Detection system

Abstract

To solve the problem in that, regarding the switching of a driving mode by rotating a steering wheel, a driver may feel uneasy when the steering wheel is rotated in an unnecessary direction during traveling of the vehicle.SOLUTION: A detection system includes: a first detection unit that is provided in an operation unit operated by a hand or a foot of a driver of a vehicle and detects contact of an object; a second detection unit that is provided in a grip unit gripped by the driver and detects gripping by the hand of the driver; and a control unit that controls the vehicle in one of driving modes, which are a first driving mode in which steering of a steering unit by the driver is not required and a second driving mode in which steering of the steering unit by the driver is required. When a switching condition is satisfied, which includes a first condition in which the contact of the object is detected by the first detection unit and a second condition in which the grip of the grip unit by the driver is detected, the control unit executes switching from the first driving mode to the second driving mode. When the switching condition is not satisfied, the control unit does not execute the switching.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to detection systems. [Background technology]

[0002] For example, Patent Document 1 discloses a technology for vehicles that checks whether the driver intends to steer the vehicle when switching from automatic driving, which does not require driver steering, to manual driving. The technology in Patent Document 1 has the driver turn the steering wheel, and determines whether the driver intends to steer the vehicle based on the degree of rotation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-112936 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is a risk that the driver may feel uneasy when turning the steering wheel in an unnecessary direction while the vehicle is running. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] (1) According to one aspect of the present disclosure, there is provided a detection system mounted on a vehicle, the detection system including: a first detector that is part of a deceleration device of the vehicle and is provided in an operation unit operated by a hand or foot of a driver of the vehicle and detects contact with an object; a second detector that is provided in a grip that is gripped by the driver in a steering unit that the driver rotates to indicate a traveling direction of the vehicle and has one or more detection ranges that detect the driver's grip; and a control unit that controls the vehicle in one of a first driving mode that does not require the driver to steer the steering unit and a second driving mode that requires the driver to steer the steering unit, the control unit switching from the first driving mode to the second driving mode when a switching condition is satisfied, the first condition including a first condition that the first detector detects contact with the object and a second condition that the second detector detects the driver's grip of the grip unit in at least one of the one or more detection ranges, and not switching when the switching condition is not satisfied. With this configuration, switching from the first driving mode, which does not require the driver to steer the steering unit, to the second driving mode, which requires the driver to steer the steering unit, is executed when the driver touches the operating unit of the reduction gear device and grips the grip. Therefore, the detection system of this embodiment does not require the driver to rotate the steering unit to switch from the first driving mode to the second driving mode, so the driver can switch from the first driving mode to the second driving mode with less anxiety than in a configuration that requires the driver to rotate the steering unit. (2) In the detection system of the above form, the one or more detection ranges are two or more detection ranges that, in a basic state in which the steering unit directs the vehicle in a straight-ahead direction, do not include a first plane that includes the direction of the rotation axis of the steering unit and the up-down direction of the vehicle, and are arranged symmetrically in the left-right direction of the vehicle with respect to the first plane, and the second condition may be that the grip of the gripping unit is detected in both of the two or more detection ranges, the detection range to the left of the first plane and the detection range to the right of the first plane. In this configuration, in the basic state, the driver is likely to grasp the left detection range of the grip portion with his / her left hand and the right detection range of the grip portion with his / her right hand. The second condition is that the driver's grasp of the grip portion is detected in both the left detection range and the right detection range. Therefore, to satisfy the second condition, the driver needs to grasp the grip portion with both hands. Therefore, the detection system of this embodiment can confirm the driver's intention regarding driving more accurately than by the driver grasping the grip portion with one hand. Furthermore, the detection system of this embodiment makes it easier for the driver to operate the steering unit by grasping the grip portion with both hands, thereby reducing the driver's anxiety when switching from the first driving mode to the second driving mode. (3) In the detection system of the above form, the one or more detection ranges are arranged symmetrically in the left-right direction of the vehicle with respect to a first plane including the direction of the rotation axis of the steering unit and the up-down direction of the vehicle in the basic state in which the steering unit indicates the straight-ahead direction of the vehicle, and the second condition may be that the grip of the gripping unit is detected in at least one of the detection ranges to the left of the first plane and the detection range to the right of the first plane. In this configuration, in the basic state, the driver is likely to grasp the left detection range of the grip portion with his / her left hand and the right detection range of the grip portion with his / her right hand. The second condition is that the grip portion is detected in at least one of the left detection range and the right detection range. Therefore, the driver can satisfy the second condition with one hand. Therefore, the detection system of the present disclosure allows the driver to easily grasp the grip portion with one hand. (4) In the detection system of the above aspect, the first detection unit may be provided in the operation unit that is operated by the foot. In this embodiment, the detection system of the present disclosure detects the driver's foot touching the operating unit and the driver's hand gripping the steering unit. In other words, the driver does not need to touch the operating unit with his or her hand. Therefore, the detection system makes it easier for the driver to switch from the first driving mode to the second driving mode with one hand. (5) In the detection system of the above aspect, the first detection unit may be provided in the operation unit that is operated by the hand. In this embodiment, the detection system of the present disclosure detects contact of the driver's hand with the operating unit and detects gripping of the steering unit by the driver's hand. That is, the detection system of the present disclosure switches from the first driving mode to the second driving mode using only the driver's hand. Therefore, the detection system of the present disclosure may allow the driver to switch from the first driving mode to the second driving mode more easily than switching from the first driving mode to the second driving mode using only the driver's hand and foot. (6) The detection system of the above form may further include a first notification unit that issues a switch notice to notify the driver that the switch will be executed, and the switch condition may further include a third condition that the switch notice has already been executed. In this embodiment, the detection system of the present disclosure notifies the driver that a switch from the first driving mode to the second driving mode will be performed by the switch notice. As a result, the detection system of the present disclosure causes the driver to perform an action that satisfies the first condition and the second condition. Therefore, the detection system of the present disclosure can efficiently switch the driving mode. (7) In the detection system of the above aspect, the switching condition may further include a fourth condition that the third condition of the first, second, and third conditions is satisfied first. By adopting this configuration, the detection system of the present disclosure switches from the first driving mode to the second driving mode after the driver recognizes the switch notice. When the switching conditions are the first condition, the second condition, and the third condition, the driver may be performing an action that satisfies the switching conditions without being aware that the driving mode will be switched. Therefore, the detection system of the present disclosure can reduce the driver's anxiety caused by the switching being performed unintentionally. (8) The detection system of the above form includes a second notification unit that can issue a notification requesting the driver to contact the object and a notification requesting the driver to grasp the gripping portion, and when the switching condition is not satisfied and the first detection unit does not detect contact of the object, the control unit issues a notification requesting the driver to contact the object via the second notification unit, and when the second detection unit does not detect gripping of the gripping portion, the control unit issues a notification requesting the driver to grasp the gripping portion via the second notification unit. By adopting such a configuration, the detection system of the present disclosure can instruct the driver to perform an operation that satisfies the switching condition, thereby enabling efficient switching of the driving mode. (9) According to another aspect of the present disclosure, there is provided a detection system mounted on a vehicle, the detection system including: a first detection unit that is part of a deceleration device of the vehicle and is provided in an operation unit operated by a hand or foot of a driver of the vehicle and detects contact with an object; a second detection unit that is provided in a grip unit held by the driver in a steering unit that the driver rotates to indicate a traveling direction of the vehicle and has one or more detection ranges that detect gripping by the driver's hand; and a control unit that controls the vehicle and executes one of a first driving mode and a second driving mode that alleviates conditions requiring the driver to steer the vehicle compared to the first driving mode, wherein the control unit executes switching from the first driving mode to the second driving mode when switching conditions are satisfied, including a first condition that the first detection unit detects contact with the object and a second condition that the second detection unit detects gripping of the grip unit by the driver in at least one of the one or more detection ranges, and does not execute the switching when the switching condition is not satisfied. By adopting such a configuration, the detection system of the present disclosure does not require the rotation of the steering unit to switch from the first driving mode to the second driving mode, and therefore the driver can switch from the first driving mode to the second driving mode with less anxiety than in a configuration that requires the rotation of the steering unit. Furthermore, the detection system of the present disclosure can confirm the driver's intention in more detail depending on the level of the driving mode. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram illustrating a configuration of a detection system according to a first embodiment. [Figure 2] FIG. [Figure 3] FIG. 3 is a cross-sectional view taken along the line III-III in FIG. 2. [Figure 4] FIG. 2 is a block diagram showing a control configuration of the first embodiment. [Figure 5] 4 is a flowchart showing a control method for the detection system of the first embodiment. [Figure 6] 10 is a flowchart showing a control method for the detection system of the second embodiment. [Figure 7] 10 is a flowchart showing a control method for the detection system of the third embodiment. [Figure 8] 11 is a flowchart showing a contact state determination process according to the third embodiment. [Figure 9] 10 is a flowchart showing a control method for the detection system of the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: A-1. Vehicle configuration: FIG. 1 is an explanatory diagram showing the configuration of a detection system 10 according to a first embodiment. The detection system 10 is mounted on, for example, a vehicle M equipped with an advanced driving assistance system. The advanced driving assistance system includes LTA (Lane Tracing Assist: a lane departure prevention assistance system), LCA (Lane Change Assist: a lane change assistance system), an autonomous driving mode that does not require steering of the steering unit 12p by the driver DR, and the like. Therefore, in this specification, the manual driving mode is a driving mode that requires steering of the steering unit 12p by the driver DR. In the first embodiment, the "autonomous driving mode" is also referred to as the "first driving mode," and the "manual driving mode" is also referred to as the "second driving mode."

[0009] Before describing the detection system 10, the vehicle M will be described. The vehicle M includes a reduction gear 11, a steering gear 12, and a drive gear 13. In Fig. 1, the reduction gear 11 and the steering gear 12 are shown in a simplified form. Note that the drive gear 13 is not shown in Fig. 1.

[0010] The drive device 13 generates driving force for running by, for example, an internal combustion engine.

[0011] The reduction gear 11 decelerates the vehicle M, for example, by using a disc brake. The reduction gear 11 includes an operating unit 11p that is operated by the foot of a driver DR of the vehicle M. The operating unit 11p is specifically a foot pedal. That is, the reduction gear 11 decelerates the vehicle M in response to the operation of the operating unit 11p by the foot of the driver DR.

[0012] The steering device 12 changes the traveling direction of the vehicle M. The steering device 12 includes a steering unit 12p that the driver DR rotates to indicate the traveling direction of the vehicle M. The steering device 12 is connected to a rotation axis AR of the vehicle M and is configured to be rotatable around the axis AX of the rotation axis AR. The rotation of the reduction gear 11 is transmitted to a steering gearbox (not shown) via the rotation axis AR. The direction along the axis AX of the rotation axis AR is referred to as the X-axis direction or rotation axis direction. In the X-axis direction, the direction away from the driver DR is the +X direction. In the directions perpendicular to the axis AX, the direction along the left-right direction of the vehicle M is referred to as the Y-axis direction or left-right direction. In the Y-axis direction, the direction toward the right of the vehicle M is the +Y direction, and the direction toward the left of the vehicle M is the -Y direction. In other words, the rotation axis direction is perpendicular to the left-right direction. The direction perpendicular to the axis AX and the Y direction is referred to as the Z-axis direction. In addition, the direction along the up-down direction of the vehicle M is referred to as the MU-axis direction or up-down direction. Of the MU axis directions, the direction pointing upwards of the vehicle M is the +MU direction, and the direction pointing downwards is the -MU direction. The direction of the vehicle M's traveling direction is an axis perpendicular to the MU axis and is represented by the MF axis. That is, in the direction parallel to the MF axis, the positive direction is the front of the vehicle M, and the negative direction is the rear of the vehicle M. The direction along the positive direction of the MF axis is called the straight ahead direction.

[0013] FIG. 2 is an explanatory diagram showing the steering unit 12p. FIG. 2 is a view of the steering unit 12p of FIG. 1 as viewed in the +X direction. In this specification, FIG. 2 is treated as the front of the steering unit 12p. The steering unit 12p is provided in the steering device 12 of the vehicle M, and is operated by the driver DR, who is an occupant of the vehicle M, to realize steering of the vehicle M. More specifically, the steering unit 12p is rotated by the driver DR to steer the vehicle M. The steering unit 12p includes a central portion 12p2 and a grip portion 12p1. In this specification, the "steering unit" is also referred to as a "handle."

[0014] The central portion 12p2 is rotatably attached to the vehicle M. Specifically, the central portion 12p2 is rotatably attached to the vehicle M by passing a rotation axis AR shown in FIG. 1 through a hole formed in the central portion 12p2 and fixing the rotation axis AR. The central portion 12p2 is also connected to the grip portion 12p1. In this embodiment, when the central portion 12p2 is not rotated, the central portion 12p2 is symmetrical with respect to a plane including the X-axis and the Z-axis.

[0015] The grip portion 12p1 is a portion that is gripped by the driver DR of the vehicle M. More specifically, the grip portion 12p1 is a ring-shaped portion that is formed around the central portion 12p2 in the steering unit 12p. The grip portion 12p1 is connected to the central portion 12p2 on the inner peripheral side of the grip portion 12p1.

[0016] FIG. 3 is a cross-sectional view taken along line III-III in FIG. 2. The grip portion 12p1 includes a core portion 12p11, a heater layer 12p12, a shield layer 12p13, an insulating layer 12p14, a sensor layer 12p15, and a skin layer 12p16. The core portion 12p11 is a part that forms the skeleton of the grip portion 12p1. As shown in FIG. 2, the core portion 12p11 has a circular ring shape when viewed in the +X direction. The core portion 12p11 is composed of a core and a core covering portion (not shown). As shown in FIG. 3, the core portion 12p11 is covered with the heater layer 12p12.

[0017] The heater layer 12p12 generates heat when energized, and can raise the temperature of the gripping portion 12p1. A shield layer 12p13 is laminated on the heater layer 12p12. The gripping portion 12p1 does not necessarily have to include the heater layer 12p12. When the gripping portion 12p1 does not include the heater layer 12p12, the core portion 12p11 is covered with the shield layer 12p13.

[0018] The shield layer 12p13 is made of a conductive fabric with a metal-plated surface. The shield layer 12p13 is laminated with an insulating layer 12p14, a sensor layer 12p15, and a skin layer 12p16, in that order. The shield layer 12p13 eliminates capacitance noise that occurs in the sensor layer 12p15 regardless of whether the driver DR is gripping the grip portion 12p1.

[0019] The insulating layer 12p14 is disposed between the sensor layer 12p15 and the shield layer 12p13. The insulating layer 12p14 is made of a non-conductive, flexible material, such as PET (Polyethylene terephthalate).

[0020] The skin layer 12p16 is exposed to the outside at the grip portion 12p1 and is gripped by the driver DR. The skin layer 12p16 is laminated on the sensor layer 12p15. The skin layer 12p16 is made of a non-conductive material. For example, the skin layer 12p16 is made of natural leather or synthetic leather.

[0021] The sensor layer 12p15 functions as one electrode of the capacitance sensor. The sensor layer 12p15 is made of a conductive fabric that has been surface-treated with metal plating. The sensor layer 12p15 is electrically connected to the sensor circuit 122.

[0022] As shown in FIG. 3, the layers of the grip portion 12p1 are bonded together with a bonding material 12p1a such as double-sided tape or adhesive.

[0023] A-2. Detection system configuration: The detection system 10 includes a first detection unit 110, a second detection unit 120, and a control unit 130. The first detection unit 110 and the control unit 130 are illustrated in Figure 1. The second detection unit 120 is illustrated in Figure 3.

[0024] The first detection unit 110 detects contact with an object. The first detection unit 110 is provided in an operation unit 11p that is part of the deceleration gear 11 of the vehicle M and is operated by the foot of the driver DR of the vehicle M. That is, the first detection unit 110 is provided in a part of the foot pedal that comes into contact with the foot of the driver DR. Note that, since the driver DR is wearing shoes, the shoes worn by the driver DR come into contact with the operation unit 11p. Therefore, the contact with an object detected by the first detection unit 110 is specifically contact with the shoes worn by the driver DR.

[0025] The first detection unit 110 is, for example, a capacitance-type proximity sensor. A capacitance-type proximity sensor detects contact of an object based on a change in capacitance caused by the object entering an electric field. The first detection unit 110 outputs the detection result to the control unit 130. For example, when the object approaches within a predetermined distance threshold, the first detection unit 110 outputs an output signal indicating that the object has contacted the operation unit 11p to the control unit 130.

[0026] The second detection unit 120 detects the driver DR gripping the grip portion 12p1. As shown in FIG. 2, the second detection unit 120 is provided on the grip portion 12p1 and has two detection ranges A120 that detect the driver DR gripping the grip portion 12p1. Specifically, the second detection unit 120 is a capacitance sensor. The second detection unit 120 includes a sensor unit 121 and a sensor circuit 122.

[0027] As shown in FIG. 3, the sensor unit 121 is composed of an epidermal layer 12p16 and a sensor layer 12p15. The sensor unit 121 has capacitance between the hand of the driver DR and the sensor layer 12p15. As described above, the sensor layer 12p15 functions as one electrode of a capacitance sensor. The other electrode of the capacitance sensor is the hand of the driver DR. The capacitance of the sensor unit 121 changes depending on the distance between the hand of the driver DR and the sensor layer 12p15, the area of ​​the hand, and the like. The sensor unit 121 is electrically connected to a sensor circuit 122.

[0028] That is, the sensor unit 121 constitutes two detection ranges A120 of the second detection unit 120. As shown in FIG. 2, the two detection ranges A120 do not include the first plane P1 and are arranged symmetrically in the left-right direction of the vehicle M with respect to the first plane P1. More specifically, the two detection ranges A120 are divided into a detection range A120L on the left side of the first plane P1 and a detection range A120R on the right side of the first plane P1. That is, the two detection ranges A120 are provided separately on the left and right sides of the steering unit 12p. Therefore, when the steering unit 12p is instructing the vehicle M to travel in a straight-ahead direction, the driver DR is likely to grasp the left detection range A120L of the grip unit 12p1 with his left hand and grasp the right detection range A120R of the grip unit 12p1 with his right hand.

[0029] The first plane P1 is a virtual plane that includes the X-axis direction and the Z-axis direction in the basic state. That is, the first plane P1 is a plane that includes the rotation axis direction of the steering unit 12p and the up-down direction of the vehicle M in a state in which the steering unit 12p instructs the vehicle M to travel in a straight-ahead direction. The state in which the steering unit 12p instructs the vehicle M to travel in a straight-ahead direction is also referred to as the basic state.

[0030] The sensor circuit 122 includes various circuits, such as a sensor driving circuit and a shield driving circuit, and detects changes in capacitance. The sensor circuit 122 detects the driver DR's grip of the grip portion 12p1 based on a change in voltage corresponding to a change in capacitance between the sensor layer 12p15 and the driver DR when the driver DR is gripping the grip portion 12p1 and when the driver DR is not gripping the grip portion 12p1. For example, when the sensor circuit 122 detects a change equal to or greater than a predetermined voltage threshold, it outputs an output signal indicating that the driver DR has gripped the grip portion 12p1 to the control unit 130. That is, the sensor circuit 122 outputs the detection result to the control unit 130. The sensor circuit 122 detects the driver DR's grip of the grip portion 12p1 in each of the two detection ranges A120.

[0031] 4 is a block diagram showing the control configuration of the first embodiment. The control unit 130 is configured as a logic circuit centered around a microcomputer. More specifically, the control unit 130 includes a CPU 131, a RAM 132, and a ROM 133. The CPU 131 executes a preset control program. The ROM 133 stores in advance control programs and control data required for the CPU 131 to execute various arithmetic processes. The RAM 132 temporarily reads and writes various data required for the CPU 131 to execute various arithmetic processes. The functions of the control unit 130 will be described below.

[0032] A-3. How to control the detection system: The control unit 130 controls the vehicle M in either the second driving mode or the first driving mode. In the first driving mode, the control unit 130 automatically controls the drive device 13, the reduction gear 11, the steering device 12, etc. of the vehicle M. In the second driving mode, the driver DR needs to steer the steering unit 12p. Therefore, when switching from the first driving mode to the second driving mode, the control unit 130 confirms the driver DR's intention regarding driving. When the driver DR allows switching from the first driving mode to the second driving mode, the control unit 130 executes the switching of the driving mode.

[0033] FIG. 5 is a flowchart showing a control method for the detection system 10 of the first embodiment. More specifically, the control unit 130 switches the driving mode by determining whether a switching condition is satisfied. The switching condition is a condition that must be satisfied to switch from the first driving mode to the second driving mode. The switching condition includes a first condition that the first detection unit 110 detects contact with an object, and a second condition that the second detection unit 120 detects gripping of the gripper 12p1. Specific processing by the control unit 130 will be described below. The control unit 130 starts the following processing, for example, when it receives a signal from the advanced driving assistance system requesting termination of the first driving mode.

[0034] 5, the control unit 130 acquires the detection result of the first detection unit 110. That is, the control unit 130 acquires information indicating that contact of the driver DR with the operation unit 11p has been detected, or information indicating that contact of the driver DR with the operation unit 11p has not been detected.

[0035] 5, the control unit 130 determines whether or not the driver DR has touched the operation unit 11p based on the detection result of the first detection unit 110. That is, the control unit 130 determines whether or not a first condition, among the switching conditions, that the first detection unit 110 detects contact with an object is satisfied. More specifically, if the control unit 130 does not detect contact with the operation unit 11p by the driver DR, the control unit 130 determines that the second condition is not satisfied and returns the process to step S1. If the control unit 130 detects contact with the operation unit 11p by the driver DR, the control unit 130 determines that the first condition is satisfied and proceeds to step S3.

[0036] 5, the control unit 130 acquires the detection result of the second detection unit 120. The control unit 130 acquires the following information (i) or (ii): (i) Information indicating that the gripping portion 12p1 is gripped in at least one of the two detection ranges A120 in FIG. 2, the detection range A120L on the left side of the first plane P1 and the detection range A120R on the right side of the first plane P1; and (ii) Information indicating that the gripping portion 12p1 is not gripped in either of the two detection ranges A120, the detection range A120L on the left side of the first plane P1 and the detection range A120R on the right side of the first plane P1.

[0037] 5, the control unit 130 determines whether the driver DR is gripping the grip portion 12p1 based on the detection result of the second detection unit 120. That is, the control unit 130 determines whether a second condition, among the switching conditions, that the second detection unit 120 detects that the driver DR is gripping the grip portion 12p1 is satisfied. If the control unit 130 determines that the driver DR is not gripping the grip portion 12p1, the control unit 130 determines that the second condition is not satisfied and returns the process to step S1. If the control unit 130 determines that the driver DR is gripping the grip portion 12p1, the control unit 130 determines that the second condition is satisfied and proceeds to step S5.

[0038] That is, for the second condition to be satisfied, it is sufficient that at least one of the left detection range A120L and the right detection range A120R is grasped. Therefore, the second condition is satisfied even when the driver DR grasps the grip portion 12p1 with one hand. Therefore, the detection system 10 of this embodiment allows the driver DR to easily grasp the grip portion 12p1 with one hand.

[0039] In step S5 of FIG. 5, the control unit 130 switches from the first operation mode to the second operation mode.

[0040] With this configuration, switching from the first driving mode, which does not require the driver DR to steer the steering unit 12p, to the second driving mode, which requires the driver DR to steer the steering unit 12p, is executed when the driver DR comes into contact with the operating unit 11p of the reduction gear device 11 and grips the grip portion 12p1. Therefore, the detection system 10 of this embodiment does not require the steering unit 12p to be rotated in order to switch from the first driving mode to the second driving mode, and therefore the driver DR can switch from the first driving mode to the second driving mode more comfortably than in a configuration that requires the rotation of the steering unit 12p.

[0041] Furthermore, in this embodiment, the driver DR is likely to grasp the left detection range A120L of the grip portion 12p1 with his / her left hand and the right detection range A120R of the grip portion 12p1 with his / her right hand in the basic state. The second condition is that the grip of the grip portion 12p1 is detected in at least one of the left detection range A120L and the right detection range A120R. Therefore, the driver DR can satisfy the second condition with one hand. Therefore, the detection system 10 of this embodiment allows the driver DR to easily grasp the grip portion 12p1 with one hand.

[0042] Furthermore, in this embodiment, since the operation unit 11p is a foot pedal, the driver DR operates the operation unit 11p with his / her foot. The detection system 10 of this embodiment detects contact of the driver DR's foot with the operation unit 11p and detects the driver DR's hand gripping the steering unit 12p. Therefore, the detection system 10 of this embodiment makes it easier for the driver DR to switch from the first operation mode to the second operation mode with one hand than in an embodiment that detects, for example, contact of the driver DR's foot with the operation unit 11p.

[0043] B. Second embodiment: In the above embodiment, the detection system 10 may further include a first notification unit that issues a switch notice to notify the driver DR that a switch will be executed. The first notification unit is, for example, an illumination device. The first notification unit is provided facing the front of the steering unit 12p along the shape of the grip unit 12p1. That is, the first notification unit is provided on the steering unit 12p so as to be within the field of view of the driver DR. The first notification unit issues a switch notice by, for example, flashing in response to a command from the control unit 130. Other configurations of the detection system 10 of the second embodiment are the same as those of the detection system 10 of the first embodiment.

[0044] In the second embodiment, the switching conditions further include a third condition that the switching notice has been executed. A control method for the detection system 10 of the second embodiment will be described below. The control unit 130 of the second embodiment starts the following process, similar to the control unit 130 of the first embodiment.

[0045] FIG. 6 is a flowchart showing a control method for the detection system 10 of the second embodiment. In step S21 of FIG. 6, the control unit 130 notifies the driver DR by the first notification unit that switching from the first driving mode to the second driving mode will be executed. That is, the control unit 130 executes a switch notice. As a result, for example, an illumination device provided in the steering unit 12p flashes, allowing the driver DR to recognize that switching from the first driving mode to the second driving mode will be executed. The control unit 130 stores the fact that the switch notice has been executed.

[0046] In step S22 of Fig. 6, the control unit 130 determines whether or not a switching notice has been issued. That is, the control unit 130 determines whether or not the third condition among the switching conditions is satisfied. If the switching notice has not been issued, the control unit 130 determines that the third condition is not satisfied and returns the process to step S21. If the switching notice has been issued, the control unit 130 determines that the third condition is satisfied and proceeds to step S23.

[0047] The processes in steps S23 to S27 in FIG. 6 are the same as the processes in steps S1 to S5 in FIG. 5, respectively.

[0048] In this embodiment, the detection system 10 of the present embodiment notifies the driver DR that the driving mode will be switched from the first driving mode to the second driving mode by the switching notice. As a result, the detection system 10 of the present embodiment causes the driver DR to perform an action that satisfies the first condition and the second condition. Therefore, the detection system 10 of the present embodiment can efficiently switch the driving mode.

[0049] C. Third embodiment: In the second embodiment, the switching conditions may further include a fourth condition, which is that the third condition of the first, second, and third conditions is satisfied first. That is, the switching conditions of the third embodiment are not satisfied if the first and second conditions are already satisfied when the switching notice is executed. Other configurations of the detection system 10 of the third embodiment are the same as those of the detection system 10 of the second embodiment. A control method for the detection system 10 of the third embodiment will be described below. The control unit 130 of the third embodiment starts the following process, similar to the control unit 130 of the second embodiment.

[0050] 7 is a flowchart showing a control method for the detection system 10 of the third embodiment. In step S31 of FIG. 7, the control unit 130 executes a process for determining a contact state.

[0051] Fig. 8 is a flowchart showing contact state determination processing according to the third embodiment. The processing of steps S3101 to S3104 in Fig. 8 is performed in the same manner as steps S1 to S4 in Fig. 5. Specifically, the control unit 130 of the third embodiment advances the processing to step S3105 if the first condition and the second condition are satisfied in steps S3102 and S3104 in Fig. 8. The control unit 130 of the third embodiment advances the processing to step S3106 if the first condition or the second condition is not satisfied in steps S3102 and S3104 in Fig. 8.

[0052] 8, control unit 130 determines that the gripping of grip portion 12p1 and the contact of the object with operation portion 11p have already been detected. Control unit 130 stores the determination result.

[0053] 8, control unit 130 determines that at least one of gripping by grip portion 12p1 and contact of an object with operation portion 11p is not detected. Control unit 130 stores the determination result.

[0054] This completes the contact state determination process.

[0055] The process of step S32 in FIG. 7 is the same as step S21 in FIG.

[0056] In step S33 of FIG. 7, the control unit 130 determines whether a switching notice has been executed in a state in which at least one of gripping with the grip portion 12p1 and contact of an object with the operation unit 11p has not been detected. That is, the control unit 130 determines whether the third and fourth conditions among the switching conditions are satisfied. If a switching notice has been executed, the third condition is satisfied. Furthermore, if the determination result of the contact state determination process is that at least one of gripping with the grip portion 12p1 and contact of an object with the operation unit 11p has not been detected, the fourth condition is also satisfied. If a switching notice has not been executed, the third and fourth conditions are not satisfied. If the determination result is that gripping with the grip portion 12p1 and contact of an object with the operation unit 11p have already been detected, the fourth condition is not satisfied.

[0057] That is, if at least one of the third condition and the fourth condition is not satisfied, the control unit 130 returns the process to step S31. If the third condition and the fourth condition are satisfied, the control unit 130 advances the process to step S34.

[0058] The processing in steps S34 to S38 in FIG. 7 is the same as that in steps S23 to S27 in FIG.

[0059] By adopting such a configuration, the detection system 10 of this embodiment switches from the first driving mode to the second driving mode after the driver DR recognizes the switch notice. When the switching conditions are the first condition, the second condition, and the third condition, the driver DR may be performing an operation that satisfies the switching conditions without recognizing that the driving mode will be switched. Therefore, the detection system 10 of this embodiment can reduce the anxiety of the driver DR caused by the switching being performed without the driver DR's intention.

[0060] D. Fourth embodiment: In the above embodiment, the detection system 10 may further include a second notification unit that can issue a notification requesting the driver DR to contact an object and a notification requesting the driver DR to grip the gripping unit 12p1. The second notification unit is realized, for example, by the first notification unit. That is, the second notification unit is an illumination device. The second notification unit issues a notification by changing the color or position of the flashing light in response to a command from the control unit 130, for example, in response to a requested notification. The other configurations of the detection system 10 of the fourth embodiment are the same as those of the detection system 10 of the third embodiment. Furthermore, the control unit 130 of the fourth embodiment performs processes not specifically mentioned in the same manner as the control unit 130 of the third embodiment.

[0061] Fig. 9 is a flowchart showing the switching condition determination process of the fourth embodiment. The processes of steps S41 to S44 in Fig. 9 are the same as steps S31 to S34 in Fig. 7. Furthermore, the process of step S45 in Fig. 9 is the same as the process of step S36 in Fig. 7.

[0062] In addition, in the embodiments other than the fourth embodiment, in order to facilitate understanding of the technology, it is described that the detection results are acquired in the step immediately before determining the detection results. However, the detection results do not necessarily have to be acquired in the step immediately before. The detection results may be acquired before the detection results are determined. In the fourth embodiment, the detection results may also be acquired in the step immediately before determining the detection results. However, in the fourth embodiment, since similar determination processes may be repeated, in order to facilitate understanding of the technology, all detection results are acquired before the detection results are determined.

[0063] 9, the control unit 130 determines whether the first condition is satisfied. More specifically, if the control unit 130 detects that the driver DR has touched the operation unit 11p, the control unit 130 determines that the first condition is satisfied and proceeds to step S47. If the control unit 130 does not detect that the driver DR has touched the operation unit 11p, the control unit 130 determines that the second condition is not satisfied and proceeds to step S50.

[0064] 9, the control unit 130 determines whether the second condition is satisfied. If the control unit 130 determines that the driver DR is not gripping the grip portion 12p1, the control unit 130 determines that the second condition is not satisfied and proceeds to step S49. If the control unit 130 determines that the driver DR is gripping the grip portion 12p1, the control unit 130 determines that the second condition is satisfied and proceeds to step S48.

[0065] The process of step S48 in FIG. 9 is the same as the process of step S38 in FIG.

[0066] In step S49 of FIG. 9, the control unit 130 executes a notification requesting the driver DR to grip the grip portion 12p1 using the second notification unit. The process proceeds to step S49 when the second detection unit 120 does not detect that the driver DR is gripping the grip portion 12p1. More specifically, the process proceeds to step S49 when only the second condition is not satisfied. Therefore, the control unit 130 notifies the driver DR, for example, by flashing, so that the second condition is satisfied. After the notification, the control unit 130 returns the process to step S44. That is, the control unit 130 returns the process to determine whether the first condition and the second condition are satisfied.

[0067] 7, if the switching condition is not satisfied, the process returns to the contact state determination process, but in FIG. 9, the process does not return to the contact state determination process of step S41. After the notification by the second notification unit, it is highly likely that the driver DR satisfies the first condition and the second condition, so when the control unit 130 determines whether the fourth condition is satisfied in step S43, there is a possibility that the fourth condition is not satisfied. Therefore, the control unit 130 returns to step S44 to determine only whether the first condition and the second condition are satisfied.

[0068] 9, the control unit 130 determines whether the second condition is satisfied. If the control unit 130 determines that the driver DR is gripping the grip portion 12p1, the control unit 130 determines that the second condition is satisfied, and proceeds to step S51. If the control unit 130 determines that the driver DR is not gripping the grip portion 12p1, the control unit 130 determines that the second condition is not satisfied, and proceeds to step S52.

[0069] In step S51 of Fig. 9, the control unit 130 executes a notification requesting the driver DR to contact an object using the second notification unit. The process proceeds to step S51 when the first detection unit 110 does not detect contact with an object. More specifically, the process proceeds to step S51 when only the first condition is not satisfied. Therefore, the control unit 130 notifies the driver DR by, for example, flashing a light in a position different from that in step S49 so that the first condition is satisfied.

[0070] 9, the control unit 130 executes, via the second notification unit, a notification requesting the driver DR to grip the grip portion 12p1 and a notification requesting the driver DR to contact an object. The process proceeds to step S52 when the second detection unit 120 does not detect gripping of the grip portion 12p1 and when the first detection unit 110 does not detect contact with an object. More specifically, the process proceeds to step S52 when only the first condition and the second condition are not satisfied. Therefore, the control unit 130 notifies the driver DR so that the first condition and the second condition are satisfied, for example, by flashing both when the driver DR is requested to grip the grip portion 12p1 and when the driver DR is requested to contact an object.

[0071] That is, when the switching condition is not satisfied and the first detection unit 110 does not detect contact with an object, the control unit 130 executes a notification requesting the driver DR to contact with an object via the second notification unit. When the second detection unit 120 does not detect gripping of the gripping unit 12p1 and the switching condition is not satisfied, the control unit 130 executes a notification requesting the driver DR to grip the gripping unit 12p1 via the second notification unit.

[0072] By adopting such a configuration, the detection system 10 of the present embodiment can instruct the driver DR to perform an operation that satisfies the switching condition, and therefore can efficiently switch the driving mode.

[0073] E. Other Embodiments: In the above embodiment, the operating unit 11p is a foot pedal and is operated by the foot of the driver DR. However, the operating unit 11p may be provided on the steering unit 12p so as to be operated by the hand of the driver DR. Specifically, the operating unit 11p may be a paddle-type brake. In other words, the first detection unit 110 is provided on the operating unit 11p that is operated by the hand of the driver DR.

[0074] In this embodiment, the detection system 10 of the present embodiment detects contact of the driver DR's hand with the operation unit 11p and detects gripping of the steering unit 12p by the driver DR's hand. That is, the detection system 10 of the present embodiment switches from the first driving mode to the second driving mode using only the driver DR's hand. Therefore, the detection system 10 of the present embodiment may enable the driver DR to switch from the first driving mode to the second driving mode more easily than switching from the first driving mode to the second driving mode using the driver's hand and foot.

[0075] F. Other Embodiments: In the above embodiment, the second condition is that the grip of the grip portion 12p1 is detected in at least one of the two detection ranges A120, that is, the detection range A120L on the left side of the first plane P1 and the detection range A120R on the right side of the first plane P1. However, the second condition may also be that the grip of the grip portion 12p1 is detected in both of the two detection ranges A120, that is, the detection range A120L on the left side of the first plane P1 and the detection range A120R on the right side of the first plane P1.

[0076] In this configuration, in the basic state, the driver DR is likely to grasp the left detection range A120L of the grip portion 12p1 with his / her left hand and the right detection range A120R of the grip portion 12p1 with his / her right hand. The second condition is that the grip of the grip portion 12p1 is detected in both the left detection range A120L and the right detection range A120R. Therefore, to satisfy the second condition, the driver DR needs to grasp the grip portion 12p1 with both hands. Therefore, the detection system 10 of this embodiment can confirm the driver's intention regarding driving more accurately than when the driver DR grasps the grip portion 12p1 with one hand. Furthermore, the detection system 10 of this embodiment makes it easier for the driver DR to operate the steering unit 12p by grasping the grip portion 12p1 with both hands, thereby reducing the driver DR's anxiety when switching from the first driving mode to the second driving mode.

[0077] G. Other Embodiments: In the above embodiment, the first driving mode is a driving mode that does not require the driver DR to steer the steering unit 12p. The second driving mode is a driving mode that requires the driver DR to steer the steering unit 12p. However, both the first driving mode and the second driving mode may be driving modes that do not require the driver DR to steer the steering unit 12p. However, the second driving mode is a driving mode that alleviates the conditions for requiring the driver DR to steer the vehicle M compared to the first driving mode. For example, of the driving levels from levels 0 to 5 defined by the SAE (Society of Automotive Engineers), level 4 is the first driving mode and level 3 is the second driving mode. More specifically, in the second driving mode, the vehicle M automatically steers, but steering of the steering unit 12p by the driver DR is required under certain conditions, such as when a situation occurs that requires an immediate response, such as when another vehicle approaches rapidly.

[0078] By adopting such a configuration, the detection system 10 of this embodiment can confirm the intention of the driver DR in more detail according to the level of the driving mode.

[0079] H. Other Embodiments: (1) In the above embodiment, the second detection unit 120 has two detection ranges A120. However, the second detection unit 120 may have one or more detection ranges A120. The second detection unit 120 may have one detection range A120, or may have four detection ranges A120. In the case of one detection range A120, the one detection range A120 constitutes a left detection range A120L and a right detection range A120R. In addition, in the case of four detection ranges A120, for example, the left detection range A120L and the right detection range A120R are each constituted by two detection ranges A120.

[0080] Furthermore, in the above embodiment, the two detection ranges A120 are divided into a detection range A120L on the left side of the first plane P1 and a detection range A120R on the right side of the first plane P1. However, the one or more detection ranges A120 may be arranged symmetrically in the left-right direction of the vehicle M with respect to the first plane P1 in the basic state, and the second condition may be that the grip of the grip portion 12p1 is detected in at least one of the detection ranges A120 on the left side of the first plane P1 and the detection range A120 on the right side of the first plane P1. In other words, the one or more detection ranges A120 do not necessarily have to be divided based on the first plane P1. The one or more detection ranges A120 may include the first plane P1. (2) In the above embodiment, the grip portion 12p1 is a circular ring-shaped portion. However, the grip portion 12p1 is not limited to a circular ring shape and may be any shape, such as a polygonal shape or an elliptical shape. Furthermore, the grip portion 12p1 is not limited to a ring shape and may be a plurality of discontinuous grip portions 12p1, such as a right grip portion 12p1 and a left grip portion 12p1. (3) In the above embodiment, an illumination device provided in the steering unit 12p is exemplified as the first notification unit and the second notification unit. However, each unit may output information by other methods. For example, each unit may display information on a display provided in the vehicle M. Alternatively, each unit may output information by sound using a speaker provided in the vehicle M. Furthermore, the first notification unit and the second notification unit may output information by different methods. (4) In the above embodiment, a proximity sensor is exemplified as the first detection unit 110. However, the first detection unit 110 is not limited to a proximity sensor. For example, the first detection unit 110 may be a pressure sensor. Alternatively, the first detection unit 110 may be a switch that is provided on a movable part of the operation unit 11p and reacts within the range of play of the foot pedal. (5) In the above embodiment, the second detection unit 120 is a capacitance sensor. However, the second detection unit 120 may detect the grip of the grip portion 12p1 using another sensor. For example, the second detection unit 120 may be a pressure sensor. The pressure sensor is, for example, a resistive film pressure sensor. The pressure sensor detects the grip of the grip portion 12p1 based on a change in pressure caused by the driver DR's hand gripping the grip portion 12p1.

[0081] Furthermore, the second detection unit 120 may be a torque sensor. The torque sensor is provided on the rotation axis AR of the steering unit 12p. That is, the second detection unit 120 detects the grip of the grip portion 12p1 based on a change in torque applied to the rotation axis AR when the steering unit 12p is rotated by the hand of the driver DR.

[0082] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features of the embodiments corresponding to the technical features in each aspect described in the Summary of the Disclosure section can be appropriately replaced or combined to solve some or all of the above problems or achieve some or all of the above effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0083] A120L...Left side detection range, A120R...Right side detection range, DR...Driver, M...Vehicle, 10...Detection system, 11...Deceleration gear, 11p1...Operation unit, 12...Steering gear, 12p...Steering unit, 12p1...Grip unit, 12p11...Core metal unit, 12p12...Heater layer, 12p13...Shield layer, 12p14...Insulating layer, 12p15...Sensor layer, 12p16...Skin layer, 12p1a...Joint material, 12p2...Central unit, 13...Driver, 110...First detection unit, 120...Second detection unit, 121...Sensor unit, 122...Sensor circuit, 130...Control unit, 131...CPU, 132...RAM, 133...ROM, A120...Detection range, AR...Rotation axis, AX...Axis, P1...First plane

Claims

1. A detection system mounted on a vehicle, comprising: a first detection unit that is provided in an operation unit that is part of a deceleration device of the vehicle and is operated by a hand or a foot of a driver of the vehicle, and that detects contact of an object; a second detection unit provided in a gripping portion gripped by the driver in a steering unit rotated by the driver to indicate the traveling direction of the vehicle, the second detection unit having one or more detection ranges for detecting gripping by the driver's hand; a control unit that controls the vehicle in either a first driving mode that does not require steering of the steering unit by the driver, or a second driving mode that requires steering of the steering unit by the driver, The control unit switching from the first driving mode to the second driving mode when switching conditions are satisfied, the switching condition including a first condition that the first detection unit detects contact with the object and a second condition that the second detection unit detects gripping of the grip portion by the driver in at least one detection range among the one or more detection ranges, The detection system does not perform the switching if the switching condition is not met.

2. 10. The detection system of claim 1, the one or more detection ranges are two or more detection ranges, and in a basic state in which the steering unit instructs the straight-ahead direction of the vehicle, the one or more detection ranges do not include a first plane that includes a rotation axis direction of the steering unit and a vertical direction of the vehicle, and are arranged symmetrically in the left-right direction of the vehicle with respect to the first plane, The second condition is that the gripping of the gripping part is detected in both of the two or more detection ranges, a detection range to the left of the first plane and a detection range to the right of the first plane.

3. 10. The detection system of claim 1, the one or more detection ranges are arranged symmetrically in the left-right direction of the vehicle with respect to a first plane including a rotation axis direction of the steering unit and a vertical direction of the vehicle in a basic state in which the steering unit indicates a straight-ahead direction of the vehicle, The second condition is that the gripping of the gripping part is detected in at least one of a detection range to the left of the first plane and a detection range to the right of the first plane.

4. 10. The detection system of claim 1, The first detection unit is provided on the operation unit operated by the foot.

5. 10. The detection system of claim 1, A detection system, wherein the first detection unit is provided in the operation unit that is operated by hand.

6. 6. The detection system of claim 1, further comprising: a first notification unit that notifies the driver that the switching will be performed; A detection system, wherein the switching conditions further include a third condition that the switching notice has been executed.

7. 7. The detection system of claim 6, The switching conditions further include a fourth condition that the third condition is satisfied first among the first condition, the second condition, and the third condition.

8. 8. The detection system of claim 7, further comprising: a second notification unit that can issue a notification requesting the driver to contact the object and a notification requesting the driver to grip the gripping unit; When the switching condition is not satisfied, the control unit: When the first detection unit does not detect contact of the object, the second notification unit executes a notification requesting the driver to contact the object; When the second detection unit does not detect that the gripping unit is being held, the second notification unit issues a notification requesting the driver to hold the gripping unit.

9. A detection system mounted on a vehicle, comprising: a first detection unit that is provided in an operation unit that is part of a deceleration device of the vehicle and is operated by a hand or a foot of a driver of the vehicle, and that detects contact of an object; a second detection unit provided in a gripping portion gripped by the driver in a steering unit rotated by the driver to indicate the traveling direction of the vehicle, the second detection unit having one or more detection ranges for detecting gripping by the driver's hand; a control unit that controls the vehicle and executes one of a first driving mode and a second driving mode in which a condition requiring the driver to steer the vehicle is alleviated compared to the first driving mode, The control unit switching from the first driving mode to the second driving mode when switching conditions are satisfied, the switching condition including a first condition that the first detection unit detects contact with the object and a second condition that the second detection unit detects gripping of the grip portion by the driver in at least one detection range among the one or more detection ranges, The detection system does not perform the switching if the switching condition is not met.

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