Vehicle control system and computer program

Abstract

To provide a vehicle control device and computer program that can smooth the driving conditions of a vehicle during autonomous driving. [Solution] A vehicle control device comprising a control unit 11 that automatically drives the vehicle based on a driving command received from a control device 100 that monitors the vehicle 1, wherein the control unit, based on detection values ​​that detect the environment around the vehicle, determines that there is a predetermined object that may affect the driving of the vehicle, stops the vehicle for a predetermined period of time according to the state of the predetermined object, and if the predetermined object is still present after the predetermined period of time has elapsed, requests remote assistance from the control device to drive the vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle control device and a computer program capable of assisting in driving a vehicle capable of autonomous driving.

Background Art

[0002] For example, Patent Document 1 describes a vehicle system including a vehicle capable of autonomous driving and a remote operation device capable of remotely operating the vehicle. According to the technique described in Patent Document 1, when an abnormality occurs during autonomous driving of the vehicle, the vehicle stops, transmits detection data such as a captured image to the remote operation device, and requests remote support. In the remote operation device, when a remote operator who has confirmed the environment around the vehicle based on the captured image determines that the vehicle can resume driving, the vehicle is resumed based on the remote operation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the technique described in Patent Document 1, when a predetermined object such as dust that affects the driving of a vehicle capable of autonomous driving exists, even if the vehicle can resume driving when the predetermined object disappears, the vehicle may automatically stop and request a remote operation from a remote operator.

[0005] An object of the present invention is to provide a vehicle control device and a computer program capable of smoothing the driving state of a vehicle during autonomous driving.

Means for Solving the Problems

[0006] One aspect of the present invention is a vehicle control device comprising a control unit that automatically drives a vehicle based on a driving command received from a control device that monitors the vehicle, wherein the control unit, based on detection values ​​that detect the environment around the vehicle, determines that there is a predetermined object that may affect the driving of the vehicle, and stops the vehicle for a predetermined period of time according to the state of the predetermined object, and if the predetermined object is still present after the predetermined period of time has elapsed, requests remote assistance from the control device to drive the vehicle. [Effects of the Invention]

[0007] According to the present invention, the driving conditions of a vehicle during autonomous driving can be made smoother. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing the configuration of a vehicle system according to the embodiment. [Figure 2] This diagram shows a state in which a vehicle avoids a predetermined object. [Figure 3] This diagram shows a vehicle stopping just before a designated target. [Figure 4] This diagram shows the state of vehicle control in response to dust and sand. [Figure 5] This flowchart shows the processing flow of the vehicle control method executed in the vehicle control device. [Modes for carrying out the invention]

[0009] As shown in Figure 1, the vehicle system S consists of an autonomously driven vehicle 1 and a control device 100 that monitors the vehicle 1. The vehicle 1 is configured to automatically drive within a predetermined area. The user remotely monitors the autonomous driving of the vehicle 1 via the control device 100. The vehicle 1 includes a detection unit 2 that acquires detection values ​​necessary for driving, and a vehicle control device 10 that executes control to automatically drive the vehicle 1 based on the detection values ​​detected by the detection unit 2. The detection unit 2 detects the environment around the vehicle 1. The detection unit 2 is composed of multiple devices depending on the application. The detection values ​​detected by the detection unit 2 are used for autonomous driving.

[0010] The detection unit 2 detects predetermined objects present around the vehicle 1. These predetermined objects are obstacles that affect the driving of the vehicle 1. The obstacles may be located on the road, or they may extend beyond the road. The obstacles may also be in the air. The detection unit 2 is equipped with a camera 2A that images the environment around the vehicle 1. The camera 2A images the area around the vehicle 1 and outputs the image data. The image data from the camera 2A is used, for example, for the automatic driving of the vehicle 1. The imaging range and imaging direction of the camera 2A may differ depending on the vehicle 1.

[0011] The detection unit 2 includes a LiDAR (light detection and ranging) device 2B that detects three-dimensional data around the vehicle 1. The LiDAR device 2B periodically irradiates laser light in front of or around the vehicle 1 within the detection area and measures the reflected light from the target object. The LiDAR device 2B is configured to allow adjustment of the detection area. The LiDAR device 2B scans the laser light within the detection area and acquires measurement data. The LiDAR device 2B is configured to generate three-dimensional point cloud data around the vehicle 1 based on the measurement data.

[0012] The measurements from the LiDAR device 2B may be used to detect other vehicles, pedestrians, bicycles, motorcycles, and other traffic participants around vehicle 1, as well as objects around vehicle 1. The LiDAR device 2B also detects road structures present in the road environment.

[0013] The detection unit 2 includes, for example, a radar device 2C that scans radar waves to detect objects present around the vehicle 1. The radar device 2C is configured to complement the detection of objects with the lidar device 2B. The radar device 2C detects the relative distance to an object by irradiating millimeter-wave radar waves in the detection area and receiving the reflected waves reflected from the object. The radar device 2C is configured to allow adjustment of the detection area.

[0014] The measurements from radar device 2C are used to detect other vehicles, pedestrians, bicycles, motorcycles, and other traffic participants around vehicle 1, as well as objects around vehicle 1. Radar device 2C also detects road structures present in the road environment. The object recognition unit is composed of lidar device 2B and / or radar device 2C.

[0015] The detection unit 2 is equipped with a position sensor 2D that detects the current position of the vehicle 1. The position sensor 2D is, for example, a GPS (Global Positioning System) sensor or a GNSS (Global Navigation Satellite System) sensor. The position sensor 2D may be complemented by autonomous sensors (not shown) used for autonomous navigation, such as a gyro sensor and an accelerometer, to determine the position of the vehicle 1.

[0016] Vehicle 1 is equipped with an input / output unit 3 that can receive user inputs from within Vehicle 1 and display information. The input / output unit 3 is composed of, for example, a touch panel that can receive touch operations and display images. The input / output unit 3 may also be composed of an input unit that receives input operations such as physical switches and a display unit that can display information such as a liquid crystal display (LCD) or an organic EL (electroluminescence) display.

[0017] The input / output unit 3 may include a speaker that outputs voice information, an indicator that outputs light emission information, a vibrator that outputs vibration information, etc. The input / output unit 3 has a function as an output unit that outputs information in at least one mode such as characters, images, voice, light emission, vibration, etc.

[0018] The vehicle 1 includes a communication unit 4 that can be communicatively connected to the network W. The communication unit 4 is a communication interface configured to be capable of wireless communication. The communication unit 4, for example, communicatively connects with a wireless base station existing around the vehicle 1 and mutually communicates with various communication targets via the network W. The vehicle 1, for example, communicates with a control device 100 communicatively connected to the network W and acquires map information including the current position of the vehicle 1.

[0019] The vehicle 1 includes a drive unit 5 that generates the power for running. The drive unit 5 is, for example, constituted by an internal combustion engine using fuel. The drive unit 5 is constituted by an electric motor when the vehicle 1 is an electric vehicle. The drive unit 5 may be constituted by combining an internal combustion engine and an electric motor when the vehicle 1 is a hybrid vehicle. The drive unit 5 is controlled by the vehicle control device 10 and the speed is adjusted.

[0020] The vehicle 1 includes a braking unit 6 for decelerating the vehicle speed and controlling it to a stop state. The braking unit 6 is, for example, constituted by a brake device that generates braking force. The braking unit 6 may be integrated with the drive unit 5 when the vehicle 1 is an electric vehicle. The braking unit 6 is controlled by the vehicle control device 10.

[0021] The vehicle 1 includes a steering unit 7 for operating the traveling direction. The steering unit 7 is constituted by a power steering device that gives a steering angle to the steering wheel according to the steering operation, etc. The steering unit 7 may be integrated with the drive unit 5 that variably controls the left and right driving forces of the drive wheels when the vehicle 1 is an electric vehicle. The steering unit 7 is controlled by the vehicle control device 10 and the steering angle is adjusted.

[0022] The vehicle control device 10 is composed of computer equipment that performs calculation processing. The vehicle control device 10 includes a control unit 11 that performs control related to the driving of the vehicle 1. The control unit 11 integrates and executes control of the vehicle 1, such as driving, remote assistance, navigation, and communication via the network W, based on the detected values ​​detected by the detection unit 2.

[0023] The control unit 11 is comprised of at least one hardware processor, such as a CPU (Central Processing Unit). The control unit 11 may be implemented by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or it may be implemented through the collaboration of software and hardware.

[0024] The vehicle control device 10 includes a storage unit 12 for storing data and programs. The storage unit 12 is composed of a non-temporary storage medium such as a hard disk drive (HDD) or a solid-state disk (SSD). The storage unit 12 stores computer programs and data necessary for controlling the vehicle 1. The programs may be stored in the storage unit 12 in advance, or they may be stored in an externally connectable storage medium and installed in the storage unit 12 when the storage medium is mounted on a drive device.

[0025] The vehicle control device 10 communicates with the control device 100 via the network W and receives driving commands from the control device 100. Based on the driving commands, the vehicle control device 10 drives the vehicle 1 along a preset route and at a predetermined speed. For example, the vehicle control device 10 automatically drives the vehicle 1 back and forth between a departure point and a destination.

[0026] The control device 100 is composed of an information processing device such as a personal computer. The control device 100 is used by a user who remotely monitors vehicle 1. The control device 100 is connected to a remote control device 110 that can remotely control vehicle 1. When vehicle 1 requires driving assistance, the user operates the remote control device 110 to remotely control and drive vehicle 1.

[0027] The control device 100 includes an arithmetic unit 102 that performs calculation processing. The arithmetic unit 102 is composed of at least one hardware processor such as a CPU. The arithmetic unit 102 may be implemented by hardware such as an LSI, ASIC, FPGA, or GPU, or it may be implemented by the cooperation of software and hardware.

[0028] The control device 100 includes a storage unit 104 for storing data and programs. The storage unit 104 is composed of a non-temporary storage medium such as a hard disk drive or a solid-state disk. The storage unit 104 stores computer programs and data necessary for remotely assisting and controlling the vehicle 1. The computer programs may be pre-stored in the storage unit 104, or they may be stored in an externally connectable storage medium and installed in the storage unit 104 when the storage medium is mounted on a drive device.

[0029] The control device 100 includes an input / output unit 105 that accepts user operations and can display information. The input / output unit 105 is composed of, for example, a touch panel that accepts touch operations and can display images. The input / output unit 105 may also be composed of an input unit that accepts input operations such as physical switches and a display unit that can display information such as a liquid crystal display or an organic EL display. The input / output unit 105 displays the captured image captured by the camera 2A.

[0030] The control device 100 includes a communication unit 106 that can communicate with the network W. The communication unit 106 is a communication interface configured to enable wireless communication. The communication unit 106 communicates with various communication targets, for example, via the network W. The calculation unit 102 communicates with a vehicle 1 connected to the network W, for example, and transmits a driving command to the vehicle 1. The calculation unit 102 transmits a driving command to the vehicle 1 that includes information on a pre-set driving route and speed.

[0031] When the calculation unit 102 receives remote support information requesting remote assistance from vehicle 1, it displays the remote support information on the input / output unit 105. The remote support information includes, for example, image data captured by camera 2A, position data, and other detected values. Based on the remote support information, the user determines whether or not vehicle 1 can be driven remotely. If the user determines that vehicle 1 cannot be driven remotely, it dispatches resources to the current location of vehicle 1 and implements measures to enable vehicle 1 to drive. If the user determines that vehicle 1 can be driven remotely, it operates the remote control device 110 to remotely control and drive vehicle 1.

[0032] The remote control device 110 includes a steering control unit 112 for remotely controlling the steering unit 7. The steering control unit 112 is composed of, for example, a device that mimics a steering wheel. The user operates the steering control unit 112 to remotely control the amount of steering of the steering unit 7. The remote control device 110 also includes a braking control unit 114 for remotely controlling the braking unit 6. The braking control unit 114 is composed of, for example, a device that mimics a brake pedal. The user operates the braking control unit 114 to remotely control the amount of braking of the braking unit 6.

[0033] The remote control device 110 includes an acceleration control unit 116 for remotely controlling the drive unit 5. The acceleration control unit 116 is composed of, for example, a device that mimics an accelerator pedal. The user operates the acceleration control unit 116 to remotely control the amount of movement of the drive unit 5. When the user determines that there are no longer any predetermined objects that could affect the driving of the vehicle 1, the user operates the control device 100 to terminate remote assistance and restart the automatic driving of the vehicle 1.

[0034] As shown in Figure 2, the control unit 11 automatically drives the vehicle 1 based on driving commands received from the control device 100 that monitors the vehicle 1. The control unit 11 drives the vehicle 1 along the road lane L based on the detection values ​​from the detection unit 2 that detects the environment around the vehicle 1. Based on the detection values, the control unit 11 determines whether or not there is a predetermined object J in the road lane L that affects the driving of the vehicle 1. Based on the detection values, the control unit 11 recognizes the state of the predetermined object J, such as road obstacles like rocks, damage to the road surface like holes or cracks, or natural phenomena that obstruct visibility like dust. The control unit 11 may also recognize the state of the predetermined object J that obstructs visibility, such as rain, snow, fog, or the presence of plants and animals, in addition to dust. The state of the predetermined object J refers to a state in which visibility changes, such as changes over time, changes in direction of movement, changes in density, or changes in light intensity.

[0035] The control unit 11 determines whether vehicle 1 can travel if a predetermined target J exists, depending on the state of the predetermined target J. The control unit 11 determines whether vehicle 1 can avoid the predetermined target J within the lane width of the road lane L where the predetermined target J exists (see Figure 2(A)). The control unit 11 compares the lane width of road lane L with the width of the predetermined target J, and if vehicle 1 can avoid the predetermined target J, it causes vehicle 1 to travel while avoiding the predetermined target J (see Figure 2(B)).

[0036] As shown in Figure 3, the control unit 11 compares the lane width of the road lane L with the width of a predetermined target J, and if it determines that vehicle 1 cannot avoid the predetermined target J, it causes vehicle 1 to stop temporarily (see Figure 3(B)). If the predetermined target J is an unavoidable obstacle or road surface damage, the control unit 11 requests remote assistance from the control device 100 to allow vehicle 1 to proceed. When the control device 100 receives a request for remote assistance from vehicle 1, the calculation unit 102 causes the input / output unit 105 to display remote assistance information, including environmental data around vehicle 1 such as images captured by the camera 2A.

[0037] A user monitoring the control device 100 determines the status of the designated target J based on remote support information. If the user determines that the designated target J cannot be removed, they dispatch resources, including personnel and work machinery, to the current location of vehicle 1 to perform the task of removing the designated target J. The control unit 11 then makes vehicle 1 drive automatically after the designated target J has been removed (see Figure 3(C)).

[0038] As shown in Figure 4, a predetermined object J may occur that obstructs the view of camera 2A. Based on the detected values ​​of the environment surrounding vehicle 1, the control unit 11 determines that a predetermined object J obstructing the view of camera 2A exists, and stops vehicle 1 for a predetermined period of time depending on the state of the predetermined object J. This is because the state of the predetermined object J obstructing the view may change over time. After the predetermined period of time has elapsed, the control unit 11 determines whether the predetermined object J obstructing the view of camera 2A has disappeared. If the predetermined object J has disappeared, the control unit 11 allows vehicle 1 to proceed.

[0039] The control unit 11 may, for example, determine whether a predetermined object J obstructing the view of camera 2A is dust J1. If the control unit 11 determines that the predetermined object J is dust J1, it may calculate a predetermined time according to the concentration of dust J1. Based on the detected value, the control unit 11 may calculate the degree of influence of the predetermined object J obstructing the view of camera 2A, including dust J1, on the automatic driving of the vehicle 1. For example, the control unit 11 may determine that the higher the degree of influence, the more difficult it becomes for vehicle 1 to drive automatically. The control unit 11 calculates a predetermined time according to the calculated degree of influence. For example, the control unit 11 may calculate that the predetermined time is longer the higher the degree of influence.

[0040] The control unit 11 determines whether or not the dust J1 has disappeared after a predetermined time has elapsed. If the dust J1 does not disappear, the control unit 11 continues to temporarily stop vehicle 1 (see Figure 4(B)). If the dust J1 disappears, the control unit 11 starts vehicle 1 moving (see Figure 4(C)).

[0041] If the dust J1 has not disappeared after a predetermined time has elapsed, the control unit 11 requests remote assistance from the control device 100 to drive the vehicle 1. The control unit 11 may also request remote assistance from the control device 100 to drive the vehicle 1 if visibility remains obstructed due to dust J1 adhering to the camera 2A or the like.

[0042] When the control device 100 receives remote assistance, the user inspects the remote assistance information and determines whether vehicle 1 is drivable based on the image captured by camera 2A. If vehicle 1 is drivable, the user operates the remote control device 110 to remotely control vehicle 1 and make it drive. At this time, the control device 100 transmits a drive command to vehicle 1, including the operation details of the remote control device 110, to restart vehicle 1's movement. After requesting remote assistance, the control unit 11, upon receiving a drive command from the control device 100, starts the stopped vehicle 1 to drive. If vehicle 1 is not drivable, the user may dispatch resources to the current location of vehicle 1 according to the state of a predetermined target J and implement measures to make vehicle 1 drivable.

[0043] Figure 5 shows, based on a flowchart, the processing flow of the vehicle control method for automatically driving the vehicle 1, which is executed by the vehicle control device 10. The vehicle control method is executed by the control unit 11 (processor) of the computer installed in the vehicle control device 10. The control unit 11 executes each of the following processes of the vehicle control method based on the computer program installed in the storage unit 12 of the vehicle control device 10.

[0044] The control unit 11 makes the vehicle 1 drive automatically based on a driving command received from the control device 100 that monitors the vehicle (S100). The control unit 11 obtains detection values ​​from the detection unit 2 to detect the environment around the vehicle (S102). Based on the detection values, the control unit 11 determines whether or not there is a predetermined object that may affect the driving of the vehicle 1 (S104). If the control unit 11 determines that there is a predetermined object, it determines whether or not it is possible to avoid the predetermined object (S106). If the control unit 11 determines that it is possible to avoid the predetermined object, it makes the vehicle 1 avoid the predetermined object and continues to drive automatically.

[0045] If the control unit 11 determines that it is not possible to avoid a predetermined object, it determines whether the predetermined object is dust or sand (S108). If the control unit 11 determines that the predetermined object is dust or sand, it temporarily stops the vehicle for a predetermined time (S110). The control unit 11 determines whether the dust or sand has disappeared by the time the predetermined time has elapsed (S112). If the control unit 11 determines that the dust or sand has disappeared, it returns to processing S100 and makes vehicle 1 drive automatically. If the control unit 11 determines that the dust or sand has not disappeared, it determines whether the stopping time has exceeded a predetermined time threshold (S114).

[0046] If the stopping time has not exceeded a threshold, the control unit 11 returns to process S110 and continues to stop vehicle 1. After a predetermined time has elapsed, if a predetermined target exists, the control unit 11 requests remote assistance from the control device 100 to start vehicle 1 (S116). In the control device 100, the user operates the remote control device 110 to remotely control vehicle 1 based on the remote assistance information obtained from vehicle 1.

[0047] As described above, the vehicle control device 10 can make vehicle 1 automatically drive based on driving commands received from the control device 100. The vehicle control device 10 can continue the automatic driving of vehicle 1 even if a predetermined object is present during automatic driving, as long as it can be avoided. The vehicle control device 10 can reduce the burden on the user managing the control device 100 by temporarily stopping vehicle 1 due to the presence of a predetermined object, and then resuming the automatic driving of vehicle 1 once the predetermined object has disappeared. The vehicle control device 10 can also smooth the driving state of vehicle 1 during automatic driving.

[0048] In the embodiments described above, the computer programs executed in each configuration of the vehicle control device 10 may be provided in the form of being recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. The computer program product including the computer programs according to the above embodiments may be stored on a storage medium or provided via a communication line. [Explanation of Symbols]

[0049] 1 Vehicle, 2 Detection unit, 2A Camera, 2B LiDAR device, 2C Radar device, 2D Position sensor, 3 Input / Output unit, 4 Communication unit, 5 Drive unit, 6 Braking unit, 7 Steering unit, 10 Vehicle control device, 11 Control unit, 12 Memory unit, 100 Control device, 102 Calculation unit, 104 Memory unit, 105 Input / Output unit, 106 Communication unit, 110 Remote control device, 112 Steering control unit, 114 Braking control unit, 116 Acceleration control unit, J Designated target, J1 Dust, L Road lane, S Vehicle system, W Network

Claims

1. The system includes a control unit that automatically drives the vehicle based on driving commands received from a control device that monitors the vehicle, The control unit, If, based on the detected values ​​of the environment surrounding the vehicle, it is determined that a predetermined object that may affect the vehicle's operation exists, the vehicle will be stopped for a predetermined period of time according to the state of the predetermined object. If the predetermined target exists after the predetermined time has elapsed, the control device is requested to provide remote assistance to drive the vehicle. Vehicle control system.

2. The control unit, If it is determined that the predetermined object is sand and dust, the predetermined time is calculated according to the concentration of the sand and dust. The vehicle control device according to claim 1.

3. The control unit, After requesting the aforementioned remote assistance, if the control device receives the aforementioned driving command to resume the vehicle's movement, the stationary vehicle will be made to start moving. The vehicle control device according to claim 1.

4. The control unit, Based on the detected values, the degree of influence of the predetermined target on the automatic driving is calculated. The predetermined time is calculated according to the degree of influence. The vehicle control device according to claim 1.

5. A computer program installed in a computer that automatically drives the vehicle based on driving commands received from a control device that monitors the vehicle, If, based on the detected values ​​of the environment surrounding the vehicle, it is determined that a predetermined object that may affect the vehicle's operation exists, the vehicle will be stopped for a predetermined period of time according to the state of the predetermined object. If the predetermined target exists after the predetermined time has elapsed, the computer is instructed to perform the following process: request remote assistance from the control device to drive the vehicle. Computer program.

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