Autonomous driving system

Abstract

To provide an autonomous driving device which allows an own vehicle to travel by autonomous driving while making the own vehicle perform the desired travel at a location desired by the own vehicle's driver.SOLUTION: An autonomous driving device 10 automatically generates a route from a departure place to a destination as a target route and executes automatic travel control which makes an own vehicle 100 travel along the target route up to the destination autonomously. The autonomous travel control causes the own vehicle to perform specific travel at a specific location when the own vehicle is driven by the autonomous travel control, if the own vehicle's driver sets the specific travel and the specific location where the own vehicle traveling along the target route is made to perform the specific travel.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an automatic driving device.

Background Art

[0002] An automatic driving device that performs automatic driving of a host vehicle is known. Also, as this automatic driving device, the driving route etc. of the host vehicle when the host vehicle is driven manually is stored, and when the planned driving route etc. of the host vehicle driven by automatic driving deviates only to a certain extent from the driving route etc. of the host vehicle stored above, there is also known an automatic driving device that drives the host vehicle by automatic driving according to the planned driving route etc. (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] According to the conventional automatic driving device described above, even if an operator (especially a driver) of the host vehicle wants the host vehicle to perform a specific driving at a specific point when driving the host vehicle by automatic driving, if the planned driving route etc. reflecting the specific driving at the specific point deviates more than a certain extent from the driving route etc. of the host vehicle when the host vehicle is driven manually, the host vehicle cannot be driven by automatic driving reflecting the specific driving at the specific point.

[0005] An object of the present invention is to provide an automatic driving device that can drive a host vehicle by automatic driving while allowing the operator of the host vehicle to perform a desired driving at a desired point.

[0006] The automatic driving device according to the present invention automatically generates a route from a departure point to a destination as a target route, and automatically drives the host vehicle to the destination along the target route. Autonomous driving controlIt is equipped with a control device that performs the aforementioned Autonomous driving control This refers to a specific point where the operator of the vehicle wants the vehicle traveling along the target route to perform a specific type of driving, and the operator of the vehicle sets the specific type of driving. Autonomous driving control The system is configured to cause the vehicle to perform the specified driving maneuver at the specified point while the vehicle is in motion. Furthermore, the specified point is a deceleration point where the operator wishes to decelerate the vehicle, a lane change point where the operator wishes to change lanes, or a stop point where the operator wishes to deviate from the target route and temporarily stop the vehicle. If the specified point is a deceleration point, the specified driving is deceleration of the vehicle; if the specified point is a lane change point, the specified driving is changing lanes; and if the specified point is a stop point, the specified driving is entering and stopping at the stop point.

[0007] According to the present invention, the automated driving system allows the vehicle to be driven by automated driving control while performing a specific type of driving at a specific location. In other words, the vehicle can be driven by automated driving while performing a desired type of driving at a location desired by the vehicle's operator.

[0009] also, According to the automated driving system of the present invention, when the vehicle is being driven by automated driving control, the system can automatically decelerate the vehicle at a deceleration point where the operator wishes to decelerate the vehicle, change lanes at a lane change point where the operator wishes to change lanes, and enter and stop the vehicle at a stop point where the operator wishes to deviate from the target route and temporarily stop the vehicle.

[0010] Furthermore, in the automatic driving device according to the present invention, the control device may be configured such that, when the specific point is set by the operator, if the conditions for enabling the vehicle to perform the specific driving set in accordance with the specific point at the set specific point are not met, the vehicle is driven by the automatic driving control and the control device is configured to prevent the vehicle from performing the specific driving set in accordance with the specific point at the set specific point. Automated driving system.

[0011] According to the automatic driving device of the present invention, if it is not possible to have the vehicle perform a specific driving action at a specific point, the system will not have the vehicle perform that specific driving action at that point, thereby enabling the vehicle to be driven automatically more appropriately.

[0012] Furthermore, in the automated driving device according to the present invention, the control device may be configured to notify the operator that, if the conditions for implementation are not met, it is not possible to have the vehicle perform the specific driving described in accordance with the set specific point at the set specific point.

[0013] The automated driving system according to the present invention can make the operator aware that it is not possible to have the vehicle perform a specific driving action at a specific point set by the operator.

[0014] The components of the present invention are not limited to the embodiments described below with reference to the drawings. Other objects, features, and incidental advantages of the present invention will be readily apparent from the description of the embodiments. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a diagram showing an automatic driving device according to an embodiment of the present invention. [Figure 2] Figure 2 shows the target route. [Figure 3] Figure 3 is a flowchart showing the routine executed by an automated driving device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0016] Hereinafter, an automated driving system according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 shows the automated driving system 10. The automated driving system 10 is installed in the vehicle 100. Hereinafter, the automated driving system 10 will be described using the case where the operator of the vehicle 100 is a person who is riding in the vehicle 100 and driving the vehicle 100 (i.e., the driver of the vehicle 100) as an example.

[0017] However, the operator of the host vehicle 100 may be a person who remotely operates the host vehicle 100 without boarding the host vehicle 100 (i.e., a remote operator of the host vehicle 100). When the operator of the host vehicle 100 is a remote operator, the automatic driving device 10 is mounted on the host vehicle 100 and a remote operation facility installed outside the host vehicle 100 for remotely operating the host vehicle 100, respectively. The functions of the automatic driving device 10 described below are shared and performed by the automatic driving device 10 mounted on the host vehicle 100 and the automatic driving device 10 mounted on the remote operation facility, respectively.

[0018] As shown in FIG. 1, the automatic driving device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, a storage medium such as a nonvolatile memory, and an interface. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the automatic driving device 10 stores a program for realizing various controls executed by the automatic driving device 10 in the storage medium.

[0019] In this example, the automatic driving device 10 includes only one ECU 90, but may include a plurality of ECUs and be configured to share and perform the functions of the automatic driving device 10 described below by each ECU.

[0020] Further, the automatic driving device 10 may be configured to update (update) a program stored in the storage medium by wireless communication (e.g., Internet communication) with an external device.

[0021] <Traveling device> Further, the host vehicle 100 is equipped with a traveling device 20. The traveling device 20 includes a driving device 21, a braking device 22, and a steering device 23.

[0022] The drive device 21 is a device that outputs the drive torque (driving force) applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine, a motor, or the like. The drive device 21 is electrically connected to the ECU 90. The automatic driving device 10 can control the drive torque output from the drive device 21 by controlling the operation of the drive device 21.

[0023] The braking device 22 is a device that outputs the braking torque (braking force) applied to the host vehicle 100 to brake the host vehicle 100, and is, for example, a hydraulic braking device. The braking device 22 is electrically connected to the ECU 90. The automatic driving device 10 can control the braking torque output from the braking device 22 by controlling the operation of the braking device 22.

[0024] The steering device 23 is a device that outputs the steering torque (steering force) applied to the host vehicle 100 to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The automatic driving device 10 can control the steering torque output from the steering device 23 by controlling the operation of the steering device 23.

[0025] When the automatic driving device 10 executes the automatic driving control to be described later, the host vehicle 100 is automatically or autonomously driven by automatically or autonomously controlling the operation of the traveling device 20.

[0026] <Sensors, etc.> Furthermore, the host vehicle 100 is equipped with a notification device 30, an operation device 40, a peripheral information detection device 50, and a position information detection device 60.

[0027] The notification device 30 is a device that gives various notifications to the driver, and includes a display device 31 and an acoustic device 32.

[0028] The display device 31 is a device that displays various images and is equipped with a display 311. The display device 31 is electrically connected to the ECU 90. The automatic driving system 10 can display various images on the display 311 using the display device 31.

[0029] Furthermore, the sound device 32 is a device that outputs various sounds and is equipped with a speaker 321. The sound device 32 is electrically connected to the ECU 90. The automatic driving device 10 can output various sounds from the speaker 321 using the sound device 32.

[0030] The operating device 40 is a device that allows the driver to perform various operations to drive the vehicle 100 using the automated driving system described later. In this example, the display 311 of the display device 31 is configured as a so-called touch panel that can sense when the driver touches it with their finger, and the operating device 40 is realized by the display of various images on the display 311 by the display device 31.

[0031] The surrounding information detection device 50 is a device that detects information about the surroundings of the vehicle 100, and in this example, it is equipped with an electromagnetic wave sensor 51 and an image sensor 52.

[0032] The electromagnetic wave sensor 51 is, for example, a radar sensor (millimeter-wave radar, etc.), an ultrasonic sensor (clearance sonar, etc.), or an optical sensor such as a laser radar (LiDAR), and is electrically connected to the ECU 90. The automatic driving system 10 acquires information about objects present around its own vehicle 100 as surrounding detection information IS using the electromagnetic wave sensor 51.

[0033] The image sensor 52 is, for example, a camera and is electrically connected to the ECU 90. The autonomous driving system 10 acquires image information about the surroundings of its own vehicle 100 as surrounding detection information IS using the image sensor 52.

[0034] When the automated driving system 10 drives its own vehicle 100 using automated driving control described later, it automatically or autonomously controls the operation of the driving device 20 using surrounding detection information IS so that the vehicle 100 drives along the target path Rtgt.

[0035] The location information detection device 60 includes a GPS device 61 and a map information database 62.

[0036] The GPS device 61 is a device that receives so-called GPS signals and is electrically connected to the ECU 90. The automatic driving system 10 can acquire GPS signals via the GPS device 61 and determine (acquire) the position of its own vehicle 100 based on the acquired GPS signals.

[0037] The map information database 62 is a database that stores map information and is electrically connected to the ECU 90. The automatic driving system 10 can determine where the vehicle 100 is located on the map indicated by the map information, based on the position of the vehicle 100 identified from the GPS signal and the map information.

[0038] <Operation of the automatic driving system> Next, we will explain the operation of the automatic driving system 10.

[0039] As shown in Figure 2, the automated driving system 10 automatically generates a target route Rtgt from the starting point Ps to the destination Pd, and then automatically drives its own vehicle 100 along that target route Rtgt to the destination Pd. Autonomous driving control It is configured to perform the following:

[0040] In this example, Autonomous driving control When the driver of vehicle 100 sets a point (specific point Pp) where they want the vehicle 100 traveling along the target route Rtgt to perform a specific type of driving (specific driving), the system will then... Autonomous driving control This configuration causes vehicle 100 to perform a specific action at a specific point Pp while it is in motion.

[0041] The points designated as specific points Pp are, for example, a point where the driver wishes to slow down their vehicle 100 (slowdown point P1), a point where the driver wishes to change lanes with their vehicle 100 (lane change point P2), and a point where the driver wishes to temporarily stop their vehicle 100 off the target route Rtgt (stop point P3). The slowdown point P1 is, for example, a point just before a place where the vehicle 100 turns right or left, or before a point with a stop line. The stop point P3 is, for example, a store such as a convenience store or a parking lot.

[0042] Therefore, if the specific point Pp is a deceleration point P1, the specific driving is the deceleration of the vehicle 100; if the specific point Pp is a lane change point P2, the specific driving is the lane change of the vehicle 100; and if the specific point Pp is a stop point P3, the specific driving is the entry of the vehicle 100 into the stop point P3 and stopping at the stop point P3.

[0043] The automated driving system 10 executes the routine shown in Figure 3 at predetermined calculation intervals to determine the target route Rtgt used for automated driving control, reflecting a specific point Pp and specific driving conditions. Therefore, at a predetermined timing, the automated driving system 10 starts processing from step S300, proceeds to step S305, and determines whether the setting request condition C1 is met.

[0044] Setting request condition C1 is the condition that a setting of destination Pd, etc., used for automatic driving control (automatic driving setting) has been requested. The driver can request the automatic driving setting from the automatic driving device 10 by touching the setting request image displayed on the display 311 with their finger. When the automatic driving setting is requested, the automatic driving device 10 displays a map image on the display 311 as shown in Figure 2. The map image displayed at this time is a map image representing the area around the vehicle 100. Based on the current position of the vehicle 100 identified by the GPS device 61, the automatic driving device 10 obtains map information of the area around the vehicle 100 from the map information database 62, and displays a map image of the area around the vehicle 100 on the display 311 based on that map information.

[0045] In the following explanation, unless otherwise specified, the term "map image" refers to the map image displayed on display 311.

[0046] If the automated driving system 10 determines "Yes" in step S305, it proceeds to step S310 to determine whether the driver has performed the operation to set the departure point Ps and destination Pd (setting operation for destination Pd, etc.). The departure point Ps is the point where the vehicle 100 starts driving under automated driving control, and the destination Pd is the point to which the vehicle 100 is to arrive under automated driving control. The driver can specify the departure point Ps and destination Pd by touching the corresponding locations on the map image with their finger to the points they wish to set as the departure point Ps and destination Pd, respectively. Next, the driver can set the specified departure point Ps and destination Pd as the departure point Ps and destination Pd to be used to determine the target route Rtgt by touching the approval image displayed on the display 311 with their finger.

[0047] If the automated driving system 10 determines "Yes" in step S310, it proceeds to step S315 and determines the target route Rtgt as the route on which the vehicle 100 will travel by automated driving from the departure point Ps to the destination Pd.

[0048] Next, the automated driving system 10 proceeds to step S320, and displays the determined target route Rtgt overlaid on the map image, as shown in Figure 2.

[0049] Next, the automatic driving device 10 proceeds to step S325 and determines whether or not an operation to set a specific point Pp and a specific drive (an operation to set a specific point Pp, etc.) has been performed.

[0050] As mentioned earlier, the points that can be set as specific points Pp are, for example, deceleration point P1, lane change point P2, and stop point P3. The driver can specify a specific point Pp by touching the corresponding location on the map image with their finger. Furthermore, the driver can specify the specific driving actions they want their vehicle 100 to perform at that specific point Pp by touching one of the multiple specific driving selection images displayed on the display 311 with their finger. Next, the driver can set the specified specific point Pp and specific driving actions as the specific point Pp and specific driving actions to be reflected in the target route Rtgt, respectively, by touching the approval image displayed on the display 311 with their finger.

[0051] If the automated driving device 10 determines "Yes" in step S325, it proceeds to step S330 to determine whether the feasibility condition C2 is met.

[0052] The feasibility condition C2 is met when the vehicle 100 can be made to perform a specific drive set in accordance with a specific point Pp set by the driver. Cases in which the vehicle 100 cannot be made to perform a specific drive set in accordance with a specific point Pp include, for example, the following:

[0053] (1) When a specific point Pp is a deceleration point P1, and deceleration of the vehicle 100 at that specific point Pp is prohibited under road traffic laws.

[0054] (2) When a specific point Pp is a lane change point P2, and the lane change of the vehicle 100 at that specific point Pp is prohibited under road traffic laws.

[0055] (3) When a specific point Pp is a lane change point P2, and there is only one lane in which the vehicle 100 can travel at that specific point Pp.

[0056] (4) When a designated point Pp is a stopover point P3, and the road structure prevents the vehicle 100 from entering the designated point Pp. For example, when a stopover point P3 is located beyond the oncoming lane, but there is a structure such as a median strip between the oncoming lane and the lane in which the vehicle 100 is traveling, preventing the vehicle 100 from entering the designated point Pp.

[0057] (5) When it is determined that it is not possible or difficult to have the vehicle 100 perform a specific driving action at a specific point Pp due to the control accuracy of the automated driving control.

[0058] If the automated driving system 10 determines "Yes" in step S330, it proceeds to step S335 to determine the target route Rtgt that reflects the specific point Pp and the specific driving.

[0059] Next, the automated driving device 10 proceeds to step S340, where it displays the target route Rtgt, which was determined by reflecting the specific point Pp and the specific driving, on the map image, and also displays the details of the specific driving set in accordance with the specific point Pp at the location on the map image corresponding to the specific point Pp.

[0060] The automatic driving device 10 then proceeds to step S395 and terminates the processing of this routine.

[0061] On the other hand, if the automated driving system 10 determines "No" in step S330, it proceeds to step S345 and issues a notification that the operation cannot be performed. In this case, the specific point Pp and the specific drive are not reflected in the target route Rtgt.

[0062] An execution failure notification is a process that notifies the driver that it is not possible to have the vehicle 100 perform a specific drive set in accordance with that specific point Pp at that specific point Pp. In this example, the execution failure notification is implemented by either displaying an image on the display 311 indicating that it is not possible to have the vehicle 100 perform a specific drive set in accordance with that specific point Pp at that specific point Pp, or by outputting an audio from the speaker 321 indicating that it is not possible to have the vehicle 100 perform a specific drive set in accordance with that specific point Pp at that specific point Pp, or both.

[0063] The automatic driving device 10 then proceeds to step S395 and terminates the processing of this routine.

[0064] Furthermore, if the automatic driving device 10 determines "No" in step S310, it proceeds to step S350 to determine whether the set termination condition C3 has been met.

[0065] The setting completion condition C3 is met when it is determined that the driver has finished setting the specific location Pp and the specific route. The automated driving system 10 displays an image (setting completion image) on the display 311 that the driver touches with their finger to complete the setting of the specific location Pp and the specific route. When the driver touches the setting completion image with their finger, the automated driving system 10 determines that the driver has finished setting the specific location Pp and the specific route.

[0066] If the automatic driving device 10 determines "Yes" in step S350, it proceeds to step S355 and stores the target path Rtgt determined at that point as the final target path Rtgt to be used for automatic driving control. Then, the automatic driving device 10 proceeds to step S395 and terminates the processing of this routine.

[0067] As a result, when the automatic driving device 10 drives its own vehicle 100 using automatic driving control, it drives the vehicle 100 along the stored target path Rtgt. Furthermore, when the vehicle 100 reaches a specific point Pp while being driven by automatic driving control, the automatic driving device 10 drives the vehicle 100 to perform a specific driving action set in accordance with that specific point Pp.

[0068] Furthermore, if the automatic driving device 10 determines "No" in step S305, step S325, or step S350, it proceeds directly to step S395 and terminates the processing of this routine.

[0069] The above describes the operation of the automatic driving device 10. According to the automatic driving device 10, the vehicle 100 can be driven by automatic driving control while performing a specific driving maneuver at a specific point Pp. In other words, the vehicle 100 can be driven by automatic driving while performing a desired driving maneuver at a desired point desired by the driver of the vehicle 100.

[0070] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention.

[0071] For example, the automated driving system 10 may be configured to display roads on a map image that can be driven by automated driving control, taking into account control accuracy, when the set requirement condition C1 is met, and to determine the target route Rtgt by having the driver select the road they wish to drive from among those roads.

[0072] Furthermore, the automatic driving device 10 may be configured to perform automatic driving control using a target route Rtgt determined by an application downloaded to a mobile phone such as a smartphone. In this case, the driver can determine the target route Rtgt using the application on their mobile phone and drive their vehicle 100 using automatic driving control based on that target route Rtgt.

[0073] Furthermore, the automatic driving device 10 may be configured to allow the driver to choose whether or not to perform a specific driving maneuver set for a specific point Pp when the vehicle 100 is approaching a specific point Pp while the vehicle 100 is being driven by automatic driving control. In this case, the automatic driving device 10 displays an approval image on the display 311, and when the driver touches the approval image with their finger, it determines that the driver has approved (selected) to perform the specific driving maneuver and causes the vehicle 100 to perform the specific driving maneuver.

[0074] Alternatively, the automatic driving device 10 may be configured such that, when the vehicle 100 is being driven by automatic driving control and approaches a specific point Pp, it notifies the driver via the notification device 30 that it should perform a specific driving maneuver set to correspond to that specific point Pp, and then instructs the vehicle 100 to perform that specific driving maneuver. [Explanation of Symbols]

[0075] 10...Automatic driving system, 20...Running system, 21...Drive system, 22...Braking system, 23...Steering system, 30...Notification system, 31...Display device, 311...Display, 32...Sound system, 321...Speaker, 40...Operation device, 50...Surrounding information detection device, 51...Electromagnetic wave sensor, 52...Image sensor, 60...Location information detection device, 61...GPS device, 62...Map information database, 90...ECU, 100...Vehicle

Claims

1. An automated driving system equipped with a control device that automatically generates a route from a starting point to a destination as a target route and performs automated driving control to automatically drive the vehicle along the target route to the destination, The aforementioned automatic driving control is configured such that, when the operator of the vehicle sets a specific point where they want the vehicle to perform a specific type of driving along the target route, the automatic driving control causes the vehicle to perform the specific type of driving at the specified point while the vehicle is driving. The aforementioned specific point is a deceleration point where the operator wishes to slow down the vehicle, a lane change point where the operator wishes to change lanes, or a stop point where the operator wishes to deviate from the target route and temporarily stop the vehicle. If the aforementioned specific point is the deceleration point, the aforementioned specific driving is the deceleration of the vehicle itself. If the aforementioned specific point is the lane change point, the aforementioned specific driving is the lane change of the vehicle itself. If the aforementioned specific location is the aforementioned stopover point, the aforementioned specific drive is the entry and stopping of the vehicle at the said stopover point. Automated driving system.

2. In the automatic driving device according to Claim 1, The control device is configured such that, when the specific point is set by the operator, if the conditions for enabling the vehicle to perform the specific driving corresponding to the set specific point are not met, the vehicle is not allowed to perform the specific driving corresponding to the set specific point when the vehicle is being driven by the automatic driving control. Automated driving system.

3. In the automatic driving device according to Claim 2, The control device is configured to notify the operator that, if the conditions for implementation are not met, it is not possible to have the vehicle perform the specified driving action set for that specified point at the specified point. Automated driving system.

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