control device is provided. The device is characterized by comprising: a driver determination unit for determining a driver's level of engagement in driving; a speed determination unit for determining a relationship between a vehicle's speed and a predetermined reference speed; and a driving plan unit for generating a first driving plan for decelerating the vehicle using a first deceleration rate without illuminating the brake lights, if the driver's level of engagement in driving is determined to be lower than a predetermined reference and the vehicle's speed is faster than the reference speed; and generating a second driving plan for decelerating the vehicle using a second deceleration rate greater than the first deceleration rate, if the driver's level of engagement in driving is determined to be lower than the predetermined reference and the vehicle's speed is lower than the reference speed.

[0011] In the vehicle control device, it is preferred that: there is also a vehicle control unit that controls the movement of the vehicle based on the first driving plan, and when the deceleration of the vehicle controlled based on the first driving plan is greater than the first deceleration, the vehicle control unit controls the vehicle in a manner such that the vehicle is accelerated and the deceleration of the vehicle is the first deceleration.

[0012] Furthermore, in the vehicle control device, it is preferable that the driving planning unit generates the second driving plan so that the vehicle moves to a road shoulder adjacent to a lane in which the vehicle is traveling and stops.

[0013] Furthermore, in the vehicle control device, it is preferred that: when it is determined that the driver's level of participation in driving is lower than a second predetermined benchmark that is lower than a predetermined benchmark and the speed of the vehicle is below the benchmark speed, the driving planning unit flashes the emergency flasher indicator light; when it is determined that the driver's level of participation in driving is lower than the second predetermined benchmark and the braking device is used, the driving planning unit generates a second driving plan in a manner such that the brake lights are turned on and the emergency flasher indicator light is turned off.

[0014] According to another embodiment, a vehicle control computer program is provided. The vehicle control computer program is characterized in causing a processor to execute the following operations: determining a driver's level of engagement in driving; determining a relationship between a vehicle speed and a predetermined reference speed; and, if it is determined that the driver's level of engagement in driving is lower than a predetermined reference value and the vehicle speed is faster than the reference speed, generating a first driving plan for decelerating the vehicle using a first deceleration rate without illuminating the brake lights; and, if it is determined that the driver's level of engagement in driving is lower than a predetermined reference value and the vehicle speed is lower than the reference speed, generating a second driving plan for decelerating the vehicle using a second deceleration rate greater than the first deceleration rate.

[0015] According to another embodiment, a vehicle control method is provided. In this vehicle control method, a vehicle control device performs the following operations: determining a driver's level of participation in driving; determining a relationship between a vehicle speed and a predetermined reference speed; and, if it is determined that the driver's level of participation in driving is lower than a predetermined reference value and the vehicle speed is faster than the reference speed, generating a first driving plan for decelerating the vehicle using a first deceleration without illuminating brake lights; and, if it is determined that the driver's level of participation in driving is lower than the predetermined reference value and the vehicle speed is lower than the reference speed, generating a second driving plan for decelerating the vehicle using a second deceleration greater than the first deceleration.

[0016] When the vehicle control device of the present invention determines that the driver's level of participation in driving is low, the vehicle control device does not light the brake lights when the vehicle is traveling at a relatively high speed and decelerates the vehicle until the vehicle speed is below a predetermined reference speed, thereby avoiding interfering with the driving of following vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a diagram for explaining an outline of the operation of a vehicle control system as an example of the vehicle control device according to the present embodiment.

[0018] Figure 2 This is a schematic configuration diagram of a vehicle equipped with the vehicle control system according to the present embodiment.

[0019] Figure 3 This is an operational flowchart related to the deceleration plan processing of the vehicle control system according to this embodiment.

[0020] Figure 4 FIG. 1 is a diagram for explaining the operation of the vehicle control system.

[0021] Figure 5 This is a diagram (part 2) illustrating the operation of the vehicle control system.

[0022] Figure 6 FIG. 3 is a diagram illustrating the operation of the vehicle control system.

[0023] Description of Reference Numerals

[0024] 1: Vehicle control system; 2: Camera; 3a~3f: Radar sensor; 4a~4f: Emergency flashing lights (turn indicator lights); 5a, 5b: Brake lights; 6: Positioning information receiver; 7: Navigation device; 8: User interface; 9: Speed ​​sensor; 10: Vehicle; 11: Map information storage device; 12: Monitoring device; 13: Position estimation device; 14: Object detection device; 15: Lane planning device; 16: Driving planning device; 17: Vehicle control device; 18: Driver determination device; 19: Speed ​​determination device; 22: In-vehicle network. DETAILED DESCRIPTION

[0025] Figure 1 FIG. 1 is a diagram for explaining an outline of the operation of a vehicle control system 1 as an example of a vehicle control device according to this embodiment. Figure 1 , an overview of the operations related to the deceleration plan processing of the vehicle control system 1 disclosed in this specification will be described.

[0026] exist Figure 1 In the example shown, vehicle 10 is traveling in lane 51 of road 50 having two lanes 51 and 52 and a shoulder 53. Lane 51 and lane 52 are divided by a lane dividing line 54, and lane 51 and shoulder 53 are divided by a lane dividing line 55.

[0027] The vehicle control system 1 mounted on the vehicle 10 automatically controls the driving of the vehicle 10. The vehicle control system 1 monitors the driver's participation level in driving to determine whether control of the vehicle can be handed over to the driver when the driving of the vehicle 10 cannot be automatically controlled.

[0028] At time T101 , the vehicle 10 is traveling in the lane 51 , and the vehicle control system 1 determines that the driver's level of participation in driving is equal to or higher than a predetermined standard.

[0029] At time T102, vehicle control system 1 determines that the driver's level of engagement in driving is lower than a predetermined threshold and issues a warning to the driver requesting engagement. Furthermore, because vehicle 10 is traveling faster than the threshold, vehicle control system 1 controls the movement of vehicle 10 so that the brake lights are not illuminated and the vehicle is decelerated using a first deceleration rate that decelerates vehicle 10 to a degree that does not hinder the travel of following vehicles.

[0030] At time T103, the driver's level of participation in driving continues to be lower than a predetermined reference, and the speed of vehicle 10 falls below the reference speed. Therefore, vehicle control system 1 controls the movement of vehicle 10 so as to decelerate vehicle 10 using a second deceleration greater than the first deceleration. As a result, vehicle 10 further decelerates while applying the brake device and illuminating the brake lights.

[0031] At time T104, even after a predetermined time has passed since the driver was warned, the driver's low level of participation in driving continues. Vehicle control system 1 determines that the driver is experiencing an abnormality and generates a driving plan to move vehicle 10 toward road shoulder 53 and stop. As a result, vehicle 10 moves from lane 51 toward road shoulder 53 and stops on the road shoulder at time T108.

[0032] As described above, when the vehicle control system 1 determines that the driver's participation level in driving is low, the vehicle 10 is decelerated by not lighting the brake lights when the vehicle 10 is traveling at a relatively high speed until the speed of the vehicle 10 is below a predetermined reference speed, thereby avoiding obstruction of the following vehicle.

[0033] Figure 2 This is a schematic diagram of a vehicle 10 equipped with a vehicle control system 1. Vehicle 10 includes a camera 2, radar sensors 3a-3f, emergency flashers (turn signal indicators) 4a-4f, brake lights 5a, 5b, a positioning information receiver 6, a navigation device 7, a user interface (UI) 8, a speed sensor 9, a map information storage device 11, a monitoring device 12, a position estimation device 13, an object detection device 14, a lane planning device 15, a driving plan device 16, a vehicle control device 17, a driver determination device 18, and a speed determination device 19. The map information storage device 11, monitoring device 12, position estimation device 13, object detection device 14, lane planning device 15, driving plan device 16, vehicle control device 17, driver determination device 18, and speed determination device 19 constitute the vehicle control system 1. It should be noted that vehicle 10 may also include a LiDAR sensor to detect road features or other objects.

[0034] When it is determined that the driver's level of participation in driving is lower than a predetermined reference value, the driving planning device 16, the driver determination device 18, and the speed determination device 19 cooperate to generate a driving plan for reducing the speed of the vehicle 10 in a manner that does not hinder the travel of the following vehicle when the vehicle 10 is traveling at a relatively high speed.

[0035] The camera 2, radar sensors 3a to 3f, emergency flashing lights (turn indicator lights) 4a to 4f, brake lights 5a, 5b, a positioning information receiver 6, a navigation device 7, a user interface (UI) 8, a speed sensor 9, a map information storage device 11, a monitoring device 12, a position estimation device 13, an object detection device 14, a driving lane planning device 15, a driving planning device 16, a vehicle control device 17, a driver determination device 18, and a speed determination device 19 are connected so as to be able to communicate via an in-vehicle network 22 that complies with a standard such as a controller area network.

[0036] Camera 2 is an example of an imaging unit provided in vehicle 10. Camera 2 is mounted on vehicle 10 so as to face the front of vehicle 10. Camera 2 captures a camera image depicting the environment of a predetermined area in front of vehicle 10 at a predetermined interval. The camera image can depict the road within the predetermined area in front of vehicle 10 and road features such as lane markings on the road surface. Camera 2 includes a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as CCDs or C-MOSs, and an imaging optical system that forms an image of the area to be captured on the two-dimensional detector.

[0037] Each time the camera 2 captures a camera image, it outputs the camera image and the time at which the camera image was captured to the position estimation device 13 and the object detection device 14 via the in-vehicle network 22. The camera image is used by the position estimation device 13 to estimate the position of the vehicle 10. Furthermore, the camera image is used by the object detection device 14 to detect other objects around the vehicle 10.

[0038] Radar sensors 3a-3f are mounted on, for example, the exterior surface of vehicle 10, facing the front, left front, right front, rear, left rear, and right rear of vehicle 10. Radar sensors 3a-3f synchronously transmit millimeter waves toward the front, left front, right front, rear, left rear, and right rear of vehicle 10 at predetermined reflection wave information acquisition times, respectively, and receive reflected waves from reflecting objects. The time required for the reflected waves to return contains distance information between the vehicle 10 and other objects located in the direction of the irradiated millimeter waves. Radar sensors 3a-3f each output reflection wave information, including the millimeter wave's emission direction and the time required for the reflected waves to return, along with the time at which the reflected wave information was acquired, to object detection device 14 via in-vehicle network 22. The reflected wave information is used by object detection device 14 to detect other objects around vehicle 10.

[0039] Emergency flashing lights (turn indicators) 4a to 4f are mounted on, for example, the exterior of the vehicle 10, facing the left front, left side, left rear, right front, right side, and right rear of the vehicle 10. Emergency flashing lights (turn indicators) 4a to 4f are controlled by the vehicle control system 1. When the vehicle 10 is in an emergency, all emergency flashing lights 4a to 4f illuminate. Furthermore, when the vehicle 10 changes direction to the left, turn indicators 4a to 4c illuminate, and when the vehicle 10 changes direction to the right, turn indicators 4d to 4f illuminate.

[0040] Brake lights 5a and 5b are mounted on, for example, the exterior surface of vehicle 10, facing the left rear side and the right rear side of vehicle 10. Brake lights 5a and 5b are controlled by vehicle control system 1. Brake lights 5a and 5b illuminate when the brakes (not shown) of vehicle 10 are actuated, notifying the following vehicle of the deceleration caused by the actuation of the brakes.

[0041] The positioning information receiver 6 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 6 can be a GNSS receiver. Each time the positioning information receiver 6 acquires positioning information at a predetermined reception cycle, it outputs the positioning information and the time at which the positioning information was acquired to the navigation device 7, the map information storage device 11, and the like.

[0042] The navigation device 7 generates a navigation route from the current position of the vehicle 10 to the destination location based on navigation map information, the destination location of the vehicle 10 input from the UI 8, and the positioning information indicating the current position of the vehicle 10 input from the positioning information receiver 6. The navigation route includes information related to positions such as right turns, left turns, merges, and branching. If a new destination location is set or if the current position of the vehicle 10 deviates from the navigation route, the navigation device 7 regenerates the navigation route for the vehicle 10. Each time the navigation device 7 generates a navigation route, it outputs the route to the position estimation device 13, the lane planning device 15, the driving planning device 16, and the like via the in-vehicle network 22.

[0043] UI8 is an example of a notification unit. UI8 is controlled by the navigation device 7, the monitoring device 12, and the driving planning device 16, and notifies the driver of the driving information of the vehicle 10, warnings requesting participation in driving, etc. In addition, UI8 generates an operation signal corresponding to the operation of the vehicle 10 by the driver. The driving information of the vehicle 10 includes the current position of the vehicle, the navigation route, and other information related to the current and future paths of the vehicle. In order to display driving information and warnings, UI8 has a display device 81 such as a liquid crystal display or a touch panel. In addition, UI8 can also have an audio output device (not shown) for notifying the driver of driving information and warnings. In addition, UI8 has, for example, a touch panel or operation buttons as an input device for inputting operation information from the driver to the vehicle 10. As operation information, for example, the destination, the route, the vehicle speed, and other vehicle control information can be listed. UI8 outputs the input operation information to the navigation device 7 and the driving planning device 16 via the in-vehicle network 22.

[0044] The speed sensor 9 detects speed information indicating the speed of the vehicle 10 and outputs it to the speed determination device 19 etc. via the in-vehicle network 22. The speed sensor 9 detects, for example, the rotation speed of the tires of the vehicle 10 and outputs the speed information indicating the rotation speed to the speed determination device 19 etc.

[0045] The map information storage device 11 stores wide-area map information covering a relatively wide area (e.g., a 10- to 30-km square) that includes the current location of the vehicle 10. This wide-area map information includes high-precision map information, including three-dimensional road surface information, information indicating the types and locations of road features such as lane markings and structures, and legal speed limits. Based on the current location of the vehicle 10, the map information storage device 11 receives wide-area map information from an external server via a base station via wireless communication via a wireless communication device (not shown) mounted on the vehicle 10, and stores the information in the storage device. Each time positioning information is input from the positioning information receiver 6, the map information storage device 11 refers to the stored wide-area map information and outputs map information for a relatively narrow area (e.g., a 100- to 10-km square) that includes the current location indicated by the positioning information to the position estimation device 13, the lane planning device 15, the driving planning device 16, and other devices via the in-vehicle network 22.

[0046] The monitoring device 12 monitors the driver's status and, if no driver engagement in driving is detected, generates a driving disengagement signal indicating that no driver engagement in driving has been detected. The monitoring device 12 outputs the driving disengagement signal to the driving planning device 16 via the in-vehicle network 31. The monitoring device 12 includes a monitoring camera 121 for capturing a head image including the driver's head, a touch sensor 122 for detecting whether the driver is holding the steering wheel, and a torque sensor 123 for detecting steering wheel torque. Based on the head image captured at predetermined monitoring times, the monitoring device 12 detects the driver's gaze direction, the degree of eye openness (hereinafter referred to as eye openness), and the degree of mouth openness (hereinafter referred to as mouth opening). Based on the detected gaze direction, eye openness, and mouth opening, the monitoring device 12 determines the driver's level of engagement in driving. If the gaze direction deviates from a predetermined range that includes the front of the vehicle 10, the monitoring device 12 determines that the driver's level of engagement in driving is low. Furthermore, if the degree of eye openness is less than a predetermined eye openness reference value or the degree of mouth opening is greater than a predetermined eye openness reference value, the monitoring device 12 determines that the driver's level of participation in driving is low. On the other hand, if the line of sight is within a predetermined reference range including the front of the vehicle 10, or the degree of eye openness is greater than a predetermined eye openness reference value, or the degree of mouth opening is less than a predetermined eye openness reference value, the monitoring device 12 determines that the driver's level of participation in driving is high.

[0047] If the monitoring device 12 determines that the driver's level of engagement in driving is low, it issues a warning to the driver via the UI 8, requesting the driver to engage in driving. The monitoring device 12 also outputs a warning signal indicating the issuance of a warning to the driver to the driver determination device 18 via the in-vehicle network 22. The monitoring device 12's determination that the driver's level of engagement in driving is low is an example of determining that the driver's level of engagement in driving is lower than a predetermined threshold. If, within a predetermined period after the issuance of the warning to the driver, the driver's level of engagement in driving is determined to be high based on the detected gaze direction, eye opening, and mouth opening, the monitoring device 12 determines that the driver is engaging in driving. Furthermore, within a predetermined period after the issuance of the warning to the driver, if the touch sensor 122 detects that the driver is holding the steering wheel, or if the torque sensor 123 detects that the driver is operating the steering wheel, the monitoring device 12 determines that the driver is engaging in driving. Furthermore, within a predetermined period after the issuance of the warning to the driver, if the driver's operation of the accelerator or brake pedal is detected, the monitoring device 12 determines that the driver is engaging in driving. On the other hand, within a predetermined time period after the driver is warned, if the driver's driving participation level is not determined to be high, the touch sensor 122 does not detect the driver holding the steering wheel, the torque sensor 123 does not detect the driver operating the steering wheel, and the driver's operation of the accelerator and brake pedals is not detected, the driver is determined to be not engaged in driving. The monitoring device 12 then generates a driving non-participation signal indicating that the driver's driving participation has not been detected. The monitoring device 12's determination that the driver is not engaged in driving is an example of determining that the driver's driving participation level is below a second predetermined benchmark that is lower than the predetermined benchmark. The monitoring device 12 outputs the driving non-participation signal to the driver determination device 18 and the driving planning device 16. It should be noted that the above is an example of generating a driving non-participation signal, and the monitoring device 12 may also use other methods to determine whether to generate a driving non-participation signal.

[0048] The position estimating device 13 estimates the position of the vehicle 10 at the time the camera image was captured based on the road features surrounding the vehicle 10 shown in the camera image. For example, the position estimating device 13 compares the lane lines identified in the camera image with the lane lines indicated in the map information input from the map information storage device 11 to determine the estimated position and estimated heading of the vehicle 10 at the time the camera image was captured. Furthermore, the position estimating device 13 estimates the lane on the road in which the vehicle 10 was located based on the lane lines indicated in the map information and the estimated position and estimated heading of the vehicle 10. Each time the position estimating device 13 determines the estimated position, estimated heading, and lane of the vehicle 10 at the time the camera image was captured, it outputs this information to the object detection device 14, the lane planning device 15, the driving planning device 16, and the vehicle control device 17.

[0049] The object detection device 14 detects other objects and their types (e.g., vehicles) around the vehicle 10 based on the camera image and reflected wave information. Other objects include other vehicles traveling around the vehicle 10. The object detection device 14 tracks the detected other objects and determines their trajectories. The object detection device 14 determines the lane in which the other object is traveling based on lane dividing lines and other object positions indicated in the map information. The object detection device 14 outputs object detection information, including information indicating the type of the detected other object, information indicating its position, and information indicating the driving lane, to the driving lane planning device 15, the driving planning device 16, and the like.

[0050] At a predetermined periodic driving lane plan generation time, the driving lane planning device 15 selects a lane on the road where the vehicle 10 is traveling based on map information, the navigation route, surrounding environment information, and the current location of the vehicle 10 within the nearest driving section (e.g., 10 km) selected from the navigation route, and generates a driving lane plan representing the planned driving lane for the vehicle 10. For example, the driving lane planning device 15 generates the driving lane plan so that the vehicle 10 travels in a lane other than the passing lane. Each time the driving lane plan is generated, the driving lane planning device 15 outputs the generated driving lane plan to the driving planning device 16.

[0051] In addition, the driving lane planning device 15 determines whether a lane change is necessary in the nearest driving section selected from the navigation route based on the map information, the navigation route, and the current position of the vehicle 10. The driving lane planning device 15 may further use the surrounding environment information or the vehicle status information in determining whether a lane change is necessary. The surrounding environment information includes the position and speed of other vehicles traveling around the vehicle 10. The vehicle status information includes the current position, vehicle speed, acceleration, and direction of travel of the vehicle 10. Specifically, the driving lane planning device 15 determines whether a lane change is necessary in order to move to the lane of the destination of the vehicle 10 based on the navigation route and the current position of the vehicle 10. It is determined whether the vehicle 10 enters (merges) from the current driving road to the other road of the merging destination, and whether the vehicle 10 exits (divides) from the driving road to the other road of the branching destination. In merging and diverging, the vehicle moves from the lane of the driving road to the lane of the other road, so a lane change is performed.

[0052] At a driving plan generation time set at a predetermined interval, the driving planning device 16 executes a driving planning process to generate a driving plan representing the planned driving trajectory of the vehicle 10 until a predetermined time (e.g., 5 seconds) in the future, based on the driving lane plan, map information, the current position of the vehicle 10, surrounding environment information, and vehicle status information. The driving plan is represented as a set of target positions of the vehicle 10 and target vehicle speeds at those target positions, for each time from the current moment to the predetermined time in the future. The driving plan generation cycle is preferably shorter than the driving lane plan generation cycle. If the driving lane plan includes a lane change in which the vehicle 10 moves between lanes, the driving planning device 16 generates the driving plan including the lane change so that the predetermined distance between the vehicle 10 and other vehicles can be maintained. If the driving lane plan includes a lane change in which the vehicle 10 moves between lanes but the predetermined distance cannot be maintained between the vehicle 10 and other vehicles, the driving planning device 16 generates the driving plan so that the vehicle 10 stops. Each time the driving plan is generated, the driving planning device 16 outputs the driving plan to the vehicle control device 17. Furthermore, during the deceleration plan processing of the vehicle control system 1, if the driving planning device 16 determines that the driver's level of engagement in driving is below a predetermined reference value and the speed of the vehicle 10 is faster than the reference speed, it generates a first driving plan for decelerating the vehicle 10 using a first deceleration rate without illuminating the brake lights 5a, 5b. Furthermore, during the deceleration plan processing of the vehicle control system 1, if the driving planning device 16 determines that the driver's level of engagement in driving is below a predetermined reference value and the speed of the vehicle 10 is below the reference speed, it generates a second driving plan for decelerating the vehicle 10 using a second deceleration rate greater than the first deceleration rate. The generation of a driving plan by the driving planning device 16 to decelerate the vehicle 10 will be discussed later in the description of the deceleration plan processing of the vehicle control system 1.

[0053] The vehicle control device 17 controls various components of the vehicle 10 based on the vehicle 10's current position, vehicle speed, and yaw rate, as well as the driving plan generated by the driving planning device 16, so that the vehicle 10 travels along the navigation route. For example, the vehicle control device 17 calculates the steering angle, acceleration, and angular acceleration of the vehicle 10 based on the driving plan, the vehicle speed, and yaw rate of the vehicle 10, and sets the steering amount, accelerator pedal position, or braking amount to achieve the desired steering angle, acceleration, and angular acceleration. The vehicle control device 17 then outputs a control signal corresponding to the set steering amount to an actuator (not shown) that controls the steering wheels of the vehicle 10. Furthermore, the vehicle control device 17 calculates the fuel injection amount based on the set accelerator pedal position, and outputs a control signal corresponding to the fuel injection amount to a drive device (not shown) such as the engine of the vehicle 10. Alternatively, the vehicle control device 17 outputs a control signal corresponding to the set braking amount to the brakes (not shown) of the vehicle 10.

[0054] In the deceleration planning process of the vehicle control system 1 , the driver determination device 18 determines the driver's participation level in driving, and the speed determination device 19 determines the relationship between the speed of the vehicle 10 and a predetermined reference speed.

[0055] The map information storage device 11, monitoring device 12, position estimation device 13, object detection device 14, lane planning device 15, driving planning device 16, vehicle control device 17, driver determination device 18, and speed determination device 19 include a communication interface (not shown), memory (not shown), and a processor (not shown). The communication interface includes an interface circuit for connecting each device to the in-vehicle network 22.

[0056] All or part of the functions of the map information storage device 11, the monitoring device 12, the position estimation device 13, the object detection device 14, the driving lane planning device 15, the driving planning device 16, the vehicle control device 17, the driver determination device 18 and the speed determination device 19 are, for example, functional modules implemented by a computer program that operates on a processor. Alternatively, the functional modules possessed by the processor may also be dedicated arithmetic circuits provided in the processor. The processor has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor may also have other arithmetic circuits such as a logical operation unit, a numerical operation unit or a pattern processing unit. The memory possessed by each device is an example of a storage unit, such as a volatile semiconductor memory and a non-volatile semiconductor memory. In addition, the memory stores computer programs and various data of applications used in the information processing executed by the processor of each device.

[0057] The map information storage device 11, the monitoring device 12, the position estimation device 13, the object detection device 14, the driving lane planning device 15, the driving planning device 16, the vehicle control device 17, the driver determination device 18 and the speed determination device 19 are described as independent devices, but all or part of these devices can also be constituted into one device.

[0058] When it is determined that the driver's level of participation in driving is lower than a predetermined reference value, the driving planning device 16, the driver determination device 18, and the speed determination device 19 cooperate to execute a deceleration plan process to decelerate the speed of the vehicle 10 in a manner that does not hinder the travel of the following vehicles when the vehicle 10 is traveling at a relatively high speed.

[0059] Figure 3 This is an example of an operation flow chart related to the deceleration plan processing of the vehicle control system 1. Figure 3 The following describes the processing of the vehicle control system 1. The vehicle control system 1 is based on the vehicle 10 during its travel. Figure 3 The operation flowchart shown is used to repeatedly execute the deceleration planning process.

[0060] First, the driver determination device 18 of the vehicle control system 1 determines whether the driver's level of engagement in driving is lower than a predetermined benchmark at a driver determination time set at a predetermined period (step S101). The driver determination device 18 determines that the driver's level of engagement in driving is lower than the predetermined benchmark if a warning signal or a non-engagement driving signal is input from the monitoring device 12 (step S101 - yes). The monitoring device 12 outputs a warning signal to the driver determination device 18 when the driver's line of sight leaves a predetermined range including the front of the vehicle 10, when the driver's eye openness is less than a predetermined eye openness benchmark value, or when the driver's mouth opening is greater than a predetermined eye opening benchmark value. Therefore, if the driver determination device 18 receives a warning signal, it determines that the driver's level of engagement in driving is lower than the predetermined benchmark. Furthermore, the monitoring device 12 outputs a non-engagement driving signal to the driver determination device 18 if the driver's level of engagement in driving is not determined to be high within a predetermined time period after the warning is issued to the driver. Therefore, if the driver determination device 18 receives a non-engagement driving signal, it determines that the driver's level of engagement in driving is lower than the predetermined benchmark.

[0061] On the other hand, when no warning signal or no driving participation signal is input from the monitoring device 12, the driver judgment device 18 determines that the driver's participation level in driving is not lower than the predetermined benchmark (no abnormality) (step S101-No), and ends the action related to the deceleration plan processing of the vehicle control system 1.

[0062] When it is determined that the driver's level of participation in driving is lower than a predetermined benchmark, the speed determination device 19 of the vehicle control system 1 determines the relationship between the speed of the vehicle 10 and the reference speed (step S102). First, the speed determination device 19 calculates the speed of the vehicle 10 based on the speed information input from the speed sensor 9. For example, the speed determination device 19 calculates the speed of the vehicle 10 based on the rotational speed of the tires of the vehicle 10 as an example of speed information. The relationship between the reference speeds of the regions is stored in a memory (not shown) included in the speed determination device 19. The speed determination device 19 determines whether the speed of the vehicle 10 is lower than the reference speed based on the reference speed of the region including the current position of the vehicle 10 read from the memory. The speed determination device 19 notifies the driving planning device 16 of the determination result of the relationship between the speed of the vehicle 10 and the reference speed.

[0063] If the speed of vehicle 10 is faster than the reference speed (step S102 - yes), the driving planning device 16 of the vehicle control system 1 generates a first driving plan that decelerates vehicle 10 using the first deceleration without illuminating the brake lights 5a and 5b (step S103), and notifies the vehicle control device 17 of this driving plan. The driving planning device 16 may also generate the first driving plan so that it includes periods in which vehicle 10 is decelerated using the first deceleration and periods in which it is not decelerated. Alternatively, the driving planning device 16 may generate the first driving plan so that the first deceleration is varied to another value within a range smaller than the second deceleration. The vehicle control system 1 then terminates its operations related to the deceleration plan processing.

[0064] On the other hand, if the speed of vehicle 10 is below the reference speed (step S102 - No), the driving planning device 16 determines whether the vehicle speed is faster than a second reference speed that is slower than the reference speed (step S104). If the speed of vehicle 10 is faster than the second reference speed (step S104 - Yes), the driving planning device 16 generates a second driving plan that decelerates vehicle 10 using a second deceleration greater than the first deceleration (step S105). The driving planning device 16 may also generate the second driving plan so that it includes periods in which vehicle 10 is decelerated using the second deceleration and periods in which it is not decelerated. Furthermore, the driving planning device 16 may generate the second driving plan so that the second deceleration is varied to other values ​​within a range greater than the first deceleration.

[0065] Furthermore, when the vehicle speed is below the reference speed and a non-participation driving signal is input from the monitoring device 12, the driving planning device 16 may generate a second driving plan to move the vehicle 10 to and stop at the roadside shoulder 53 adjacent to the lane 51 in which the vehicle 10 is traveling. Specifically, the driving planning device 16 determines a target location on the roadside shoulder 53 within a predetermined range from the current location of the vehicle 10, map information, and the vehicle speed of the vehicle 10, where the vehicle 10 can be parked. The driving planning device 16 then generates a second driving plan in which the vehicle 10 decelerates from the current location of the vehicle 10 toward the target location on the roadside shoulder 53 while illuminating the turn signal, and then stops at the target location on the roadside shoulder 53. Here, when the brakes are engaged, the driving planning device 16 generates the second driving plan to illuminate the brake lights 5a and 5b and extinguish the emergency flasher indicator lights 4a to 4f. The driving planning device 16 notifies the vehicle control device 17 of the second driving plan. The vehicle control system 1 then terminates operations related to the deceleration plan processing.

[0066] On the other hand, if the speed of the vehicle 10 is lower than the second reference speed (step S104—No), the operation related to the deceleration plan processing of the vehicle control system 1 is terminated. In this case, the driving planning device 16 may generate a driving plan for the vehicle 10 so that the vehicle 10 follows another vehicle traveling ahead.

[0067] Next, refer to Figure 4 An example of the operation of the vehicle 10 based on the above-mentioned driving plan control will be described below.

[0068] First, at time T101 , the vehicle 10 is traveling at a cruising speed in the lane 51 of the road 50 , and the driver determination device 18 determines that the driver's participation level in driving is equal to or higher than a predetermined standard (no abnormality).

[0069] Next, at time T102, vehicle 10 issues a warning to the driver. Vehicle 10 determines that the driver's level of engagement in driving is lower than a predetermined benchmark and that the vehicle's speed is faster than a benchmark speed. Vehicle 10 decelerates using the first deceleration rate without illuminating brake lights 5a and 5b, and continues traveling in lane 51. Vehicle 10 can use engine braking (if the drive system includes an internal combustion engine), regenerative braking (if the drive system includes an electric motor), air resistance within vehicle 10, and friction between the tires and the road surface to achieve the first deceleration rate. The amount of speed reduction for vehicle 10 is the standard deviation of the speed distribution of vehicles traveling on road 50, and therefore falls within the range of speed variation for vehicles traveling on road 50. Therefore, it is generally believed that while vehicle 10 is reducing its speed using the first deceleration rate, there is no concern that it will hinder the travel of vehicles following behind vehicle 10.

[0070] Then, at time T103, the vehicle 10 determines that the driver's participation level in driving is lower than a predetermined reference and that the speed of the vehicle 10 is below the reference speed. The vehicle 10 decelerates the vehicle 10 using the second deceleration and travels on the lane 51. As a means of achieving the second deceleration, the vehicle 10 can use a braking device that reduces the rotation speed of the tires by friction and a regenerative brake (in the case where the vehicle 10 has an electric motor as a drive device). Figure 4 In the example shown, the vehicle 10 is decelerating using the brake device, and therefore travels in the lane 51 while the brake lights 5 a and 5 b are turned on.

[0071] Next, at time T104, vehicle 10 determines that the driver is not driving. Vehicle 10 maintains a constant speed, illuminates emergency flasher indicators 4a to 4f, and travels in lane 51 while searching for a target location on road shoulder 53 where vehicle 10 can park within a predetermined range from the current location of vehicle 10.

[0072] Next, at time T105, vehicle 10 illuminates turn indicators 4a-4c, indicating that vehicle 10 is changing direction to the left, in order to move to the target position on road shoulder 53, and travels in lane 51. Vehicle 10 decelerates by applying the brakes to achieve the second deceleration, thereby illuminating brake lights 5a and 5b and extinguishing emergency flasher indicators 4a-4f. Alternatively, vehicle 10 may illuminate brake lights 5a and 5b and extinguish turn indicators 4a-4c.

[0073] The brake lights 5a and 5b notify drivers of following vehicles that vehicle 10 is decelerating, while the emergency flashers 4a to 4f are intended to alert drivers of surrounding vehicles that vehicle 10 is in an emergency. Therefore, both lights serve to draw attention to the vehicle with the lights on. If two of these lights were illuminated simultaneously, drivers of following vehicles and other surrounding vehicles might not be able to accurately grasp the status of the illuminated vehicle. Therefore, vehicle 10 controls its operation so that only one of the brake lights 5a and 5b and the emergency flashers 4a to 4f is illuminated to avoid confusion for drivers of following vehicles and other surrounding vehicles. It should be noted that depending on the region, illuminating both lights may not confuse drivers of other vehicles. In such cases, vehicle 10 may illuminate the brake lights 5a and 5b and flash the emergency flashers 4a to 4f. Alternatively, vehicle 10 may illuminate the brake lights 5a and 5b and illuminate the turn indicators 4a to 4c.

[0074] Next, at time T106, vehicle 10 turns on turn signals 4a to 4c and crosses lane dividing line 55 from lane 51 onto road shoulder 53. Since the turn signals and emergency flashers are the same, the emergency flashers are turned off while the turn signals are on.

[0075] Next, at time T107 , the vehicle 10 decelerates by applying the brakes, so the vehicle 10 turns on the brake lights 5 a and 5 b and turns off the emergency flasher indicator lights 4 a to 4 f .

[0076] Next, at time T108, the vehicle 10 stops at the target position on the road shoulder 53, the operation of the brake device stops, and the emergency flasher indicator lights 4a to 4f are turned on.

[0077] As described above, the vehicle control device 17 of the vehicle 10 decelerates the vehicle 10 at the first deceleration or the second deceleration based on the driving plan generated by the driving plan device 16. Figure 5 A specific example of a method in which the vehicle control device 17 decelerates the vehicle 10 will be described below.

[0078] The deceleration of the vehicle 10 is sometimes greatly affected by the slope of the road on which the vehicle 10 is traveling. Figure 5 , a deceleration method for achieving a first deceleration and a deceleration method for achieving a second deceleration according to the gradient of the road are shown.

[0079] (Deceleration method to achieve the first deceleration)

[0080] First, when the vehicle 10 is traveling on a flat road with a relatively low gradient, or on a gently sloping uphill or downhill road, the vehicle control device 17 stops supplying fuel to the drive unit and uses engine braking, or uses regenerative braking by generating electricity with the electric motor using the rotational force of the tires. The vehicle control device 17 may also downshift to further increase the deceleration if the deceleration of the vehicle 10 is less than the first deceleration. Alternatively, while not a braking method controlled by the vehicle control device 17, the vehicle 10's air resistance and the friction between the tires and the road surface may also be used to achieve the first deceleration (and the second deceleration).

[0081] Next, when vehicle 10 is traveling uphill on a steep slope, vehicle control device 17 initially uses engine braking or regenerative braking as a method for achieving the first deceleration. Furthermore, when vehicle 10 decelerates due to the steep incline of the road, and the deceleration of vehicle 10 becomes greater than the first deceleration, vehicle control device 17 uses the drive device to accelerate vehicle 10, controlling vehicle 10 so that the deceleration of vehicle 10 reaches the first deceleration. It should be noted that, although not a braking method that can be controlled by vehicle control device 17, the air resistance of vehicle 10 and the friction between the tires and the road surface are also used as a method for achieving the first deceleration (and the second deceleration).

[0082] In addition, when the vehicle 10 is traveling downhill with a large gradient, the vehicle control device 17 uses an engine brake or a regenerative brake as a method for achieving the first deceleration. In addition, as a method for achieving the first deceleration (and the second deceleration), although it is not a braking method that can be controlled by the vehicle control device 17, the air resistance of the vehicle 10 and the friction between the tires and the road surface are also used. The driving plan device 16 can also generate a second driving plan when the driver's level of participation in driving is lower than a predetermined benchmark and the speed of the vehicle 10 is faster than the benchmark speed for more than a predetermined time. It should be noted that when the vehicle 10 is traveling uphill with a small gradient and a large gradient, or downhill with a small gradient and a large gradient, the vehicle control device 17 also controls the vehicle 10 to obtain the first deceleration.

[0083] (Deceleration method to achieve the second deceleration)

[0084] First, when the vehicle 10 is traveling on a flat road with a relatively low gradient, or on a gently ascending or descending slope, the vehicle control device 17 uses the brake device as a method for achieving the second deceleration. While the brake device is operating, the vehicle control device 17 illuminates the brake lights 5a and 5b. It should be noted that the vehicle control device 17 may also use regenerative braking.

[0085] Next, when vehicle 10 is traveling uphill at a steep gradient, vehicle control device 17 uses engine braking or regenerative braking to achieve the second deceleration. If the deceleration of vehicle 10 is less than the second deceleration, vehicle control device 17 may also downshift to increase the deceleration. Alternatively, while not a controllable braking method, the air resistance of vehicle 10 and the friction between the tires and the road surface may be used to achieve the second deceleration. It should be noted that vehicle control device 17 may also use a braking device.

[0086] Furthermore, when the vehicle 10 is traveling down a steep slope, the vehicle control device 17 uses the brakes to achieve the second deceleration. While the brakes are in operation, the vehicle control device 17 illuminates the brake lights 5a and 5b. It should be noted that the vehicle control device 17 may also use regenerative braking. It should be noted that the vehicle control device 17 also controls the vehicle 10 to achieve the second deceleration when the vehicle 10 is traveling up a steep slope with a small gradient, or down a steep slope with a small gradient.

[0087] As described above, the vehicle control device determines the driver's level of engagement in driving and the relationship between the vehicle's speed and a predetermined reference speed. If the vehicle control device determines that the driver's level of engagement in driving is lower than a predetermined reference value and the vehicle's speed is faster than the reference speed, it generates a first driving plan that decelerates the vehicle using a first deceleration rate without activating the brake lights. If the vehicle control device determines that the driver's level of engagement in driving is lower than a predetermined reference value and the vehicle's speed is below the reference speed, it generates a second driving plan that decelerates the vehicle using a second deceleration rate greater than the first deceleration rate. Thus, when the vehicle control device determines that the driver's level of engagement in driving is low, the vehicle control device decelerates the vehicle until the vehicle's speed is below the predetermined reference speed while the vehicle is traveling at a relatively high speed, without activating the brake lights, thereby avoiding obstruction of the travel of following vehicles.

[0088] Next, refer to Figure 6 Other operation examples related to the deceleration plan processing of the vehicle control system 1 will be described below.

[0089] In the above-mentioned example of the operation related to the deceleration plan processing of the vehicle control system 1, the vehicle 10 stops on the shoulder of the road adjacent to the lane 51 in which the vehicle is traveling. However, depending on the terrain, there may be no shoulder of the road where the vehicle 10 can be parked. In this case, the vehicle 10 stops in the lane in which the vehicle is traveling. Figure 6 An example of the operation of parking the vehicle 10 in the lane in which the vehicle 10 is traveling will be described below.

[0090] exist Figure 6In the example shown, the operation of vehicle 10 from time T201 to time T203 is similar to the operation from time T101 to time T103 in the above-described operation example. At time T204, vehicle 10 searches for a target location on road shoulder 53 within a predetermined range from vehicle 10's current position where vehicle 10 can park, but cannot find one. Therefore, vehicle 10 determines the target location in lane 51 where it will decelerate at the second deceleration rate and stop.

[0091] Next, at time T204, vehicle 10 maintains a constant speed while driving in lane 51 with emergency flashers 4a to 4f illuminated. Next, at time T205, vehicle 10 applies the brakes to decelerate, illuminating brake lights 5a and 5b and extinguishing emergency flashers 4a to 4f. Next, at time T206, vehicle 10 stops at the target location in lane 51, stops braking, and illuminates emergency flashers 4a to 4f.

[0092] In the present invention, the vehicle control device, vehicle control computer program, and vehicle control method of the above-mentioned embodiments may be modified as appropriate without departing from the spirit of the present invention. In addition, the scope of protection of the present invention is not limited to these embodiments and relates to the invention described in the claims and their equivalents.

[0093] For example, in the above embodiment, the driving planning device generates a driving plan to decelerate the vehicle 10 when a warning signal is input from the monitoring device. However, the driving planning device may generate a driving plan to decelerate the vehicle 10 only after a non-participation driving signal is input from the monitoring device.

Claims

1. A vehicle control device, wherein: The vehicle control device has: a driver determination unit for determining a driver's level of involvement in driving; a speed determination unit for determining a relationship between a speed of the vehicle and a predetermined reference speed; a driving planning unit that, if it is determined that the driver's level of participation in driving is lower than a predetermined reference and the speed of the vehicle is faster than the reference speed, generates a first driving plan for decelerating the vehicle using a first deceleration rate without illuminating the brake lights, the first deceleration rate being such that the speed of the vehicle is reduced by an amount corresponding to a standard deviation of a speed distribution of vehicles traveling on a road; and, if it is determined that the driver's level of participation in driving is lower than the predetermined reference and the speed of the vehicle is lower than the reference speed, generates a second driving plan for decelerating the vehicle using a second deceleration rate greater than the first deceleration rate while illuminating the brake lights; as well as a vehicle control unit that controls the operation of the vehicle based on the first driving plan, When the deceleration of the vehicle controlled based on the first driving plan is greater than the first deceleration, the vehicle control unit controls the vehicle so as to accelerate the vehicle and set the deceleration of the vehicle to the first deceleration.

2. The vehicle control device according to claim 1, wherein: The driving planning unit generates the second driving plan so that the vehicle moves to a road shoulder adjacent to a lane in which the vehicle is traveling and stops.

3. The vehicle control device according to claim 1, wherein: The driving planning unit flashes an emergency flasher indicator light when it is determined that the driver's level of participation in driving is lower than a second predetermined benchmark that is lower than the predetermined benchmark and the speed of the vehicle is lower than the benchmark speed. Furthermore, the driving planning unit generates the second driving plan by lighting a brake light and turning off the emergency flasher indicator light when it is determined that the driver's level of participation in driving is lower than the second predetermined benchmark and the brake device is applied.

4. A non-volatile storage medium, wherein: The nonvolatile storage medium stores a computer program for controlling a vehicle that is readable by a computer. The computer program for controlling the vehicle causes the processor to execute the following operations: Determine the driver's level of involvement in driving; determining a relationship between a speed of the vehicle and a predetermined reference speed; generating a first driving plan for decelerating the vehicle using a first deceleration rate without illuminating the brake lights, if it is determined that the driver's level of participation in driving is lower than a predetermined reference and the vehicle speed is faster than the reference speed; generating a second driving plan for decelerating the vehicle using a second deceleration rate greater than the first deceleration rate while illuminating the brake lights, if it is determined that the driver's level of participation in driving is lower than the predetermined reference and the vehicle speed is lower than the reference speed; as well as controlling the movement of the vehicle based on the first driving plan, When the deceleration of the vehicle controlled based on the first driving plan is greater than the first deceleration, the vehicle is controlled so that the vehicle is accelerated and the deceleration of the vehicle becomes the first deceleration.

5. A vehicle control method, wherein: In the vehicle control method, the vehicle control device performs the following actions: Determine the driver's level of involvement in driving; determining a relationship between a speed of the vehicle and a predetermined reference speed; as well as generating a first driving plan for decelerating the vehicle using a first deceleration rate without illuminating the brake lights, if it is determined that the driver's level of participation in driving is lower than a predetermined reference and the vehicle speed is faster than the reference speed; generating a second driving plan for decelerating the vehicle using a second deceleration rate greater than the first deceleration rate while illuminating the brake lights, if it is determined that the driver's level of participation in driving is lower than the predetermined reference and the vehicle speed is lower than the reference speed; as well as controlling the movement of the vehicle based on the first driving plan, When the deceleration of the vehicle controlled based on the first driving plan is greater than the first deceleration, the vehicle is controlled so that the vehicle is accelerated and the deceleration of the vehicle becomes the first deceleration.

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