Vehicle control method, vehicle control system, and vehicle speed management method

Abstract

To suppress a sense of discomfort felt by a vehicle user when a meter vehicle speed displayed to the user is higher than the actual vehicle speed of the vehicle.SOLUTION: A meter vehicle speed displayed to a user of a vehicle is higher than an actual vehicle speed of the vehicle. A vehicle control method includes: (1) acquiring, as a first vehicle speed, a vehicle speed designated by the user or a speed limit of a road on which the vehicle travels; (2) setting a set vehicle speed higher than the first vehicle speed; and (3) controlling the speed of the vehicle so that the meter vehicle speed does not exceed the set vehicle speed. A difference between the set vehicle speed and the first vehicle speed is equal to or smaller than a difference between the meter vehicle speed and the actual vehicle speed.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a technique for controlling a vehicle, and also to a technique for managing the speed of a vehicle. [Background technology]

[0002] Patent Document 1 discloses a driving assistance device for a vehicle, which sets the speed limit specified by a road sign as the upper speed limit of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6575560 Summary of the Invention [Problem to be solved by the invention]

[0004] A typical vehicle is designed so that the metered vehicle speed displayed on the speedometer is higher than the actual vehicle speed. In such a vehicle, when vehicle speed control is performed so that the metered vehicle speed does not exceed a desired vehicle speed, a discrepancy occurs between the actual vehicle speed and the desired vehicle speed. This causes a sense of discomfort for the vehicle user.

[0005] An object of the present disclosure is to provide a technology that can suppress a sense of discomfort felt by a user of a vehicle when the meter vehicle speed displayed to the user is higher than the actual vehicle speed of the vehicle. [Means for solving the problem]

[0006] A first aspect relates to a vehicle control method for controlling a vehicle. The meter speed displayed to the user of the vehicle is higher than the actual speed of the vehicle. The vehicle control method is acquiring a vehicle speed designated by a user or a speed limit of a road on which the vehicle is traveling as a first vehicle speed; setting a set vehicle speed to be higher than the first vehicle speed; Controlling the vehicle speed so that the meter speed does not exceed the set speed. Includes. The difference between the set vehicle speed and the first vehicle speed is equal to or less than the difference between the metered vehicle speed and the actual vehicle speed.

[0007] The second aspect relates to a vehicle control system that controls a vehicle. The meter speed displayed to the user of the vehicle is higher than the actual speed of the vehicle. The vehicle control system includes one or more processors. The one or more processors A vehicle speed designated by a user or a speed limit of a road on which the vehicle is traveling is acquired as a first vehicle speed; Set the set speed so that it is higher than the first speed. Controls the vehicle speed so that the meter speed does not exceed the set speed. It is configured as follows. The difference between the set vehicle speed and the first vehicle speed is equal to or less than the difference between the metered vehicle speed and the actual vehicle speed.

[0008] The third aspect relates to a vehicle speed management method for managing the speed of a vehicle. The meter speed displayed to the user of the vehicle is higher than the actual speed of the vehicle. The vehicle speed is controlled so that the metered vehicle speed does not exceed the set vehicle speed. The vehicle speed management method is acquiring a vehicle speed designated by a user or a speed limit of a road on which the vehicle is traveling as a first vehicle speed; Setting the set vehicle speed to be higher than the first vehicle speed. Includes. The difference between the set vehicle speed and the first vehicle speed is equal to or less than the difference between the metered vehicle speed and the actual vehicle speed. [Effects of the Invention]

[0009] According to the present disclosure, vehicle speed control is performed so that the metered vehicle speed is higher than the actual vehicle speed and does not exceed the set vehicle speed. The set vehicle speed is set to be higher than the first vehicle speed. Furthermore, the difference between the set vehicle speed and the first vehicle speed is equal to or less than the difference between the metered vehicle speed and the actual vehicle speed. This suppresses the deviation between the actual vehicle speed and the first vehicle speed. As a result, the user's discomfort is suppressed. Furthermore, the user does not need to pre-correct the first vehicle speed or the set vehicle speed in consideration of the difference between the metered vehicle speed and the actual vehicle speed. This reduces the burden on the user. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a conceptual diagram for explaining an overview of a vehicle and a vehicle control system according to an embodiment; [Figure 2] FIG. 4 is a conceptual diagram for explaining a method for setting a set vehicle speed according to the embodiment. [Figure 3] 1 is a block diagram illustrating an example of the configuration of a vehicle control system according to an embodiment. [Figure 4] 4 is a flowchart illustrating an example of processing performed by the vehicle control system according to the embodiment. [Figure 5] 10 is a flowchart showing a modified example of the processing performed by the vehicle control system according to the embodiment. [Figure 6] FIG. 2 is a conceptual diagram showing an example of a display of a speedometer according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0012] 1. Overview FIG. 1 is a conceptual diagram for explaining an overview of a vehicle 1 and a vehicle control system 10 according to this embodiment. A user O of the vehicle 1 is the operator of the vehicle 1. The operator of the vehicle 1 may be a driver on board the vehicle 1, or a remote operator who remotely controls (remotely drives, remotely assists) the vehicle 1. The vehicle 1 may be an autonomous vehicle.

[0013] The speed of the vehicle 1 is presented to the user O of the vehicle 1. For example, the vehicle 1 is equipped with a speedometer that displays the speed of the vehicle 1. As another example, a remote operator terminal operated by a remote operator may be equipped with a speedometer that displays the speed of the vehicle 1. The vehicle speed presented to the user O is hereinafter referred to as the "meter vehicle speed Vm." Meanwhile, the actual speed (ground speed) of the vehicle 1 is hereinafter referred to as the "actual vehicle speed Va." Generally, the meter vehicle speed Vm is designed to be higher than the actual vehicle speed Va (Vm > Va). It may be required by law that the meter vehicle speed Vm be higher than the actual vehicle speed Va. The relationship between the meter vehicle speed Vm and the actual vehicle speed Va may be predetermined (e.g., Vm = 1.05 × Va).

[0014] The vehicle control system 10 controls the vehicle 1. The vehicle control system 10 may be mounted on the vehicle 1, or may be included in a remote operator terminal operated by a remote operator. Alternatively, the vehicle control system 10 may be distributed between the vehicle 1 and the remote operator terminal.

[0015] For example, the vehicle control system 10 executes "vehicle speed control" to control the speed of the vehicle 1. In particular, the vehicle control system 10 sets a "set vehicle speed Vs" and executes vehicle speed control so that the meter vehicle speed Vm does not exceed the set vehicle speed Vs.

[0016] For example, the vehicle control system 10 performs speed limit prevention control to prevent the speed of the vehicle 1 from exceeding a speed limit. In this case, the vehicle control system 10 acquires information about the speed limit of the road on which the vehicle 1 is traveling and sets the set vehicle speed Vs based on the speed limit. As another example, the vehicle control system 10 may acquire a user-specified vehicle speed specified by the user O of the vehicle 1 and set the set vehicle speed Vs based on the user-specified vehicle speed. The speed limit of the road on which the vehicle 1 is traveling or the user-specified vehicle speed specified by the user O of the vehicle 1 will be referred to as a "first vehicle speed V1" hereinafter. The first vehicle speed V1 may also be referred to as a "desired vehicle speed." The vehicle control system 10 sets the set vehicle speed Vs based on the first vehicle speed V1 and performs vehicle speed control so that the meter vehicle speed Vm does not exceed the set vehicle speed Vs.

[0017] FIG. 2 is a conceptual diagram for explaining in more detail the method for setting the set vehicle speed Vs.

[0018] First, a comparative example shown in the upper part of FIG. 2 will be described. In the comparative example, the first vehicle speed V1 is set as the set vehicle speed Vs (Vs=V1). In this case, vehicle speed control is performed so that the meter vehicle speed Vm does not exceed the first vehicle speed V1. However, as described above, the meter vehicle speed Vm is higher than the actual vehicle speed Va. Therefore, even if the meter vehicle speed Vm matches the desired first vehicle speed V1, the actual vehicle speed Va is lower than the desired first vehicle speed V1. In other words, a discrepancy occurs between the actual vehicle speed Va and the desired first vehicle speed V1. This causes a sense of discomfort for the user O of the vehicle 1. It is conceivable that the user O may correct the first vehicle speed V1 in advance, taking into account the difference between the meter vehicle speed Vm and the actual vehicle speed Va, but this would require additional work by the user O.

[0019] Therefore, according to this embodiment, the vehicle control system 10 sets the set vehicle speed Vs so that the difference between the actual vehicle speed Va and the first vehicle speed V1 is smaller than in the above-mentioned comparative example. More specifically, the vehicle control system 10 sets the set vehicle speed Vs so that it is higher than the first vehicle speed V1. The set vehicle speed Vs is expressed by the following equation (1).

[0020] Formula (1): Vs=V1×α=V1+β

[0021] The correction coefficient α in equation (1) is greater than 1 (α>1). The correction coefficient α is equal to or less than the ratio Vm / Va between the meter vehicle speed Vm and the actual vehicle speed Va (α≦Vm / Va). For example, the correction coefficient α is set equal to the ratio Vm / Va (α=Vm / Va). In this case, Vs=V1×Vm / Va. Therefore, when the meter vehicle speed Vm matches the set vehicle speed Vs, the actual vehicle speed Va matches the first vehicle speed V1. Since there is no difference between the actual vehicle speed Va and the first vehicle speed V1, the sense of discomfort felt by the user O is reduced. Even if the correction coefficient α is greater than 1 and smaller than the ratio Vm / Va, the difference between the actual vehicle speed Va and the first vehicle speed V1 is smaller than in the comparative example. That is, at least the effect can be obtained as long as the correction coefficient α is greater than 1 and equal to or less than the ratio Vm / Va.

[0022] The correction amount β in equation (1) is greater than 0 (β>0). Furthermore, the correction amount β is equal to or less than the difference Vm-Va between the meter vehicle speed Vm and the actual vehicle speed Va (β≦Vm-Va). For example, the correction amount β is set equal to the difference Vm-Va (β=Vm-Va). In this case, Vs=V1+Vm-Va. Therefore, when the meter vehicle speed Vm matches the set vehicle speed Vs, the actual vehicle speed Va matches the first vehicle speed V1. Since there is no difference between the actual vehicle speed Va and the first vehicle speed V1, the sense of discomfort felt by the user O is suppressed. Even if the correction amount β is greater than 0 and smaller than the difference Vm-Va, the difference between the actual vehicle speed Va and the first vehicle speed V1 is smaller than in the comparative example. That is, at least the effect can be obtained as long as the correction amount β is greater than 0 and equal to or less than the difference Vm-Va.

[0023] As described above, according to this embodiment, vehicle speed control is performed so that the meter vehicle speed Vm is higher than the actual vehicle speed Va and so that the meter vehicle speed Vm does not exceed the set vehicle speed Vs. The set vehicle speed Vs is set to be higher than the first vehicle speed V1. Furthermore, the difference between the set vehicle speed Vs and the first vehicle speed V1 is equal to or smaller than the difference between the meter vehicle speed Vm and the actual vehicle speed Va. This suppresses the deviation between the actual vehicle speed Va and the first vehicle speed V1. As a result, the sense of discomfort felt by the user O is suppressed. Furthermore, the user O does not need to correct the first vehicle speed V1 or the set vehicle speed Vs in advance, taking into account the difference between the meter vehicle speed Vm and the actual vehicle speed Va. This reduces the burden on the user O.

[0024] An example of the vehicle control system 10 according to this embodiment will be described in more detail below.

[0025] 2. Example of a vehicle control system 3 is a block diagram showing an example of the configuration of a vehicle control system 10 according to this embodiment. The vehicle control system 10 includes a traveling device 20, a sensor group 30, a user interface 60, and a control device 100.

[0026] The traveling device 20 is mounted on the vehicle 1. The traveling device 20 includes a steering device, a drive device, and a braking device. The steering device steers the wheels. The drive device is a power source that generates driving force. Examples of the drive device include an engine, an electric motor, and an in-wheel motor. The braking device generates braking force.

[0027] The sensor group 30 is mounted on the vehicle 1. The sensor group 30 includes a camera 40, a vehicle state sensor 50, etc. The camera 40 captures an image of the surroundings of the vehicle 1 and acquires an image 140 showing the surroundings of the vehicle 1. The vehicle state sensor 50 detects the state of the vehicle 1. For example, the vehicle state sensor 50 includes a vehicle speed sensor that detects the speed of the vehicle 1 (actual vehicle speed Va). The sensor group 30 may include a GNSS (Global Navigation Satellite System) that detects the position and orientation of the vehicle 1. The sensor group 30 may include a recognition sensor such as a LIDAR.

[0028] The user interface 60 accepts input of information from the user O of the vehicle 1 and presents information to the user O of the vehicle 1. If the user O is a driver or passenger on board the vehicle 1, the user interface 60 is mounted on the vehicle 1. If the user O is a remote operator who remotely operates the vehicle 1, the user interface 60 is included in a remote operator terminal.

[0029] The user interface 60 includes an input device 70 and a display device 80. Examples of the input device 70 include a touch panel, a switch, etc. Examples of the display device 80 include a meter panel, a display, a head-up display (HUD), etc. The display device 80 also includes a speedometer 90 that displays the meter vehicle speed Vm.

[0030] 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 processors 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. Examples of the storage device 120 include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), and an SSD (Solid State Drive). The one or more processors 110 may be mounted on the vehicle 1, may be included in a remote operator terminal, or may be distributed between the vehicle 1 and the remote operator terminal. Similarly, the one or more storage devices 120 may be mounted on the vehicle 1, may be included in a remote operator terminal, or may be distributed between the vehicle 1 and the remote operator terminal.

[0031] The vehicle control program 130 is a computer program for controlling the vehicle 1. When the processor 110 executes the vehicle control program 130, various processes are realized by the processor 110 (vehicle control system 10). The vehicle control program 130 is stored in the storage device 120. Alternatively, the vehicle control program 130 may be recorded on a computer-readable recording medium.

[0032] The storage device 120 further stores images 140, vehicle state information 150, navigation information 160, vehicle speed related information 200, and the like.

[0033] The image 140 is obtained by a camera 40 mounted on the vehicle 1. If the processor 110 is included in a remote operator terminal, the processor 110 communicates with the vehicle 1 to obtain the image 140.

[0034] The vehicle state information 150 is obtained by a vehicle state sensor 50 mounted on the vehicle 1. For example, the vehicle state information 150 includes the speed (actual vehicle speed Va) of the vehicle 1. When the processor 110 is included in a remote operator terminal, the processor 110 communicates with the vehicle 1 to obtain the vehicle state information 150.

[0035] The navigation information 160 includes map information and position information of the vehicle 1. The position information of the vehicle 1 is obtained from GNSS. The map information is stored in advance in the storage device 120. Alternatively, the map information may be high-precision three-dimensional map information provided by a map management server. The processor 110 can communicate with the map management server to obtain the high-precision three-dimensional map information.

[0036] The vehicle speed-related information 200 includes information on a first vehicle speed V1, a set vehicle speed Vs, a meter vehicle speed Vm, and an actual vehicle speed Va. The actual vehicle speed Va is obtained from the vehicle state information 150. Tire diameter and vehicle specifications may be taken into consideration. Alternatively, the actual vehicle speed Va may be calculated based on position information obtained from a GNSS. The vehicle speed-related information 200 may further include information indicating the relationship between the meter vehicle speed Vm and the actual vehicle speed Va.

[0037] The processor 110 controls the traveling of the vehicle 1 by controlling the traveling devices 20 (steering device, drive device, and braking device). For example, the processor 110 controls the vehicle speed by controlling the drive device and the braking device. The processor 110 also determines a meter vehicle speed Vm based on the actual vehicle speed Va, and displays the meter vehicle speed Vm on the speedometer 90. Furthermore, the processor 110 sets a set vehicle speed Vs.

[0038] The processing related to the set vehicle speed Vs will be described in detail below.

[0039] 3. Processing related to set vehicle speed Vs FIG. 4 is a flowchart showing an example of processing related to the set vehicle speed Vs.

[0040] 3-1. Step S110 In step S110, the processor 110 obtains a first vehicle speed V1.

[0041] For example, the first vehicle speed V1 is a user-specified vehicle speed specified by a user O of the vehicle 1. The user O inputs the user-specified vehicle speed using the input device 70. The processor 110 receives information about the user-specified vehicle speed through the input device 70.

[0042] As another example, the first vehicle speed V1 is the speed limit of the road on which the vehicle 1 is traveling. For example, a speed limit sign specifying the speed limit is installed on the road. The processor 110 recognizes the speed limit sign by analyzing the image 140 acquired by the camera 40. Typically, the processor 110 recognizes the speed limit sign from the image 140 by using image recognition AI (Artificial Intelligence). The image recognition AI is generated in advance through a learning method such as deep learning. Based on the image of the recognized speed limit sign, the processor 110 reads the numbers (speed limit) written on the speed limit sign. In other words, based on the image of the recognized speed limit sign, the processor 110 recognizes the speed limit specified by the speed limit sign.

[0043] As another example, the speed limit for each road may be registered in the map information (high-precision three-dimensional map information). In this case, the processor 110 can obtain the speed limit information from the navigation information 160.

[0044] As yet another example, the processor 110 may identify the road type (e.g., expressway) of the road on which the vehicle 1 is traveling based on the navigation information 160. Then, the processor 110 may obtain the legal speed limit set for the road type.

[0045] 3-2. Step S120 In step S120, the processor 110 sets the set vehicle speed Vs based on the first vehicle speed V1. The set vehicle speed Vs is expressed by the above formula (1). The correction coefficient α and the correction amount β are as described above. The relationship between the meter vehicle speed Vm and the actual vehicle speed Va may be determined in advance (e.g., Vm = 1.05 × Va). The processor 110 sets the set vehicle speed Vs according to the above formula (1), taking into account the relationship between the meter vehicle speed Vm and the actual vehicle speed Va. The set vehicle speed Vs is higher than the first vehicle speed V1. Furthermore, the difference between the set vehicle speed Vs and the first vehicle speed V1 is equal to or smaller than the difference between the meter vehicle speed Vm and the actual vehicle speed Va.

[0046] 3-3. Step S130 In step S130, processor 110 executes vehicle speed control so that meter vehicle speed Vm does not exceed set vehicle speed Vs.

[0047] 3-4. Modifications 5 is a flowchart showing a modified example. In this modified example, the first vehicle speed V1 is the speed limit of the road on which the vehicle 1 is traveling. Steps S110 and S120 are the same as in the example shown in FIG.

[0048] After step S120, the processor 110 presents the set vehicle speed Vs (speed limit) to the user O and requests approval from the user O (step S121). For example, the processor 110 displays the set vehicle speed Vs (speed limit) on the display device 80 and requests approval from the user O.

[0049] The user O accepts or rejects the set vehicle speed Vs using the input device 70. If the user O accepts the set vehicle speed Vs (step S122; Yes), the process proceeds to step S130. On the other hand, if the user O rejects the set vehicle speed Vs (step S122; No), step S133 is skipped and the process returns to step S110.

[0050] 4. Display examples The processor 110 displays at least the meter vehicle speed Vm on the speedometer 90. The processor 110 may also display the first vehicle speed V1 on the speedometer 90 together with the meter vehicle speed Vm.

[0051] FIG. 6 shows another example of the display of the speedometer 90. The offset is the difference between the set vehicle speed Vs and the first vehicle speed V1, and corresponds to the correction amount β in equation (1). In the example shown in FIG. 6, the processor 110 displays the first vehicle speed V1 and the offset (Vs-V1) on the speedometer 90. In other words, the processor 110 presents the first vehicle speed V1 and the offset (Vs-V1) to the user O. By presenting the first vehicle speed V1 and the offset to the user O, the user O can recognize that the set vehicle speed Vs has been intentionally corrected. This allows the user O to understand the meaning of the difference between the meter vehicle speed Vm and the first vehicle speed V1. As a result, the sense of discomfort felt by the user O is reduced.

[0052] The processor 110 may further display the set vehicle speed Vs on the speedometer 90. [Explanation of symbols]

[0053] 1...vehicle, 10...vehicle control system, 20...traveling device, 30...sensor group, 60...user interface, 90...speedometer, 100...control device, 110...processor, 120...storage device, V1...first vehicle speed, Va...actual vehicle speed, Vm...metered vehicle speed, Vs...set vehicle speed

Claims

1. A vehicle control method for controlling a vehicle, comprising: the meter vehicle speed presented to the user of the vehicle is higher than the actual vehicle speed of the vehicle; The vehicle control method includes: acquiring, as a first vehicle speed, a vehicle speed designated by the user or a speed limit of a road on which the vehicle is traveling; setting a set vehicle speed higher than the first vehicle speed; controlling the speed of the vehicle so that the metered vehicle speed does not exceed the set vehicle speed; presenting to the user the first vehicle speed and an offset that is a difference between the set vehicle speed and the first vehicle speed; Including, The difference between the set vehicle speed and the first vehicle speed is equal to or less than the difference between the metered vehicle speed and the actual vehicle speed. Vehicle control method.

2. 2. The vehicle control method according to claim 1, The difference between the set vehicle speed and the first vehicle speed is the same as the difference between the metered vehicle speed and the actual vehicle speed. Vehicle control method.

3. A vehicle control system for controlling a vehicle, the meter vehicle speed presented to the user of the vehicle is higher than the actual vehicle speed of the vehicle; the vehicle control system includes one or more processors; the one or more processors: acquiring a vehicle speed designated by the user or a speed limit of a road on which the vehicle is traveling as a first vehicle speed; setting a set vehicle speed to be higher than the first vehicle speed; controlling the speed of the vehicle so that the metered vehicle speed does not exceed the set vehicle speed; The first vehicle speed and an offset, which is a difference between the set vehicle speed and the first vehicle speed, are presented to the user. It is configured as follows: The difference between the set vehicle speed and the first vehicle speed is equal to or less than the difference between the metered vehicle speed and the actual vehicle speed. Vehicle control system.

4. A vehicle speed management method for managing a vehicle speed, comprising: the meter vehicle speed presented to the user of the vehicle is higher than the actual vehicle speed of the vehicle; The speed of the vehicle is controlled so that the metered vehicle speed does not exceed a set vehicle speed, The vehicle speed management method includes: acquiring, as a first vehicle speed, a vehicle speed designated by the user or a speed limit of a road on which the vehicle is traveling; setting the set vehicle speed to be higher than the first vehicle speed; presenting to the user the first vehicle speed and an offset that is a difference between the set vehicle speed and the first vehicle speed; Including, The difference between the set vehicle speed and the first vehicle speed is equal to or less than the difference between the metered vehicle speed and the actual vehicle speed. Vehicle speed management methods.

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