Vehicle and computer program

Abstract

To reduce an air resistance when a vehicle travels.SOLUTION: A vehicle 100 capable of performing automatic driving at a predetermined level or higher at which a duty to monitor surroundings of the vehicle is not required, includes an outside-vehicle checking device 3 that is attached to outside of the vehicle in order that a vehicle occupant check a situation outside the vehicle; and a control device 5. The outside-vehicle checking device 3 is configured to be able to switch between a first state in which the vehicle occupant can check a situation outside the vehicle by means of the outside-vehicle checking device 3 and a second state in which an area of a portion of the outside-vehicle checking device 3 hit by traveling wind is smaller than that in the first state. The control device 5 is configured to switch the outside-vehicle checking device 3 to the second state when automated driving at the predetermined level or higher at which the duty to monitor the surroundings of the vehicle is not required is performed.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle and a computer program. [Background technology]

[0002] Patent Document 1 discloses a vehicle structure capable of reducing the air resistance of a side mirror (outer rear view mirror) when the vehicle is traveling. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-177060 A Summary of the Invention [Problem to be solved by the invention]

[0004] On the outside of the vehicle, a vehicle exterior confirmation device (e.g., an outer rear view mirror, an outer rear view camera, etc.) is provided to allow vehicle occupants, particularly the driver, to check the situation outside the vehicle. In many vehicles, the vehicle exterior confirmation device can be switched between an unfolded state and a stored state. However, even if the vehicle structure is improved as in the above-mentioned Patent Document 1, as long as the vehicle exterior confirmation device is in the unfolded state, the vehicle exterior confirmation device is exposed to the wind while the vehicle is traveling, and therefore there is a limit to reducing the air resistance of the vehicle exterior confirmation device while the vehicle is traveling.

[0005] The present invention has been made in view of the above-mentioned problems, and has an object to reduce the air resistance of a vehicle exterior confirmation device when the vehicle is traveling. [Means for solving the problem]

[0006] In order to solve the above problems, a vehicle according to an embodiment of the present invention is capable of autonomous driving at level 3 or higher, which eliminates the need to monitor the periphery of the vehicle, and includes an outside confirmation device attached to the outside of the vehicle for vehicle occupants to check the situation outside the vehicle, and a control device. The outside confirmation device is configured to be switchable between a first state in which the vehicle occupants can check the outside of the vehicle using the outside confirmation device, and a second state in which the area of ​​the part of the outside confirmation device that is hit by the traveling wind is smaller than in the first state. The control device is configured to switch the outside confirmation device to the second state when autonomous driving at level 3 or higher, which eliminates the need to monitor the periphery of the vehicle, is being performed.

[0007] According to another aspect of the present invention, a vehicle is capable of autonomous driving at a predetermined level or higher, which eliminates the need to monitor the periphery of the vehicle, and is equipped with an outside confirmation device attached to the outside of the vehicle for vehicle occupants to check the situation outside the vehicle. The outside confirmation device is configured to be switchable between a first state in which the vehicle occupants can check the outside of the vehicle using the outside confirmation device, and a second state in which the area of ​​the part of the outside confirmation device that is hit by the traveling wind is smaller than in the first state. A computer program for a control device of this vehicle causes the control device to switch the outside confirmation device to the second state when autonomous driving at a predetermined level or higher, which eliminates the need to monitor the periphery of the vehicle, is being performed. Effect of the Invention

[0008] According to these aspects of the present invention, when autonomous driving is performed at a predetermined level or above, which makes it unnecessary to monitor the area around the vehicle, the outside confirmation device is switched to a second state in which the area of ​​the part exposed to the wind during driving is smaller than in the first state, thereby reducing the air resistance of the outside confirmation device while the vehicle is driving. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention; [Diagram 2]FIG. 2 is a diagram showing a pair of left and right outer rearview mirrors provided on the outside of the driver's door and the passenger's door of the vehicle. [Diagram 3] FIG. 2 is a schematic diagram showing an example of an outer rear view camera. [Figure 4] 5 is a flowchart illustrating details of a switching control of the vehicle outside confirmation device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, like components are designated by like reference numerals.

[0011] FIG. 1 is a schematic diagram of a vehicle 100 according to an embodiment of the present invention.

[0012] The vehicle 100 includes a surrounding sensor 1, a driver sensor 2, a vehicle exterior confirmation device 3, a storage device 4, and a control device 5. The surrounding sensor 1, the driver sensor 2, the vehicle exterior confirmation device 3, the storage device 4, and the control device 5 are communicatively connected to each other via an in-vehicle network 6 that complies with a standard such as a controller area network.

[0013] The surrounding sensor 1 is a sensor for generating surrounding data that indicates the situation around the vehicle 100. In this embodiment, the surrounding sensor 1 includes one or more external cameras 11 for capturing images of the surroundings of the vehicle 100. The external camera 11 captures images of the surroundings of the vehicle 100 at a predetermined frame rate (for example, 10 [Hz] to 40 [Hz]) and generates a surrounding image showing the surroundings of the vehicle 100. Every time the external camera 11 generates a surrounding image, it transmits the generated surrounding image to the control device 5 as surrounding data.

[0014] Instead of or in addition to the external camera 11, a distance measuring sensor that measures the distance to a target such as a vehicle or a pedestrian present around the vehicle 100 may be provided as the surrounding sensor 1. Examples of distance measuring sensors include a LiDAR (Light Detection And Ranging) that irradiates radar light and measures distance based on the reflected light, and a millimeter wave radar sensor that irradiates radio waves and measures distance based on the reflected waves.

[0015] The driver sensor 2 is a sensor for generating driver data representing the state of the driver. In this embodiment, the driver sensor 2 includes a driver monitor camera 21 for capturing an image of the driver's appearance including the face. The driver monitor camera 21 captures an image of the driver's appearance at a predetermined frame rate (for example, 10 [Hz] to 40 [Hz]) and generates an appearance image showing the driver's appearance. Every time the driver monitor camera 21 generates an appearance image of the driver, it transmits the generated appearance image to the control device 5 as driver data.

[0016] The vehicle outside confirmation device 3 is a device that allows vehicle occupants, particularly the driver, to check the sides and rear of the vehicle 100 from inside the vehicle. In this embodiment, the vehicle outside confirmation device 3 includes outer rear view mirrors (also called side mirrors or door mirrors) 31 provided on the outsides of the doors on the driver's seat side and passenger seat side of the vehicle 100, respectively, and an actuator 32 for switching the outer rear view mirror 31 between an unfolded state and a stored state shown in FIG.

[0017] The outer rearview mirror 31 may be an outer rearview camera 33 that captures images of the sides and rear of the vehicle 100, as shown in Fig. 3. When the outer rearview mirror 31 is changed to the outer rearview camera 33, the driver can check the sides and rear of the vehicle 100 by checking images captured by the outer rearview camera 33 on a monitor or the like arranged inside the vehicle.

[0018] FIG. 2 is a diagram showing a pair of left and right outer rearview mirrors 31 provided on the outside of the driver's seat and passenger's seat doors of the vehicle 100, respectively.

[0019] 2, the unfolded state refers to a state in which the outer rear-view mirror 31 is unfolded outward in the vehicle width direction so that the sides and rear of the vehicle 100 are reflected in the outer rear-view mirror 31. By putting the outer rear-view mirror 31 in the unfolded state, vehicle occupants, particularly the driver, can visually check the sides and rear of the vehicle 100 through the outer rear-view mirror 31 from inside the vehicle.

[0020] On the other hand, the stored state refers to a state in which the outer rearview mirror is closed inward in the vehicle width direction so that it does not reflect the sides and rear of the vehicle 100. By putting the outer rearview mirror in the stored state, the area of ​​the outer rearview mirror that is hit by the wind while the vehicle is traveling can be made smaller than when the outer rearview mirror is in the unfolded state.

[0021] Returning to FIG. 1 again, the storage device 4 has a storage medium such as a hard disk drive (HDD), a solid disk drive (SSD), or a non-volatile semiconductor memory, and stores a high-precision map. The high-precision map includes various road information required for implementing level 3 or higher level autonomous driving. Level 3 autonomous driving is autonomous driving in which all dynamic driving tasks consisting of recognition, judgment, and operation are executed by the control device 5 in a limited area that satisfies certain driving environment conditions.

[0022] The control device 5 is an ECU (Electronic Control Unit) including a communication unit 51, a storage unit 52, and a processing unit 53. Although not shown, in addition to the above-mentioned surrounding data and driver data, various data necessary for performing autonomous driving of autonomous driving level 3 (for example, vehicle position data acquired by a positioning sensor, vehicle speed data acquired by a vehicle speed sensor, etc.) are input to the control device 5. The control device 5 performs autonomous driving of autonomous driving level 3 based on these input data and a high-precision map. During autonomous driving of autonomous driving level 3 or higher, the driver can perform a second task other than driving (for example, operating a smartphone or relaxing, etc.) and is released from the obligation to monitor the surroundings of the vehicle. The control device 5 also controls the actuator 32 to switch the state of the outer rear view mirror 31 to a deployed state or a stored state.

[0023] The communication unit 51 includes an interface circuit for connecting the control device 5 to the in-vehicle network 6. The communication unit 51 supplies data received from the outside (such as peripheral data and driver data) to the processing unit 53. The communication unit 51 also outputs to the actuator 32 a control signal output from the processing unit 53, for example, for deploying or storing the outer rearview mirror.

[0024] The storage unit 52 has a storage medium such as a hard disk drive (HDD), a solid disk drive (SSD), or a semiconductor memory, and stores various computer programs, data, and the like used for processing by the processing unit 53.

[0025] The processing unit 53 includes one or more central processing units (CPUs) and their peripheral circuits. The processing unit 53 executes various computer programs stored in the storage unit 52, and is, for example, a processor.

[0026] Incidentally, when the outer rear-view mirror 31 is in the deployed state, the traveling wind hits the outer rear-view mirror 31. Therefore, air resistance increases by the amount of the traveling wind hitting the outer rear-view mirror 31, and fuel economy (or power economy) deteriorates. In addition, wind noise is generated, which can be a factor in vehicle noise. In contrast, when the outer rear-view mirror 31 is in the stored state, as described above, the area of ​​the part of the outer rear-view mirror 31 that the traveling wind hits is smaller compared to when it is in the deployed state, so air resistance is reduced and the generation of wind noise can be suppressed.

[0027] While the control device 5 is performing Level 3 autonomous driving, the driver is released from the obligation to monitor the periphery of the vehicle. Therefore, the driver does not need to visually check the outside of the vehicle through the outer rear view mirror 31. Therefore, in this embodiment, while Level 3 autonomous driving is being performed, the outer rear view mirror 31 is switched to a stored state. This makes it possible to reduce vehicle noise and air resistance while the vehicle is traveling during Level 3 autonomous driving. Hereinafter, the switching control of the vehicle outside confirmation device 3 according to this embodiment will be described with reference to FIG. 4.

[0028] 4 is a flowchart for explaining the details of the switching control of the vehicle outside confirmation device 3. The control device 5 executes this routine by switching back and forth at a predetermined calculation cycle.

[0029] In step S1, the control device 5 determines whether or not the storage flag is set to 0. The storage flag F is a flag that is set to 1 when the outer rearview mirror 31 is switched to a stored state during autonomous driving at autonomous driving level 3 or higher, and its initial value is set to 0. If the storage flag is 0, the control device 5 proceeds to processing in step S2, and if the storage flag is 1, the control device 5 proceeds to processing in step S5.

[0030] In step S2, the control device 5 determines whether or not the vehicle is operating at level 3 or higher. If the vehicle is operating at level 3 or higher, the control device 5 proceeds to step S3. On the other hand, if the vehicle is not operating at level 3 or higher, the control device 5 ends the current process.

[0031] In step S3, the control device 5 controls the actuator 32 to switch the outer rear-view mirror 31 to the stored state.

[0032] In step S4, the control device 5 sets a storage flag F to 1.

[0033] In step S5, the control device 5 determines whether or not the vehicle has transitioned to an autonomous driving level less than 3, or to manual driving. If the vehicle has transitioned to an autonomous driving level less than 3, or to manual driving, the control device 5 proceeds to processing in step S6. On the other hand, if the vehicle is still in an autonomous driving level of 3 or higher, the control device 5 ends this processing.

[0034] In step S6, the control device 5 controls the actuator 32 to switch the outer rear-view mirror 31 to the deployed state.

[0035] In step S7, the control device 5 resets the storage flag F to 0.

[0036] The vehicle 100 according to the present embodiment described above, which is capable of autonomous driving at level 3 or higher, which eliminates the need to monitor the periphery of the vehicle, includes a vehicle outside confirmation device 3 attached to the outside of the vehicle so that the vehicle occupant can check the situation outside the vehicle, and a control device 5. The vehicle outside confirmation device 3 is configured to be switchable between a first state in which the vehicle occupant can check the outside of the vehicle using the vehicle outside confirmation device 3, and a second state in which the area of ​​the part of the vehicle outside confirmation device 3 that is hit by the traveling wind is smaller than in the deployed state. The vehicle outside confirmation device 3 specifically includes an outer rearview mirror 31 or an outer rearview camera 33, and the first state is a deployed state in which the outer rearview mirror 31 or the outer rearview camera 33 is deployed, and the second state is a stored state in which the outer rearview mirror 31 or the outer rearview camera 33 is stored.

[0037] The control device 5 is configured to switch the vehicle outside check device 3 to the stored state when the vehicle is being driven at level 3 or higher, which eliminates the need to monitor the periphery of the vehicle.

[0038] Therefore, air resistance can be reduced when the vehicle is traveling during autonomous driving at autonomous driving level 3 or higher. This can improve the fuel efficiency (or power efficiency) of the vehicle 100. In addition, wind noise can be suppressed, thereby reducing vehicle noise.

[0039] Furthermore, in this embodiment, since air resistance is reduced by switching the vehicle outside confirmation device 3 to the stored state, there is no need to make the vehicle outside confirmation device 3, and thus the outer rear view mirror 31, small in size or to complicate their structures in order to obtain the effect of reducing air resistance. If the outer rear view mirror 31 is made small, there is a risk that visibility to the sides and rear of the vehicle 100 will deteriorate during autonomous driving below autonomous driving level 3, which requires the driver to monitor the area around the vehicle, or during manual driving. Furthermore, if the structure of the outer rear view mirror 31 becomes complicated, there is a risk that the manufacturing costs will increase. Therefore, according to this embodiment, it is possible to reduce air resistance and vehicle noise during vehicle travel while suppressing such deterioration of visibility and increases in manufacturing costs.

[0040] Although the embodiments of the present invention have been described above, the above-mentioned embodiments merely show some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above-mentioned embodiments.

[0041] For example, in the above embodiment, the outer rear view mirror 31 was switched to the deployed state when it was determined, for example in step S5 of Figure 3, that the vehicle had transitioned to autonomous driving of less than autonomous driving level 3 or to manual driving. However, when it is known in advance from the driving route, etc., that the vehicle will transition from autonomous driving of level 3 or higher to autonomous driving of less than autonomous driving level 3 or manual driving, for example when it is known that the vehicle will go outside the range of a high-precision map, the outer rear view mirror 31 may be switched to the deployed state at a predetermined timing before the transition (for example, a few seconds before the transition or a few hundred meters before the transition point).

[0042] In the above embodiment, the outer rearview mirror 31 is switched to the stored state when autonomous driving of autonomous driving level 3 or higher is being performed. However, even if the outer rearview mirror 31 is controlled to the stored state during autonomous driving of autonomous driving level 3 or higher, the outer rearview mirror 31 may be temporarily switched to the deployed state when, for example, at least one of the following deployment conditions is met.

[0043] The first deployment condition is, for example, when a turn signal is on. This is because, even if there is no obligation to monitor the surroundings of the vehicle, there are likely to be a certain number of drivers who want to check the adjacent lane in the direction in which the turn signal is on using the outer rear view mirror 31 when the turn signal is on. In addition, there is a possibility that the driver may override the steering operation or the like without wanting to change lanes to the adjacent lane in the direction in which the turn signal is on.

[0044] When a turn signal is activated, for example, only the outer rear-view mirror 31 on the side where the turn signal is activated may be deployed, or both the left and right outer rear-view mirrors 31 may be deployed. When only one outer rear-view mirror 31 is deployed, the traveling wind hits only one of the outer rear-view mirrors, so that the effect of reducing air resistance and vehicle noise can be improved, compared to when both the left and right outer rear-view mirrors 31 are deployed. On the other hand, when both the left and right outer rear-view mirrors 31 are deployed, the air resistance does not increase only on the side where the traveling wind hits, and the air resistance on the left and right becomes uniform, so that deterioration of driving performance can be suppressed, compared to when only one outer rear-view mirror 31 is deployed.

[0045] The second deployment condition is, for example, when the hazard lights are activated. This is because it is considered that there is a certain number of drivers who would like to check their surroundings using the outer rear view mirror 31 when the hazard lights are activated, since there is a possibility that some kind of problem has occurred.

[0046] The third deployment condition is, for example, when changing lanes, such as when LCA (Lane Change Assist) is activated, because it is considered that there are a certain number of drivers who want to check the adjacent lane they are about to change lanes into using the outer rear view mirror 31.

[0047] A fourth deployment condition is, for example, when the vehicle is traveling at a low speed below a predetermined speed. This is because, when the vehicle is traveling at a low speed, wind noise is unlikely to occur and air resistance is also small even if the wind hits the outer rear-view mirror 31. Note that, under this deployment condition, for example, the outer rear-view mirror 31 may be switched to the deployed state uniformly if the vehicle is traveling at a speed below a predetermined speed, or the outer rear-view mirror 31 may be switched to the deployed state when it is determined based on surrounding data or the like that there is a traffic jam, that is, when it is determined that the vehicle is traveling at a low speed.

[0048] A fifth deployment condition is, for example, when the vehicle is traveling at a specific point such as a merging section of a road. This is because it is considered that there are a certain number of drivers who would like to check the merging lane using the outer rear view mirror 31, for example, when the vehicle is traveling at a merging section where another vehicle is merging from a merging lane into the main lane (the lane in which the vehicle is traveling).

[0049] A sixth deployment condition is, for example, when an emergency vehicle such as an ambulance, a fire engine, or a police vehicle is detected. This is because it is considered that there are a certain number of drivers who, when detecting an emergency vehicle, want to check for the emergency vehicle using the outer rearview mirror 31 in order to be considerate of the emergency vehicle.

[0050] The seventh deployment condition is, for example, when the driver's intention to drive is detected. This is because it is preferable to switch the outer rear view mirror 31 to the deployed state as soon as possible when the driver's intention to drive (intention to override) is detected from a specific action of the driver, such as the driver's action of gripping the steering wheel. The driver's intention to drive can be detected, for example, by detecting a specific action based on the driver data.

[0051] In this way, the control device 5 may be configured to switch the vehicle outside confirmation device 3 to the first state (deployed state) when a predetermined deployment condition is met while autonomous driving of autonomous driving level 3 or higher is being performed and the vehicle outside confirmation device 3 has been switched to the second state (stored state). As described above, the deployment conditions are, for example, when a turn signal is activated, when a hazard lamp is activated, when a lane change is performed, when the vehicle is traveling at a low speed below a predetermined speed, when a traffic jam is detected, when the vehicle is traveling at a road junction, when an emergency vehicle is detected, or when the driver's intention to drive is detected.

[0052] This makes it possible to reduce air resistance and vehicle noise while the vehicle is traveling, while maintaining a balance between safety, driver preferences, and the like.

[0053] In addition, in the above embodiment, the computer program executed in the control device 5 (e.g., switching control of the vehicle exterior confirmation device 3) may be provided in a form recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium or an optical recording medium. [Explanation of symbols]

[0054] 3. Vehicle exterior confirmation device 5. Control device 31 Outer rear view mirror 100 vehicles

Claims

1. A vehicle capable of performing autonomous driving at a predetermined level or higher that does not require monitoring of the vehicle's surroundings, An outside confirmation device that is attached to the outside of the vehicle so that a vehicle occupant can confirm the situation outside the vehicle; A control device; Equipped with The vehicle exterior confirmation device is The vehicle exterior confirmation device is configured to be switchable between a first state in which the vehicle occupant can confirm the outside of the vehicle by using the vehicle exterior confirmation device and a second state in which an area of ​​a portion of the vehicle exterior confirmation device that is hit by a traveling wind is smaller than that in the first state, The control device includes: When the autonomous driving of the predetermined level or more is being performed, the vehicle outside confirmation device is switched to the second state. vehicle.

2. The vehicle exterior confirmation device includes an outer rearview mirror or an outer rearview camera, the first state is a state in which the outer rearview mirror or the outer rearview camera is deployed, The second state is a state in which the outer rearview mirror or the outer rearview camera is stored.

2. The vehicle of claim 1.

3. The control device includes: When a predetermined deployment condition is satisfied in a case where the vehicle outside confirmation device is switched to the second state while the autonomous driving of the predetermined level or more is being performed, the vehicle outside confirmation device is switched to the first state. A vehicle according to claim 1 or 2.

4. The expansion condition is: When the vehicle's turn signal is activated, when the hazard lamp is activated, when the vehicle is changing lanes, when the vehicle is traveling at a low speed below a predetermined speed, when a traffic jam is detected, when the vehicle is traveling at a junction, when an emergency vehicle is detected, or when the driver's intention to drive is detected.

4. The vehicle according to claim 3.

5. A computer program for a vehicle control device capable of performing autonomous driving at a predetermined level or higher that does not require monitoring of the surroundings of the vehicle, The vehicle is A vehicle exterior confirmation device is provided to allow a vehicle occupant to confirm the situation outside the vehicle, The vehicle exterior confirmation device is The vehicle exterior confirmation device is configured to be switchable between a first state in which the vehicle occupant can confirm the outside of the vehicle by using the vehicle exterior confirmation device and a second state in which an area of ​​a portion of the vehicle exterior confirmation device that is hit by a traveling wind is smaller than that in the first state, The control device includes: When the autonomous driving of the vehicle is performed at or above the predetermined level, the vehicle outside confirmation device is switched to the second state. A computer program that makes things happen.

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