vehicle

Abstract

To restrain a lowering of safety of vehicle driving.SOLUTION: A vehicle has one or a plurality of processors and one or a plurality of memories connected to the processors, and the processors execute processing including: acquiring a numeric value on a plurality of factors in a practical vehicle operation before executing a virtual operation accompanying no movement of a practical vehicle in cooperation with a program included in the memories to form a population; detecting the execution of the virtual operation; determining an abnormal operation based on a distance from a central position of the population of the numeric value acquired by the practical vehicle operation after executing the virtual operation.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a vehicle.

Background Art

[0002] Patent Document 1 discloses a driving simulator system that discriminates a driver's driving suitability based on the driver's accelerator operation, brake operation, and steering wheel operation in the driving video.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, after driving in a virtual space such as e-sports or a driving simulator and then driving in actuality, there has been a problem that the driving becomes rough under the influence of driving in the virtual space, and the safety of vehicle driving decreases.

[0005] Therefore, an object of the present invention is to provide a vehicle capable of suppressing a decrease in the safety of vehicle driving.

Means for Solving the Problems

[0006] To solve the above problems, the vehicle of the present invention has one or more processors and one or more memories connected to the processor, and the processor cooperates with a program included in the memory, numerical values regarding a plurality of factors in actual vehicle driving Based on signals output from sensor data relating to multiple factors that cause operations in actual driving to become rough due to the influence of time, the population, which is the entire set of rates of change of the operations, is used in the virtual driving before execution of virtual driving The aforementioned without the movement of an actual vehicle The aforementioned ​ from To form, To detect the execution of the aforementioned virtual operation, Based on the distance of the numerical values ​​obtained during the actual vehicle operation after the execution of the virtual operation from the center position of the population, abnormal operation is determined. Execute the process that includes this. [Effects of the Invention]

[0007] According to the present invention, it is possible to suppress the decline in vehicle driving safety. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing the configuration of the vehicle according to this embodiment. [Figure 2] Figure 2 is a schematic diagram showing the configuration of the virtual operation device according to this embodiment. [Figure 3] Figure 3 is a functional block diagram showing the general functions of the abnormal operation detection device. [Figure 4] Figure 4 shows an example of population data. [Figure 5] Figure 5 is a flowchart of the abnormal operation detection process according to this embodiment. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described in detail below with reference to the attached drawings. The specific dimensions, materials, numerical values, etc., shown in these embodiments are merely examples to facilitate understanding of the invention and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals to avoid redundant explanations, and elements not directly related to the present invention are omitted from the illustrations.

[0010] Figure 1 is a schematic diagram showing the configuration of a vehicle 100 according to this embodiment. The vehicle 100 is an engine vehicle, an electric vehicle, or a hybrid vehicle. As shown in Figure 1, the vehicle 100 includes an accelerator opening sensor 110, a brake opening sensor 120, a steering angle sensor 130, a virtual driving device 140, an abnormal driving detection device 200, an ECU 300, an engine 410, and a power steering system 420.

[0011] The accelerator pedal position sensor (accelerator pedal operation amount sensor) 110 detects the accelerator pedal operation amount, which is the amount of operation of the accelerator pedal 146 (see Figure 2), and transmits the detected signal to the abnormal driving detection device 200. The brake pedal position sensor (brake pedal operation amount sensor) 120 detects the brake pedal operation amount, which is the amount of operation of the brake pedal 148 (see Figure 2), and transmits the detected signal to the abnormal driving detection device 200. The steering angle sensor 130 detects the angle of the steering wheel 144 (see Figure 2), and transmits the detected signal to the abnormal driving detection device 200.

[0012] In this manner, the accelerator pedal position sensor 110, brake pedal position sensor 120, and steering angle sensor 130 transmit information regarding the accelerator pedal operation amount, brake operation amount, and steering wheel angle 144, respectively, to the abnormal driving detection device 200.

[0013] The virtual driving device 140 is a so-called driving simulator that simulates the driving and movement of an automobile. A separate, dedicated controller may be used to operate the virtual driving device 140, but the following description will explain an example in which the operating system of the vehicle 100 is used as is. By starting and running the virtual driving device 140, the driver can perform driving in a virtual space without the actual movement of the vehicle (hereinafter referred to as virtual driving). When virtual driving is started, the virtual driving device 140 transmits a signal to the abnormal driving detection device 200 indicating that virtual driving has started. Also, when virtual driving is finished, the virtual driving device 140 transmits a signal to the abnormal driving detection device 200 indicating that virtual driving has ended. In this way, the virtual driving device 140 transmits information regarding the execution of virtual driving to the abnormal driving detection device 200.

[0014] The abnormal driving determination device 200 determines the abnormal driving of the driver of the vehicle 100 based on signals obtained from the accelerator opening sensor 110, the brake opening sensor 120, the steering angle sensor 130, and the virtual driving device 140. Details of the abnormal driving determination device 200 will be described later. Further, when the abnormal driving determination device 200 determines that it is abnormal driving, it transmits a signal indicating the abnormal driving to the ECU 300.

[0015] The ECU (Electronic Control Unit) 300 controls various devices including the engine 410 and the power steering 420 as driving sources mounted on the vehicle 100. The ECU 300 also controls a motor, a transmission, etc. as driving sources of the vehicle 100.

[0016] When the ECU 300 receives a signal indicating abnormal driving from the abnormal driving determination device 200, it corrects the control amount of the rotational speed and torque of the engine 410 or the motor. Specifically, the ECU 300 performs control to suppress the rotational speed and torque of the engine 410 or the motor. Further, when the ECU 300 receives a signal indicating abnormal driving from the abnormal driving determination device 200, it controls the power steering 420 and performs control such that the operation of the steering wheel 144 becomes heavy.

[0017] FIG. 2 is a schematic configuration diagram showing the configuration of the virtual driving device 140 according to the present embodiment. As shown in FIG. 2, the virtual driving device 140 has a display 142, a steering wheel 144, an accelerator pedal 146, and a brake pedal 148.

[0018] The display 142 is arranged, for example, between the driver's seat and the passenger seat on the instrument panel. In the present embodiment, the display 142 is a display of a navigation device mounted on the vehicle 100. However, it is not limited to this, and the display 142 may be configured by providing a liquid crystal panel on the front glass FG of the vehicle 100.

[0019] The display 142 is a touch panel, and the driver can start a virtual driving simulation, which simulates driving and operating a car, by tapping the start operation section displayed on the display 142. In addition, the driver can operate the car in the virtual space by operating the steering wheel 144, accelerator pedal 146, and brake pedal 148, which are located on the real vehicle 100, while looking at the display 142.

[0020] However, when driving the actual vehicle 100 after virtual driving (hereinafter referred to as "actual driving"), the operation of the actual vehicle may become sloppy due to the influence of the virtual driving, which may reduce the safety of vehicle driving. Therefore, the vehicle 100 according to this embodiment is equipped with an abnormal driving detection device 200 in order to suppress the decline in vehicle driving safety.

[0021] Figure 3 is a functional block diagram showing the schematic functions of the abnormal operation detection device 200. As shown in Figure 3, the abnormal operation detection device 200 includes an I / F unit 210, a storage device 220, a system bus 230, one or more processors 240, and one or more memories 250.

[0022] In this embodiment, an example is shown in which the abnormal operation detection device 200 and the ECU 300 are configured as separate units. However, the embodiment is not limited to this, and the abnormal operation detection device 200 and the ECU 300 may be configured as a single unit. In other words, the ECU 300 may be included in the abnormal operation detection device 200.

[0023] The I / F unit 210 is an interface for communication with the accelerator pedal position sensor 110, brake pedal position sensor 120, steering angle sensor 130, and ECU 300. The storage device 220 consists of RAM, flash memory, HDD, etc., and holds various information necessary for determining abnormal driving by the driver, as described later.

[0024] The system bus 230 connects the I / F unit 210, the storage device 220, the processor 240, and the memory 250. The processor 240 works with the program contained in the memory 250 to control the I / F unit 210 and the storage device 220 via the system bus 230.

[0025] Memory 250 consists of ROM and other components and stores programs for operating the processor 240. The processor 240 also works in cooperation with the programs contained in memory 250 to function as functional modules such as a population formation unit 242, an execution detection unit 244, and an abnormal operation determination unit 246.

[0026] The population formation unit 242 acquires signals output from the accelerator pedal position sensor 110, the brake pedal position sensor 120, and the steering angle sensor 130. These signals are acquired as multiple factors that influence the operation during actual driving, causing it to become sloppy.

[0027] The population formation unit 242 derives the rate of change of the accelerator operation amount based on the signal acquired from the accelerator opening sensor 110. The population formation unit 242 then stores the derived rate of change of the accelerator operation amount and forms a population, which is the entire set of rate of change of the accelerator operation amount.

[0028] Furthermore, the population formation unit 242 derives the rate of change of the brake operation amount based on the signal acquired from the brake opening sensor 120. The population formation unit 242 then stores the derived rate of change of the brake operation amount and forms a population, which is the entire set of rate of change of the brake operation amount.

[0029] Similarly, the population formation unit 242 derives the rate of change of the steering angle based on the signal obtained from the steering angle sensor 130. The population formation unit 242 then stores the derived rate of change of the steering angle and forms a population, which is the entire set of rate of change of the steering angle. Hereafter, the rate of change of accelerator operation, the rate of change of brake operation, and the rate of change of steering angle will be collectively referred to simply as numerical values.

[0030] These populations are formed during actual vehicle operation before virtual operation, and during actual vehicle operation after a certain period of time has elapsed since the virtual operation. In other words, the population formation unit 242 forms a population of numerical data for multiple factors during actual vehicle operation before the influence of virtual operation, and during actual vehicle operation after the influence of virtual operation has decreased over time. The data of the formed population is stored in the storage device 220.

[0031] The execution detection unit 244 detects the state in which virtual operation is being performed by receiving signals from the virtual operation device 140 indicating that virtual operation has started and signals indicating that virtual operation has ended. Specifically, the execution detection unit 244 detects the period from the time it receives the signal indicating that virtual operation has started to the time it receives the signal indicating that virtual operation has ended as the execution period during which virtual operation is performed.

[0032] The abnormal operation determination unit 246 determines abnormal operation based on the population data formed by the population formation unit 242 before the execution of the virtual operation and the numerical values ​​related to multiple factors derived by the population formation unit 242 after the execution of the virtual operation.

[0033] Furthermore, the abnormal operation determination unit 246 determines abnormal operation based on the population data formed by the population formation unit 242 after a certain period of time has elapsed since the execution of the virtual operation, and numerical values ​​related to multiple factors derived by the population formation unit 242 after the virtual operation is executed again. Here, the population data formed after a certain period of time has elapsed since the execution of the virtual operation is treated as the population data formed by the population formation unit 242 before the execution of the virtual operation that is subsequently performed again.

[0034] Figure 4 shows an example of population data. In Figure 4, the vertical axis represents the rate of change in accelerator pedal operation, and the horizontal axis represents the rate of change in steering angle, based on the rate of change of a given brake operation amount.

[0035] Furthermore, in Figure 4, the dashed and solid ellipses represent contour lines where the Mahalanobis distance from the central position C, which is the mean of the population, is equal. In Figure 4, the black dots indicate the numerical values ​​of the population formed by the population formation unit 242 before the virtual operation is performed, or after a certain period of time has elapsed after the virtual operation is performed.

[0036] Here, the black circles represent numerical values ​​related to multiple factors derived before or after a certain period of time following the virtual driving test, and indicate a population of accumulated normal values ​​unaffected by the virtual driving test. The white circles represent numerical values ​​related to multiple factors derived within a certain period of time after the virtual driving test. Here, the white circles represent abnormal values ​​where the actual driving operation is considered to have become sloppy due to the influence of the virtual driving test.

[0037] In Figure 4, the numerical values ​​NV1 (indicated by the black circle) and NV2 (indicated by the white circle) are two points with equal Euclidean distances from the population center C. Therefore, since the distances from the population center C are equal for both NV1 (indicated by the black circle) and NV2 (indicated by the white circle), it is difficult to identify NV2 (indicated by the white circle) as an outlier.

[0038] On the other hand, the Mahalanobis distance, which is the distance from the population center C considering the correlation between multiple values, differs between the numerical value NV1 (indicated by the black dot) and the numerical value NV2 (indicated by the white dot). Specifically, numerical value NV1 is a value less than the threshold Th in the Mahalanobis distance, while numerical value NV2 is a value greater than or equal to the threshold Th in the Mahalanobis distance. In this way, by deriving the Mahalanobis distance for numerical values ​​related to multiple factors, it is possible to distinguish between the population, which is the group of normal values, and the group of abnormal values.

[0039] In this embodiment, a threshold Th is set in the Mahalanobis distance from the center position C of the population formed by the population formation unit 242, and a value less than the threshold Th is determined to be a normal value before being affected by virtual operation. On the other hand, a value greater than or equal to the threshold Th is determined to be an abnormal value that has been affected by virtual operation and has been deviated from the population. The threshold Th used here is appropriately set in advance as a threshold for abnormal operation discrimination based on the Mahalanobis distance considering the variance of the sample population obtained by experiment, as shown in Figure 4. In this embodiment, multiple types of sample populations are obtained by experiment in advance, and a threshold Th corresponding to the variance is set in advance for each sample population. Here, the threshold Th set for multiple types of sample populations is a different value. However, it is not limited to this, and some of the threshold Th set for multiple types of sample populations may be the same value.

[0040] Multiple types of sample populations and threshold Ths obtained in advance through experiments are stored in the memory device 220. The memory device 220 stores multiple sample populations obtained in advance through experiments. In addition, the threshold Ths associated with each sample population are stored in the memory device 220 in association with the multiple sample populations.

[0041] The abnormal operation determination unit 246 extracts a sample population from among the multiple sample populations stored in the memory device 220 that is similar to the population formed by the population formation unit 242, and obtains a threshold Th associated with that sample population.

[0042] The abnormal operation determination unit 246 derives the Mahalanobis distance from the center position C of the population of numerical values ​​derived by the population formation unit 242 after the virtual operation is performed, and compares the Mahalanobis distance with the acquired threshold Th.

[0043] If the derived Mahalanobis distance is less than the threshold Th, the abnormal operation determination unit 246 determines that the value derived by the population formation unit 242 after the virtual operation is performed is a normal value, and determines that the operation of the vehicle 100 by the driver after the virtual operation is normal operation.

[0044] On the other hand, if the derived Mahalanobis distance is greater than or equal to the threshold Th, the value derived by the population formation unit 242 after the virtual driving is performed is determined to be an abnormal value, and the operation of the vehicle 100 by the driver after the virtual driving is determined to be abnormal driving.

[0045] In this way, the abnormal operation determination unit 246 determines abnormal operation based on the numerical values ​​obtained during actual vehicle operation after virtual operation and the Mahalanobis distance. When the abnormal operation determination unit 246 determines abnormal operation, it transmits information indicating abnormal operation to the ECU 300.

[0046] When the ECU 300 receives information indicating abnormal operation, it controls the engine 410 so that the torque of the engine 410 falls below a predetermined value. Furthermore, when the ECU 300 receives information indicating abnormal operation, it controls the power steering 420 so that the steering wheel 144 becomes heavier to operate. In this way, the ECU 300 functions as a correction unit that corrects the torque and steering control amounts of the vehicle 100's drive source.

[0047] Figure 5 is a flowchart of the abnormal operation determination process according to this embodiment. As shown in Figure 5, first the population formation unit 242 acquires signals output from the accelerator opening sensor 110, the brake opening sensor 120, and the steering angle sensor 130.

[0048] Next, the population formation unit 242 derives the rate of change of accelerator operation, brake operation, and steering angle based on signals obtained from the accelerator opening sensor 110, brake opening sensor 120, and steering angle sensor 130. Then, the population formation unit 242 accumulates the derived values ​​of the rate of change of accelerator operation, brake operation, and steering angle to form a population (S11).

[0049] The execution detection unit 244 detects that virtual operation has started when it receives a signal from the virtual operation device 140 indicating that virtual operation has started (S12). The execution detection unit 244 also detects that virtual operation has ended when it receives a signal from the virtual operation device 140 indicating that virtual operation has ended (S13).

[0050] The abnormal driving determination unit 246 derives the Mahalanobis distance of the numerical values ​​of the rate of change of accelerator operation amount, brake operation amount, and steering angle, which were derived by the population formation unit 242 after the virtual driving in S13 (S14). Then, the abnormal driving determination unit 246 extracts a sample population from among the multiple sample populations stored in the memory device 220 that approximates the population formed in S11, and obtains a threshold Th associated with that sample population (S15).

[0051] The abnormal operation determination unit 246 compares the Mahalanobis distance derived in S14 with the threshold Th acquired in S15 and determines whether the Mahalanobis distance is less than the threshold Th (S16). If the Mahalanobis distance is less than the threshold Th (YES in S16), the abnormal operation determination unit 246 determines that the value derived by the population formation unit 242 after the virtual operation is a normal value and that the operation of vehicle 100 is normal operation, and proceeds to the process in S19.

[0052] On the other hand, if the Mahalanobis distance is greater than or equal to the threshold Th (NO in S16), the abnormal operation determination unit 246 determines that the numerical value derived by the population formation unit 242 after the virtual operation is an abnormal value, and that the operation of vehicle 100 is abnormal (S17). At this time, the abnormal operation determination unit 246 transmits information indicating abnormal operation to the ECU 300.

[0053] When the ECU300 receives information indicating abnormal operation, it corrects the control amount of the engine 410 so that the torque of the engine 410 falls below a predetermined value. Also, when the ECU300 receives information indicating abnormal operation, it corrects the control amount of the power steering 420 so that the steering wheel 144 becomes heavier to operate (S18).

[0054] After the YES response in S16 and the processing in S18, the abnormal operation determination unit 246 determines whether a certain amount of time has elapsed since the end of virtual operation in S13 (S19). If the abnormal operation determination unit 246 determines that a certain amount of time has not elapsed (NO response in S19), it repeatedly executes the processes in S14 to S19. On the other hand, if the abnormal operation determination unit 246 determines that a certain amount of time has elapsed (YES response in S19), it terminates the abnormal operation determination process.

[0055] As described above, in this embodiment, numerical values ​​for multiple factors acquired before virtual driving are formed as a population representing a group of normal values, and the Mahalanobis distance of numerical values ​​for multiple factors acquired after virtual driving is derived. Then, by comparing the Mahalanobis distance with a predetermined threshold Th, it is possible to determine abnormal driving by the driver. As a result, it is possible to suppress a decrease in the safety of vehicle driving.

[0056] Furthermore, in this embodiment, when abnormal driving is detected, the torque and steering control amounts of the vehicle 100's drive source are corrected. Therefore, even if the actual driving operation becomes rough due to the influence of virtual driving, it is possible to suppress a decrease in the safety of vehicle driving.

[0057] Furthermore, in this embodiment, a sample population that approximates the population of numerical values ​​related to multiple factors acquired before virtual operation is extracted from a plurality of pre-established sample populations, and a threshold corresponding to that sample population is derived. This improves the accuracy of abnormal operation detection.

[0058] Embodiments of the present invention have been described above with reference to the attached drawings, but it goes without saying that the present invention is not limited to these embodiments. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention.

[0059] In the above embodiment, an example was described in which the ECU 300 corrects the torque of the engine 410 and the steering control amount by the power steering 420. However, the ECU 300 is not limited to this, and does not have to correct these torque and steering control amounts. For example, when the abnormal driving detection device 200 detects abnormal driving, it may issue a warning notification on the instrument panel of the vehicle 100.

[0060] In the above embodiment, an example was described in which the threshold Th is extracted from a population of multiple samples. However, the embodiment is not limited to this, and the threshold Th may be a single predetermined value. [Explanation of Symbols]

[0061] FG Windshield 100 vehicles 110 Accelerator position sensor 120 Brake position sensor 130 Steering angle sensor 140 Virtual Driving System 142 displays 144 Steering Wheel 146 Accelerator pedal 148 Brake pedal 200 Abnormal Operation Detection Device 210 I / F section 220 Storage device 230 System Bus 240 processors 242 Population Formation Section 244 Execution detection unit 246 Abnormal Operation Detection Unit 250 memory 300 ECU 410 engine 420 Power Steering

Claims

1. One or more processors, One or more memories connected to the processor, It has, The processor cooperates with the program contained in the memory, Based on signals output from sensor data relating to multiple factors that cause operations during actual vehicle operation to become sloppy due to the influence of virtual driving without actual vehicle movement, a population, which is the entire set of rates of change in said operations, is formed from numerical values ​​relating to the multiple factors in the actual vehicle operation before the execution of the virtual driving. To detect the execution of the aforementioned virtual operation, Based on the distance of the numerical values ​​obtained during the actual vehicle operation after the execution of the virtual operation from the center position of the population, abnormal operation is determined. Execute the process that includes vehicle.

2. The aforementioned distance is the Mahalanobis distance, The processor determines the abnormal operation by comparing the Mahalanobis distance with a threshold. The vehicle according to claim 1.

3. It has a memory device that stores a set number of pre-defined sample populations and a threshold value associated with each sample population. The processor extracts a sample population from the plurality of sample populations that approximates the population, and determines the abnormal operation by comparing the threshold and distance associated with the determined sample population. The vehicle according to claim 1.

4. When abnormal operation is detected, the torque of the vehicle's drive source and the steering control amount are corrected. Execute the process that includes The vehicle according to claim 1.

Images