Driver assistance control system

Abstract

To mitigate the risks that may arise as a result of implementing driver assistance systems. [Solution] The driver assistance control device 7 of a vehicle 100 equipped with a lighting device 6 is configured to automatically stop the vehicle when the driver determines that an abnormal condition is present, and to illuminate the lighting device in a manner different from that of normal use while the driver assistance is being performed.

Description

Technical Field

[0001] The present invention relates to a driving support control device.

Background Art

[0002] In Patent Document 1, as a conventional vehicle driving 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, the host vehicle is decelerated and deceleration stop control for holding the host vehicle in a stopped state is performed. There is disclosed one configured to carry out.

Prior Art Document

Patent Document

[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 including a lighting device according to an aspect of the present invention performs driving support for automatically stopping the vehicle when it is determined that the driver is in an abnormal state, and during the execution of the driving support, the lighting device is configured to be lit in a manner different from that during normal use.

Effects of the Invention

[0007] According to this aspect of the present invention, it is possible to make it easier for road users outside the vehicle to recognize that some kind of abnormality is occurring in the vehicle. Therefore, it is possible to reduce the risks that may arise as a result of implementing deceleration and stopping control. [Brief explanation of the drawing]

[0008] [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 lighting control using one embodiment of the present invention. [Modes for carrying out the invention]

[0009] 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.

[0010] Figure 1 is a schematic diagram of a vehicle 100 according to one embodiment of the present invention.

[0011] Vehicle 100 includes a surrounding sensor 1, a vehicle sensor 2, a driver sensor 3, an HMI (Human Machine Interface) 4, an actuator 5, a lighting device 6, and a control device 7. The surrounding sensor 1, vehicle sensor 2, driver sensor 3, HMI 4, actuator 5, lighting device 6, and control device 7 are each connected to communicate via an in-vehicle network 9 that conforms to standards such as a controller area network.

[0012] 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 7 as surrounding data.

[0013] 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.

[0014] 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 7 as vehicle data.

[0015] 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 7 as driver data.

[0016] 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.

[0017] The HMI4 notifies the vehicle occupant of information corresponding to the output signal received from the control device 7 via the output device 41, and also transmits data entered by the vehicle occupant to the control device 7 via the input device 42.

[0018] The HMI4 may be pre-installed in the vehicle 100, or it may be a terminal such as a smartphone owned by the vehicle occupants (driver and passengers). In the latter case, for example, information may be exchanged by communicating between the vehicle 100 and the vehicle occupants' terminals via short-range wireless communication, or information may be exchanged indirectly through communication between the vehicle occupants' terminals and an external server (not shown).

[0019] Actuator 5 is a device used for controlling the movement of the vehicle 100. The vehicle 100 according to this embodiment includes, as actuator 5, an acceleration actuator 51 (for example, at least one of an engine and a motor) for controlling the acceleration of the vehicle 100, a brake actuator 52 (for example, a hydraulic actuator) for controlling the brakes of the vehicle 100, and a steering actuator 53 (for example, a steering motor) for controlling the steering of the vehicle 100.

[0020] The lighting device 6 is a device for irradiating roads or emitting light to other traffic participants. Examples of the lighting device 6 include a headlamp (headlight), a tail lamp (taillight), a small lamp (side marker lamp), a stop lamp (brake light), a high-mounted stop lamp (auxiliary brake light), a back lamp (reverse light), a turn signal lamp (direction indicator lamp), a hazard lamp (flashing warning lamp), a fog lamp (fog light), and a number lamp (number display lamp), etc.

[0021] The control device 7 is an ECU (Electronic Control Unit) including a communication unit 71, a storage unit 72, and a processing unit 73.

[0022] The communication unit 71 includes an interface circuit for connecting the control device 7 to the in-vehicle network 9. The communication unit 71 supplies various data received from the outside to the processing unit 73. Also, the communication unit 71 outputs various signals output from the processing unit 73 to the outside.

[0023] The storage unit 72 has a storage medium such as an HDD (Hard Disk Drive), an SSD (Solid Disk Drive), or a semiconductor memory, and stores various computer programs and data used in the processing by the processing unit 73.

[0024] The processing unit 73 has one or more CPUs (Central Processing Unit) and its peripheral circuits, and executes various computer programs stored in the storage unit 72. The processing unit 73 is, for example, a processor. The processing unit 73 may further have other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphic processing unit. By executing processing according to a computer program, the processing unit 73 functions as an abnormal state determination unit 81, a recognition unit 82, and a driving support unit 83, and operates as a functional unit (module) that realizes a predetermined function. In the following description, when explaining the processing with each functional unit 81 to 83 as the subject, it indicates that the processing unit 73 is executing a program that realizes each functional unit 81 to 83.

[0025] The following describes the specific processing performed by the control device 7. Specifically, it describes the contents of each functional unit 81 to 83, which are realized by the processing unit 73 executing processing according to the computer program.

[0026] The abnormal state determination unit 81 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 81 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].

[0027] 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.

[0028] 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.

[0029] The recognition unit 82 recognizes objects and features around the vehicle 100. For example, the recognition unit 82 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 82 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 72 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.

[0030] The driver assistance unit 83 controls the actuators 5 based on the targets and features recognized by the recognition unit 82, and provides driver assistance that includes vehicle driving control of the vehicle 100. In this embodiment, the driver assistance unit 83 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 53 or monitor the surroundings. The driver assistance unit 83 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.

[0031] As one of the driving assistance functions that involves controlling the movement of the vehicle 100, the driver assistance unit 83 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.

[0032] How vehicle 100 is slowed down and stopped is not particularly limited, as long as the risk of contact with road users outside the vehicle during deceleration and stopping control is taken into consideration. For example, if the vehicle can recognize the lane markings of its own driving lane, it can slow down vehicle 100 along the lane markings and keep it stopped. If the vehicle cannot recognize the lane markings of its own driving lane, it can slow down vehicle 100 along the trajectory of the vehicle in front and keep it stopped. If neither the lane markings nor the vehicle in front can be recognized, vehicle 100 can be driven straight while slowing down and keeping it stopped. In addition, for example, considering the safety of driver rescue and passenger disembarkation, the vehicle may change lanes and move to the road lane or shoulder.

[0033] As mentioned above, when implementing deceleration and stopping control, if the risk of contact with road users outside the vehicle is not taken into consideration, there is a risk of rear-end collisions with road users outside the vehicle, especially following vehicles, as a result of implementing deceleration and stopping control. Therefore, in this embodiment, during the implementation of deceleration and stopping control, the lighting device 6 is illuminated using a special lighting method for deceleration and stopping control that is different from the normal lighting method. In this case, by illuminating at least the lighting devices of the lighting device 6 that are visible to following vehicles using a special lighting method for deceleration and stopping control that is different from the normal lighting method, the occurrence of rear-end collisions with following vehicles can be effectively suppressed.

[0034] As a dedicated lighting method for deceleration and stopping control, for example, the driver assistance unit 83 can alternately illuminate the left and right stop lamps (brake lights) while deceleration and stopping control is being performed.

[0035] Furthermore, while deceleration and stopping control is being performed, the driver assistance unit 83 can illuminate the stop lamps (brake lights) in the normal way, while illuminating only the high-mounted stop lamp (auxiliary brake light), which is mounted high up in the center of the rear of the vehicle, in a specific lighting pattern. An example of such a specific lighting pattern would be the Morse code pattern for "SOS".

[0036] Furthermore, the driver assistance unit 83 can illuminate the hazard lights (emergency flashing indicator lights) in a different lighting pattern than the normal lighting pattern while deceleration and stop control is being performed. For example, if the normal lighting pattern is to alternate between turning on and off for the same amount of time, the lighting time can be made longer than usual to create a lighting pattern that alternates between turning on and off.

[0037] Furthermore, if the vehicle 100 is equipped with a dedicated rear warning lamp for deceleration and stop control as a lighting device 6, for example at the rear of the vehicle body, the driver assistance unit 83 can illuminate the rear warning lamp continuously or periodically during the deceleration and stop control. The color of the rear warning lamp is not particularly limited, but it is desirable to use a color that provides good rearward visibility.

[0038] Furthermore, if there is a lighting device 6 among the lighting devices 6 for which the change of illumination color is permitted by law, the driver assistance unit 83 may also make that lighting device 6 illuminate in an illumination color different from the normal illumination color.

[0039] In this way, by illuminating the lighting device 6 using a special lighting method for deceleration and stopping control that differs from the normal lighting method, it becomes easier for road users outside the vehicle to recognize that some kind of abnormality is occurring with the vehicle 100. Therefore, the risk of contact with road users outside the vehicle caused by the implementation of deceleration and stopping control can be suppressed, and accidents can be prevented from occurring. In particular, by illuminating at least the lighting devices of the lighting device 6 that are visible to following vehicles using a special lighting method for deceleration and stopping control that differs from the normal lighting method, it becomes easier for drivers of following vehicles to recognize that some kind of abnormality is occurring with the vehicle 100, thus preventing rear-end collisions with following vehicles.

[0040] Figure 2 is a flowchart illustrating the lighting control according to this embodiment, which is carried out by the driver support unit 83 and, consequently, the control device 7.

[0041] In step S1, the control device 7 determines whether deceleration and stopping control is in progress. If deceleration and stopping control is in progress, the control device 7 proceeds to step S2. On the other hand, if deceleration and stopping control is not in progress, the control device 7 terminates the current process.

[0042] In step S2, the control device 7 illuminates at least the lighting devices 6 that are visible to following vehicles using a special lighting method (mode) for deceleration and stopping control that is different from the normal lighting method.

[0043] The control device 7 (driving assistance control device) of the vehicle 100 equipped with the lighting device 6 according to the embodiment described above performs driving assistance to automatically stop the vehicle 100 when the driver determines that an abnormal condition exists, and during the performance of driving assistance, the lighting device 6 is configured to light up in a manner different from that of normal use, namely a special lighting method for deceleration and stopping control.

[0044] This makes it easier for road users outside the vehicle to recognize that some kind of abnormality is occurring in vehicle 100. Therefore, it is possible to suppress the risk of contact with road users outside the vehicle that may occur due to the implementation of deceleration and stopping control, and to prevent accidents from occurring.

[0045] 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.

[0046] For example, in the above embodiment, the computer program executed in the control device 7 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. [Explanation of Symbols]

[0047] 6 Lighting equipment 7. Control devices (driving assistance control devices) 100 vehicles

Claims

[Claim 1] A driver assistance control device for a vehicle equipped with a lighting device, When the driver determines that an abnormal condition exists, the system provides driver assistance that automatically stops the vehicle. During the implementation of the aforementioned driving assistance, the lighting device is configured to illuminate in a manner different from that of normal use. Driver assistance control system.

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