Vehicle control system

Abstract

To adjust vehicle behavior when a travel support function is activated.SOLUTION: A vehicle 10 comprises an automatic operation device 13 and a navigation device 11. A control device 15 of the vehicle 10 causes the navigation device 11 to display an evaluation window asking a driver to evaluate a travel support function activated by the automatic operation device 13. The control device 15 also adjusts a parameter when the automatic operation device 13 activates the travel support function based on input operation of the driver in response to the evaluation window.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This disclosure relates to a control device for a vehicle.

Background Art

[0002] In recent years, the spread of vehicles capable of autonomous driving has been progressing.

[0003] Patent Document 1 discloses a driving evaluation device that estimates the riding comfort of a passenger based on the expression and behavior of the passenger and evaluates the driving of a vehicle controlled by autonomous driving.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Vehicles capable of autonomous driving can execute various driving support functions. The driving support functions include, for example, a function of automatically executing a lane change.

[0006] When a lane change is automatically executed, the way the driver accepts the behavior of the vehicle varies. For example, in the case of a driver who is not used to driving, there may be a fear of the rapid acceleration during a lane change.

[0007] However, the behavior of the vehicle when executing the driving support function was the same for any driver.

[0008] An object of this disclosure is to enable adjustment of the behavior of a vehicle when executing a driving support function.

Means for Solving the Problems

[0009] The control device for a vehicle according to this disclosure is A vehicle control device, The aforementioned vehicle is equipped with an automatic driving system and a navigation system. The control device is An evaluation window for evaluating the driving assistance functions performed by the aforementioned automated driving system is displayed on the navigation system. Based on the driver's input to the evaluation window, the automated driving system adjusts the parameters used when executing the driving assistance function. [Effects of the Invention]

[0010] According to this disclosure, it is possible to adjust the behavior of the vehicle when performing driving assistance functions. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows the configuration of a vehicle according to the embodiment of this disclosure. [Figure 2] This figure shows an example of a navigation device displaying an evaluation window. [Figure 3] This figure shows an example of a navigation system displaying a pop-up window. [Figure 4] This figure shows another example of a navigation system displaying a pop-up window. [Figure 5] This is a flowchart showing the operation of a vehicle according to the embodiment of this disclosure. [Modes for carrying out the invention]

[0012] The embodiments of this disclosure will be described below with reference to the drawings.

[0013] Figure 1 is a diagram showing the configuration of a vehicle 10 according to an embodiment of this disclosure. The configuration and overview of the vehicle 10 according to an embodiment of this disclosure will be described with reference to Figure 1.

[0014] Vehicle 10 is a vehicle capable of autonomous driving. Vehicle 10 may be, for example, a gasoline car, an electric vehicle (BEV: Battery Electric Vehicle), a hybrid vehicle (HEV: Hybrid Electric Vehicle), a plug-in hybrid vehicle (PHEV: Plug-in Hybrid Electric Vehicle), or a fuel cell vehicle (FCEV: Fuel Cell Electric Vehicle). Vehicle 10 may have its driving automated at any level. The level of automation may be, for example, any of SAE (Society of Automotive Engineers) levels 1 to 5.

[0015] The vehicle 10 includes a navigation system 11, an operating unit 12, an automatic driving system 13, an in-vehicle camera 14, and a control device 15.

[0016] The navigation device 11 is a device that provides route guidance for the vehicle 10. For example, the navigation device 11 comprises a GPS (Global Positioning System) receiver, a communication module, an input interface, memory, a processor, and a display. The GPS receiver acquires the location information of the vehicle 10 based on signals received from each GPS satellite. The communication module receives traffic information. The input interface accepts input operations from the driver. The memory stores any information used for the operation of the navigation device 11. For example, the memory stores map information, traffic information, the location information of the vehicle 10, and the location information of the destination. The processor controls the operation of the entire navigation device 11. For example, the processor executes the route guidance process for the vehicle 10 and displays the processing results on the display.

[0017] The operation unit 12 receives the driver's instructions for the vehicle 10. The operation unit 12 may be, for example, a direction indicator, a button provided near the driver's seat of the vehicle 10, etc. For example, when the vehicle 10 executes a predetermined driving support function, the vehicle 10 may start executing the predetermined driving support function based on the driver's operation on the operation unit 12.

[0018] The automatic driving device 13 is a device that performs automatic driving of the vehicle 10. For example, the automatic driving device 13 includes one or more in-vehicle sensors, a memory, and a processor. The in-vehicle sensors are, for example, a camera, a millimeter-wave radar, a lidar, a steering angle sensor, a vehicle speed sensor, etc. The memory stores any information used for the operation of the automatic driving device 13. The memory stores, for example, parameters when the automatic driving device 13 executes a driving support function. The processor controls the overall operation of the automatic driving device 13. For example, the processor uses the detection results of each in-vehicle sensor to perform the process of automatic driving of the vehicle 10. Specifically, the processor performs steering control, accelerator control, brake control, etc. of the vehicle 10.

[0019] The in-vehicle camera 14 photographs the driver of the vehicle 10. The in-vehicle camera 14 transmits the photographed image to the control device 15. The image photographed by the in-vehicle camera 14 may be a still image or a moving image.

[0020] The control device 15 is a device that controls the navigation device 11, the automatic driving device 13, etc. The control device 15 may be, for example, an ECU (Electronic Control Unit). The control device 15 includes, for example, a communication module, a memory, and a processor. The communication module can communicate with the navigation device 11, the operation unit 12, the automatic driving device 13, and the in-vehicle camera 14. The memory stores any information used for the operation of the control device 15. The processor can control the navigation device 11 and the automatic driving device 13.

[0021] (Operation of the vehicle) The operation of the vehicle 10 shown in Figure 1 will be explained with reference to Figures 1 to 4.

[0022] As described above, vehicle 10 is a vehicle capable of autonomous driving. The autonomous driving device 13 performs autonomous driving of vehicle 10. The autonomous driving device 13 can perform various driving assistance functions as a function for autonomous driving of vehicle 10.

[0023] The driving assistance functions that the automated driving system 13 can perform include, for example, a function to automatically change lanes, a function to automatically overtake, and a function to automatically avoid collisions.

[0024] The automatic driving system 13 may start the driving assistance function in response to an operation by the driver on the control unit 12. Alternatively, the automatic driving system 13 may start the driving assistance function automatically even without an operation by the driver on the control unit 12.

[0025] For example, if the driving assistance function is a function that automatically performs lane changes or a function that automatically performs overtaking, the automatic driving system 13 starts the driving assistance function in response to the driver's operation on the control unit 12.

[0026] For example, if the driving assistance function is a function that automatically performs collision avoidance, the autonomous driving system 13 will automatically start the driving assistance function even without any operation by the driver on the control unit 12.

[0027] The navigation device 11 can display an evaluation window on the navigation device 11 for the driver to evaluate the driving assistance functions performed by the autonomous driving system 13.

[0028] Figure 2 shows an example of the navigation device 11 displaying the evaluation window 20.

[0029] The navigation device 11 may display an evaluation button 30 for displaying the evaluation window 20. When the driver presses the evaluation button 30 displayed on the navigation device 11, the control device 15 displays the evaluation window 20 on the navigation device 11.

[0030] The evaluation window 20 is a display for the driver to evaluate the driving assistance functions performed by the automated driving system 13. The content displayed in the evaluation window 20 is corresponding to the type of driving assistance function that was performed immediately before the evaluation window 20 was displayed. In other words, the content displayed in the evaluation window 20 will differ depending on whether the driving assistance function performed immediately before the evaluation window 20 was displayed was a function that automatically performs lane changes or a function that automatically performs overtaking.

[0031] Figure 2 shows an example of displaying the evaluation window 20 immediately after the automated driving system 13 has performed the function of automatically changing lanes.

[0032] In the example shown in Figure 2, the evaluation window 20 displays the question, "Where did you feel any discomfort or anxiety?" along with three items: "Safety check, start of lane change," "Acceleration," and "Time taken for lane change."

[0033] The control device 15 adjusts the parameters used by the automated driving system 13 when it performs its driving assistance functions, based on the driver's input to the evaluation window 20.

[0034] Figure 3 shows an example of a pop-up window 21 displayed on the navigation device 11 when the driver selects "acceleration" in the evaluation window 20 shown in Figure 2. Figure 4 shows an example of a pop-up window 22 displayed on the navigation device 11 when the driver selects "time taken for lane change" in the evaluation window 20 shown in Figure 2.

[0035] In the pop-up window 21 shown in Figure 3, if the driver selects "slow," the control device 15 increases the acceleration parameter in the function that automatically performs lane changes by a predetermined value. In the pop-up window 21 shown in Figure 3, if the driver selects "fast," the control device 15 decreases the acceleration parameter in the function that automatically performs lane changes by a predetermined value.

[0036] In the pop-up window 22 shown in Figure 4, if the driver selects "Long," the control device 15 adjusts the values ​​of various parameters in the function that automatically performs lane changes so that the time required for lane changes is shortened. In the pop-up window 22 shown in Figure 4, if the driver selects "Short," the control device 15 adjusts the values ​​of various parameters in the function that automatically performs lane changes so that the time required for lane changes is lengthened.

[0037] When adjusting parameters, the control device 15 adjusts the parameters within a range that does not exceed the upper and lower limits. For example, in a function that automatically performs lane changes, the acceleration parameter has a settable upper limit and a settable lower limit. When the control device 15 adjusts the acceleration parameter of the function that automatically performs lane changes, it adjusts the parameters within a range that does not exceed these upper and lower limits.

[0038] In this way, the control device 15 adjusts the parameters used by the automated driving system 13 when it performs its driving assistance function, based on the driver's input to the evaluation window. This allows the driver to adjust the behavior of the vehicle 10 when the driving assistance function is performed to their liking. For example, if the driver feels uneasy because the acceleration during lane changes is too fast, they can select "Fast" in Figure 3 to reduce the acceleration parameter during lane changes.

[0039] <Display of an evaluation window based on the driver's facial expression> In the above-described embodiment, the control device 15 displays an evaluation window on the navigation device 11 when the driver presses the evaluation button 30 displayed on the navigation device 11. However, the control device 15 may also automatically display the evaluation window on the navigation device 11 based on the driver's facial expression.

[0040] The in-vehicle camera 14 is capturing the facial expression of the driver of vehicle 10.

[0041] When the automated driving system 13 performs a driving assistance function, the control device 15 analyzes the driver's facial expression captured by the in-vehicle camera 14 while the driving assistance function is being performed.

[0042] If the control device 15 determines that the analyzed driver's facial expression represents a predetermined emotion in relation to the driving assistance function, it automatically displays an evaluation window on the navigation device 11. Here, the facial expression representing the predetermined emotion may be, for example, an expression of anxiety, an expression of fear, an expression of discomfort, etc.

[0043] As a result, even without the driver pressing the evaluation button 30 displayed on the navigation device 11, the control device 15 can automatically display the evaluation window on the navigation device 11 based on the driver's facial expression. Therefore, the driver can easily adjust the parameters of the driving assistance function when they feel anxious, frightened, or uncomfortable.

[0044] The operation of vehicle 10 will be explained with reference to the flowchart shown in Figure 5.

[0045] In response to or automatically by the driver's operation of the control unit 12, the automatic driving device 13 performs a driving assistance function (S101).

[0046] When the driver presses the evaluation button 30 displayed on the navigation device 11, the control device 15 displays an evaluation window on the navigation device 11 (S102). Alternatively, the control device 15 analyzes the driver's facial expression captured by the in-vehicle camera 14 while the driving assistance function is being performed. If the control device 15 determines that the analyzed driver's facial expression expresses a predetermined emotion in relation to the driving assistance function, it automatically displays an evaluation window on the navigation device 11 (S102).

[0047] Based on the driver's input to the evaluation window, the control device 15 adjusts the parameters used by the automated driving system 13 when it performs its driving assistance function (S103).

[0048] As described above, in the vehicle 10 according to this embodiment, the control device 15 displays an evaluation window on the navigation device 11 for evaluating the driving assistance functions performed by the automated driving system 13. The control device 15 also adjusts the parameters used by the automated driving system 13 when it performs the driving assistance functions based on the driver's input to the evaluation window. This allows the control device 15 to obtain the driver's evaluation of the driving assistance functions and adjust the behavior of the vehicle 10 when the driving assistance functions are performed to match the driver's preferences. For example, if the driver of the vehicle 10 is not a skilled driver, the control device 15 can adjust the behavior of the vehicle 10 when the driving assistance functions are performed to ensure that the driver does not feel fear or anxiety.

[0049] This disclosure is not limited to the embodiments described above. For example, multiple blocks described in the block diagram may be combined, or a single block may be divided. Instead of executing multiple steps described in the flowchart in chronological order as described, they may be executed in parallel or in a different order, depending on the processing capacity of the device performing each step, or as necessary. Other modifications are possible without departing from the spirit of this disclosure.

[0050] For example, some of the processing operations performed in the navigation device 11 in the above-described embodiment may be performed in the automatic driving device 13 or the control device 15. Also, some of the processing operations performed in the automatic driving device 13 in the above-described embodiment may be performed in the navigation device 11 or the control device 15. Also, some of the processing operations performed in the control device 15 in the above-described embodiment may be performed in the navigation device 11 or the automatic driving device 13.

[0051] For example, it is also possible to configure a general-purpose electronic device such as a computer to function as the control device 15 according to the above embodiment. Specifically, a program describing the processing content that realizes each function of the control device 15 according to the embodiment can be stored in the memory of the electronic device, and the processor of the electronic device can read and execute the program. Therefore, the disclosure according to one embodiment can also be realized as a program that can be executed by a processor.

[0052] Some embodiments of the present disclosure are described below. However, it should be noted that the embodiments of the present disclosure are not limited to these. [Note 1] A vehicle control device, The aforementioned vehicle is equipped with an automatic driving system and a navigation system. The control device is An evaluation window for evaluating the driving assistance functions performed by the aforementioned automated driving system is displayed on the navigation system. A vehicle control device that adjusts the parameters used by the automated driving system when it performs the driving assistance function, based on the driver's input to the evaluation window. [Note 2] In the vehicle control device described in Appendix 1, The control device is a vehicle control device that, when the driver presses the evaluation button displayed on the navigation device, causes the evaluation window to be displayed on the navigation device. [Note 3] In the control device for the vehicle described in Appendix 1 or 2, The vehicle is further equipped with an in-vehicle camera that photographs the driver, The control device is When the automated driving system performs the driving assistance function, it analyzes the driver's facial expression captured by the in-vehicle camera, A vehicle control device that, when it determines that the driver's facial expression expresses a predetermined emotion in relation to the driving assistance function, displays the evaluation window on the navigation device. [Note 4] In the control device of a vehicle described in any one of the appendices 1 to 3, The control device is a vehicle control device that displays in the evaluation window content corresponding to the type of driving assistance function that was performed immediately before the evaluation window was displayed. [Note 5] In the control device of a vehicle described in any one of the appendices 1 to 4, The control device is a vehicle control device that adjusts the parameters within a range that does not exceed an upper limit and a lower limit. [Explanation of Symbols]

[0053] 10 vehicles 11 Navigation System 12 Control section 13. Automated Driving System 14. In-car camera 15 Control device 20 Rating Window 21, 22 Pop-up windows 30 rating buttons

Claims

1. A vehicle control device, The aforementioned vehicle is equipped with an automatic driving system and a navigation system. The control device is An evaluation window for evaluating the driving assistance function performed by the autonomous driving system is displayed on the navigation system immediately after the autonomous driving system performs the driving assistance function while the vehicle is in motion. Based on the driver's input to the evaluation window, the automated driving system adjusts the parameters used when executing the driving assistance function. The aforementioned evaluation window is a vehicle control device that displays multiple items.

2. In the vehicle control device according to claim 1, The control device is a vehicle control device that, when the driver presses the evaluation button displayed on the navigation device, causes the evaluation window to be displayed on the navigation device.

3. In the vehicle control device according to claim 1, The vehicle is further equipped with an in-vehicle camera that photographs the driver, The control device is When the automated driving system performs the driving assistance function, it analyzes the driver's facial expression captured by the in-vehicle camera, A vehicle control device that, when it determines that the driver's facial expression expresses a predetermined emotion in relation to the driving assistance function, displays the evaluation window on the navigation device.

4. In the vehicle control device according to claim 1, The control device is a vehicle control device that displays in the evaluation window content corresponding to the type of driving assistance function that was performed immediately before the evaluation window was displayed.

5. In the vehicle control device according to claim 1, The control device is a vehicle control device that adjusts the parameters within a range that does not exceed an upper limit and a lower limit.

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