Driver assistance control device, driver assistance method, and computer program

Abstract

To mitigate the risks that may arise as a result of implementing driver assistance systems. [Solution] The driver assistance control device 6 of the vehicle 100 is configured to stop the vehicle 100 when it is determined that the driver of the vehicle 100 is in an abnormal state that makes it difficult to continue driving the vehicle 100. When the recognition level of the lane markings in the vehicle's driving lane is below a predetermined level during this driver assistance, the device is configured to detect the left and right edges extending in the direction of travel of the vehicle 100 and stop the vehicle 100 between the left and right edges.

Description

Technical Field

[0001] The present invention relates to a driving support control device, a driving support method, and a computer program.

Background Art

[0002] In Patent Document 1, as a conventional vehicle travel control device, when it is determined that the driver is in an abnormal state in which the driver has lost the ability to drive the vehicle, deceleration stop control is performed to decelerate the host vehicle and keep the host vehicle in a stopped state. One configured to perform is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When performing deceleration stop control, it is necessary to suppress as much as possible the risks that may occur due to the implementation of the deceleration stop control.

[0005] The present invention has been made paying attention to such problems, and an object thereof is to suppress risks that may occur due to the implementation of deceleration stop control.

Means for Solving the Problems

[0006] In order to solve the above problems, a driving support control device for a vehicle according to an aspect of the present invention performs driving support to stop the vehicle when it is determined that the driver of the vehicle is in an abnormal state in which it is difficult to continue driving the vehicle. When the recognition level of the lane dividing line of the host vehicle travel lane in which the vehicle is traveling is less than a predetermined level during driving support, left and right edges extending in the traveling direction of the vehicle are detected, and the vehicle is stopped between the left and right edges. It is configured to.

[0007] Furthermore, a driving assistance method according to a certain aspect of the present invention is implemented by a vehicle control device, and when the vehicle driver determines that there is an abnormal condition that makes it difficult to continue driving the vehicle, it provides driving assistance to stop the vehicle, and when the recognition level of the lane markings of the vehicle's driving lane is below a predetermined level during driving assistance, it detects the left and right edges extending in the direction of travel of the vehicle and stops the vehicle between the left and right edges.

[0008] Furthermore, a computer program according to one aspect of the present invention provides driving assistance to stop a vehicle when the vehicle driver determines that an abnormal condition makes it difficult to continue driving the vehicle. During driving assistance, if the recognition level of the lane markings in the vehicle's driving lane is below a predetermined level, the computer is instructed to detect the left and right edges extending in the direction of travel of the vehicle and to stop the vehicle between the left and right edges. [Effects of the Invention]

[0009] According to these aspects of the present invention, it is possible to suppress the vehicle from deviating from the roadway during driving assistance, thereby reducing risks that may arise as a result of the implementation of driving assistance, such as contact with road users outside the vehicle. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram of a vehicle according to one embodiment of the present invention. [Figure 2] This is a flowchart illustrating deceleration and stopping control according to one embodiment of the present invention. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be described in detail below with reference to the drawings. In the following description, similar components will be given the same reference numerals.

[0012] Figure 1 is a schematic diagram of a vehicle 100 according to one embodiment of the present invention.

[0013] Vehicle 100 includes a peripheral sensor 1, a vehicle sensor 2, a driver sensor 3, an HMI (Human Machine Interface) 4, an actuator 5, and a control device 6. The peripheral sensor 1, vehicle sensor 2, driver sensor 3, HMI 4, actuator 5, and control device 6 are each connected to communicate via an in-vehicle network 9 that conforms to standards such as a controller area network.

[0014] The surrounding sensor 1 is a sensor for generating surrounding data that represents the conditions around the vehicle 100. In this embodiment, the vehicle 100 is equipped with one or more external cameras 11 as the surrounding sensor 1 for capturing images of the area around the vehicle 100. The external cameras 11 capture images of the area around the vehicle 100 at a predetermined frame rate (for example, 10 Hz to 40 Hz) and generate surrounding images of the area around the vehicle 100. Each time the external cameras 11 generate surrounding images, they transmit the generated surrounding images to the control device 6 as surrounding data.

[0015] In addition to the external camera 11, the vehicle 100 may also be equipped with a distance measuring sensor as a surrounding sensor 1 to measure the distance to targets and features in its vicinity. Examples of distance measuring sensors include LiDAR (Light Detection and Ranging), which measures distance based on the reflected light emitted by radar, and millimeter-wave radar sensors, which measure distance based on the reflected waves emitted by radio waves.

[0016] Vehicle sensor 2 is a sensor for generating vehicle data that represents the state of vehicle 100. In this embodiment, vehicle 100 includes, as vehicle sensor 2, a speed sensor 21 that generates speed data indicating the vehicle's speed, and a positioning sensor 22 that generates current position data indicating the vehicle's current position, such as latitude and longitude. However, vehicle sensor 2 is not limited to these sensors. The data acquired by each sensor 21, 22 is transmitted to the control device 6 as vehicle data.

[0017] The driver sensor 3 is a sensor for generating driver data that represents the driver's state. In this embodiment, the vehicle 100 includes a driver monitor camera 31 as the driver sensor 3 for capturing the driver's appearance, including the driver's face. The driver monitor camera 31 captures 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. Each time the driver monitor camera 31 generates an appearance image of the driver, it transmits the generated appearance image to the control device 6 as driver data.

[0018] HMI4 is a user interface for exchanging information between the vehicle 100 and its occupants. HMI4 includes output devices 41 for notifying the vehicle occupants through their bodily senses (e.g., sight, hearing, and touch) and input devices 42 for the vehicle occupants to perform input and response operations. Output devices 41 include, for example, displays (e.g., meter displays, center displays, head-up displays, etc.) and speakers. Input devices 42 include, for example, touch panels and microphones.

[0019] The HMI4 notifies the vehicle occupant of information corresponding to the output signal received from the control device 6 via the output device 41, and also transmits data entered by the vehicle occupant to the control device 6 via the input device 42.

[0020] The HMI4 may be pre-installed in the vehicle 100, or may be a terminal such as a smartphone owned by vehicle occupants (driver and passengers). In the latter case, for example, information exchange may be performed by communicating wirelessly at short range between the vehicle 100 and the vehicle occupant's terminal, or communication may be performed between the vehicle occupant's terminal and an external server (not shown), and information exchange may be performed indirectly via the server.

[0021] The actuator 5 is a device used for travel control of the vehicle 100. The vehicle 100 according to the present embodiment includes, as the actuator 5, an acceleration actuator 51 (for example, at least one of an engine and a motor) that performs acceleration control of the vehicle 100, a brake actuator 52 (for example, a hydraulic actuator) that performs brake control of the vehicle 100, and a steering actuator 53 (for example, a steering motor) that performs steering control of the vehicle 100.

[0022] The control device 6 is an ECU (Electronic Control Unit) including a communication unit 61, a storage unit 62, and a processing unit 63.

[0023] The communication unit 61 includes an interface circuit for connecting the control device 6 to the in-vehicle network 9. The communication unit 61 supplies various data received from various sensors, the HMI4, etc. to the processing unit 63. Also, the communication unit 61 outputs various signals output from the processing unit 63 to the HMI4, the actuator 5, etc.

[0024] The storage unit 62 has a storage medium such as an HDD (Hard Disk Drive), SSD (Solid Disk Drive), or semiconductor memory, and stores various computer programs, data, etc. used in the processing by the processing unit 63.

[0025] The processing unit 63 has one or more CPUs (Central Processing Units) and their peripheral circuits, and executes various computer programs stored in the memory unit 62. The processing unit 63 is, for example, a processor. The processing unit 63 may further have other arithmetic circuits such as a logical operation unit, a numerical operation unit, or a graphics processing unit. By executing processing according to the computer program, the processing unit 63 functions as an abnormal state determination unit 71, a recognition unit 72, a recognition level setting unit 73, an edge detection unit 74, and a driving support unit 75, and operates as a functional unit (module) that realizes a predetermined function. In the following description, when describing the processing with each functional unit 71 to 75 as the subject, it means that the processing unit 63 is executing the program that realizes each functional unit 71 to 75.

[0026] The following describes the specific processes performed by the control device 6. Specifically, it describes the contents of each functional unit 71 to 75, which are realized by the processing unit 63 executing processes according to the computer program.

[0027] The abnormal state determination unit 71 determines whether the driver is in an abnormal state (hereinafter simply referred to as "abnormal state") that makes it difficult to continue driving, for example, due to a sudden change in physical condition. In this embodiment, the abnormal state determination unit 71 determines that the driver is in an abnormal state if a predetermined abnormal estimated state continues for a predetermined driving intervention start time T1 [s].

[0028] An abnormal state is a condition in which the driver is considered to be in an abnormal state. For example, when driving assistance with vehicle 100 driving control is being implemented at a driving control level of 2 or lower, an example of an abnormal state is when the driver is not operating the steering wheel. Whether or not the driver is operating the steering wheel can be determined, for example, based on the magnitude of the steering torque acting on the steering shaft that rotates together with the steering wheel. In addition, regardless of the driving control level, it is also possible to determine whether or not the driver is in an abnormal state based on the driver's appearance, for example, based on the image from the driver monitor camera 31.

[0029] In this embodiment, when the abnormality estimation state persists for a predetermined warning start time T0 [s] (where T0 is shorter than T1), a warning is initiated to the driver via the HMI4. This allows the system to determine whether the driver is in an abnormality estimation state or not, even if the driver is in a normal state but is incorrectly judged to be in an abnormality estimation state, based on the driver's response to the warning. Alternatively, the system may determine whether the driver is in an abnormal state using a separate control device and obtain the result of that determination.

[0030] The recognition unit 72 recognizes objects and features around the vehicle 100. For example, the recognition unit 72 sequentially inputs the surrounding image received from the external camera 11 into a classifier to recognize objects such as other vehicles, motorcycles, and pedestrians, as well as features such as curbs, fences, and other similar structures (hereinafter referred to as "boundary structures") and road markings (e.g., lane markings defining driving lanes) within the surrounding image. The classifier can be, for example, a convolutional neural network (CNN) having multiple convolutional layers connected in series from the input side to the output side. The recognition unit 72 also calculates the distance from the vehicle 100 to the objects and features and calculates the position of the objects and features by using, for example, the standard size of the objects and features stored in the memory unit 62 for each type of object and feature, and the size of the objects and features recognized in the surrounding image. Note that the method of recognizing objects and features is not limited to this method, and various known methods may be used for recognition.

[0031] The recognition level setting unit 73 sets the recognition level of the pair of left and right section lines (hereinafter referred to as "lane markings") that define the lane in which the vehicle 100 is traveling (hereinafter referred to as "vehicle lane"), based on the recognition result of the recognition unit 72. The recognition level of the vehicle lane is set to be higher the higher the recognition accuracy of the pair of left and right section lines that define the vehicle lane.

[0032] For example, in this embodiment, the recognition level setting unit 73 sets the recognition level of the vehicle's driving lane to the lowest level, level 0, if it cannot recognize both the left and right lane markings in front of the vehicle 100; sets the recognition level of the vehicle's driving lane to level 1 if it can recognize one of the left or right lane markings in front of the vehicle 100; and sets the recognition level of the vehicle's driving lane to level 2 if it can recognize both the left and right lane markings in front of the vehicle 100. Reasons for the inability to recognize the lane markings include, for example, fading or chipping of the lane markings due to deterioration of the markings, and the influence of reflection of sunlight from the road surface. Note that the method of setting the recognition level is not limited to this method, and the recognition level may be set more precisely.

[0033] The edge detection unit 74 detects edges on the road that extend in the direction of travel of the vehicle 100, based on the recognition results of the recognition unit 72. Edges include, for example, lane markings of another driving lane traveling in the same direction as the vehicle 100 (hereinafter referred to as "parallel driving lane"), roadway edge lines (section lines drawn to the left of the direction of vehicle travel to separate the roadside or shoulder from the roadway), and sidewalk-roadway boundary lines (continuous or discontinuous boundaries or lane markings formed by structures to separate the sidewalk and the roadway). In this embodiment, detection by the edge detection unit 74 is performed when the recognition level of the vehicle's driving lane is below a predetermined level.

[0034] The driver assistance unit 75 controls the actuators 5 based on the targets and features recognized by the recognition unit 72, and provides driver assistance that includes vehicle driving control of the vehicle 100. In this embodiment, the driver assistance unit 75 can provide driver assistance that includes vehicle driving control of the vehicle 100 at a driving control level of Level 3 as defined by the Society of Automotive Engineers (SAE), that is, at a driving control level that does not require the driver to operate each actuator 51 to 63 or monitor the surroundings. The driver assistance unit 73 can also provide driver assistance that includes vehicle driving control of the vehicle 100 at a driving control level in which the driver is involved in driving the vehicle 100, for example, at a driving control level of Level 1 or Level 2 as defined by the SAE.

[0035] As one of the driving assistance functions that involves driving control of the vehicle 100, the driver assistance unit 75 performs deceleration and stop control to slow down the vehicle 100 and keep the vehicle 100 in a stopped state when it is determined that the driver is in an abnormal state.

[0036] Here, when implementing deceleration and stopping control, it is desirable to decelerate the vehicle 100 and keep it stopped so that the vehicle 100 does not deviate from the roadway (the part of the road demarcated by curbs, fences or other similar structures or road markings for the use of vehicle traffic). This is done in order to suppress risks arising from the implementation of deceleration and stopping control (for example, contact with road users outside the vehicle).

[0037] Therefore, in this embodiment, if the vehicle's own lane can be recognized, that is, if the section lines of the vehicle's own lane can be recognized, the vehicle 100 is decelerated along the vehicle's own lane and kept in a stopped state. On the other hand, if the section lines of the vehicle's own lane cannot be recognized, the vehicle 100 is decelerated along the edge detected by the edge detection unit 74 and kept in a stopped state.

[0038] This prevents the vehicle 100 from deviating outside the edge, i.e., outside the roadway, during deceleration and stopping control, thereby reducing the risks that may arise from the implementation of driver assistance, such as contact with road users outside the vehicle. The deceleration and stopping control according to this embodiment will now be described with reference to Figure 2.

[0039] Figure 2 is a flowchart illustrating the deceleration and stopping control according to this embodiment, which is performed by the driving support unit 75 and, consequently, the control device 6.

[0040] In step S1, the control unit 6 determines whether the driver is in an abnormal state. If the driver is in an abnormal state, the control unit 6 proceeds to the process in step S2. On the other hand, if the driver is not in an abnormal state, the control unit 6 terminates the current process.

[0041] In step S2, the control device 6 determines whether the recognition level of the vehicle's driving lane is at or above a predetermined level. In this embodiment, the control device 6 determines whether the recognition level of the vehicle's driving lane is at or above level 2, that is, whether both the left and right lane markings of the vehicle's driving lane are recognized. If the recognition level of the vehicle's driving lane is at or above level 2, that is, if both the left and right lane markings of the vehicle's driving lane are recognized, the control device 6 proceeds to the process in step S3. On the other hand, if the recognition level of the vehicle's driving lane is below level 2, that is, if both the left and right lane markings of the vehicle's driving lane are not recognized, the control device 6 proceeds to the process in step S4.

[0042] In step S3, the control device 6 slows down the vehicle 100 along its own driving lane and keeps the vehicle 100 in a stopped state.

[0043] In step S4, the control device 6 detects edges on the road that extend in the direction of travel of the vehicle 100. As mentioned above, edges that extend in the direction of travel of the vehicle 100 include, for example, lane markings for parallel driving lanes, outer edge lines of the roadway, and road-sidewalk boundaries.

[0044] In step S5, the control device 6 selects the edge on the left side of the vehicle 100 in the direction of travel that is closest to the vehicle 100 (hereinafter referred to as the "left neighbor edge") and the edge on the right side of the vehicle 100 in the direction of travel that is closest to the vehicle 100 (hereinafter referred to as the "right neighbor edge").

[0045] In step S6, the control device 6 decelerates the vehicle 100 between the left nearest edge and the right nearest edge, and holds the vehicle 100 in a stopped state.

[0046] The control device 6 (driving assistance control device) for the vehicle 100 according to this embodiment, as described above, performs deceleration stop control as driving assistance to stop the vehicle 100 when the driver of the vehicle 100 determines that there is an abnormal condition that makes it difficult to continue driving the vehicle 100. When the recognition level of the lane markings of the vehicle 100 is below a predetermined level during deceleration stop control, the device is configured to detect the left and right edges extending in the direction of travel of the vehicle 100 and stop the vehicle 100 between the left and right edges. The edges include lane markings of a different lane that is traveling in the same direction as the vehicle 100, the outer edge of the roadway markings that separate the road shoulder or shoulder from the roadway, or the road-sidewalk boundary line that separates the sidewalk from the roadway.

[0047] This prevents the vehicle 100 from deviating outside the edge, i.e., from deviating from the roadway, during deceleration and stopping control. Therefore, it is possible to suppress risks that may arise as a result of implementing deceleration and stopping control, such as contact with road users outside the vehicle.

[0048] Furthermore, the control device 6 according to this embodiment is configured to stop the vehicle 100 between the left edge, which is the closest in the vehicle width direction from the vehicle 100, and the right edge, which is the closest in the vehicle width direction from the vehicle 100, among the detected left and right edges.

[0049] This helps to prevent the vehicle from deviating significantly from its own lane, thereby further reducing the risks that may arise from the implementation of deceleration and stopping control, such as collisions with road users outside the vehicle.

[0050] Although embodiments of the present invention have been described above, these embodiments only represent a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

[0051] For example, in the above embodiment, the computer program executed in the control device 6 may be provided in the form of a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium, or it may be provided as a computer program product y. [Explanation of Symbols]

[0052] 7. Control devices (driving assistance control devices) 100 vehicles

Claims

1. A vehicle driver assistance control device, If it is determined that the driver of the vehicle is in an abnormal condition that makes it difficult to continue driving the vehicle, the system will implement driver assistance to stop the vehicle. During the aforementioned driving assistance, if the recognition level of the lane markings in the vehicle's driving lane is below a predetermined level, the system is configured to detect the left and right edges extending in the direction of travel of the vehicle and to stop the vehicle between the left and right edges. Driver assistance control system.

2. The system is further configured to stop the vehicle between the left edge and the right edge, which are the closest in the vehicle width direction to the vehicle, of the detected left and right edges. The driver assistance control device according to claim 1.

3. The aforementioned edge includes lane markings for a lane other than the vehicle's own lane whose direction of travel is the same as the vehicle's lane, road shoulder or shoulder line separating the roadway from the roadway, or sidewalk-roadway boundary line separating the roadway from the sidewalk. The driver assistance control device according to claim 1 or claim 2.

4. A driving assistance method implemented by a vehicle control device, If it is determined that the driver of the vehicle is in an abnormal condition that makes it difficult to continue driving the vehicle, the system will implement driver assistance to stop the vehicle. During the aforementioned driving assistance, if the recognition level of the lane markings in the vehicle's driving lane is below a predetermined level, the left and right edges extending in the direction of travel of the vehicle are detected, and the vehicle is stopped between the left and right edges. Driving assistance methods.

5. If it is determined that the vehicle driver is in an abnormal condition that makes it difficult to continue driving the vehicle, the system will provide driving assistance to stop the vehicle. During the aforementioned driving assistance, if the recognition level of the lane markings in the vehicle's driving lane is below a predetermined level, the left and right edges extending in the direction of travel of the vehicle are detected, and the vehicle is stopped between the left and right edges. A computer program that instructs a computer to perform a process.

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