Testing method

Abstract

To provide a technology by which a vehicle equipped with an autonomous driving system may be more easily inspected.SOLUTION: A method of inspecting a vehicle equipped with an autonomous driving system includes a system inspection to inspect an operation of an autonomous driving system with a vehicle flowing on the line in an in-line inspection. The system inspection includes simulating the driving of the vehicle by entering a simulated wheel speed signal into the autonomous driving system and verifying that the autonomous driving system operates normally during the simulated driving of the vehicle.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a method for inspecting a vehicle equipped with an autonomous driving system. [Background technology]

[0002] Patent Document 1 discloses an automobile driving inspection device. The automobile driving inspection device inspects the braking force as well as inspecting the power performance such as acceleration tests of the automobile. For this purpose, a drum tester and a brake tester are integrated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-145336 A Summary of the Invention [Problem to be solved by the invention]

[0004] Consider the inspection of a vehicle equipped with an autonomous driving system. For example, it is possible to actually drive the vehicle and check whether the autonomous driving system works properly. However, a large space is required to drive a vehicle outdoors. Also, large equipment such as a chassis dynamometer is required to simulate vehicle driving indoors.

[0005] One object of the present disclosure is to provide a technology that enables easier inspection of vehicles equipped with autonomous driving systems. [Means for solving the problem]

[0006] One aspect of the present disclosure relates to a method for inspecting a vehicle equipped with an autonomous driving system. The testing method includes a system test in which the operation of the autonomous driving system is tested while vehicles are moving on the line during in-line testing. The system check is A wheel speed signal is inputted artificially into the automatic driving system to simulate the running of a vehicle; To confirm whether the autonomous driving system operates normally during a simulated vehicle run. Includes. Effect of the Invention

[0007] According to the present disclosure, vehicle travel can be simulated by utilizing in-line vehicle inspection. Then, during the simulated vehicle travel, it is confirmed whether the autonomous driving system operates normally. In this way, it is possible to easily inspect the autonomous driving system. Large equipment such as a chassis dynamometer is not required to simulate vehicle travel. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a conceptual diagram for explaining an overview of an autonomous driving system mounted on a vehicle according to an embodiment of the present disclosure. [Diagram 2] FIG. 1 is a conceptual diagram for explaining an overview of an autonomous driving system mounted on a vehicle according to an embodiment of the present disclosure. [Diagram 3] 1 is a block diagram illustrating a configuration example of an autonomous driving system according to an embodiment of the present disclosure. FIG. [Figure 4] 2 is a block diagram showing an example of driving environment information according to an embodiment of the present disclosure. FIG. [Diagram 5] FIG. 1 is a conceptual diagram for explaining an overview of a system inspection in an in-line inspection of a vehicle according to an embodiment of the present disclosure. [Figure 6] FIG. 1 is a conceptual diagram for explaining an overview of a system inspection in an in-line inspection of a vehicle according to an embodiment of the present disclosure. [Figure 7] 1 is a block diagram showing an example of the configuration of an inspection auxiliary device used in a system inspection according to an embodiment of the present disclosure. [Figure 8] 4 is a flowchart illustrating a system test according to an embodiment of the present disclosure. [Figure 9] FIG. 2 is a conceptual diagram for explaining an example of system inspection items according to an embodiment of the present disclosure. [Figure 10] FIG. 13 is a conceptual diagram for explaining another example of system test items according to an embodiment of the present disclosure. [Figure 11] FIG. 13 is a conceptual diagram for explaining yet another example of system inspection items according to an embodiment of the present disclosure. [Figure 12] FIG. 13 is a conceptual diagram for explaining yet another example of system inspection items according to an embodiment of the present disclosure. [Figure 13] FIG. 13 is a conceptual diagram for explaining yet another example of system inspection items according to an embodiment of the present disclosure. [Figure 14] FIG. 13 is a conceptual diagram for explaining yet another example of system inspection items according to an embodiment of the present disclosure. [Figure 15] FIG. 13 is a conceptual diagram for explaining yet another example of system inspection items according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0010] 1.Autonomous vehicle driving systems FIG. 1 is a conceptual diagram for explaining an overview of an autonomous driving system 10 mounted on a vehicle 1 according to the present embodiment. The autonomous driving system 10 controls the autonomous driving of the vehicle 1. The autonomous driving here is assumed to be based on the premise that the driver does not necessarily have to concentrate 100% on driving (for example, so-called autonomous driving at level 3 or higher). The autonomous driving level may be level 4 or higher. The vehicle 1 may be a driverless autonomous driving vehicle.

[0011] The automatic driving system 10 performs a recognition process to recognize the surrounding situation of the vehicle 1 using a recognition sensor mounted on the vehicle 1. Then, the automatic driving system 10 executes automatic driving control based on the result of the recognition process.

[0012] In the autonomous driving control, a target trajectory TR is typically used. The target trajectory TR includes a target position and a target speed of the vehicle 1 on the road on which the vehicle 1 is traveling. For example, the target trajectory TR is set at the center position of the lane on which the vehicle 1 is traveling. The lane is an area surrounded by white lines WL, and the white lines WL can be recognized by the above recognition process. As another example, the target trajectory TR may be set to avoid an obstacle. The autonomous driving system 10 generates the target trajectory TR and performs vehicle traveling control so that the vehicle 1 follows the target trajectory TR.

[0013] As shown in Fig. 2, the automatic driving system 10 may perform automatic driving control so that the vehicle 1 follows the preceding vehicle 2. In other words, the automatic driving control may include a following control for following the preceding vehicle 2. An example of the following control is ACC (Adaptive Cruise Control). The automatic driving system 10 recognizes the preceding vehicle 2 by the above recognition process and executes the following control.

[0014] A specific example of the autonomous driving system 10 according to the present embodiment will be described below.

[0015] 2. Specific examples of autonomous driving systems 2-1. Configuration example 3 is a block diagram showing a configuration example of an autonomous driving system 10 according to this embodiment. The autonomous driving system 10 includes a recognition sensor 20, a vehicle state sensor 30, a position sensor 40, a driver operation sensor 50, a driver monitor 60, a driving device 70, a communication device 80, an HMI (Human Machine Interface) 90, and a control device 100.

[0016] The recognition sensor 20 recognizes (detects) the surrounding situation of the vehicle 1. Examples of the recognition sensor 20 include a camera, a LIDAR (Laser Imaging Detection and Ranging), a radar, etc. The recognition sensor 20 may include a rain sensor.

[0017] The vehicle state sensor 30 detects the state of the vehicle 1. For example, the vehicle state sensor 30 includes a wheel speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, and the like.

[0018] The position sensor 40 detects the position and direction of the vehicle 1. An example of the position sensor 40 is a GPS (Global Positioning System) sensor.

[0019] The driver operation sensor 50 detects driving operations by the driver of the vehicle 1, i.e., driver operations. The driver operations include steering operations, acceleration operations, and deceleration operations. The driver operation sensor 50 includes a steering angle sensor (handle angle sensor), a steering torque sensor, a steering touch sensor, an accelerator pedal sensor, a brake pedal sensor, etc.

[0020] The driver monitor 60 detects the state of the driver. More specifically, the driver monitor 60 includes an imaging device such as an infrared camera. The driver monitor 60 can detect various states of the driver by analyzing images obtained by the imaging device. For example, the driver monitor 60 can detect the direction of the driver's face, the line of sight, and the degree to which the driver's eyes are open or closed.

[0021] The traveling device 70 includes a steering device, a drive device, and a braking device. The steering device steers the wheels of the vehicle 1. For example, the steering device includes an electric power steering (EPS) device. The drive device is a power source that generates a driving force. Examples of the drive device include an engine, an electric motor, and an in-wheel motor. The braking device generates a braking force.

[0022] The communication device 80 communicates with an external device outside the vehicle 1 wirelessly or via wires.

[0023] The HMI 90 is an interface for providing information to the driver and receiving information from the driver. For example, the HMI unit includes an input device, a display device, a speaker, and a microphone. Examples of the input device include a touch panel, a keyboard, a switch, and a button.

[0024] The control device 100 is a computer that controls the vehicle 1. The control device 100 includes one or more processors 110 (hereinafter simply referred to as processor 110) and one or more storage devices 120 (hereinafter simply referred to as storage devices 120). The processor 110 executes various processes. For example, the processor 110 includes a CPU (Central Processing Unit). The storage device 120 stores various information required for processing by the processor 110. Examples of the storage device 120 include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), and the like. The control device 100 may include one or more ECUs (Electronic Control Units).

[0025] The autonomous driving program 130 is a computer program executed by the processor 110. The autonomous driving program 130 is executed by the processor 110 to realize autonomous driving control by the control device 100. The autonomous driving program 130 is stored in the storage device 120. Alternatively, the autonomous driving program 130 may be recorded in a computer-readable recording medium.

[0026] 2-2. Driving environment information The control device 100 acquires driving environment information 200 indicating the driving environment of the vehicle 1. The driving environment information 200 is stored in the storage device 120.

[0027] 4 is a block diagram showing an example of driving environment information 200. The driving environment information 200 includes map information 210, surrounding situation information 220, vehicle state information 230, position information 240, driver operation information 250, driver state information 260, and the like.

[0028] The map information 210 includes a general navigation map. The map information 210 may indicate lane layouts, road shapes, etc. The map information 210 may include location information of landmarks, traffic lights, signs, etc. The control device 100 obtains the map information 210 of the required area from a map database.

[0029] The surrounding situation information 220 is information indicating the situation around the vehicle 1. The control device 100 recognizes the situation around the vehicle 1 using the recognition sensor 20, and acquires the surrounding situation information 220. For example, the surrounding situation information 220 includes image information captured by a camera. As another example, the surrounding situation information 220 includes point cloud information obtained by a LIDAR.

[0030] The surrounding situation information 220 further includes object information 221 related to objects around the vehicle 1. Examples of objects include pedestrians, bicycles, other vehicles (preceding vehicles, parked vehicles, etc.), road configurations (white lines, curbs, guardrails, walls, median strips, roadside structures, etc.), signs, poles, obstacles, etc. The object information 221 indicates the relative position and relative speed of the object with respect to the vehicle 1. For example, by analyzing image information obtained by a camera, it is possible to identify the object and calculate the relative position of the object. It is also possible to identify the object and obtain the relative position and relative speed of the object based on point cloud information obtained by LIDAR. The object information 221 may include the moving direction and moving speed of the object.

[0031] The vehicle state information 230 is information indicating the state of the vehicle 1. Examples of the state of the vehicle 1 include a wheel speed (vehicle speed), a yaw rate, a lateral acceleration, a steering angle, and the like. The control device 100 acquires the vehicle state information 230 from the vehicle state sensor 30. The vehicle state information 230 includes wheel speed information 231 detected by a wheel speed sensor.

[0032] The position information 240 is information indicating the position of the vehicle 1. The control device 100 acquires the position information 240 from a detection result by the position sensor 40. In addition, the control device 100 may acquire the highly accurate position information 240 by a well-known self-position estimation process (Localization) using the object information 221 and the map information 210.

[0033] The driver operation information 250 is information obtained by the driver operation sensor 50. The driver operation information 250 indicates the steering operation, acceleration operation, and deceleration operation by the driver of the vehicle 1.

[0034] The driver state information 260 is information obtained by the driver monitor 60. For example, the driver state information 260 indicates the direction of the driver's face, the line of sight, and the degree to which the eyes are open or closed.

[0035] 2-3.Vehicle driving control The control device 100 executes "vehicle driving control" that controls the driving of the vehicle 1. The vehicle driving control includes steering control, acceleration control, and deceleration control. The control device 100 executes vehicle driving control by controlling the driving device 70. Specifically, the control device 100 executes steering control by controlling the steering device. The control device 100 also executes acceleration control by controlling the drive device. The control device 100 also executes deceleration control by controlling the braking device.

[0036] 2-4.Automatic driving control The control device 100 performs automatic driving control to control automatic driving of the vehicle 1 based on the driving environment information 200. The automatic driving here is assumed to be based on the premise that the driver does not necessarily have to concentrate 100% on driving (for example, so-called level 3 or higher automatic driving).

[0037] More specifically, the control device 100 generates a driving plan for the vehicle 1 based on the driving environment information 200. Examples of the driving plan include maintaining the current driving lane, changing lanes, and avoiding obstacles. Furthermore, the control device 100 generates a target trajectory TR required for the vehicle 1 to drive according to the driving plan based on the driving environment information 200. For example, the target trajectory TR is set to the center position of the lane in which the vehicle 1 is driving. The lane is an area surrounded by white lines WL, and the relative positions of the white lines WL are obtained from the surrounding situation information 220. As another example, the target trajectory TR may be set to avoid an obstacle. The relative position of the obstacle is obtained from the surrounding situation information 220. The target trajectory TR includes a target position and a target speed. The control device 100 performs vehicle driving control so that the vehicle 1 follows the target trajectory TR (see FIG. 1).

[0038] The automatic driving control may include "following control" for following the preceding vehicle 2 (see FIG. 2). An example of the following control is ACC (Adaptive Cruise Control). More specifically, the control device 100 recognizes the preceding vehicle 2 in front of the vehicle 1 using the recognition sensor 20. Then, the control device 100 performs vehicle travel control so that the vehicle 1 follows the preceding vehicle 2 at a predetermined distance.

[0039] The autonomous driving control may include "emergency brake control" that automatically decelerates the vehicle 1 in an emergency. The emergency brake control is also called AEB (Autonomous Emergency Braking) or PCS (Pre-Crash Safety System). Specifically, the control device 100 calculates a time to collision (TTC) for an object in front of the vehicle 1 based on the driving environment information 200. The speed of the vehicle 1 is obtained from the vehicle state information 230 (wheel speed information 231). The distance to the object is obtained from the object information 221. When the calculated time to collision falls below a predetermined threshold, the control device 100 automatically executes deceleration control to decelerate and stop the vehicle 1.

[0040] The automatic driving control may include "offset securing control" that secures a predetermined offset from the parallel running vehicle. The offset securing control is also called VLO (Variable Lateral Offset). Specifically, the control device 100 recognizes the parallel running vehicle that runs parallel to the vehicle 1 based on the driving environment information 200 (object information 221), and acquires the lateral distance to the parallel running vehicle. When the lateral distance to the parallel running vehicle is less than the predetermined offset, the control device 100 performs vehicle travel control (steering control) so that the vehicle 1 moves away from the parallel running vehicle in order to secure the predetermined offset.

[0041] The automatic driving control may include "wiper control" that automatically controls the operation of the wipers of the vehicle 1. For example, the control device 100 recognizes the rainfall state around the vehicle 1 based on the surrounding situation information 220. Then, the control device 100 automatically switches the operation strength of the wipers (OFF, Low, Mid, Hi) according to the intensity of the rainfall.

[0042] 2-5. Override If the driver of the vehicle 1 performs an override operation during the automatic driving control, the control device 100 ends the automatic driving control. The override operation is an active driving operation by the driver, and includes at least one of a steering operation, an acceleration operation, and a deceleration operation. The control device 100 can detect the override operation by the driver based on the driver operation information 250 described above.

[0043] 2-6. Migration request Consider a case where the automatic driving system 10 terminates at least a part of the automatic driving of the vehicle 1. The driver of the vehicle 1 takes over at least a part of the driving of the vehicle 1 (acceleration, deceleration, steering) from the automatic driving system 10. The driver taking over at least a part of the driving of the vehicle 1 from the automatic driving system 10 is hereinafter referred to as "driving transition." Driving transition means that the driving subject is transferred from the automatic driving system 10 to the driver. When driving transition is desired, the control device 100 issues a "transition demand TD" to the driver through the HMI 90. In response to the transition request TD, the driver needs to take over the necessary driving from the automatic driving system 10.

[0044] There are various possible examples of triggers for the transition request TD. One example of a trigger for the transition request TD is the operation of the above-mentioned "emergency brake control." Another example of a trigger for the transition request TD is when the white lines WL become blurred and cannot be recognized (white line loss). Yet another example of a trigger for the transition request TD is when the operating strength of the wipers of the vehicle 1 exceeds a threshold value (e.g., Hi). Yet another example of a trigger for the transition request TD is when the vehicle 1 passes the start point of a driving transition section. The driving transition section is a section for driving transition, and its start point is located just before the end point of the automatic driving permitted section.

[0045] The control device 100 may issue the transition request TD and may also decelerate the vehicle 1.

[0046] 3. System inspection using in-line inspection An inspection of the operation of the autonomous driving system 10 installed in the vehicle 1 is hereinafter referred to as a "system inspection." According to this embodiment, the system inspection is performed using an in-line inspection. That is, the system inspection is also performed during the in-line inspection in which the vehicle 1 is not traveling.

[0047] FIG. 5 is a conceptual diagram for explaining an overview of system inspection in in-line inspection of a vehicle 1. In in-line inspection, the vehicle 1 to be inspected moves on a line L1. Although the vehicle 1 on the line L1 is not moving, the recognition sensor 20 of the automatic driving system 10 sees the vehicle 1 as if it is moving. Therefore, by inputting a pseudo wheel speed signal (wheel speed information 231) to the automatic driving system 10, it is possible to simulate the movement of the vehicle 1 even when the vehicle 1 is not moving. In particular, when the line L1 moves at a constant and low speed, it is possible to simulate the constant and low speed movement of the vehicle 1.

[0048] In this manner, the system inspection is carried out in a simulated driving state in which the vehicle 1 is moving on the line L1. For example, an inspector gets into the vehicle 1 to be inspected at the start of the system inspection section. The inspector in the vehicle 1 performs a series of inspections on the autonomous driving system 10 during the simulated driving of the vehicle 1, and checks whether the autonomous driving system 10 operates normally. For example, the inspector checks whether the autonomous driving system 10 continues to perform autonomous driving control normally. As another example, the inspector checks whether the autonomous driving system 10 responds normally to changes in the environment around the vehicle 1. The inspector gets out of the vehicle 1 at the end of the system inspection section.

[0049] 5, a pseudo white line WL may be drawn along the line L1. The recognition sensor 20 of the autonomous driving system 10 recognizes the pseudo white line WL. In this case, the autonomous driving system 10 can perform a system inspection in a state where the autonomous driving system 10 recognizes the white line WL.

[0050] As shown in FIG. 6, not only the vehicle 1 but also another vehicle 3 exists on the line L1. That is, the vehicle 1 and the other vehicle 3 flow together on the line L1. Typically, the inter-vehicle distance is constant. The recognition sensor 20 of the automatic driving system 10 recognizes the other vehicle 3 around the vehicle 1. In particular, the recognition sensor 20 recognizes the other vehicle 3 arranged on the line L1 in front of the vehicle 1 as a preceding vehicle in the own lane. This makes it possible to simulate a following run (e.g., ACC) in which the vehicle 1 follows the preceding vehicle. In particular, when the line L1 flows at a low speed, it is possible to simulate a following run in a traffic jam. Then, during the simulated following run of the vehicle 1, it is confirmed whether the automatic driving system 10 operates normally. For example, it is confirmed whether the following control by the automatic driving system 10 continues normally. The inter-vehicle distance may be changed in a simulated manner.

[0051] 7 is a block diagram showing a configuration example of an inspection assistant device 300 used in the system inspection according to the present embodiment. The inspection assistant device 300 includes an HMI (Human Machine Interface) 310, a communication device 320, and a control device 330. The HMI 310 is an interface for providing information to an inspector and receiving information from the inspector. For example, the HMI 310 includes an input device, a display device, a speaker, and a microphone. Examples of the input device include a touch panel, a keyboard, a switch, and a button. The communication device 320 communicates with the automatic driving system 10 via a wired or wireless connection.

[0052] The control device 330 is a computer that performs various information processing. The control device 330 includes a processor and a storage device. The processor executes various processes. The storage device stores various information required for processing by the processor. Examples of the storage device include a volatile memory, a non-volatile memory, a HDD, and an SSD. The processor executes an inspection assistance program, which is a computer program, to realize the functions of the control device 330. The inspection assistance program is stored in the storage device. Alternatively, the inspection assistance program may be recorded in a computer-readable recording medium.

[0053] An inspector issues an instruction to start a system inspection through the HMI 310. The control device 330 communicates with the automatic driving system 10 through the communication device 320. The control device 330 inputs (supplies) various information to the automatic driving system 10. For example, the control device 330 includes a pseudo wheel speed signal input unit 331 and a pseudo GPS signal input unit 332 as functional blocks. The pseudo wheel speed signal input unit 331 inputs a pseudo wheel speed signal (wheel speed information 231) to the automatic driving system 10. The pseudo GPS signal input unit 332 inputs a pseudo GPS signal (position information 240) to the automatic driving system 10. The automatic driving system 10 performs automatic driving control using the signal input from the inspection auxiliary device 300 as a real signal.

[0054] Furthermore, the control device 330 receives information indicating the state of the autonomous driving system 10 and the autonomous driving control from the control device 100 of the autonomous driving system 10. The control device 330 may receive at least a part of the driving environment information 200 from the control device 100 of the autonomous driving system 10. The control device 330 presents the information received from the autonomous driving system 10 to the inspector via the HMI 310. Based on the information received from the autonomous driving system 10, the inspector can check the state of the vehicle 1, the autonomous driving system 10, and the autonomous driving control.

[0055] 8 is a flowchart showing a system inspection according to this embodiment. The system inspection is carried out in an in-line inspection while the vehicle 1 is moving on the line L1.

[0056] In step S10, the automatic driving system 10 of the vehicle 1 to be inspected is turned on. For example, an inspector operates the automatic driving system 10.

[0057] In step S20, the inspection auxiliary device 300 communicates with the automatic driving system 10 and inputs a pseudo wheel speed signal (wheel speed information 231) to the automatic driving system 10. The pseudo wheel speed is set to a value equivalent to the travel speed of the line L1 on which the vehicle 1 travels, for example. The automatic driving system 10 performs automatic driving control using the signal input from the inspection auxiliary device 300 as a real signal. This simulates the travel of the vehicle 1.

[0058] In step S30, the inspection assistant device 300 communicates with the automatic driving system 10 and inputs a pseudo GPS signal (location information 240) to the automatic driving system 10. The automatic driving system 10 performs automatic driving control using the signal input from the inspection assistant device 300 as a real signal. Note that step S30 may be omitted.

[0059] In step S40, the inspector checks whether the autonomous driving system 10 operates normally. To check the operation of the autonomous driving system 10, the inspector may refer to information presented by the HMI 90 of the vehicle 1, or may refer to information presented by the HMI 310 of the inspection assistance device 300. For example, the inspector checks whether the autonomous driving system 10 continues autonomous driving control under normal circumstances. As another example, the inspector checks whether the autonomous driving system 10 responds normally to input from the inspector. As yet another example, the inspector checks whether the autonomous driving system 10 responds normally to a predetermined environmental change around the vehicle 1.

[0060] Various examples of system inspection items will be described below.

[0061] 4. Various examples of system inspection items 4-1.Continuation of automatic driving control The hands-on state is a state in which the driver interferes with the steering of the vehicle 1. For example, the state in which the driver is performing a steering operation, that is, actively operating the steering wheel, is the hands-on state. The state in which the driver holds the steering wheel against the steering control by the automatic driving system 10 is also the hands-on state. On the other hand, the hands-off state is a driver state other than the hands-on state, in which the driver does not interfere with the steering of the vehicle 1. The control device 100 of the automatic driving system 10 can determine whether the driver is in a hands-on state or a hands-off state based on the driver operation information 250 or the driver state information 260.

[0062] The eyes-off state (EYES-OFF) is a state in which the driver takes his / her eyes off the road ahead of the vehicle 1. The control device 100 of the autonomous driving system 10 can determine, based on the driver state information 260, whether the driver is in the eyes-off state or not.

[0063] FIG. 9 is a conceptual diagram for explaining an example of a system inspection item. Here, a case is considered in which the autonomous driving level of the autonomous driving system 10 allows the driver to have his hands or eyes off. For example, in following driving in a traffic jam, the level 3 autonomous driving system 10 allows the driver to have his hands and eyes off. As shown in FIG. 6 above, by utilizing the in-line inspection, following driving in a traffic jam can also be simulated.

[0064] The inspector aboard the vehicle 1 actively keeps his / her hands or eyes off. The autonomous driving system 10 recognizes that the inspector has his / her hands or eyes off. Even if the inspector has his / her hands or eyes off, the autonomous driving system 10 is expected to continue autonomous driving control. The inspector confirms whether the autonomous driving system 10 will continue autonomous driving control when the inspector has his / her hands or eyes off.

[0065] 4-2. Response to input from inspector FIG. 10 is a conceptual diagram for explaining another example of a system inspection item. An inspector aboard the vehicle 1 performs an override operation. The control device 100 of the autonomous driving system 10 detects the override operation by the inspector based on the driver operation information 250. The autonomous driving system 10 is expected to end the autonomous driving control in response to the override operation. The inspector checks whether the autonomous driving system 10 ends the autonomous driving control in response to the override operation.

[0066] 4-3. Response to environmental changes 4-3-1. First example FIG. 11 is a conceptual diagram for explaining yet another example of a system inspection item. As described above, the control device 100 of the autonomous driving system 10 outputs a transition request TD in response to a predetermined trigger (environmental change). An example of a trigger for the transition request TD is the activation of the above-mentioned "emergency brake control." In other words, the appearance of an object that activates the emergency brake control can be said to be a predetermined environmental change that triggers the transition request TD. The inspector checks whether the autonomous driving system 10 normally outputs a transition request TD in response to such a predetermined environmental change. The transition request TD is presented to the inspector through the HMI 90.

[0067] As shown in Fig. 11, some object appears within the range where the emergency brake control is activated. For example, an inspector other than the inspector aboard the vehicle 1 passes directly in front of the vehicle 1. When the object appears within the range where the emergency brake control is activated, the autonomous driving system 10 is expected to activate the emergency brake control and output a transition request TD. The inspector checks whether the autonomous driving system 10 normally outputs the transition request TD.

[0068] 4-3-2. Second example 12 is a conceptual diagram for explaining yet another example of a system inspection item. Another example of a trigger for a transition request TD is when the white line WL becomes faint and cannot be recognized (white line lost). In other words, fading of the white line WL can be said to be a predetermined environmental change that triggers a transition request TD. The inspector checks whether the automated driving system 10 normally outputs a transition request TD in response to such a predetermined environmental change.

[0069] In the example shown in Fig. 12, a part of the white line WL drawn along the line L1 is a "faded white line." When the vehicle 1 to be inspected approaches the section with the faded white line, the autonomous driving system 10 is expected to output a transition request TD. The inspector checks whether the autonomous driving system 10 outputs the transition request TD normally.

[0070] 4-3-3.Third example 13 is a conceptual diagram for explaining yet another example of a system inspection item. Yet another example of a trigger for a transition request TD is when the wiper operation strength of the vehicle 1 becomes equal to or greater than a threshold value (e.g., Hi). In other words, precipitation (rainfall) that causes the wiper operation strength of the vehicle 1 to become equal to or greater than a threshold value (e.g., Hi) can be said to be a predetermined environmental change that triggers a transition request TD. The inspector checks whether the autonomous driving system 10 normally outputs a transition request TD in response to such a predetermined environmental change.

[0071] In the example shown in FIG. 13, a shower room is installed on line L1. Heavy rainfall is simulated in the shower room. When the vehicle 1 to be inspected enters the shower room, the autonomous driving system 10 is expected to output a transition request TD. An inspector checks whether the autonomous driving system 10 normally outputs the transition request TD.

[0072] 4-3-4. Fourth Example FIG. 14 is a conceptual diagram for explaining yet another example of a system inspection item. Yet another example of a trigger for a transition request TD is when the vehicle 1 passes the start point of a driving transition section. The driving transition section is a section for driving transition, and its start point is located just before the end point of the automatic driving permitted section. In other words, the vehicle 1 passing the start point of the driving transition section is a specified environmental change that triggers a transition request TD. The inspector checks whether the automatic driving system 10 normally outputs a transition request TD in response to such a specified environmental change.

[0073] A start point of the driving transition section is set in advance on the line L1 along which the vehicle 1 travels. In the example shown in FIG. 14, the start point of the driving transition section is set to a simulated lane branch point. When the vehicle 1 passes the start point of the driving transition section, the automated driving system 10 is expected to output a transition request TD. An inspector checks whether the automated driving system 10 normally outputs the transition request TD.

[0074] 4-3-5. Fifth Example FIG. 15 is a conceptual diagram for explaining yet another example of system inspection items. The autonomous driving control by the autonomous driving system 10 may include the above-mentioned "offset assurance control (VLO)". The offset assurance control is vehicle driving control (steering control) for ensuring a predetermined offset from a parallel running vehicle. The approach of a parallel running vehicle can be said to be a predetermined environmental change that triggers the offset assurance control. The inspector checks whether the autonomous driving system 10 normally activates the offset assurance control in response to such a predetermined environmental change.

[0075] In the example shown in FIG. 15, another line L2 is installed adjacent to the line L1 on which the vehicle 1 to be inspected flows. That is, the other line L2 is installed so as to run parallel to the line L1 on which the vehicle 1 to be inspected flows. Another vehicle 3 flows on the line L2. The other vehicle 3 flowing on the line L2 simulates a vehicle running parallel to the vehicle 1 to be inspected. In response to the approach of the other vehicle 3, the automatic driving system 10 is expected to activate the offset securing control. The inspector checks whether the automatic driving system 10 normally activates the offset securing control. For example, the inspection assistant device 300 receives information indicating the state of the automatic driving control from the automatic driving system 10 and presents the information to the inspector through the HMI 310. The inspector can check whether the offset securing control has normally operated based on the presented information.

[0076] 4-4.Other As described above, the control device 100 of the automatic driving system 10 outputs a transition request TD to request the driver to take over driving as necessary. If the driver does not take over driving even after a certain time has elapsed after the transition request TD is output, the control device 100 of the automatic driving system 10 may issue a warning through the HMI 90. The inspector may intentionally not take over driving after the transition request TD is output from the automatic driving system 10, and check whether a warning is issued from the automatic driving system 10.

[0077] The control device 100 of the autonomous driving system 10 may output a hands-on request to request the driver to assume a hands-on state, as necessary. The inspector may purposely take his / her hands off the steering wheel in a scene where a hands-on state is required, and check whether a hands-on request is output from the autonomous driving system 10. The inspector may purposely not assume a hands-on state after a hands-on request is output, and check whether a warning is issued from the autonomous driving system 10.

[0078] The control device 100 of the autonomous driving system 10 may output an eyes-on request to request the driver to put the driver in an eyes-on state, as necessary. The inspector may purposely take his / her eyes off the road in a scene where the eyes-on state is required, and check whether an eyes-on request is output from the autonomous driving system 10. The inspector may purposely not put the driver in the eyes-on state after the eyes-on request is output, and check whether a warning is issued from the autonomous driving system 10.

[0079] 5.Effects According to this embodiment, vehicle travel can be simulated by utilizing in-line inspection of the vehicle 1. Then, during the simulated travel of the vehicle 1, it is confirmed whether the automatic driving system 10 operates normally. In this manner, it becomes possible to easily inspect the automatic driving system 10. Large equipment such as a chassis dynamometer is not required to simulate vehicle travel. [Explanation of symbols]

[0080] 1 vehicle 10 Autonomous Driving Systems 20 Recognition Sensor 30 Vehicle condition sensor 40 Position Sensor 50 Driver operation sensor 60 Driver Monitor 70 Running gear 80 Communication Equipment 90 Human Machine Interface 100 Control device 110 Processor 120 Storage device 130 Autonomous Driving Program 200 Driving Environment Information 210 Map Information 220 Surrounding Area Information 230 Vehicle status information 240 Location information 250 Driver Operation Information 260 Driver Status Information 300 Inspection auxiliary equipment L1 Line WL white line

Claims

1. A method for inspecting a vehicle equipped with an autonomous driving system, comprising: A system test is performed to test the operation of the automated driving system while the vehicle is moving on the line in an in-line test. The system inspection includes: inputting a simulated wheel speed signal into the automatic driving system to simulate the running of the vehicle; Confirming whether the automatic driving system operates normally during a simulated run of the vehicle. Includes Testing method.

2. The inspection method according to claim 1, The system test further includes arranging another vehicle on the line ahead of the vehicle to simulate a following run in which the vehicle follows the other vehicle. Testing method.

3. The inspection method according to claim 1 or 2, The autonomous driving level of the autonomous driving system allows the driver to have their hands or eyes off the vehicle, The system inspection further includes confirming whether the automated driving system continues to control the automated driving when an inspector in the vehicle has his / her hands or eyes off. Testing method.

4. The inspection method according to any one of claims 1 to 3, The system inspection further includes verifying whether the automated driving system responds normally to input from an inspector or to a predetermined environmental change around the vehicle. Testing method.

5. The inspection method according to claim 4, The system inspection includes confirming whether the automated driving system terminates automated driving control in response to an override operation by the inspector on board the vehicle. Testing method.

6. The inspection method according to claim 4 or 5, The system check includes verifying whether the automated driving system outputs a transition request to request a driver to take over driving in response to the predetermined environmental change. Testing method.

7. 7. The inspection method according to claim 6, The predetermined environmental change includes the appearance of an object within a range where an emergency brake control of the autonomous driving system is activated. Testing method.

8. 7. The inspection method according to claim 6, A white line is drawn artificially along the line along which the vehicle is traveling, The predetermined environmental change includes the fading of the white line. Testing method.

9. 7. The inspection method according to claim 6, The predetermined environmental change includes precipitation that causes the wiper operation strength of the vehicle to be equal to or greater than a threshold value. Testing method.

10. 7. The inspection method according to claim 6, The predetermined environmental change includes passing the start point of a driving transition section immediately before the end point of an automatic driving permitted section. Testing method.

11. The inspection method according to any one of claims 6 to 10, The system check further includes verifying whether the automated driving system issues a warning if the driving handover is not performed after the transition request is output. Testing method.

12. The inspection method according to any one of claims 4 to 11, the predetermined environmental change includes the approach of another vehicle traveling on another line adjacent to the line; The system test includes verifying whether the automated driving system activates a vehicle travel control that ensures a predetermined offset from the other vehicle in response to the approach of the other vehicle. Testing method.

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