Notification system and vehicle control system

Abstract

To reduce uneasiness to be felt by a user of a vehicle having a vehicle speed restriction function.SOLUTION: A notification system is applied to a vehicle having a vehicle speed restriction function. The vehicle speed restriction function acquires information on a limited speed of a road on which the vehicle travels, sets a setting speed so as to interlock with the limited speed, and restricts a vehicle speed of the vehicle to be equal to or lower than the setting speed. When the setting speed is increased by interlocking with the increase of the limited speed during a period when the vehicle speed is restricted since a request vehicle speed exceeds the setting speed, the notification system notifies a user of the vehicle of the increase of the setting speed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to notification technology and vehicle control technology applied to vehicles equipped with a vehicle speed limit function.

Background Art

[0002] Patent Document 1 discloses a vehicle equipped with a speed limit recognition device and a speed warning device. The speed limit recognition device uses a camera to capture an image in front of the vehicle and recognizes the speed limit displayed on the sign based on the image. The speed warning device determines that the speed has exceeded the limit by comparing the vehicle speed with the speed limit, and notifies the driver that the speed has exceeded the limit in the case of speed exceeding.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Consider a vehicle equipped with a vehicle speed limit function. The vehicle speed limit function limits the vehicle speed to a set speed or lower. The set speed is set to be linked to the speed limit of the road on which the vehicle is traveling. For example, even when the operator of the vehicle keeps pressing the accelerator pedal and the required vehicle speed exceeds the set speed, the vehicle speed limit function automatically maintains the vehicle speed at the set speed. However, when the speed limit increases and the set speed increases, the vehicle automatically accelerates. If the user of the vehicle is not aware of the increase in the speed limit, the user may feel uneasy about the sudden acceleration of the vehicle.

[0005] One object of the present disclosure is to provide a technology capable of reducing the uneasiness felt by the user of a vehicle equipped with a vehicle speed limit function.

Means for Solving the Problems

[0006] The first aspect relates to notification systems applied to vehicles equipped with a vehicle speed limiting function. The vehicle speed limit function obtains information on the speed limit of the road the vehicle is traveling on, sets a target speed in conjunction with the speed limit, and restricts the vehicle's speed to below the set speed. The notification system comprises one or more processors. If the requested vehicle speed exceeds the set speed and the vehicle speed is being restricted, and the set speed increases in conjunction with the increase in the speed limit, one or more processors will notify the vehicle user of the increase in the set speed.

[0007] The second perspective, in addition to the first perspective, has the following further characteristics: If the requested vehicle speed is below the set speed and the vehicle speed is not restricted, one or more processors will refrain from notifying the user of the increase in the set speed, even if the set speed increases in conjunction with an increase in the speed limit.

[0008] The third perspective, in addition to the first perspective, has the following further characteristics: One or more processors notify the user of the increase in the set speed in sync with the timing of the increase in the set speed.

[0009] The fourth perspective has the following additional characteristics in addition to any of the first to third perspectives: The user is the operator who manually drives the vehicle. One or more processors notify the operator of an increase in the set speed by vibrating the accelerator pedal operated by the operator.

[0010] The fifth aspect relates to the vehicle control system that controls the vehicle. The vehicle control system comprises one or more processors. One or more processors obtain information about the speed limit of the road on which the vehicle is traveling. One or more processors set their configured speeds to work in conjunction with the speed limit. One or more processors limit the vehicle's speed to a set speed or less. If the requested vehicle speed exceeds the set speed and the vehicle speed is being restricted, and the set speed increases in conjunction with the increase in the speed limit, one or more processors will notify the vehicle user of the increase in the set speed. [Effects of the Invention]

[0011] According to this disclosure, if the requested vehicle speed exceeds the set speed and the vehicle speed is being restricted, and the set speed increases in conjunction with the increase in the speed limit, the vehicle user will be notified of the increase in the set speed. This notification can reduce the anxiety felt by the vehicle user, even when the vehicle automatically accelerates. [Brief explanation of the drawing]

[0012] [Figure 1] This is a conceptual diagram illustrating the outline of the vehicle and notification system according to the embodiment. [Figure 2] This is a timing chart illustrating an example of notification processing according to the embodiment. [Figure 3] This is a block diagram showing an example configuration of a vehicle control system according to an embodiment. [Figure 4] This flowchart shows the processing related to vehicle speed limit control according to the embodiment. [Figure 5] This flowchart shows an example of the notification process according to the embodiment. [Figure 6] This flowchart shows another example of the notification process according to the embodiment. [Modes for carrying out the invention]

[0013] 1. Notification system FIG. 1 is a conceptual diagram for explaining the outline of the vehicle 1 and the notification system 10 according to the present embodiment. For example, the vehicle 1 is manually driven by an operator. The operator of the vehicle 1 may be a driver riding in the vehicle 1, or may be a remote operator who remotely operates (remote driving, remote assistance) the vehicle 1. As another example, the vehicle 1 may be an autonomous vehicle controlled by an autonomous driving system. The user O of the vehicle 1 is an operator of the vehicle 1 or a passenger riding in the vehicle 1 (autonomous vehicle).

[0014] The vehicle 1 is equipped with a "vehicle speed limit function". The vehicle speed limit function limits the vehicle speed V of the vehicle 1 to a set speed Vs or less. More specifically, the vehicle speed limit function acquires information on the speed limit SL of the road on which the vehicle 1 is traveling. The speed limit SL is preset by traffic regulations. For example, the vehicle speed limit function recognizes a speed limit sign S installed on the road on which the vehicle 1 is traveling and reads the speed limit SL specified by the speed limit sign S. Then, the vehicle speed limit function sets the set speed Vs so as to be linked to the speed limit SL. For example, the set speed Vs is set to be the same as the speed limit SL. As another example, the set speed Vs may be set to a value obtained by subtracting a certain value from the speed limit SL. On the other hand, the required vehicle speed for the vehicle 1 is determined according to the accelerator operation amount by the operator of the vehicle 1. Alternatively, the required vehicle speed is determined by an autonomous driving system. Even when the required vehicle speed exceeds the set speed Vs, the vehicle speed limit function automatically maintains the vehicle speed V of the vehicle 1 at the set speed Vs. For example, even when the operator of the vehicle 1 keeps stepping on the accelerator pedal and the required vehicle speed exceeds the set speed Vs, the vehicle speed limit function automatically maintains the vehicle speed V at the set speed Vs. Also, when the current vehicle speed V exceeds the set speed Vs, the vehicle speed limit function automatically decelerates the vehicle 1 so that the vehicle speed V becomes less than or equal to the set speed Vs.

[0015] Note that the vehicle speed limit function is designed to operate without approval from the user O of the vehicle 1.

[0016] The notification system 10 is applied to the vehicle 1 equipped with the above-described vehicle speed limit function, and notifies various information to the user O of the vehicle 1. The notification system 10 may be mounted on the vehicle 1, or may be included in a remote operator terminal operated by a remote operator. Alternatively, the notification system 10 may be distributed and arranged in the vehicle 1 and the remote operator terminal.

[0017] For example, the notification system 10 may notify the user O of the restricted speed SL of the road on which the vehicle 1 travels. As another example, the notification system 10 may notify the user O of the set speed Vs for the vehicle speed limit function.

[0018] Here, consider a state where the required vehicle speed for the vehicle 1 exceeds the set speed Vs and the vehicle speed V is restricted by the vehicle speed limit function. When the restricted speed SL increases and the set speed Vs increases in this state, the vehicle 1 automatically accelerates. If the user O of the vehicle 1 does not recognize the increase in the restricted speed SL, the user O may feel uneasy about the sudden acceleration of the vehicle 1.

[0019] Therefore, when the set speed Vs changes in conjunction with a change (increase or decrease) in the restricted speed SL while the required vehicle speed exceeds the set speed Vs and the vehicle speed V is restricted, the notification system 10 notifies the user O of the vehicle 1 of the change in the set speed Vs. In particular, when the set speed Vs increases in conjunction with an increase in the restricted speed SL while the required vehicle speed exceeds the set speed Vs and the vehicle speed V is restricted, the notification system 10 notifies the user O of the vehicle 1 of the increase in the set speed Vs. Such notification makes it possible to reduce the uneasiness and discomfort felt by the user O of the vehicle 1 even when the vehicle 1 automatically accelerates.

[0020] When the user O of vehicle 1 is an operator (driver, remote operator) who manually drives vehicle 1, the operator accelerates and decelerates vehicle 1 by operating the accelerator pedal. The requested vehicle speed for vehicle 1 is determined according to the amount of accelerator operation by the operator. When the requested vehicle speed exceeds the set speed Vs and the vehicle speed V is limited, the operator is pressing the accelerator pedal. In this case, the notification system 10 may notify the operator of the change (increase, decrease) in the set speed Vs by vibrating the accelerator pedal operated by the operator. By vibrating the accelerator pedal operated by the operator, it is possible to reliably transmit the change in the set speed Vs to the operator. For example, even in situations where there is a lot of noise and it is difficult to hear, it is possible to reliably transmit the change in the set speed Vs to the operator. On the other hand, since occupants other than the operator will not notice the notification, it is prevented that occupants other than the operator will feel annoyed by the notification.

[0021] However, the method of notifying the user O of the vehicle 1 is not limited to vibration of the accelerator pedal. For example, the notification system 10 may display visual information on a display device to notify of a change in the set speed Vs. As another example, the notification system 10 may output audio information from a speaker to notify of a change in the set speed Vs.

[0022] If the requested vehicle speed for vehicle 1 is less than or equal to the set speed Vs, the vehicle speed V is not restricted. In this case, even if the set speed Vs increases in conjunction with an increase in the speed limit SL, vehicle 1 will not automatically accelerate. Therefore, notification to the user O of vehicle 1 is unnecessary. In other words, if the requested vehicle speed is less than or equal to the set speed Vs and the vehicle speed V is not restricted, the notification system 10 refrains from notifying the user O of vehicle 1 of the increase in the set speed Vs, even if the set speed Vs increases in conjunction with an increase in the speed limit SL. This prevents excessive notifications and reduces the annoyance felt by the user O of vehicle 1.

[0023] Figure 2 is a timing chart illustrating an example of notification processing. At time t1, the road speed limit SL increases from 50 km / h to 80 km / h. At time t2, following time t1, the set speed Vs also increases from 50 km / h to 80 km / h in conjunction with the increase in the speed limit SL. After time t2, the vehicle speed V automatically increases. At time t2, immediately before the increase in vehicle speed V, the notification system 10 notifies the user O of vehicle 1 of the increase in set speed Vs. In other words, the notification system 10 notifies the user O of vehicle 1 of the increase in set speed Vs in sync with the timing of the increase in set speed Vs. Because the notification is issued in a timely manner, the sense of unease felt by the user O of vehicle 1 is further reduced.

[0024] 2. Vehicle control system 2-1. Example Configuration Figure 3 is a block diagram showing an example configuration of the vehicle control system 100 according to this embodiment. The vehicle control system 100 controls the vehicle 1. The vehicle control system 100 includes a communication device 110, a sensor group 120, a driving device 130, a notification device 140, and a control device 150.

[0025] The communication device 110 communicates with the outside of the vehicle control system 100. For example, the communication device 110 communicates with a map management server that manages high-precision 3D map information.

[0026] The sensor group 120 is mounted on the vehicle 1. The sensor group 120 includes a camera 121, a vehicle state sensor 122, etc. The camera 121 takes pictures of the surroundings of the vehicle 1 and acquires images showing the surroundings of the vehicle 1. The vehicle state sensor 122 detects the state of the vehicle 1. For example, the vehicle state sensor 122 includes a vehicle speed sensor that detects the vehicle speed V of the vehicle 1. The sensor group 120 may also include a GNSS (Global Navigation Satellite System) sensor that detects the position and orientation of the vehicle 1. The sensor group 120 may also include a recognition sensor such as a LiDAR.

[0027] The running gear 130 is mounted on the vehicle 1. The running gear 130 includes a steering system, a drive system, and a braking system. The steering system steers the wheels. The drive system is a power source that generates driving force. Examples of drive systems include an engine, an electric motor, an in-wheel motor, etc. The braking system generates braking force.

[0028] The notification device 140 notifies the user O of vehicle 1 of various information. If user O is the driver in vehicle 1, the notification device 140 is installed in vehicle 1. If user O is a remote operator, the notification device 140 is included in the remote operator terminal. For example, the notification device 140 includes a display device. Examples of display devices include an instrument panel, a display, a head-up display (HUD), etc. Another example is that the notification device 140 may include a speaker. Yet another example is that the notification device 140 may include an accelerator pedal operated by user O (operator) and an actuator that vibrates the accelerator pedal.

[0029] The control device 150 is a computer that controls the vehicle 1. The control device 150 includes one or more processors 151 (hereinafter simply referred to as processor 151) and one or more storage devices 152 (hereinafter simply referred to as storage devices 152). The processor 151 performs various processes. For example, the processor 151 includes a CPU (Central Processing Unit). The storage devices 152 store various information necessary for processing by the processor 151. Examples of storage devices 152 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc. One or more processors 151 may be mounted on the vehicle 1, included in a remote operator terminal, or distributed between the vehicle 1 and the remote operator terminal. Similarly, one or more storage devices 152 may be mounted on the vehicle 1, included in a remote operator terminal, or distributed between the vehicle 1 and the remote operator terminal.

[0030] The vehicle control program 160 is a computer program for controlling vehicle 1. The processor 151 executes the vehicle control program 160, thereby enabling various processes by the control device 150. The vehicle control program 160 is stored in the storage device 152. Alternatively, the vehicle control program 160 may be recorded on a computer-readable recording medium.

[0031] 2-2.Various information The storage device 152 also stores sensor detection information 170, navigation information 180, speed limit information 190, and the like.

[0032] Sensor detection information 170 is information detected by the sensor group 120. For example, sensor detection information 170 includes images captured by the camera 121. As another example, sensor detection information 170 includes vehicle status information (e.g., vehicle speed V) detected by the vehicle status sensor 122. If the processor 151 is included in the remote operator terminal, the processor 151 communicates with the vehicle 1 to obtain the sensor detection information 170.

[0033] Navigation information 180 includes map information and location information of vehicle 1. Map information is pre-stored in storage device 152. Alternatively, the map information may be high-precision 3D map information provided by a map management server. The processor 151 can acquire high-precision 3D map information from the map management server via the communication device 110. The map information (high-precision 3D map information) may include speed limit SLs for each road.

[0034] Speed ​​limit information 190 indicates the speed limit SL of the road on which vehicle 1 is traveling. The speed limit SL is predetermined by traffic laws.

[0035] For example, the processor 151 recognizes a speed limit sign S installed on a road by analyzing an image captured by the camera 121. Furthermore, the processor 151 reads the numbers written on the speed limit sign S based on the image of the recognized speed limit sign S. In other words, the processor 151 recognizes the speed limit SL specified by the speed limit sign S based on the image of the recognized speed limit sign S. Typically, the processor 151 recognizes the speed limit sign S from an image by utilizing image recognition AI (Artificial Intelligence). The image recognition AI is pre-generated through learning methods such as deep learning. For example, the image recognition AI is trained to detect various traffic signs from an image and to identify the type of sign detected.

[0036] As another example, the map information (high-precision 3D map information) included in the navigation information 180 may have speed limit SLs registered for each road. In this case, the processor 151 may obtain speed limit information 190 based on the navigation information 180.

[0037] As yet another example, the processor 151 may identify the type of road (e.g., highway) on which the vehicle 1 is traveling based on the navigation information 180. The processor 151 may then obtain the legal speed limit set for that road type as speed limit information 190.

[0038] 2-3. Vehicle Speed ​​Limit Control Figure 4 is a flowchart showing the processing related to vehicle speed limit control by the processor 151 (control device 150).

[0039] In step S100, the processor 151 obtains speed limit information 190 indicating the speed limit SL of the road on which the vehicle 1 is traveling.

[0040] In step S110, the processor 151 sets the set speed Vs in conjunction with the speed limit SL. For example, the set speed Vs is set to be the same as the speed limit SL. As another example, the set speed Vs is set to a value obtained by subtracting a certain value from the speed limit SL. This certain value may be customized by the user O of vehicle 1.

[0041] In step S120, the processor 151 determines whether the requested vehicle speed for vehicle 1 exceeds the set speed Vs. The requested vehicle speed is determined according to the amount of accelerator operation by the operator of vehicle 1. Alternatively, the requested vehicle speed is determined by the automated driving system. If the requested vehicle speed exceeds the set speed Vs (step S120; Yes), the process proceeds to step S130. On the other hand, if the requested vehicle speed is less than or equal to the set speed Vs (step S120; No), the process proceeds to step S140.

[0042] In step S130, the processor 151 performs speed limit control to restrict the vehicle speed V of vehicle 1 to a set speed Vs or less. For example, if the operator of vehicle 1 keeps the accelerator pedal pressed down and the requested vehicle speed exceeds the set speed Vs, the processor 151 automatically maintains the vehicle speed V at the set speed Vs. Also, if the current vehicle speed V exceeds the set speed Vs, the processor 151 automatically decelerates vehicle 1 so that the vehicle speed V becomes a set speed Vs or less. The processor 151 performs speed limit control by controlling the running gear 130 (driver and brake).

[0043] In step S140, the processor 151 controls the vehicle speed according to the requested vehicle speed. The processor 151 controls the vehicle speed by controlling the running gear 130 (driver and brake).

[0044] 2-4. Notification Processing The processor 151 (control device 150) controls the notification device 140 to perform notification processing to notify the user O of the vehicle 1 of various information.

[0045] Figure 5 is a flowchart showing an example of the notification process.

[0046] In step S150, the processor 151 determines whether the above-mentioned vehicle speed limit control (step S130) is being executed. If the vehicle speed limit control is being executed (step S150; Yes), the process proceeds to step S160. If the vehicle speed limit control is not being executed (step S150; No), steps S160 and S170 described below are skipped, and the processing for this cycle ends.

[0047] In step S160, the processor 151 determines whether the set speed Vs for the vehicle speed limit control described above has changed (increased or decreased). If the set speed Vs has changed (step S160; Yes), the process proceeds to step S170. On the other hand, if the set speed Vs has not changed (step S160; No), step S170, described below, is skipped, and the processing for this cycle ends.

[0048] In step S170, the processor 151 controls the notification device 140 to notify the user O of vehicle 1 of the change (increase or decrease) in the set speed Vs. This notification makes it possible to reduce the anxiety or discomfort felt by the user O of vehicle 1.

[0049] Figure 6 is a flowchart showing another example of notification processing.

[0050] In step S150, the processor 151 determines whether the above-mentioned vehicle speed limit control (step S130) is being executed. If the vehicle speed limit control is being executed (step S150; Yes), the process proceeds to step S161. If the vehicle speed limit control is not being executed (step S150; No), the process for this cycle ends.

[0051] In step S161, the processor 151 determines whether the set speed Vs has increased. If the set speed Vs has increased (step S161; Yes), the process proceeds to step S171. On the other hand, if the set speed Vs has not increased (step S161; No), the process for this cycle ends.

[0052] In step S171, the processor 151 notifies the user O of the vehicle 1 of the increase in the set speed Vs by controlling the notification device 140. In particular, the processor 151 vibrates the accelerator pedal by controlling an actuator that vibrates the accelerator pedal. By vibrating the accelerator pedal, it is possible to reliably communicate the increase in the set speed Vs to the operator. For example, even in situations where there is a lot of noise and it is difficult to hear, it is possible to reliably communicate the increase in the set speed Vs to the operator.

[0053] In step S172, the processor 151 may further display visual information on a display device indicating an increase in the set speed Vs. As another example, the processor 151 may output audio information from a speaker indicating an increase in the set speed Vs.

[0054] Furthermore, the combination of the control device 150 and the notification device 140 corresponds to the "notification system 10". [Explanation of Symbols]

[0055] 1...Vehicle, 10...Notification system, 100...Vehicle control system, 140...Notification device, 150...Control device, 151...Processor, 152...Storage device, SL...Speed ​​limit, Vs...Set speed

Claims

1. A notification system applicable to vehicles equipped with a vehicle speed limiting function, The aforementioned speed limiting function acquires information on the speed limit of the road on which the vehicle is traveling, sets a set speed in conjunction with the speed limit, and limits the vehicle's speed to the set speed or less. The notification system comprises one or more processors, If the requested vehicle speed exceeds the set speed and the vehicle speed is being restricted, and the set speed increases in conjunction with the increase in the restricted speed, the one or more processors shall notify the user of the increase in the set speed in sync with the timing of the increase in the set speed, without notifying the user of the increase in the set speed before the timing of the increase in the set speed. If the requested vehicle speed exceeds the set speed and the vehicle speed is being restricted, and the set speed decreases in conjunction with the decrease in the speed limit, the one or more processors shall notify the user of the vehicle of the decrease in the set speed. Notification system.

2. A notification system according to claim 1, If the requested vehicle speed is less than or equal to the set speed and the vehicle speed is not restricted, the one or more processors refrain from notifying the user of the increase in the set speed, even if the set speed increases in conjunction with the increase in the speed limit. Notification system.

3. A notification system according to claim 1 or 2, The user is an operator who manually drives the vehicle, The one or more processors notify the operator of the increase and decrease in the set speed by vibrating the accelerator pedal operated by the operator. Notification system.

4. A vehicle control system for controlling a vehicle, Equipped with one or more processors, The one or more processors described above are: The vehicle obtains information on the speed limit of the road on which it travels. Set the speed in conjunction with the aforementioned speed limit, The vehicle speed of the aforementioned vehicle is limited to the set speed or less. If the requested vehicle speed exceeds the set speed and the vehicle speed is being restricted, and the set speed increases in conjunction with the increase in the speed restriction, the user of the vehicle will not be notified of the increase in the set speed before the timing of the increase in the set speed, but will be notified of the increase in the set speed in sync with the timing of the increase in the set speed. If the requested vehicle speed exceeds the set speed and the vehicle speed is being restricted, and the set speed decreases in conjunction with the decrease in the speed limit, the user of the vehicle will be notified of the decrease in the set speed. It is configured in such a way Vehicle control system.

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