Vehicle control device

Abstract

A vehicle includes an automatic driving device and a navigation device. A control device of a vehicle causes a navigation device to display an evaluation window for evaluating a driving assistance function executed by an automatic driving device. The control device adjusts a parameter when the automatic driving device executes the travel assistance function on the basis of an input operation by the driver with respect to the evaluation window.

Description

Technical Field

[0001] The present disclosure relates to a control device for a vehicle. Background Art

[0002] In recent years, vehicles capable of autonomous driving have become increasingly popular.

[0003] Japanese Patent Application Laid-Open No. 2020-042642 discloses a driving evaluation device that estimates the riding comfort of an occupant based on the occupant's expressions and behaviors and evaluates the driving of a vehicle that performs autonomous driving control. Summary of the invention

[0004] A vehicle capable of automatic driving can perform various driving assistance functions, such as a function of automatically changing lanes.

[0005] When a lane change is automatically performed, different drivers may accept the behavior of the vehicle in different ways. For example, a driver who is not used to driving may be afraid of the high acceleration during the lane change.

[0006] However, the behavior of the vehicle when the driving assist function is executed is the same for any driver.

[0007] An object of the present disclosure is to enable adjustment of the behavior of a vehicle when a driving assistance function is executed.

[0008] The vehicle control device of the present disclosure, The vehicle is equipped with an automatic driving device and a navigation device. The control device, causing the navigation device to display an evaluation window for evaluating the driving assistance function executed by the automatic driving device, Based on the input operation of the driver on the evaluation window, the parameters when the automatic driving device performs the driving assistance function are adjusted.

[0009] According to the present disclosure, it is possible to adjust the behavior of a vehicle when a driving assistance function is executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which: Figure 1 is a diagram showing the configuration of a vehicle according to an embodiment of the present disclosure; Figure 2 This is a diagram showing an example of an evaluation window displayed by a navigation device; Figure 3is a diagram showing an example of a pop-up window displayed by a navigation device; Figure 4 is a diagram showing another example of a pop-up window displayed by a navigation device; and Figure 5 This is a flowchart showing the operation of the vehicle according to the embodiment of the present disclosure. DETAILED DESCRIPTION

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0012] Figure 1 1 is a diagram showing a configuration of a vehicle 10 according to an embodiment of the present disclosure. Figure 1 , the structure and outline of the vehicle 10 according to the embodiment of the present disclosure will be described.

[0013] The vehicle 10 is a vehicle capable of autonomous driving. The vehicle 10 may be, for example, a gasoline vehicle, a battery electric vehicle (BEV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), or a fuel cell electric vehicle (FCEV). The vehicle 10 may automate driving at any level. The level of automation may be, for example, any one of level 1 to level 5 of the Society of Automotive Engineers (SAE).

[0014] The vehicle 10 includes a navigation device 11 , an operation unit 12 , an automatic driving device 13 , an in-vehicle camera 14 , and a control device 15 .

[0015] The navigation device 11 is a device for performing route guidance of the vehicle 10. For example, the navigation device 11 includes a global positioning system (GPS) receiver, a communication module, an input interface, a memory, a processor, and a display. The GPS receiver obtains the position information of the vehicle 10 based on the signals received from each GPS satellite. The communication module receives traffic information. The input interface accepts the input operation of the driver. The memory stores any information used in the operation of the navigation device 11. For example, the memory stores map information, traffic information, the position information of the vehicle 10, and the position information of the destination. The processor controls the overall operation of the navigation device 11. For example, the processor performs the processing of route guidance of the vehicle 10 and causes the display to display the processing result.

[0016] The operation unit 12 receives instructions from the driver to the vehicle 10. The operation unit 12 may be, for example, a direction indicator, a button provided near the driver's seat of the vehicle 10, or the like. For example, when the vehicle 10 performs a predetermined driving assistance function, the vehicle 10 may start to perform the predetermined driving assistance function based on the operation of the operation unit 12 by the driver.

[0017] The automatic driving device 13 is a device for performing automatic driving of the vehicle 10. For example, the automatic driving device 13 has one or more vehicle-mounted sensors, a memory, and a processor. The vehicle-mounted sensors are, for example, cameras, millimeter-wave radars, laser radars, steering angle sensors, vehicle speed sensors, and the like. The memory stores arbitrary information used in the operation of the automatic driving device 13. The memory stores, for example, parameters when the automatic driving device 13 performs a driving assistance function. The processor controls the overall operation of the automatic driving device 13. For example, the processor uses the detection results of each vehicle-mounted sensor to perform automatic driving processing of the vehicle 10. Specifically, the processor performs steering control, acceleration control, and braking control of the vehicle 10, and the like.

[0018] The in-vehicle camera 14 captures a photo of the driver of the vehicle 10. The in-vehicle camera 14 transmits the captured image to the control device 15. The image captured by the in-vehicle camera 14 may be a still image or a dynamic image.

[0019] The control device 15 is a device that controls the navigation device 11, the automatic driving device 13, etc. The control device 15 may be, for example, an electronic control unit (ECU). The control device 15 includes, for example, a communication module, a memory, and a processor. The communication module can communicate with the navigation device 11, the operation unit 12, the automatic driving device 13, and the in-vehicle camera 14. The memory stores any information used in the operation of the control device 15. The processor can control the navigation device 11 and the automatic driving device 13. Vehicle Movement

[0020] Reference Figures 1 to 4 ,illustrate Figure 1 The operation of the vehicle 10 is shown.

[0021] As described above, the vehicle 10 is a vehicle capable of automatic driving. The automatic driving device 13 performs automatic driving of the vehicle 10. As a function of automatically driving the vehicle 10, the automatic driving device 13 can perform various driving assistance functions.

[0022] The driving assistance functions that can be executed by the automatic driving device 13 include, for example, a function of automatically executing lane change, a function of automatically executing overtaking, a function of automatically executing collision avoidance, and the like.

[0023] The automatic driving device 13 may start the driving assistance function in response to the driver's operation of the operation unit 12. Alternatively, the automatic driving device 13 may automatically start the driving assistance function even if the driver does not operate the operation unit 12.

[0024] For example, when the driving assistance function is a function of automatically executing a lane change or a function of automatically executing overtaking, the automatic driving device 13 starts the driving assistance function in response to the driver's operation of the operation unit 12 .

[0025] For example, when the driving assistance function is a function of automatically executing collision avoidance, the automatic driving device 13 automatically starts the driving assistance function even if there is no operation of the operation unit 12 by the driver.

[0026] The navigation device 11 can cause the navigation device 11 to display an evaluation window for the driver to evaluate the driving assist function executed by the automatic driving device 13 .

[0027] Figure 2 An example of the evaluation window 20 displayed by the navigation device 11 is shown in FIG.

[0028] The navigation device 11 may display an evaluation button 30 for causing the evaluation window 20 to be displayed. When the driver presses the evaluation button 30 displayed on the navigation device 11, the control device 15 causes the navigation device 11 to display the evaluation window 20.

[0029] The evaluation window 20 is a display for the driver to evaluate the driving assistance function executed by the automatic driving device 13. The content displayed in the evaluation window 20 is content corresponding to the type of driving assistance function executed immediately before the evaluation window 20 is displayed. That is, the content displayed in the evaluation window 20 is different when the driving assistance function executed immediately before the evaluation window 20 is displayed is a function of automatically executing lane change and when it is a function of automatically executing overtaking.

[0030] Figure 2 This is an example of a case where the evaluation window 20 is displayed immediately after the automatic driving device 13 executes the function of automatically changing lanes.

[0031] exist Figure 2 In the example shown, the evaluation window 20 displays a question “Are you feeling uncomfortable or uneasy anywhere?” and three items “Confirm safety and start lane change”, “Speed ​​up”, and “Time required for lane change”.

[0032] The control device 15 adjusts parameters when the automatic driving device 13 executes the driving assist function based on the input operation of the evaluation window 20 by the driver.

[0033] Figure 3 It is shown in Figure 2 The illustrated evaluation window 20 is a diagram showing an example of a pop-up window 21 displayed on the navigation device 11 when the driver selects “accelerate”. Figure 4 It is shown in Figure 2 The figure shows an example of a pop-up window 22 displayed on the navigation device 11 when the driver selects “Time required for lane change” in the evaluation window 20 shown.

[0034] When Figure 3 If the driver selects "slow" in the pop-up window 21 shown, the control device 15 will automatically increase the acceleration parameter in the lane change function by a predetermined value. Figure 3 When the driver selects “fast” in the pop-up window 21 shown, the control device 15 reduces the acceleration parameter in the function of automatically executing the lane change by a predetermined value.

[0035] When Figure 4 When the driver selects "long" in the pop-up window 22 shown, the control device 15 adjusts the values ​​of various parameters in the function of automatically performing lane changes so that the time taken for lane changes becomes shorter. Figure 4 When the driver selects “short” in the pop-up window 22 shown, the control device 15 adjusts the values ​​of various parameters in the function of automatically executing the lane change so that the time taken for the lane change becomes longer.

[0036] When adjusting the parameters, the control device 15 adjusts the parameters within a range that does not exceed the upper limit value and the lower limit value. For example, in the function of automatically executing lane changes, there is an upper limit value that can be set and a lower limit value that can be set for the acceleration parameter. When adjusting the acceleration parameter of the function of automatically executing lane changes, the control device 15 adjusts the parameters within a range that does not exceed the upper limit value and the lower limit value.

[0037] In this way, the control device 15 adjusts the parameters when the automatic driving device 13 executes the driving assistance function based on the input operation of the driver to the evaluation window. As a result, the driver can adjust the behavior of the vehicle 10 when the driving assistance function is executed to his or her own preferences. For example, if the acceleration is too fast when changing lanes and the driver feels uneasy, Figure 3 Selecting "Fast" will reduce the acceleration parameter when changing lanes. Display of evaluation window based on driver's expression

[0038] In the above embodiment, the control device 15 causes the navigation device 11 to display the evaluation window when the driver presses the evaluation button 30 displayed on the navigation device 11. However, the control device 15 may cause the navigation device 11 to automatically display the evaluation window based on the driver's expression.

[0039] The in-vehicle camera 14 captures the expression of the driver of the vehicle 10 .

[0040] When the automatic driving device 13 executes the driving assist function, the control device 15 analyzes the driver's expression captured by the in-vehicle camera 14 when the driving assist function is executed.

[0041] When the analyzed driver's expression is determined to express a predetermined emotion for the driving assist function, the control device 15 automatically displays the evaluation window on the navigation device 11. Here, the predetermined emotion may be, for example, an expression of anxiety, an expression of fear, an expression of discomfort, etc.

[0042] Thus, even if the driver does not press the evaluation button 30 displayed on the navigation device 11, the control device 15 can automatically display the evaluation window on the navigation device 11 based on the driver's expression. Therefore, the driver can easily adjust the parameters of the driving assistance function when feeling uneasy, scared, or uncomfortable.

[0043] Reference Figure 5 The flowchart shown explains the operation of the vehicle 10 .

[0044] The automatic driving device 13 executes a driving assist function in response to the driver's operation of the operation unit 12 or automatically ( S101 ).

[0045] When the driver presses the evaluation button 30 displayed on the navigation device 11, the control device 15 causes the navigation device 11 to display an evaluation window (S102). Alternatively, the control device 15 analyzes the driver's expression captured by the in-vehicle camera 14 when the driving assist function is executed. When it is determined that the analyzed driver's expression is an expression expressing a predetermined emotion for the driving assist function, the control device 15 causes the navigation device 11 to automatically display the evaluation window (S102).

[0046] Based on the input operation of the driver to the evaluation window, the control device 15 adjusts the parameters when the automatic driving device 13 executes the driving assist function ( S103 ).

[0047] As described above, in the vehicle 10 involved in the present embodiment, the control device 15 causes the navigation device 11 to display an evaluation window for evaluating the driving assistance function executed by the automatic driving device 13. In addition, the control device 15 adjusts the parameters when the automatic driving device 13 executes the driving assistance function based on the input operation of the driver to the evaluation window. Thus, the control device 15 can obtain the driver's evaluation of the driving assistance function and adjust the behavior of the vehicle 10 when the driving assistance function is executed to match the driver's preference. For example, in the case where the driver of the vehicle 10 is not good at driving, the control device 15 can adjust the behavior of the vehicle 10 when the driving assistance function is executed to a behavior that does not make the driver feel scared or uneasy.

[0048] The present disclosure is not limited to the above-mentioned embodiments. For example, multiple blocks recorded in the block diagram may be integrated or one block may be divided. Instead of executing multiple steps recorded in the flowchart in a time sequence according to the description, the steps may be executed in parallel or in a different order according to the processing capability of the device executing each step or as needed. In addition, changes may be made within the scope of the subject matter of the present disclosure.

[0049] For example, a part of the processing operations executed in the navigation device 11 in the above embodiment may also be executed in the automatic driving device 13 or the control device 15. In addition, a part of the processing operations executed in the automatic driving device 13 in the above embodiment may also be executed in the navigation device 11 or the control device 15. In addition, a part of the processing operations executed in the control device 15 in the above embodiment may also be executed in the navigation device 11 or the automatic driving device 13.

[0050] For example, it is also possible to configure so that a general-purpose electronic device such as a computer functions as the control device 15 involved in the above-mentioned embodiment. Specifically, it is also possible to store a program describing the processing contents of each function of the control device 15 etc. involved in the embodiment in a memory of an electronic device, and read and execute the program by a processor of the electronic device. Therefore, the disclosure involved in one embodiment can also be implemented as a program that can be executed by a processor.

[0051] A part of the embodiments of the present disclosure is exemplified below, but it should be noted that the embodiments of the present disclosure are not limited to these contents. [Note 1] 1. A vehicle control device, wherein: The vehicle is equipped with an automatic driving device and a navigation device. The control device, causing the navigation device to display an evaluation window for evaluating the driving assistance function executed by the automatic driving device, Based on the input operation of the driver on the evaluation window, the parameters when the automatic driving device performs the driving assistance function are adjusted. [Note 2] 2. A vehicle control device according to Appendix 1, wherein: When the driver presses an evaluation button displayed on the navigation device, the control device causes the navigation device to display the evaluation window. [Note 3] 3. A vehicle control device according to Appendix 1 or 2, wherein: The vehicle further includes an in-vehicle camera for photographing the driver. The control device, When the automatic driving device performs the driving assistance function, the driver's expression captured by the in-vehicle camera is analyzed. When it is determined that the expression of the driver is an expression expressing a predetermined emotion with respect to the driving assist function, the evaluation window is displayed on the navigation device. [Note 4] 4. A vehicle control device according to any one of Supplements 1 to 3, wherein: The control device causes the evaluation window to display content corresponding to the type of the driving assist function executed immediately before the evaluation window is displayed. [Note 5] 5. A vehicle control device according to any one of Supplementary Notes 1 to 4, wherein: The control device adjusts the parameter within a range that does not exceed an upper limit value and a lower limit value.

Claims

1. A vehicle control device, wherein: The vehicle is equipped with an automatic driving device and a navigation device. The control device, causing the navigation device to display an evaluation window for evaluating the driving assistance function executed by the automatic driving device, Based on the input operation of the driver on the evaluation window, the parameters when the automatic driving device performs the driving assistance function are adjusted.

2. The vehicle control device according to claim 1, wherein: When the driver presses an evaluation button displayed on the navigation device, the control device causes the navigation device to display the evaluation window.

3. The vehicle control device according to claim 1, wherein: The vehicle further includes an in-vehicle camera for photographing the driver. The control device, When the automatic driving device performs the driving assistance function, the driver's expression captured by the in-vehicle camera is analyzed. When it is determined that the expression of the driver is an expression expressing a predetermined emotion with respect to the driving assist function, the evaluation window is displayed on the navigation device.

4. The vehicle control device according to claim 1, wherein: The control device causes the evaluation window to display content corresponding to the type of the driving assist function executed immediately before the evaluation window is displayed.

5. The vehicle control device according to claim 1, wherein: The control device adjusts the parameter within a range that does not exceed an upper limit value and a lower limit value.

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