Driving assistance systems

Abstract

To provide a technique capable of suppressing reduction in opportunity to use operation support control.SOLUTION: An operation support device comprises: a support controller which performs operation support control; a storing device which stores definition of at least one prerequisite control to be a prerequisite for starting the operation support control; and a system controller which performs at least one prerequisite control. The support controller: acquires the prerequisite control corresponding to the operation support control on the basis of the definition and a system state; determines whether the system state is valid or invalid for each prerequisite control corresponding to the operation support control; also determines whether the previously determined system state corresponds to the defined system state; requests driver's approval for changing the system state with respect to the prerequisite control related to the system states for which determination is made that the previously determined system does not correspond to the defined system state; and starts the operation support control, upon approval by a driver, by changing the system state of the prerequisite control related the system states for which determination is made that the previously determined system does not correspond to the defined system state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a driving support device.

Background Art

[0002] Patent Document 1 discloses a device that performs driving support control. This device includes a system that drives and controls an anti-lock brake system that suppresses locking of wheels during braking, a system that drives and controls a vehicle stability control system that suppresses skidding of the vehicle, and a system that drives and controls traction control, which is a device that prevents wheel spin of the vehicle during starting or acceleration.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in order to start driving support control, it may be a prerequisite that other controls are in a state where they can function. Hereinafter, making a control in a state where it can function is referred to as enabling the control, and making a control in a state where it cannot function is referred to as disabling the control. And other controls that are a prerequisite for starting driving support control are referred to as prerequisite controls. Generally, when the prerequisite control is invalid, the driving support control is not started. However, there is room for improvement in order to promote the use of driving support control. The present disclosure provides a technique capable of suppressing a reduction in the opportunity for driving support control to be used.

Means for Solving the Problems

[0005] A driver assistance system according to one aspect of this disclosure comprises a support controller, a storage device, and a system controller. The support controller performs driver assistance control. The storage device is connected to the support controller and stores the definition of at least one prerequisite control that is a prerequisite for starting driver assistance control. The definition includes at least one prerequisite control and the system state of at least one prerequisite control. The system state is either enabled or disabled. The system controller performs at least one prerequisite control. The support controller is configured to acquire prerequisite controls and system states corresponding to driver assistance control based on the definition in response to the driver's operation of the vehicle to start driver assistance control, determine whether the system state of each prerequisite control corresponding to driver assistance control is enabled or disabled based on the signal from the system controller, determine whether the determined system state matches the defined system state, request the driver's approval to change the system state of the prerequisite control related to the system state that was determined not to match, and change the system state of the prerequisite control related to the system state that was determined not to match and start driver assistance control upon obtaining approval from the driver.

[0006] According to this driver assistance system, in response to the driver's operation to initiate driver assistance control, prerequisite controls and system states corresponding to the driver assistance control are acquired based on definitions. Then, based on signals from the system controller, it is determined whether the system state is enabled or disabled for each prerequisite control corresponding to the driver assistance control. It is determined whether the determined system state matches the defined system state. The driver is requested to approve a change in the system state for the prerequisite control related to the system state that was determined not to match. Upon receiving approval from the driver, the system state of the prerequisite control related to the system state that was determined not to match is changed, and the driver assistance control is initiated. In this way, if the system state of a prerequisite control does not match the conditions for initiating driver assistance control, the driver can be requested to approve a change in the system state. The driver assistance system can then initiate driver assistance control if approval for the change in the system state is obtained. Therefore, the driver assistance system can prevent a reduction in the opportunities for driver assistance control to be used. [Effects of the Invention]

[0007] This disclosure provides a technology that can suppress the reduction in opportunities for the use of driver assistance control. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a block diagram showing an example of the configuration of a vehicle equipped with a driver assistance device according to one embodiment. [Figure 2] Figure 2 shows an example of information stored in the prerequisite system database. [Figure 3] Figure 3 is a flowchart showing the operation of the driver assistance system. [Figure 4] Figure 4 shows an example of a notification to the driver. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings.

[0010] Figure 1 is a block diagram showing an example of the configuration of a vehicle equipped with a driver assistance device according to one embodiment. As shown in Figure 1, the driver assistance device 1 is mounted on a vehicle 2 as an example. The vehicle 2 may be, for example, an autonomous vehicle that operates under autonomous driving conditions. The driver assistance device 1 is configured to perform various driver assistance controls. In the following description, as an example, the case in which the driver assistance device 1 provides vehicle speed control will be explained, but the driver assistance control is not limited to vehicle speed control.

[0011] The driver assistance system 1 comprises a sensor group 3, a prerequisite system ECU (Electronic Control Unit) 4, and a vehicle speed control ECU 5. The ECU is an electronic control unit having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), CAN (Controller Area Network) communication circuit, etc. The prerequisite system ECU 4 may be an ECU that integrates multiple ECUs. The prerequisite system ECU 4 is an example of a system controller, and the vehicle speed control ECU 5 is an example of an assistance controller.

[0012] Sensor group 3 comprises at least one sensor. The sensor is, for example, an external sensor, a GPS receiver, and an internal sensor. The external sensor is a detection device that detects the conditions around the vehicle 2. The external sensor includes at least one of a camera and a radar sensor. The internal sensor is a detection device that detects the driving state of the vehicle 2. The internal sensor includes at least one of a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor.

[0013] The prerequisite system ECU4 is connected to the sensor group 3 and includes at least one prerequisite system. The prerequisite system is a system that controls the behavior of the vehicle 2. The prerequisite system may be one system or multiple systems. The prerequisite system is predetermined to be enabled as a prerequisite for initiating vehicle speed control. Hereinafter, the control performed by the prerequisite system will also be referred to as prerequisite control. Furthermore, enabling a control or system means putting it into a state where it can perform its functions, and disabling a control or system means putting it into a state where it cannot perform its functions. Thus, the prerequisite systems for vehicle speed control are predetermined, and vehicle speed control can be initiated on the condition that all prerequisite systems are enabled.

[0014] The prerequisite system ECU4 includes, for example, a yaw control ECU41 and a wheel slip control ECU42. The yaw control ECU41 performs, for example, VSC (Vehicle Stability Control), which controls the force applied to the four wheels to stabilize the vehicle. The wheel slip control ECU42 performs TRC (TRaction Control system), which suppresses wheel slip during starting and acceleration. The ECUs shown are examples, and the prerequisite system ECU4 may be configured to include other ECUs. The prerequisite system ECU4 is connected to the prerequisite system operation unit 6. The prerequisite system operation unit 6 receives driver operations to enable and disable the prerequisite system. The prerequisite system operation unit 6 is, for example, a user interface such as a button or a touch panel. The prerequisite system ECU4 has the function of enabling and disabling the prerequisite system in response to driver operations received by the prerequisite system operation unit 6. The prerequisite system ECU4 has the function of enabling and disabling the prerequisite system in response to signals output from the vehicle speed control ECU5, which will be described later.

[0015] The vehicle speed control ECU 5 is connected to the sensor group 3 and the prerequisite system ECU 4, and includes a prerequisite system setting unit 51, a vehicle speed control unit 52, an approval unit 53, and a prerequisite system DB 54. The prerequisite system DB 54 is an example of a storage device.

[0016] The vehicle speed control unit 52 controls the vehicle speed of the vehicle 2. Vehicle speed control includes longitudinal behavior control or follow control. Based on the detection results of the sensor group 3, the vehicle speed control unit 52 operates the actuators 10 of the vehicle 2 to control the vehicle speed. The actuators 10 include, for example, a drive actuator and a brake actuator. The vehicle speed control unit 52 starts vehicle speed control in response to an operation by the driver of the vehicle 2 to start vehicle speed control. For example, the vehicle speed control operation unit 7 receives an operation from the driver of the vehicle 2 to start vehicle speed control. The vehicle speed control operation unit 7 is, for example, a user interface such as a button or a touch panel.

[0017] The prerequisite system setting unit 51 determines whether the prerequisite system is enabled before the vehicle speed control unit 52 performs vehicle speed control. For example, in response to the vehicle speed control operation unit 7 receiving an operation from the vehicle driver to start vehicle speed control, the prerequisite system for vehicle speed control and the system status of the said prerequisite system are acquired.

[0018] Figure 2 shows an example of the information stored in the prerequisite system DB. As shown in Figure 2, the prerequisite system DB 54 stores information defining the prerequisite system for vehicle speed control. The prerequisite system DB 54 stores the driving support system in association with the prerequisite system and the system state that is the prerequisite for it. The system state is either valid or invalid. In the example of Figure 2, when the driving support system is "vehicle speed control", the prerequisite system and its system state are "skid control is valid", "tire spin suppression is valid", "collision avoidance mitigation is valid", "downhill support control is invalid", and "turn support is invalid". In addition to "vehicle speed control", the prerequisite system DB 54 may store information regarding driving support systems such as "pre-driving support", "lane following support", "traffic jam support", "advanced driving support", and "automatic parking", and information regarding their prerequisite systems.

[0019] For the prerequisite system obtained from the prerequisite system DB 54, the prerequisite system setting unit 51 determines whether the system state is valid or invalid for each prerequisite control corresponding to vehicle speed control based on the signal from the prerequisite system ECU 4. Then, the prerequisite system setting unit 51 determines whether the determined system state, that is, the current system state, matches the defined system state. If the current system state does not match the defined system state, it means that the prerequisite system does not satisfy the condition for starting vehicle speed control.

[0020] When it is determined by the prerequisite system setting unit 51 that the current system state does not match the defined system state, the approval unit 53 requests approval from the driver. The approval unit 53 requests the driver to approve the change of the system state for the prerequisite system related to the determined non-matching system state. For example, a display device 9 is connected to the vehicle speed control ECU 5. The display device 9 is a monitor, a touch panel, etc. The approval unit 53 causes the display device 9 to display an icon, a message, an image, etc. for requesting approval.

[0021] The vehicle speed control ECU 5 is connected to the approval operation unit 8. The approval operation unit 8 receives the driver's operation for approving the change of the system state of the prerequisite system. The approval operation unit 8 is, for example, a user interface such as a button or a touch panel. The approval operation unit 8 may be integrally configured with the display device 9 when the display device 9 is a touch panel. The prerequisite system setting unit 51 confirms the presence or absence of approval according to the driver's operation received by the approval operation unit 8, and changes the system state of the prerequisite system when approved. Thereafter, the vehicle speed control unit 52 starts vehicle speed control. The vehicle speed control unit 52 does not start vehicle speed control in the case of non-approval.

[0022] The vehicle speed control ECU 5 may notify the display device 9 of, for example, that the vehicle speed control has been started based on approval, and that the system state of the prerequisite system does not meet the start condition of the vehicle speed control.

[0023] Next, the operation of the driving support device 1 will be outlined. FIG. 3 is a flowchart showing the operation of the driving support device, and FIGS. 4(A) to 4(D) are diagrams showing an example of notification to the driver. The flowchart shown in FIG. 3 is started when the vehicle speed control operation unit 7 of the driving support device 1 receives an operation instruction to start vehicle speed control.

[0024] As shown in Figure 3, first, the prerequisite system setting unit 51 of the driver assistance device 1 determines whether the prerequisite system satisfies the prerequisites (step S10). First, the prerequisite system setting unit 51 identifies that the driver assistance control related to the start command operation is vehicle speed control, and refers to the definition stored in the prerequisite system DB 54 to obtain the prerequisite system for vehicle speed control and the system state required when starting vehicle speed control. Then, the prerequisite system setting unit 51 obtains the current system state of the prerequisite system based on the signal output from the prerequisite system ECU 4. The prerequisite system setting unit 51 determines whether the current system state matches the defined system state. In the example in Figure 2, the conditions for starting vehicle speed control are "skid control is enabled", "tire slip suppression is enabled", "collision avoidance mitigation is enabled", "downhill support control is disabled", and "turn support is disabled". For each prerequisite system, the prerequisite system setting unit 51 compares the current system state with the defined system state and determines whether they match. If there is a prerequisite system whose system state does not match even one of the defined prerequisite systems, the prerequisite system setting unit 51 determines that the prerequisite system does not satisfy the prerequisites. If the system states of all defined prerequisite systems match, the prerequisite system setting unit 51 determines that the prerequisite system satisfies the prerequisite conditions.

[0025] If it is determined that the prerequisite system does not meet the prerequisites (Step S10: YES), the approval unit 53 of the driver assistance device 1 confirms the driver's intention (Step S12). The approval unit 53 displays an icon, message, or image requesting approval on the display device 9.

[0026] Figure 4(A) shows the situation before the start of vehicle speed control for vehicle 2, in a situation where vehicle 2 and preceding vehicle 2A are present. The bubble shown for vehicle 2 is the display content of the display device 9. Icon G1 indicates that the vehicle speed control driver assistance system is disabled, and icon G2 indicates that the collision avoidance mitigation system is disabled. When the vehicle speed control operation unit 7 receives a command to start vehicle speed control and determines that the prerequisite system does not meet the prerequisites, the approval unit 53 displays message M1 on the display device 9, as shown in Figure 4(B). Message M1 includes text to obtain the driver's approval for the change in the system state of the prerequisite system.

[0027] Next, the approval unit 53 determines whether the approval operation unit 8 has received the driver's approval operation (step S14). If the approval unit 53 determines that the driver's approval operation has been received (step S14: YES), the prerequisite system setting unit 51 changes the system state of the prerequisite system (step S16). For example, "tire slip suppression" may be switched from "disabled" to "enabled," or "turn assist" may be switched from "enabled" to "disabled." Then, the vehicle speed control unit 52 of the driver assistance device 1 starts vehicle speed control (step S18), and the flowchart shown in Figure 3 ends. At this time, as shown in Figure 4(C), the approval unit 53 may display a message M2 on the display device 9 indicating that the system state of the prerequisite system has changed, or it may display an icon G3 indicating that vehicle speed control is enabled, and a vehicle speed control screen G4 on the display device 9, so that it can be understood that vehicle speed control has started.

[0028] If it is determined that the prerequisite system satisfies the prerequisite (step S10: YES), the vehicle speed control unit 52 starts vehicle speed control (step S18), and the flowchart shown in Figure 3 ends.

[0029] If the approval unit 53 determines that it has not received approval from the driver (step S14: NO), the vehicle speed control unit 52 terminates the flowchart shown in Figure 3 without starting vehicle speed control. At this time, as shown in Figure 4(D), the approval unit 53 may display a message M3 indicating that vehicle speed control could not be started. Message M3 may also include a message prompting the user to activate the prerequisite system for which approval was not obtained.

[0030] Furthermore, if the approval unit 53 is unable to obtain the driver's approval for a change in the system state of the prerequisite system within a certain period of time, it performs the same processing as if approval had not been obtained. This prevents system processing from becoming stalled.

[0031] [Summary of Embodiments] According to the driver assistance device 1, in response to the driver's operation of the vehicle 2 to initiate driver assistance control such as vehicle speed control, the prerequisite system and system state corresponding to the driver assistance system are acquired based on the definition. Then, based on the signal from the prerequisite system ECU 4, it is determined whether the system state of each prerequisite system corresponding to the driver assistance control is enabled or disabled. It is determined whether the determined system state matches the defined system state. The driver is requested to approve a change in the system state of the prerequisite system related to the system state that was determined not to match. Upon obtaining approval from the driver, the system state of the prerequisite system related to the system state that was determined not to match is changed, and the driver assistance control is started. In this way, if the system state of a prerequisite system does not match the conditions for starting driver assistance control, the driver can be requested to approve a change in the system state. Then, the driver assistance device can start the driver assistance control once approval for the change in the system state has been obtained. Therefore, the driver assistance device can suppress the reduction in opportunities to use driver assistance control and improve the availability of driver assistance control.

[0032] Although exemplary embodiments have been described above, the system is not limited to the exemplary embodiments described above, and various omissions, substitutions, and modifications may be made. For example, the sensors listed in the exemplary embodiment as sensor group 3 are just examples, and sensor group 3 is not limited to the exemplary sensors. The prerequisite system ECU 4 is not limited to the skid control ECU 41 and the tire slip control ECU 42, and may not include these ECUs, or may include other ECUs. The driver assistance device 1 does not have to include the prerequisite system operation unit 6. The driver assistance device 1 does not have to include the vehicle speed control operation unit 7. Also, the ECU shown in Figure 1 may be configured by combining multiple ECUs into a single ECU. Notification to the driver may not only be provided by display on a display device, but also by audio output or by using vibration. [Explanation of symbols]

[0033] 1...Driving assistance system, 2...Vehicle, 4...Prerequisite system ECU (an example of a system controller), 5...Vehicle speed control ECU (an example of an assistance controller), 54...Prerequisite system DB (an example of a storage device).

Claims

1. An assist controller that performs driver assistance control, A storage device connected to the support controller, which stores a definition of at least one prerequisite control that is a prerequisite for starting the driving support control, wherein the definition includes the at least one prerequisite control and the system state of the at least one prerequisite control, and the system state is either enabled or disabled, A system controller that performs at least one of the aforementioned prerequisite controls, Equipped with, The aforementioned support controller is In response to the driver's operation to initiate the aforementioned driving assistance control, the system acquires prerequisite control and system state corresponding to the driving assistance control based on the definition, Based on the signal from the system controller, it is determined whether the system state is enabled or disabled for each prerequisite control corresponding to the driving assistance control. Determine whether the determined system state matches the defined system state. Regarding the prerequisite control related to the system state that was determined to be inconsistent, the driver is requested to approve the change in the system state. Upon obtaining approval from the aforementioned driver, the system state of the prerequisite control related to the system state that was determined to be inconsistent is changed, and the driver assistance control is started. It is configured in such a way, The above definition includes a first-premise control where the system state is invalid. The support controller, if the system state of the first prerequisite control is active, requests the driver to approve a change to disable the first prerequisite control. Driving assistance system.

2. The driver assistance device according to claim 1, wherein the support controller notifies the driver that the driver assistance control has been started when the driver approves a change in the system state and starts the driver assistance control.

3. The driver assistance device according to claim 1 or 2, wherein the support controller does not perform the driver assistance control in response to the driver not approving a change in the system state.

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