Vehicle control device

Abstract

To provide a vehicle control device capable of inhibiting occurrence of a problem due to dirt of a camera during switching between a manual driving mode and an automatic driving mode.SOLUTION: A vehicle control device mounted to a vehicle and capable of switching a manual driving mode and an automatic driving mode of the vehicle includes: a first camera that is used during the manual driving of the vehicle; a second camera that is used during the automatic driving of the vehicle; a first cleaning unit for cleaning the first camera; and a second cleaning unit for cleaning the second camera. At timing of switching between the manual driving mode and the automatic driving mode, both of cleaning of the first camera with the first cleaning unit and cleaning of the second camera with the second cleaning unit are executed.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] A known technical document relating to a vehicle control device is Japanese Patent Publication No. 7282742. This publication discloses a cleaning system for cleaning external sensors of a vehicle that is configured to be able to selectively operate in an automatic driving mode or a manual driving mode. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7282742 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional cleaner system described above, the amount of cleaning fluid is conserved because high reliability of the external sensor is required during automatic operation. However, simply conserving the amount of cleaning fluid may adversely affect switching between automatic and manual operation modes due to insufficient cleaning. [Means for solving the problem]

[0005] One aspect of the present invention is a vehicle control device that is mounted on a vehicle and is capable of switching between a manual driving mode and an automatic driving mode of the vehicle, and is equipped with a first camera that is used when the vehicle is being driven manually, a second camera that is used when the vehicle is being driven automatically, a first cleaning unit for cleaning the first camera, and a second cleaning unit for cleaning the second camera, and may perform cleaning control for both cleaning the first camera by the first cleaning unit and cleaning the second camera by the second cleaning unit at the timing of switching between the manual driving mode and the automatic driving mode. [Effects of the Invention]

[0006] According to one aspect of the present invention, the first camera and the second camera can be properly cleaned when switching between manual driving mode and automatic driving mode, thereby preventing problems caused by camera dirt when switching modes. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram illustrating a vehicle control device according to an embodiment. [Figure 2] 10 is a table showing an example of transitions between operating areas, operating modes, and cleaning modes. [Figure 3] 10A is a flowchart showing an example of camera cleaning control in the vehicle control device, and FIG. 10B is a flowchart showing another example of camera cleaning control in the vehicle control device. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0009] FIG. 1 is a block diagram showing a vehicle control device 100 according to one embodiment. The vehicle control device 100 shown in FIG. 1 is a device that is mounted on a vehicle such as a passenger car and that cleans the vehicle's external camera. The vehicle can switch between an autonomous driving mode and a manual driving mode. The autonomous driving mode is a vehicle control mode in which the vehicle automatically drives along the current lane or automatically drives toward a predetermined destination. The manual driving mode is a mode in which the driver actively performs driving operations of the vehicle.

[0010] As shown in FIG. 1, the vehicle control device 100 includes a first camera 1 used during manual driving, a second camera 2 used during automatic driving, a camera ECU 3, an automatic driving ECU 4, a switching box 5, a first washing unit 6, and a second washing unit 7.

[0011] The first camera 1 is an external camera used to grasp the surrounding situation when the driver manually operates the vehicle. The first camera 1 may be provided at the front of the vehicle, at the rear of the vehicle, or on the left or right side of the vehicle. The image captured by the first camera 1 is displayed, for example, on a center display inside the vehicle cabin and is used to provide information to the driver. The first camera 1 may have a dirt detection function that detects dirt adhering to the camera lens. The first camera 1 transmits information indicating that dirt has adhered to the camera ECU 3.

[0012] The second camera 2 is an external camera used by the vehicle to recognize the environment and make appropriate driving decisions in autonomous driving mode. The second camera 2 may be provided in the front of the vehicle, the rear of the vehicle, or on the left or right side of the vehicle. The second camera 2 may have a dirt detection function that detects dirt on the camera lens. The second camera 2 transmits information about the dirt to the autonomous driving ECU 4.

[0013] The camera ECU (Electronic Control Unit) 3 is an electronic control unit that manages the first camera 1. When the camera ECU 3 receives a signal indicating dirt adhesion from the first camera 1, it transmits a pump control signal to the switching box 5. Note that the detection of dirt adhesion by the first camera 1 may be performed by the camera ECU 3.

[0014] The autonomous driving ECU 4 is an electronic control unit for performing overall control related to autonomous driving. The autonomous driving ECU 4 switches between the autonomous driving mode and the manual driving mode of the vehicle and manages the second camera 2.

[0015] The autonomous driving ECU 4 switches from the manual driving mode to the autonomous driving mode when a predetermined condition for starting the autonomous driving mode is satisfied. Similarly, the autonomous driving ECU 4 switches from the autonomous driving mode to the manual driving mode when a predetermined condition for ending the autonomous driving mode is satisfied.

[0016] The autonomous driving ECU 4 switches between autonomous driving mode and manual driving mode depending on, for example, the area in which the vehicle is traveling. The autonomous driving ECU 4 acquires vehicle position information from a GNSS receiver installed in the vehicle and recognizes the vehicle's position on the map by referring to map information. The map information includes information on autonomous driving areas. The map information may also include information on manual driving areas. An autonomous driving area is an area in which autonomous driving of the vehicle is permitted under specified conditions. If the driver has given permission to start autonomous driving in advance, the autonomous driving ECU 4 switches the vehicle from manual driving mode to autonomous driving mode when the vehicle enters an autonomous driving area from a manual driving area. The autonomous driving ECU 4 switches the vehicle from autonomous driving mode to manual driving mode when the vehicle enters a manual driving area from an autonomous driving area. Other well-known modes can be used for controlling the switching between autonomous driving mode and manual driving mode.

[0017] When switching between the autonomous driving mode and the manual driving mode occurs, the autonomous driving ECU 4 transmits a mode switching signal to the switching box 5. Furthermore, when the autonomous driving ECU 4 receives a signal indicating adhesion of dirt from the second camera 2, it transmits a pump control signal to the switching box 5. Note that the detection of adhesion of dirt to the second camera 2 may be performed by the autonomous driving ECU 4.

[0018] The switching box 5 is a mechanism for switching the washing mode of the vehicle. The switching box 5 controls the first washing unit 6 and the second washing unit 7. The control of the switching box 5 will be described in detail later.

[0019] The first cleaning unit 6 is a mechanical unit that cleans the first camera 1. The first cleaning unit 6 is equipped with a cleaning pump connected to a cleaning liquid tank and a cleaning nozzle that sprays cleaning liquid onto the lens of the first camera 1.

[0020] The second cleaning unit 7 is a mechanical unit that cleans the second camera 2. The second cleaning unit 7 is equipped with a cleaning pump connected to a cleaning liquid tank and a cleaning nozzle that sprays cleaning liquid onto the lens of the second camera 2. The configurations of the first cleaning unit 6 and the second cleaning unit 7 can be the configuration of a well-known in-vehicle camera cleaning unit.

[0021] Next, the control of the switching box 5 will be described. When the vehicle is in manual driving mode, the switching box 5 only washes the first camera 1. When the switching box 5 receives a pump control signal from the camera ECU 3 during manual driving mode, it sends a pump control signal to the first washing unit 6 to wash the first camera 1. On the other hand, even if the switching box 5 receives a pump control signal from the autonomous driving ECU 4 during manual driving mode, it does not send a pump control signal to the second washing unit 7. Note that the autonomous driving ECU 4 may not send a pump control signal during manual driving mode.

[0022] When the vehicle is in autonomous driving mode, the switching box 5 only washes the second camera 2. Even if the switching box 5 receives a pump control signal from the camera ECU 3 during autonomous driving mode, the switching box 5 does not send a pump control signal to the first washing unit 6. On the other hand, when the switching box 5 receives a pump control signal from the autonomous driving ECU 4 during autonomous driving mode, the switching box 5 sends a pump control signal to the second washing unit 7 to wash the second camera 2.

[0023] At the timing of switching between the manual operation mode and the automatic operation mode, the switching box 5 performs both cleaning of the first camera 1 by the first cleaning unit 6 and cleaning of the second camera 2 by the second cleaning unit 7. The timing of switching between the manual operation mode and the automatic operation mode includes the timing of switching from the manual operation mode to the automatic operation mode and the timing of switching from the automatic operation mode to the manual operation mode.

[0024] FIG. 2 is a table showing an example of transitions between operating areas, operating modes, and cleaning modes. In FIG. 2, the operating area in which the vehicle travels, the operating mode, and the cleaning mode are switched in the order of (1) to (5). In the situation shown in FIG. 2 (1), the vehicle is traveling in a manual driving area and is in manual driving mode. In this case, the switching box 5 only cleans the first camera 1 for manual driving. In the situation shown in FIG. 2 (2), the vehicle is entering an automatic driving area and the driving mode is switched from manual driving mode to automatic driving mode. In this case, the switching box 5 performs both cleaning of the first camera 1 by the first cleaning unit 6 and cleaning of the second camera 2 by the second cleaning unit 7.

[0025] In the situation shown in (3) of FIG. 2, the vehicle is entering an automatic driving area and is in automatic driving mode. In this case, the switching box 5 only washes the second camera 2 for automatic driving. In the situation shown in (4) of FIG. 2, the vehicle is entering a manual driving area and the driving mode switches from automatic driving mode to manual driving mode. In this case, the switching box 5 performs both washing of the first camera 1 by the first washing unit 6 and washing of the second camera 2 by the second washing unit 7. In the situation shown in (5) of FIG. 2, the vehicle is traveling in a manual driving area and is in manual driving mode. In this case, similar to (1) of FIG. 2, the switching box 5 only washes the first camera 1 for manual driving.

[0026] Next, a description will be given of the camera washing control of the vehicle control device 100 according to this embodiment.

[0027] As shown in FIG. 3(a), the vehicle control device 100 determines in S10 whether the vehicle has been switched from manual driving mode to automatic driving mode. The vehicle control device 100 may determine whether the conditions for starting the automatic driving mode have been met, rather than whether the mode has actually been switched. If the vehicle control device 100 determines that the vehicle has been switched from manual driving mode to automatic driving mode (S10: YES), the vehicle control device 100 proceeds to S11. If the vehicle control device 100 does not determine that the vehicle has been switched from manual driving mode to automatic driving mode (S10: NO), the vehicle control device 100 ends this processing.

[0028] In S11, the vehicle control device 100 uses the switching box 5 to perform both cleaning of the first camera 1 by the first cleaning unit 6 and cleaning of the second camera 2 by the second cleaning unit 7. The timing of cleaning the first camera 1 and the second camera 2 may be simultaneous or may be different. After that, the vehicle control device 100 ends this processing.

[0029] FIG. 3(b) is a flowchart showing another example of camera cleaning control in the vehicle control device 100. As shown in FIG. 3(b), the vehicle control device 100 determines in S20 whether the vehicle has been switched from the autonomous driving mode to the manual driving mode. The vehicle control device 100 may determine that the conditions for terminating the autonomous driving mode have been met, rather than that the mode has actually been switched. If the vehicle control device 100 determines that the vehicle has been switched from the autonomous driving mode to the manual driving mode (S20: YES), the vehicle control device 100 proceeds to S11. If the vehicle control device 100 does not determine that the vehicle has been switched from the autonomous driving mode to the manual driving mode (S20: NO), the vehicle control device 100 ends the current processing.

[0030] In S21, the vehicle control device 100 uses the switching box 5 to perform both cleaning of the first camera 1 by the first cleaning unit 6 and cleaning of the second camera 2 by the second cleaning unit 7. After that, the vehicle control device 100 ends this processing.

[0031] According to the vehicle control device 100 of this embodiment described above, the first camera 1 and the second camera 2 can be appropriately washed when switching between the manual driving mode and the autonomous driving mode, thereby preventing problems caused by camera dirt when switching modes. Furthermore, the vehicle control device 100 washes only the first camera 1 in the manual driving mode and only the second camera 2 in the autonomous driving mode, thereby improving the efficiency of the use of cleaning fluid. In other words, by switching the pump control at the appropriate timing, safety during vehicle driving can be improved, and by reducing the frequency of simultaneous cleaning of the first camera 1 and the second camera 2, cleaning fluid can be saved.

[0032] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. The present invention can be embodied in various forms, including the above-described embodiments, with various modifications and improvements made based on the knowledge of those skilled in the art. [Explanation of symbols]

[0033] 1...first camera, 2...second camera, 3...camera ECU, 4...autonomous driving ECU, 5...switching box, 6...first cleaning unit, 7...second cleaning unit, 100...vehicle control device

Claims

[Claim 1] A vehicle control device that is mounted on a vehicle and can switch between a manual driving mode and an automatic driving mode of the vehicle, a first camera used when the vehicle is manually driven; a second camera used during automatic driving of the vehicle; a first cleaning unit for cleaning the first camera; a second cleaning unit for cleaning the second camera; Equipped with A vehicle control device that performs both cleaning of the first camera by the first cleaning unit and cleaning of the second camera by the second cleaning unit at the timing of switching between the manual driving mode and the automatic driving mode.

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