Vehicle control device, vehicle control computer program, and vehicle control method

Abstract

To provide a vehicle control apparatus capable of detecting a collision of a vehicle with a small foreign article on the basis of a collision noise occurring to the vehicle and allowing a driver to respond to the collision of the vehicle with the article.SOLUTION: A vehicle control apparatus includes: a sound detection part for detecting a collision noise generated by a collision between a vehicle and an article on the basis of a sound signal obtained from a sound sensor, and calculating a degree of reliability of the detected collision noise; a first determination part for determining whether the degree of reliability calculated by the sound detection part is equal to or higher than a first reference value; a second determination part for determining whether an operation mode of the vehicle is a first operation mode where a degree of the driver involved in the operation is low or a second operation mode where a degree of the driver involved in the operation is higher than in the first operation mode; and a conclusion part for concluding, in a case where the first determination part determines the reliability is equal to or higher than the first reference value, with the second determination part determining the vehicle operation mode is the first operation mode, transition of the vehicle operation mode to the second operation mode.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a vehicle control device, a computer program for vehicle control, and a vehicle control method.

Background Art

[0002] An automatic control system mounted on a vehicle has, for example, an automatic driving mode in which the automatic control system mainly drives the vehicle and a manual driving mode in which a driver mainly drives the vehicle. In the automatic driving mode, since some or all of the driving operations necessary for the vehicle to travel are automatically executed, the degree of involvement of the driver in driving is low. On the other hand, in the manual driving mode, the types of driving operations that are automatically executed are fewer or zero than in the automatic driving mode, so the degree of involvement of the driver in driving is high.

[0003] The vehicle has a sensor that detects that the vehicle has collided with an object. For example, a pressure sensor and an acceleration sensor are used as sensors that detect that the vehicle has collided with an object (see, for example, Patent Document 1). Depending on the position where the sensor is arranged, the pressure sensor may not be able to detect a collision of an object with the vehicle. In addition, the acceleration sensor is used to detect a relatively large collision that requires the airbag to be deployed.

[0004] When the vehicle collides with a small object, it may not be detected by the pressure sensor or the acceleration sensor. Therefore, detection of a collision between the vehicle and a small object by detecting a collision sound has been performed. The collision sound is detected, for example, using a discriminator that has been machine-learned. When the discriminator detects a collision sound, it outputs the reliability that the detected sound is a collision sound.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] The automatic control system, upon detecting a collision between the vehicle and an object, applies the brakes to slow down or stop the vehicle.

[0007] The objects that vehicles collide with include small objects such as pebbles. In order to accurately detect collisions between vehicles and such small objects, a collision may be determined to have occurred if a collision sound is detected with a confidence level above a predetermined threshold.

[0008] Furthermore, if a vehicle collides with a small object such as a pebble, slowing down or stopping the vehicle may have a greater impact on the driving of other vehicles following it than on ensuring the safety of the vehicle itself. Therefore, it is preferable to leave the response to a collision with an object to the driver's judgment.

[0009] Therefore, the present disclosure aims to provide a vehicle control device that can detect when a vehicle has collided with a small object based on the collision sound generated in the vehicle, and that allows the driver to respond to the collision between the vehicle and the object. [Means for solving the problem]

[0010] (1) According to one embodiment, a vehicle control device is provided. This vehicle control device is characterized by comprising: a sound detection unit that detects a collision sound generated by a collision between a vehicle and an object based on a sound signal acquired from a sound sensor and determines the reliability of the detected collision sound; a first determination unit that determines whether the reliability determined by the sound detection unit is equal to or greater than a first reference value; a second determination unit that determines whether the vehicle's driving mode is a first driving mode in which the degree of driver involvement in driving is low, or a second driving mode in which the degree of driver involvement in driving is higher than that of the first driving mode; and a decision unit that determines to switch the vehicle's driving mode to a second driving mode when the reliability is determined to be equal to or greater than a first reference value by the first determination unit and the vehicle's driving mode is determined to be a first driving mode by the second determination unit.

[0011] (2) The vehicle control device of (1) has a third determination unit that determines whether the reliability obtained by the sound detection unit is greater than or equal to a second reference value which is greater than a first reference value, and if the first determination unit determines that the reliability is greater than or equal to the first reference value, and the second determination unit determines that the vehicle's driving mode is the first driving mode, and the third determination unit determines that the reliability of the collision sound is greater than or equal to the second reference value, it is preferable that the decision unit further decides to decelerate the vehicle.

[0012] (3) The vehicle control device of (1) has a fourth determination unit that determines whether the magnitude of the collision sound is greater than or equal to a third reference value based on the sound signal acquired from the sound sensor, and if the first determination unit determines that the reliability is greater than or equal to a first reference value, and the second determination unit determines that the vehicle's driving mode is the first driving mode, and the fourth determination unit determines that the magnitude of the collision sound is greater than or equal to a third reference value, it is preferable that the determination unit further decides to deploy the airbag or move the front hood from the stopped position to the lifted position.

[0013] (4) In the vehicle control device of (1), there is a fifth determination unit that determines whether the magnitude of the collision sound is less than or equal to a fourth reference value based on the sound signal acquired from the sound sensor, and if the first determination unit determines that the reliability is greater than or equal to a first reference value, and the second determination unit determines that the vehicle's driving mode is the first driving mode, and the fifth determination unit determines that the magnitude of the collision sound is less than or equal to a fourth reference value, it is preferable for the determination unit to switch the vehicle's driving mode to the second driving mode.

[0014] (5) According to another embodiment, a vehicle control computer program is provided. This vehicle control computer program is characterized by causing a processor to execute a process that includes: a sound detection unit that detects a collision sound generated by a collision between a vehicle and an object based on a sound signal acquired from a sound sensor and determines the reliability of the detected collision sound; a first determination unit that determines whether the reliability is equal to or greater than a first reference value; a second determination unit that determines whether the vehicle's driving mode is a first driving mode in which the degree of driver involvement in driving is low, or a second driving mode in which the degree of driver involvement in driving is higher than that of the first driving mode; and if it is determined that the reliability is equal to or greater than a first reference value and the vehicle's driving mode is determined to be the first driving mode, then deciding to switch the vehicle's driving mode to the second driving mode.

[0015] (6) Another embodiment provides a vehicle control method. This vehicle control method is characterized in that a sound control device performs the following actions: a sound detection unit that detects a collision sound generated by a collision between a vehicle and an object based on a sound signal acquired from a sound sensor and determines the reliability of the detected collision sound; a first determination unit that determines whether the reliability is equal to or greater than a first reference value; a second determination unit that determines whether the vehicle's driving mode is a first driving mode in which the degree of driver involvement in driving is low, or a second driving mode in which the degree of driver involvement in driving is higher than that of the first driving mode; and if it is determined that the reliability is equal to or greater than a first reference value and the vehicle's driving mode is determined to be the first driving mode, it decides to switch the vehicle's driving mode to the second driving mode.

Advantages of the Invention

[0016] The vehicle control device according to the present disclosure can also detect that the vehicle has collided with a small object based on the collision sound generated in the vehicle. When the collision sound is detected, it switches to a driving mode with a high degree of involvement in the driver's driving, enabling the driver to respond to the collision between the vehicle and the object.

Brief Description of the Drawings

[0017] [Figure 1] It is a diagram for explaining an overview of the operation of the automatic control device of the present embodiment. [Figure 2] It is a schematic configuration diagram of a vehicle in which an automatic control system including the automatic control device of the present embodiment is implemented. [Figure 3] It is an example of an operation flowchart regarding vehicle control processing of the automatic control device of the present embodiment. [Figure 4] It is an example of an operation flowchart regarding vehicle control processing of the automatic control device of the second embodiment. [Figure 5] It is an example of an operation flowchart regarding vehicle control processing of the automatic control device of the third embodiment. [Figure 6] It is an example of an operation flowchart regarding vehicle control processing of the automatic control device of the fourth embodiment.

Modes for Carrying Out the Invention

[0018] FIG. 1 is a diagram for explaining an overview of the operation of the automatic control device 11 of the present embodiment. Hereinafter, referring to FIG. 1, an overview of the operation regarding vehicle control processing of the automatic control device 11 disclosed in this specification will be described.

[0019] The vehicle 10 has a microphone 2 and an automatic control device 11. The automatic control device 11 controls the operation of the vehicle 10 according to two driving modes with different degrees of involvement in the driver's driving. The microphone 2 is an example of a sound sensor. Automatic controlThe device 11 is an example of a vehicle control device. The vehicle 10 may be an autonomous vehicle.

[0020] For example, the automatic control device 11 has an automatic driving mode (for example, driving modes of levels 3 to 5) with a low degree of driver involvement in driving and a manual driving mode (for example, driving modes of levels 0 to 2) with a high degree of driver involvement in driving. The automatic driving mode is an example of the first driving mode. The manual driving mode is an example of the second driving mode.

[0021] In the automatic driving mode, the automatic control device 11 mainly drives the vehicle 10. Also, in the manual driving mode, a driver (not shown) mainly drives the vehicle 10. In the example shown in FIG. 1, the vehicle 10 is traveling on the road 50 in the automatic driving mode. There is another vehicle 60 traveling behind the vehicle 10.

[0022] The microphone 2 is disposed on the outer surface of the vehicle 10. The microphone 2 inputs the sound around the vehicle 10. The microphone 2 changes the input sound into an electroacoustic signal and outputs it to the automatic control device 11.

[0023] In the example shown in FIG. 1, the vehicle 10 collides with a small stone 51. The microphone 2 inputs the collision sound generated by this collision.

[0024] Based on the electroacoustic signal acquired from the microphone 2, the automatic control device 11 detects the collision sound generated by the collision between the vehicle 10 and the small stone 51 and determines the reliability of the detected collision sound. When the reliability is equal to or higher than the first reference value, the automatic control device 11 estimates that the vehicle 10 has collided with an object.

[0025] Since the reliability is equal to or higher than the first reference value and the driving mode of the vehicle is the automatic driving mode, the automatic control device 11 determines to shift the driving mode of the vehicle 10 to the manual driving mode.

[0026] The automatic control device 11 switches the driving mode of the vehicle 10 from automatic driving mode to manual driving mode. In manual driving mode, the driver begins to drive the vehicle 10 themselves.

[0027] If vehicle 10 collides with another vehicle, it may be preferable to slow down or stop vehicle 10 from the standpoint of ensuring the safety of vehicle 10. On the other hand, if vehicle 10 collides with a small object such as a pebble 51, slowing down or stopping vehicle 10 may have a greater impact on the driving of vehicle 60 following vehicle 10 than on ensuring the safety of vehicle 10.

[0028] Therefore, if the reliability is equal to or greater than the first reference value, the automatic control device 11 switches the operation of the vehicle 10 from automatic driving mode to manual driving mode. In manual driving mode, the driver judges the situation of the vehicle 10 and its surroundings. The driver then drives the vehicle 10 based on the results of their judgment.

[0029] In the example shown in Figure 1, the driver determines that vehicle 10 has collided with a small object, such as a pebble. The driver continues driving vehicle 10 without slowing down. Vehicle 60, which is following vehicle 10, can also continue driving without reducing its speed.

[0030] As described above, the automatic control The device 11 can also detect when the vehicle 10 collides with another small object based on the collision sound generated by the vehicle 10, and it enables the driver to respond to the collision between the vehicle 10 and the object.

[0031] Figure 2 shows the automated control This is a schematic diagram of a vehicle 10 on which a vehicle control system 1 including device 11 is implemented. The vehicle 10 has a microphone 2, an airbag 3, a hood drive device 4, a user interface (UI) 5, etc. The vehicle control system 1 includes at least the microphone 2 and an automatic control Includes apparatus 11.

[0032] Microphone 2, airbag 3, hood drive mechanism 4, UI 5, and automatic control Device 11 is connected to the vehicle via an in-vehicle network 13 that conforms to standards such as a controller area network.

[0033] Microphone 2 is an example of a sound sensor. Microphone 2 is positioned on the outside of vehicle 10, for example, to receive sounds from outside vehicle 10. Microphone 2 also receives collision sounds that occur when an object collides with vehicle 10. Examples of collision sounds include collisions between vehicle 10 and small objects such as pebbles, collisions between vehicle 10 and moving objects such as other vehicles, and collisions between vehicle 10 and stationary objects such as guardrails.

[0034] Microphone 2 converts the input sound into an electrical sound signal, and this electrical sound signal is automatically transmitted via the in-vehicle network 13. control The signal is output to device 11. In the example shown in Figure 2, only one microphone 2 is shown, but multiple microphones may be placed in the vehicle 10.

[0035] Airbag 3 is automatic control The airbag 3 is deployed under the control of device 11 to ensure the safety of the driver and other occupants. The airbag 3 is located in the driver's seat of the vehicle 10. In the example shown in Figure 2, only one airbag 3 is shown, but airbags may also be located in the passenger seat or rear seat.

[0036] The hood drive unit 4 is automatic controlThe device 11 controls the drive of the vehicle 10's front hood (not shown). The front hood normally covers the drive chamber where the engine or motor is located, extending from the front of the vehicle 10 towards the passenger compartment. At this time, the passenger compartment end of the front hood is in a stopped position. The hood drive device 4 creates a space between the front hood and the drive chamber by moving the passenger compartment end of the front hood upward from the stopped position to a lifted position. This allows the front hood to deform toward the engine compartment. If a pedestrian collides with the vehicle 10, even if their head hits the front hood, the deformation of the front hood toward the drive chamber mitigates the impact on their head.

[0037] UI5 is an example of a notification section. UI5 is automatic control Controlled by the device 11, etc., it notifies the driver of operational information regarding the vehicle 10. Operational information regarding the vehicle 10 includes driving information of the vehicle 10, and transition requests requesting a change in the vehicle 10's driving mode from automatic driving mode to manual driving mode. UI5 has a display device 5a such as a liquid crystal display or touch panel to display operational information. UI5 may also have an audio output device (not shown) for notifying the driver of operational information. UI5 has, for example, a touch panel or operation buttons as an input device for inputting operation information from the driver to the vehicle 10. Examples of operation information include destination location, waypoints, vehicle speed, and requests for change in driving mode. UI5 automatically transmits the input operation information via the in-vehicle network 13. control Output to device 11, etc.

[0038] automatic control Device 11 performs control processing, sound detection processing, judgment processing, and decision processing. To do this, control The device 11 includes a communication interface (IF) 21, a memory 22, and a processor 23. The communication IF 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication IF 21 is automatic controlThe device 11 has an interface circuit for connecting to the in-vehicle network 13.

[0039] Memory 22 is an example of a storage unit and includes, for example, volatile semiconductor memory and non-volatile semiconductor memory. Memory 22 stores computer programs and various data of applications used in information processing performed by the processor 23.

[0040] automatic control All or part of the functions of the device 11 are functional modules realized, for example, by a computer program running on the processor 23. The processor 23 includes a control unit 231, a sound detection unit 232, a determination unit 233, and a decision unit 234. Alternatively, the functional modules of the processor 23 may be dedicated arithmetic circuits provided on the processor 23. The processor 23 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may further include other arithmetic circuits such as a logic unit, a numerical unit, or a graphics processing unit.

[0041] The control unit 231 controls the operation of the vehicle 10, including its movement. The control unit 231 has two driving modes with different degrees of driver involvement. The control unit 231 controls the operation of the vehicle 10 according to the driving mode.

[0042] For example, the control unit 231 has an automatic driving mode in which the driver's involvement in driving is low (e.g., driving modes of levels 3 to 5) and a manual driving mode in which the driver's involvement in driving is high (e.g., driving modes of levels 0 to 2). In automatic driving mode, the automatic control device 11 is primarily responsible for driving the vehicle 10. In manual driving mode, the driver is primarily responsible for driving the vehicle 10. The control unit 231 notifies the determination unit 233 of mode information representing the current driving mode.

[0043] Furthermore, in driving modes in which the driver's involvement in driving is low, some or all of the driving operations necessary for the vehicle 10 to run are performed automatically, while in driving modes in which the driver's involvement in driving is high, the types of driving operations performed automatically may be fewer or zero than in driving modes in which the driver's involvement in driving is low.

[0044] In automatic driving mode, the control unit 231 generates a driving plan that controls actions such as steering, driving, and braking based on map information and detection information from sensors (not shown) mounted on the vehicle 10. The control unit 231 outputs automatic control signals based on this driving plan to actuators (not shown), drive units (not shown), or brakes (not shown) that control the steering wheels via the in-vehicle network 13.

[0045] In manual driving mode, the control unit 231 generates manual control signals that control the operation of the vehicle 10, such as steering, driving, and braking, based on the driver's input, and outputs these manual control signals to the actuators, drive units, or brakes that drive the steering wheels via the in-vehicle network 13.

[0046] The control unit 231 can operate the vehicle 10 in automatic driving mode in areas where automatic driving mode is permitted (for example, areas where a high-precision map for controlling the vehicle 10 is available). In areas where automatic driving mode is not permitted, the control unit 231 controls the vehicle 10 in manual driving mode. The control unit 231 also switches from automatic driving mode to manual driving mode, or from manual driving mode to automatic driving mode, at the request of the driver. Furthermore, if the control unit 231 determines that it cannot safely operate the vehicle 10 in automatic driving mode, it switches from automatic driving mode to manual driving mode.

[0047] automatic controlDevice 11 is, for example, an Electronic Control Unit (ECU). In Figure 2, the automatic control device 11 was configured with the control unit 231, sound detection unit 232, determination unit 233, and decision unit 234 as a single device, but the control unit 231, sound detection unit 232, determination unit 233, and decision unit 234 may be configured as separate devices.

[0048] Figure 3 shows the automatic control This is an example of an operation flowchart related to the vehicle control processing of device 11. Next, referring to Figure 3, control The vehicle control processing of device 11 is described below. control The device 11 executes vehicle control processing according to the operation flowchart shown in Figure 3 at vehicle control times having a predetermined cycle.

[0049] First, the sound detection unit 232 detects the collision sound generated by the collision between the vehicle 10 and an object based on the sound electrical signal acquired from the microphone 2, and also determines the reliability of the detected collision sound (step S101). Since collision energy is converted into sound, a relatively loud collision sound is generated even when the vehicle 10 collides with a small object, so the sensitivity for detecting collisions between the vehicle 10 and small objects is higher than that of the pressure sensor and acceleration sensor.

[0050] The sound detection unit 232 has a classifier trained to identify collision sounds based on sound electrical signals. As the classifier, for example, a convolutional neural network (CNN) or a recurrent neural network (RNN) pre-trained to detect electrical signals representing collision sounds from sound electrical signals can be used. The sound detection unit 232 inputs the sound electrical signal acquired from the microphone 2 into the classifier trained to identify electrical signals representing collision sounds, thereby detecting the electrical signals representing collision sounds contained in the sound electrical signal and outputting the confidence level of the detected collision sound. The confidence level is expressed as a real number between 0 and 1, for example. The closer the value is to 1, the higher the confidence that the sound electrical signal contains electrical signals representing collision sounds.

[0051] The classifier is preferably trained using training data that includes various types of collision sounds. Furthermore, this training data preferably includes collision sounds of various frequencies and waveforms. Moreover, it is preferable that this training data includes collision sounds of varying magnitudes. Note that the method for determining the reliability of the collision sounds is not limited to the classifier described above. Other known techniques may be used to determine the reliability of the collision sounds.

[0052] Next, the determination unit 233 determines whether the confidence level is equal to or greater than a first reference value (step S102). The first reference value can be, for example, 0.6 to 0.8. If the confidence level is equal to or greater than the first reference value, the automatic control device 11 estimates that the vehicle 10 has collided with an object. The determination unit 233 is an example of a first determination unit. The determination unit 233 may also determine the confidence level obtained between the current vehicle control time and the previous vehicle control time.

[0053] If the reliability is equal to or greater than the first criterion value (step S102-Yes), the determination unit 233 determines whether the driving mode of the vehicle 10 is an automatic driving mode with a low degree of driver involvement, or a manual driving mode with a higher degree of driver involvement than the automatic driving mode (step S103). If the mode information represents an automatic driving mode, the determination unit 233 determines that the driving mode of the vehicle 10 is an automatic driving mode. Also, if the mode information represents a manual driving mode, the determination unit 233 determines that the driving mode of the vehicle 10 is a manual driving mode. The determination unit 233 is an example of a second determination unit.

[0054] If the driving mode of the vehicle 10 is automatic driving mode (step S103 - automatic driving mode), the decision unit 234 decides to change the driving mode of the vehicle 10 from automatic driving mode to manual driving mode (step S104), and terminates the series of processes.

[0055] The decision unit 234 notifies the driver via the UI 5 of a transition request requesting that the vehicle 10 switch from automatic driving mode to manual driving mode. Here, the decision unit 234 may also notify the driver via the UI 5, along with the transition request, that the vehicle 10 has collided with an object.

[0056] The control unit 231 starts manual driving mode after confirming an approval action that approves the driver's transition request. An example of an approval action is that the driver operates the accelerator pedal (not shown) or brake pedal (not shown) while holding the steering wheel (not shown). If an approval action that approves the driver's transition request is not confirmed within a predetermined time, the control unit 231 may stop the vehicle 10.

[0057] When the driver starts driving vehicle 10 in manual driving mode, the driver assesses the situation of vehicle 10 and its surroundings. If the driver determines that vehicle 10 has collided with a small object such as a pebble 51, the driver may continue driving vehicle 10 without slowing down or stopping it. Even if vehicle 10 has collided with a small object such as a pebble 51, slowing down or stopping vehicle 10 may have a greater impact on the driving of vehicle 60 following vehicle 10 than on ensuring the safety of vehicle 10.

[0058] On the other hand, if the driver determines that the vehicle 10 has collided with an object larger than a pebble, it is preferable to slow down or stop the vehicle 10. For example, it is preferable for the driver to stop the vehicle 10 and check the safety of the vehicle 10 and its surroundings.

[0059] The object that vehicle 10 collides with could be anything. control If the device 11 determines that the vehicle 10 has collided with an object, it transfers control of the vehicle 10 to the driver and allows the driver to assess the situation.

[0060] Furthermore, if the confidence level is not equal to or greater than the first reference value (step S102-No), or if the driving mode of vehicle 10 is manual driving mode (step S103-manual driving mode), the series of processes is terminated. If the confidence level is not equal to or greater than the first reference value, it is presumed that vehicle 10 has not collided with an object. Also, if the driving mode of vehicle 10 is manual driving mode, the driver assesses the vehicle 10 and the surrounding situation.

[0061] As described above, the automatic control system of this embodiment can detect when a vehicle collides with a small object based on the collision sound generated in the vehicle, and it also allows the driver to respond to the collision between the vehicle and the object.

[0062] Next, the operation of the automatic control devices of the second to fourth embodiments disclosed herein will be described below with reference to Figures 4 to 6.

[0063] Figure 4 is an example of an operation flowchart relating to the vehicle control process of the automatic control device of the second embodiment. Next, referring to Figure 4, control The vehicle control processing of device 11 is described below. control The device 11 executes vehicle control processing according to the operation flowchart shown in Figure 4 at vehicle control times having a predetermined cycle.

[0064] In this embodiment, the processing in steps S201 to S204 is the same as in steps S101 to S104 described above. In this embodiment, the processing in steps S205 and S206 is added to the operation of the first embodiment.

[0065] If the decision unit 234 decides to switch the driving mode of the vehicle 10 from automatic driving mode to manual driving mode (step S204), the determination unit 233 determines whether the reliability obtained by the sound detection unit 232 is greater than or equal to a second reference value which is greater than the first reference value (step S205). The second reference value can be, for example, 0.8 to 0.9. The determination unit 233 is an example of a third determination unit.

[0066] If the reliability is equal to or greater than the second criterion value (step S205-Yes), the decision unit 234 decides to decelerate the vehicle 10 (step S206) and terminates the series of processes.

[0067] The louder the collision sound, the greater the reliability tends to be. Therefore, the higher the reliability, the larger the object that collided with the vehicle 10 is estimated to be. Accordingly, in this embodiment, if the reliability is equal to or greater than the second reference value, the determination unit 234 decides to decelerate the vehicle 10. This ensures the safety of the vehicle 10.

[0068] The decision unit 234 notifies the control unit 231 to decelerate the vehicle 10. The control unit 231 decelerates the vehicle 10 by using the brakes or by stopping acceleration. The control unit 231 may also bring the vehicle 10 to a complete stop.

[0069] On the other hand, if the reliability is not equal to or greater than the first reference value (step S202-No), or if the driving mode of the vehicle 10 is manual driving mode (step S203-manual driving mode), or if the reliability is not equal to or greater than the second reference value (step S205-No), the series of processes is terminated.

[0070] As described above, the automatic control device of this embodiment can ensure the safety of the vehicle 10 by decelerating the vehicle 10 when the reliability is equal to or greater than the second reference value. Furthermore, the automatic control device of this embodiment has the same effects as the first embodiment.

[0071] Figure 5 is an example of an operation flowchart relating to the vehicle control process of the automatic control device of the third embodiment. Next, referring to Figure 5, control The vehicle control processing of device 11 is described below. control The device 11 executes vehicle control processing according to the operation flowchart shown in Figure 5 at vehicle control times having a predetermined cycle.

[0072] In this embodiment, the processing in steps S301 to S304 is the same as in steps S101 to S104 described above. In this embodiment, the processing in steps S305 and S306 is added to the operation of the first embodiment.

[0073] If the decision unit 234 decides to switch the driving mode of the vehicle 10 from automatic driving mode to manual driving mode (step S204), the determination unit 233 determines whether the loudness of the collision sound is equal to or greater than a third reference value based on the sound electrical signal acquired from the microphone 2 (step S305). The third reference value can be, for example, 90 decibels. Known techniques can be used as a method for determining the loudness of the collision sound based on the sound electrical signal. The determination unit 233 is an example of a fourth determination unit.

[0074] The loudness of a collision sound is based on the relative velocity between the vehicle 10 and the object it collides with, and the mass of the object. The loudness of the collision sound increases with increasing relative velocity. Also, the loudness of the collision sound increases with increasing mass of the object.

[0075] If the loudness of the collision sound exceeds the third reference value (step S305-Yes), the decision unit 234 decides to deploy the airbag 3 or move the front hood from the stopped position to the lifted position (step S306), and terminates the series of processes.

[0076] The decision unit 234 may decide to deploy the airbag 3 and move the front hood from the stopped position to the lifted position.

[0077] If the loudness of the collision sound exceeds the third reference value, it is estimated that the relative speed is high, or / or the mass of the colliding object is large. In this case, the determination unit 234 ensures the safety of the driver and other occupants by deploying the airbag 3. The determination unit 234 also ensures the safety of pedestrians and others who have collided with the vehicle 10 by moving the front hood from the stopped position to the raised position.

[0078] If it is decided to deploy airbag 3, the decision unit 234 outputs a deployment signal to airbag 3 via the in-vehicle network 13 to deploy airbag 3.

[0079] Furthermore, if it is decided to move the front hood from the stopped position to the lifted position, the decision unit 234 outputs a drive signal to drive the hood to the hood drive unit 4 via the in-vehicle network 13.

[0080] On the other hand, if the reliability is not equal to or greater than the first reference value (step S302-No), or if the driving mode of the vehicle 10 is manual driving mode (step S303-manual driving mode), or if the loudness of the collision sound is not equal to or greater than the third reference value (step S305-No), the series of processes is terminated.

[0081] As described above, the automatic control device of this embodiment deploys the airbag or moves the front hood from the stopped position to the lifted position if the noise level of the collision exceeds the third reference value. This ensures the safety of the vehicle's occupants or pedestrians involved in the collision with the vehicle. Furthermore, the automatic control device of this embodiment provides the same effects as the first embodiment.

[0082] Figure 6 is an example of an operation flowchart relating to the vehicle control process of the automatic control device of the fourth embodiment. Next, referring to Figure 6, control The vehicle control processing of device 11 is described below. control The device 11 executes vehicle control processing according to the operation flowchart shown in Figure 6 at vehicle control times having a predetermined cycle.

[0083] In this embodiment, the processing in steps S401 to S403 and S405 is the same as in steps S101 to S104 described above. In this embodiment, the processing in step S404 is added between steps S403 and S405.

[0084] If the driving mode of the vehicle 10 is automatic driving mode (step S403 - automatic driving mode), the determination unit 233 determines whether the loudness of the collision sound is below a fourth reference value based on the sound electrical signal acquired from the microphone 2 (step S404).

[0085] If the confidence level is above the first criterion value (Step S402-Yes), and the loudness of the collision sound is below the fourth criterion value (Step S404-Yes), then it is presumed that vehicle 10 collided with a small object such as a pebble. The fourth criterion value can be the loudness of the collision sound produced when a small object such as a pebble collides with vehicle 10. For example, the fourth criterion value can be 50 to 60 decibels.

[0086] If the loudness of the collision sound is below the fourth reference value (step S404-Yes), the decision unit 234 decides to switch the driving mode of the vehicle 10 from automatic driving mode to manual driving mode (step S104), and terminates the series of processes.

[0087] If it is estimated that vehicle 10 has collided with a small object such as a pebble, the responsibility for driving vehicle 10 is transferred to the driver, who is then allowed to assess the situation. Even if vehicle 10 has collided with a small object such as a pebble 51, slowing down or stopping vehicle 10 may have a greater impact on the driving of vehicle 60 following vehicle 10 than on ensuring the safety of vehicle 10.

[0088] On the other hand, if the reliability is not equal to or greater than the first reference value (step S202-No), or if the driving mode of the vehicle 10 is manual driving mode (step S203-manual driving mode), or if the loudness of the collision sound is not equal to or less than the fourth reference value (step S404-No), the series of processes is terminated.

[0089] If the loudness of the collision sound is not below the fourth reference value (step S404-No), the driving mode of the vehicle 10 remains in automatic driving mode. Since the reliability is above the first reference value (step S402-Yes), the control unit 231 may determine that the vehicle 10 has collided with an object and drive the vehicle 10 to decelerate or stop.

[0090] As described above, the automatic control system of this embodiment allows the driver to respond to a collision between the vehicle and an object if the loudness of the collision sound is below the fourth reference value. As a result, if the vehicle 10 collides with a small object such as a pebble, the vehicle will be driven appropriately based on the driver's judgment. Furthermore, the automatic control system of this embodiment provides the same effects as the first embodiment.

[0091] In this disclosure, the vehicle control device, vehicle control computer program, and vehicle control method of the embodiments described above may be modified as appropriate without departing from the spirit of this disclosure. Furthermore, the technical scope of this disclosure is not limited to those embodiments, but extends to the invention described in the claims and its equivalents. In addition, the content described in one embodiment may be applied to other embodiments as appropriate.

[0092] For example, in the embodiment described above, one microphone and one airbag were positioned in the vehicle. Here, microphones may be positioned on both the left and right sides of the vehicle, and airbags may be positioned in the driver's seat and passenger seat, respectively, within the vehicle's cabin. In the third embodiment described above, if it is decided to deploy the airbag, the airbag on the same side as the microphone that received the collision sound of a magnitude equal to or greater than the third reference value may be deployed. [Explanation of symbols]

[0093] 1. Vehicle control system 2 microphones 3 Airbags 4. Hood drive mechanism 5. User Interface 5a Display device 10 vehicles 11 Automatic control system 21 Communication Interface 22 memory 23 processors 231 Control Unit 232 Sound detection unit 233 Judgment section 234 Decision Section 24 signal lines 13. In-vehicle network

Claims

1. A sound detection unit that detects collision sounds generated by a collision between a vehicle and an object based on sound signals acquired from a sound sensor, and determines the reliability of the detected collision sounds, A first determination unit determines whether the reliability obtained by the sound detection unit is equal to or greater than a first reference value, A second determination unit determines whether the vehicle's driving mode is a first driving mode in which the driver's involvement in driving is low, or a second driving mode in which the driver's involvement in driving is higher than that of the first driving mode, A determination unit determines, when the first determination unit determines that the reliability is equal to or greater than the first reference value, and the second determination unit determines that the vehicle's driving mode is the first driving mode, to transition the vehicle's driving mode to the second driving mode, A vehicle control device characterized by having the following:

2. The unit includes a third determination unit that determines whether the reliability obtained by the sound detection unit is greater than or equal to a second reference value which is greater than the first reference value, The vehicle control device according to claim 1, wherein if the first determination unit determines that the reliability is equal to or greater than the first reference value, the second determination unit determines that the driving mode of the vehicle is the first driving mode, and the third determination unit determines that the reliability of the collision sound is equal to or greater than the second reference value, the decision unit further decides to decelerate the vehicle.

3. The system includes a fourth determination unit that determines whether the magnitude of the collision sound is greater than or equal to a third reference value based on the sound signal acquired from the sound sensor. The vehicle control device according to claim 1, wherein if the first determination unit determines that the reliability is equal to or greater than the first reference value, the second determination unit determines that the driving mode of the vehicle is the first driving mode, and the fourth determination unit determines that the magnitude of the collision sound is equal to or greater than the third reference value, the determination unit further determines to deploy the airbag or to move the front hood from the stopped position to the lifted position.

4. The system includes a fifth determination unit that determines whether the magnitude of the collision sound is less than or equal to a fourth reference value based on the sound signal acquired from the sound sensor. The vehicle control device according to claim 1, wherein if the first determination unit determines that the reliability is equal to or greater than the first reference value, the second determination unit determines that the driving mode of the vehicle is the first driving mode, and the fifth determination unit determines that the magnitude of the collision sound is equal to or less than the fourth reference value, the decision unit determines to switch the driving mode of the vehicle to the second driving mode.

5. A sound detection unit that detects collision sounds generated by a collision between a vehicle and an object based on sound signals acquired from a sound sensor, and determines the reliability of the detected collision sounds, A first determination unit that determines whether the reliability is equal to or greater than a first reference value, A second determination unit determines whether the vehicle's driving mode is a first driving mode in which the driver's involvement in driving is low, or a second driving mode in which the driver's involvement in driving is higher than that of the first driving mode, If the reliability is determined to be equal to or greater than the first reference value, and the operating mode of the vehicle is determined to be the first operating mode, then it is decided to switch the operating mode of the vehicle to the second operating mode. A computer program for vehicle control characterized by causing a processor to execute a process that includes the following.

6. A sound detection unit that detects collision sounds generated by a collision between a vehicle and an object based on sound signals acquired from a sound sensor, and determines the reliability of the detected collision sounds, A first determination unit that determines whether the reliability is equal to or greater than a first reference value, A second determination unit determines whether the vehicle's driving mode is a first driving mode in which the driver's involvement in driving is low, or a second driving mode in which the driver's involvement in driving is higher than that of the first driving mode, If the reliability is determined to be equal to or greater than the first reference value, and the operating mode of the vehicle is determined to be the first operating mode, then it is decided to switch the operating mode of the vehicle to the second operating mode. A computer program for vehicle control, characterized in that the sound control device performs the following action.

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