Vehicle control device

Abstract

To provide a vehicle control apparatus capable of suppressing a support function for supporting an occupant from causing an action unintended by the occupant.SOLUTION: A vehicle control system has a support function part that applies and operates an action setting set by an occupant when performing travel control in a manual operation mode, thus supporting the occupant (steps 100 through 108). Further the support function part applies and operates a standard setting of the vehicle, thus supporting the occupant (steps 110 through 116). With this configuration, the vehicle control system is capable of suppressing the support function part for supporting an occupant from causing an action unintended by the occupant.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] Patent Document 1 discloses a control device for a vehicle that can be driven both automatically and manually. This vehicle control device allows a setting to be made as to whether or not to perform parallel running avoidance control, which prevents vehicles from running alongside other vehicles in adjacent lanes, during automatic driving, and the parallel running avoidance control is executed by setting the control to perform parallel running avoidance control, but the parallel running avoidance control is not executed during manual driving. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-93807 Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, vehicles are being equipped with operation support functions to support the driving operation by the occupant in manual driving mode and safety support functions to support the safety of the occupant. These support functions are often also applied in autonomous driving mode, where driving control is performed without the involvement of the occupant's driving operation.

[0005] The assistance function operates according to the operation settings in both manual driving mode and automatic driving mode, with the operation settings, including whether or not the function can be operated, being set by the occupant. If the operation settings in manual driving mode are maintained even after switching to automatic driving mode, the operation settings of the previous occupant will be maintained even if the occupant (driver) is changed during driving in automatic driving mode. For this reason, if the operation settings of another occupant, such as the previous occupant, are maintained in the assistance function, the new occupant may perform unintended operations, which leaves room for improvement.

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a vehicle control device that can prevent an assistance function for assisting an occupant from performing an operation unintended by the occupant. [Means for solving the problem]

[0007] In order to achieve the above object, the vehicle control device of claim 1 includes a driving control unit that, when controlling the driving of the vehicle, can be switched between a manual driving mode for driving the vehicle in accordance with the driving operation of the occupant and an automatic driving mode for driving the vehicle without the intervention of the driving operation of the occupant, an assistance unit that operates based on an assistance setting to assist the occupant while on board, and an operation control unit that applies, as the assistance setting, a first setting set by the occupant in the manual driving mode, and, when switched to the automatic driving mode, applies a second setting set in the automatic driving mode to operate the assistance unit.

[0008] In the vehicle control device of claim 1, the driving control unit controls the driving of the vehicle by switching between a manual driving mode for driving in accordance with the driving operation of the occupant and an automatic driving mode for driving without the intervention of the driving operation of the occupant. The support unit operates based on the support setting to support the occupant while riding.

[0009] Here, the assistance settings include a first setting set by the occupant in manual driving mode and a second setting in automatic driving mode. When controlling the operation of the assistance unit, the operation control unit applies the first setting in manual driving mode and applies the second setting when switching to automatic driving mode. [Effects of the Invention]

[0010] According to the present invention, when driving control is performed in automatic driving mode, a common second setting is applied as an assistance setting, which has the effect of preventing assistance that would cause discomfort to the new occupant even if the occupant changes during the course of the vehicle. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 2 is a block diagram showing a schematic configuration of a support function unit according to the present embodiment. [Figure 2] 1 is a block diagram showing a schematic configuration of a vehicle control system according to an embodiment of the present invention; [Figure 3] 10 is a flowchart showing an outline of the operation of the support function unit. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 2 is a block diagram showing a schematic configuration of a vehicle control system 10 as a vehicle control device according to this embodiment. The vehicle control system 10 according to this embodiment is responsible for driving control in the vehicle and safety support for the occupants. When controlling the vehicle, the vehicle control system 10 can operate in a manual driving mode in which the vehicle travels in accordance with the driving operation of the occupants, and an automatic driving mode in which the vehicle travels without any driving operation by the occupants.

[0013] 2, the vehicle control system 10 includes an operation unit 12 operated by a passenger, an operation unit 14, and a control unit 16 as a driving control unit. The vehicle control system 10 also includes an environment detection unit 18 for detecting the environmental conditions around the vehicle.

[0014] The operation unit 12 is provided with a steering wheel for steering operation, an accelerator pedal for acceleration operation, a brake pedal for braking operation, and an operation panel for performing various settings such as switching between manual driving mode and automatic driving mode (all of which are not shown).The operating unit 14 is provided with an actuator for steering the steered wheels, an actuator for braking operation, an actuator for shifting the speed of the transmission (automatic transmission), and the like (all of which are not shown).

[0015] In the vehicle control system 10, a plurality of ECUs 20 are provided in the control unit 16, etc. Each ECU 20 includes a microcomputer in which a CPU, a ROM, a RAM, a non-volatile storage, etc. are connected by a bus, and required functional circuits (all of which are not shown). In the ECU 20, the CPU reads out a program stored in the ROM and the storage, and executes the program while expanding it into the RAM, thereby realizing functions according to the program.

[0016] The vehicle (vehicle control system 10) is of a by-wire type. The operation unit 12 and the operation unit 14 are each provided with required sensors, and the operation unit 12 and the operation unit 14 have their respective sensors and actuators connected to an ECU 20 of a control unit 16. In the vehicle control system 10, each of the multiple ECUs 20 and each of the multiple sensors are electrically connected via an in-vehicle network.

[0017] In the control unit 16, a plurality of ECUs 20, each of which is provided to realize a required function, cooperate to control the operation of actuators in accordance with information detected by each sensor, thereby realizing vehicle driving control and various functions of the vehicle. The control unit 16 also operates by switching between a manual driving mode in which vehicle driving control is performed in accordance with the driving operation of the occupant, and an automatic driving mode in which vehicle driving control is performed without the intervention of the driving operation of the occupant.

[0018] When the control unit 16 is set to manual driving mode, it controls the operation of the actuator of the operating unit 14 in accordance with the detection results of each sensor of the operating unit 12, and performs steering operations and vehicle speed operations (accelerator operations, braking operations, and gear shift operations) in accordance with the steering operations, braking operations, and accelerator operations by the occupant.

[0019] In the manual driving mode, the vehicle control system 10 implements various operational assistance functions to assist the occupant in driving operations. The operational assistance functions include adaptive cruise control (ACC), forward collision warning (FCW), active emergency braking system (AEBS), night vision / pedestrian detection (NV / PD), traffic sign recognition (TSR), lane departure warning (LDW), lane keeping assist system (LKAS), blind spot monitoring (BSM), rear cross traffic alert (AFS), automatic headlamp beam adjustment (AFS), and advanced parking assist (APA).

[0020] The operation assistance function may be realized using the sensors of the operation unit 12, the sensors of the operation unit 14, and the actuators of the operation unit 14. Furthermore, necessary sensors, actuators, functional components, etc. may be added to realize the operation assistance function. The environment detection unit 18 is provided with detection means such as various sensors for realizing the operation assistance function and is connected to the control unit 16 via the in-vehicle work, and the detection means detects the environmental conditions around the vehicle, such as the vehicle's running environment and the occupant's driving environment.

[0021] The detection means of the environment detection unit 18 is provided according to the operation assistance function of the vehicle control system 10, and includes a speed detection means, such as a vehicle speed sensor, for detecting the vehicle speed, and an acceleration detection means, such as an acceleration sensor, for detecting acceleration. Examples of the detection means include an imaging means, such as a camera, for capturing images of the vehicle's surroundings, and a distance detection means, such as a LiDAR or other laser radar, for detecting objects around the vehicle and determining the distance to the objects. Examples of the detection means include a position detection means (on-board locator) that uses a GPS sensor or other sensor for detecting the vehicle's position, and an attitude detection means, such as an IMU (inertial measurement unit), for detecting the vehicle's attitude.

[0022] The vehicle control system 10 is equipped with multiple operation assistance functions, thereby realizing an ADAS (Advanced Driver Assistance System) with level 2 autonomous driving in manual driving mode, and realizing a navigation function by using an in-vehicle locator, etc.

[0023] In the vehicle control system 10, when the control unit 16 switches from a manual driving mode to an automatic driving mode, the control unit 16 controls the operation unit 14 using information detected by the environment detection unit 18 to perform steering control, vehicle speed control, braking control, gear shift control, etc. As a result, the vehicle control system 10 achieves automatic driving of level 3 or higher, which controls the driving of the vehicle without the intervention of the driver's driving operation.

[0024] Meanwhile, the vehicle control system 10 is provided with an assistance function unit (safety assistance function unit) 30 that mainly executes functions related to occupant safety, etc. The assistance function unit 30 is realized by the ECU 20 executing a required assistance function program in the control unit 16. As an example, the assistance function unit 30 according to this embodiment assists occupants in safely getting off the vehicle (safely getting off the vehicle). Such assistance function unit 30 can be realized by the vehicle control system 10 having a configuration similar to that of the BSM. FIG. 1 shows a schematic configuration of the assistance function unit 30 in a block diagram.

[0025] 1, the assistance function unit 30 includes a left rear detection unit 32L for detecting an object on the left rear side of the vehicle, a right rear detection unit 32R for detecting an object on the right rear side of the vehicle, an assistance processing unit 34, an alarm unit 36, a memory unit 38 for storing operation settings, and a setting unit 40 for performing operation settings. In the assistance function unit 30, the left rear detection unit 32L, the right rear detection unit 32R, and the alarm unit 36 ​​function as assistance units, and the assistance processing unit 34 functions as an operation control unit.

[0026] The left rear detection unit 32L and the right rear detection unit 32R are realized by using an imaging means (camera, etc.) that captures images of the area behind the vehicle (right rear and left rear) in the environment detection unit 18, and a distance detection means (LiDAR, etc.) that detects objects behind the vehicle and detects the distance to the objects. The notification unit 36 ​​can be implemented by indicators provided on the left and right door mirrors, a display provided on the instrument panel, and a speaker for emitting an alarm (all of which are not shown). The memory unit 38 is realized by the storage of the ECU 20 and stores assistance settings. The setting unit 40 is provided, for example, as a touch-type display on the instrument panel of the operation unit 12, and enables the occupant to perform operation settings (assistance settings) for the operation of the assistance processing unit 34 (assistance function unit 30) by touch operation.

[0027] The support processing unit 34 is realized by executing a support processing program (for example, a safe dismount program) as a support function program in the ECU 20. The support processing unit 34 detects other vehicles, bicycles, pedestrians, etc. behind the vehicle (rear right side and rear left side) as objects, and detects the distance to the detected objects (the distance from a preset position such as the center or rear end of the vehicle to the object).

[0028] In the assistance function unit 30, an operation setting can be set by the occupant as a first setting that operates in manual driving mode as an assistance setting. In the assistance function unit 30, the operation setting is set by the occupant operating the setting unit 40 (touch-type display) and stored in the memory unit 38. The operation setting includes whether to operate the assistance function unit 30 (whether to turn the assistance function on or off) and the sensitivity when operating the assistance function. The sensitivity is set high when the distance between the vehicle and the object is longer than a standard value (a distance corresponding to the standard sensitivity, for example, approximately 40 m), and is set low when the distance is shorter than the standard value.

[0029] The assistance function unit 30 is also operable in the autonomous driving mode. The storage unit 38 stores an operation setting as a second setting to be applied in the autonomous driving mode as a standard setting. In this standard setting, the assistance function is set to be turned on, and the sensitivity is set to the standard sensitivity.

[0030] Furthermore, by being set to operate, the assistance function unit 30 activates the alarm unit 36 ​​when an object is detected within a distance from the vehicle according to the sensitivity when an occupant gets out of the vehicle. At this time, the alarm unit 36 ​​turns on or flashes an indicator on the right door mirror if the object is to the right rear of the vehicle, and turns on or flashes an indicator on the left door mirror if the object is to the left rear of the vehicle. The alarm unit 36 ​​also displays a message on the instrument panel display indicating that an object has been detected and emits a warning sound.

[0031] In the vehicle control system 10 configured as described above, when the ignition switch is turned on and the vehicle is enabled to travel, the control unit 16 starts driving control in manual driving mode or automatic driving mode. When the vehicle control system 10 is set to manual driving mode, the control unit 16 controls the operation unit 14 in accordance with the occupant's driving operation using the operation unit 12 to perform vehicle driving control (steering control, vehicle speed control, braking control, etc.). At this time, an operation assistance function is set in the vehicle control system 10, and the control unit 16 executes the set operation assistance function to assist the occupant in driving operation.

[0032] Furthermore, in the vehicle control system 10, when the automatic driving mode is set, the control unit 16 controls the operation unit 14 in accordance with information (driving environment, etc.) detected by the environment detection unit 18 to perform driving control of the vehicle.

[0033] The vehicle control system 10 is provided with an assistance function unit 30 that is related to passenger safety, etc. Fig. 3 is a flow chart showing an outline of the processing (assistance processing) of the assistance function unit 30.

[0034] 3 is repeatedly executed as the vehicle control system 10 operates, and in the first step 100, the assistance processing unit 34 checks whether or not the control unit 16 is operating in the manual driving mode. If the control unit 16 is operating in the manual driving mode, the assistance processing unit 34 makes a positive determination in step 100 and executes assistance processing in the manual driving mode. If the control unit 16 is set to the autonomous driving mode, the assistance processing unit 34 makes a negative determination in step 100 and executes assistance processing in the autonomous driving mode (steps 112 and 114 described below).

[0035] In the assistance processing in the manual driving mode, the operation settings stored in the memory unit 38 of the assistance processing unit 34 are read in step 102, and it is confirmed whether the assistance function is set to on in step 104. At this time, if the assistance function is not set to on, the assistance processing unit 34 makes a negative determination in step 104, proceeds to step 106, and stops the assistance function.

[0036] If the assistance function is set to ON, the assistance processing unit 34 makes a positive determination in step 104 and proceeds to step 108, where it executes assistance processing according to the operation settings set by the occupant. As a result, for example, when an occupant in the front passenger seat tries to open the door (left door) to get out of the vehicle, the assistance processing unit 34 will notify the alarm unit 36 ​​of the approach of an object if an object is detected at the left rear of the vehicle within a distance according to the set sensitivity.

[0037] On the other hand, in step 110, the assistance processing unit 34 checks whether the driving mode has been changed to the automatic driving mode, and if the driving mode has been switched from the manual driving mode to the automatic driving mode, an affirmative determination is made in step 110 and assistance processing in the automatic driving mode is performed.

[0038] In the assistance process in the autonomous driving mode, the assistance processing unit 34 reads the standard settings from the memory unit 38 in step 112, and executes the assistance process with the standard settings (for example, standard sensitivity) in step 114. After that, the assistance processing unit 34 checks whether the mode has been changed to the manual driving mode in step 116, and if the mode has not been switched to the manual driving mode, the assistance processing unit 34 makes a negative determination in step 116 and continues the assistance process using the standard settings.

[0039] On the other hand, when the driving mode is changed to the manual driving mode, the support processing unit 34 makes a positive determination in step 116 and proceeds to step 118. In step 118, the support processing unit 34 continues the support processing using the standard settings in the manual driving mode. In addition, in step 120, the support processing unit 34 checks whether the occupant has changed the operation settings of the support processing, and if so, ends the support processing once in step 120 and returns to step 100 to start the support processing according to the newly set operation settings.

[0040] In this way, in the vehicle control system 10, the assistance function unit 30 performs safety assistance for the occupant based on the operation settings set by the occupant in the manual driving mode. Also, in the vehicle control system 10, the assistance function unit 30 performs safety assistance for the occupant based on the standard settings set in the automatic driving mode. As a result, even if an occupant is replaced while the vehicle control system 10 is operating in the automatic driving mode, assistance based on the standard settings can be performed for the replaced occupant. Furthermore, the replaced occupant does not feel uncomfortable with the assistance being performed because assistance during automatic driving is not performed using the assistance set by the previous occupant.

[0041] Furthermore, when the vehicle control system 10 switches from the automatic driving mode to the manual driving mode, the standard settings for the automatic driving mode are used as the operation settings, which allows the occupant to start driving the vehicle without having to reset various settings when switching from the automatic driving mode to the manual driving mode.

[0042] The operation settings in the manual driving mode may be set for each occupant. In this case, for example, an authentication means may be provided to identify (authenticate) the occupant sitting in the driver's seat, and the operation settings set by the authenticated occupant may be applied to operate the assistance function.

[0043] Furthermore, the occupant may be authenticated in the autonomous driving mode, and the operation settings set by the authenticated occupant may be applied to the autonomous driving mode. This allows the operation settings set for each occupant to be used in the autonomous driving mode as well as in the manual driving mode, and the occupant can receive assistance according to their preferred operation settings.

[0044] In the embodiment described above, the dismounting support function is applied as the safety support function. However, the occupant support function may be applied to other safety support functions or may be applied to an operation support function for the occupant to perform driving operations. [Explanation of symbols]

[0045] 10 Vehicle control system (vehicle control device) 12 Control section 14 Operating unit 16 Control unit (travel control unit) 18 Environmental detection unit 30 Support function department 32L Left rear detection unit (support unit) 32R Right rear detection unit (support unit) 34 Support processing unit (motion control unit) 36 Information Department (Support Department) 38 Memory section

Claims

[Claim 1] a driving control unit that, when controlling the driving of the vehicle, switches between a manual driving mode for driving the vehicle in accordance with the driving operation of a driver and an automatic driving mode for driving the vehicle without the driver's operation; a support unit that operates based on a support setting to support the occupant while riding; an operation control unit that applies a first setting set by the occupant in the manual driving mode as the assistance setting, and when the manual driving mode is switched to the automatic driving mode, applies a second setting set in the automatic driving mode regardless of the content of the first setting, and operates the assistance unit; Including, the support unit includes a detection unit for detecting an object on the left and right sides behind the vehicle, and a notification unit for notifying the approach of the object, The first setting is set by the occupant as an operation setting including whether or not the support unit is operable and its sensitivity, The second setting is a standard setting including a standard operation enable / disable and a standard sensitivity applied to the assistance unit in the autonomous driving mode, Vehicle control device.

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