Driving control method and driving control device

Abstract

A processor 10 of a driving control device 100 acquires an operation amount of a brake pedal 101 of an own vehicle 1 that is operated by the driver, controls the behavior of the own vehicle 1 using a control amount in which the operation amount is reflected when the operation amount is equal to or less than a predetermined operation amount threshold, and controls the behavior of the own vehicle 1 in a state where the reflection of the operation amount in the control amount is restricted when the operation amount is greater than the operation amount threshold.

Description

Operation control method and operation control device

[0001] The present invention relates to an operation control method and an operation control device.

[0002] Patent Document 1 describes a vehicle in which operation of the brake pedal is physically disabled during autonomous driving.

[0003] Japanese Patent Application Laid-Open No. 2018-092336

[0004] However, as described in Patent Document 1, if brake pedal operation is always disabled during autonomous driving, the vehicle cannot behave flexibly in accordance with the surrounding traffic conditions, reflecting the driver's intentions.

[0005] The problem to be solved by the present invention is to provide a driving control method and a driving control device that can control the driving of a vehicle in a manner that reflects the driver's intentions.

[0006] The present invention solves the above problem by controlling the behavior of the vehicle with a control amount that reflects the brake pedal operation amount when the brake pedal operation amount is equal to or less than a predetermined operation amount threshold, and by controlling the behavior of the vehicle with limited reflection of the operation amount on the control amount when the operation amount is greater than the operation amount threshold.

[0007] According to the present invention, the driving of the vehicle can be controlled to reflect the driver's intentions.

[0008] It is a block diagram showing the overall configuration of the driving control device according to the present embodiment. It is a diagram showing an example of the situation of the host vehicle traveling in a merging area. It is a diagram showing an example of the situation of the host vehicle traveling in a diverging area. It is a diagram showing an example of the positional relationship between the host vehicle and other vehicles. It is a flowchart showing the procedure of the driving control method executed by the driving control device shown in FIG.

[0009] An embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1 , a host vehicle 1 includes a driving control device 100 that controls autonomous driving of the host vehicle 1. A brake pedal 101 of the host vehicle 1 remains unretracted even when the host vehicle 1 is traveling in autonomous driving mode. The host vehicle 1 also includes a detection device 102, a host vehicle position acquisition unit 103, and a map database 104. The detection device 102 is either an on-board camera that captures images of the surroundings of the host vehicle 1 or a radar that detects other vehicles and obstacles around the host vehicle 1, or both. The host vehicle position acquisition unit 103 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc., and acquires the current position of the host vehicle 1. The map database 104 stores three-dimensional high-precision map information. The host vehicle 1 also includes a braking actuator 105, a driving actuator 106, and a steering actuator 107. The driving control device 100 controls the driving of the host vehicle 1 by controlling a braking actuator 105, a driving actuator 106, and a steering actuator 107 based on information acquired from a detection device 102, a host vehicle position acquisition unit 103, and a map database 104. In addition, an emergency stop button (not shown) is installed in the driver's seat of the host vehicle 1, and the vehicle 1 can be stopped at any time by an occupant pressing the emergency stop button.

[0010] In this embodiment, when the host vehicle 1 is traveling in autonomous driving mode, the driving control device 100 controls the behavior of the host vehicle 1 at driving assistance level 3 or 4, which is defined based on SAE J3016 of the Society of Automotive Engineers (SAE). At driving assistance level 3, the driving control device 100 performs all driving tasks, but the driver must regain control and prepare to drive manually when requested by the driving control device 100. At driving assistance level 4, manual driving by the driver is not required, and the driving control device 100 can perform all driving tasks and monitor the surrounding conditions of the host vehicle under specific conditions. Furthermore, the driving assistance level of the autonomous driving mode in this embodiment is not limited to the above definition. In other words, the driving control device 100 may control the driving of the host vehicle 1 based on a driving assistance level based on another definition, as long as it can perform all driving tasks of the host vehicle 1.

[0011] The driving control device 100 also includes a processor 10. The processor 10 includes a brake operation amount acquisition unit 11, an operation amount threshold setting unit 12, a brake operation amount determination unit 13, and a vehicle control unit 14.

[0012] The configuration of the processor 10 of the driving control device 100 will be described in detail below with reference to Figures 1 to 4. The brake operation amount acquisition unit 11 of the driving control device 100 shown in Figure 1 acquires the operation amount of the brake pedal 101 of the vehicle 1 operated by the driver. The operation amount of the brake pedal 101 is the amount of depression of the brake pedal 101.

[0013] The operation amount threshold setting unit 12 sets a predetermined operation amount threshold according to the traffic conditions in which the host vehicle 1 is traveling and / or the positional relationship with other vehicles. The operation amount threshold is a value that serves as a criterion for determining to what extent the operation amount of the brake pedal 101 is reflected in the control of the behavior of the host vehicle 1.

[0014] 2, the operation amount threshold setting unit 12 acquires a merging point P1 where the host vehicle 1 is traveling in a lane T1 and another lane T2 different from the host vehicle T1, based on the map information in the map database 104. When the host vehicle 1 is traveling in a predetermined merging area Xa upstream of the merging point P1 (for example, a range 2 km upstream from the merging point P1), the operation amount threshold setting unit 12 sets the operation amount threshold higher than when the host vehicle 1 is not traveling in the merging area Xa.

[0015] 3, the operation amount threshold setting unit 12 acquires a divergence point P2 where the host vehicle 1 diverges from the host lane T1 on which the host vehicle 1 is traveling, based on the map information in the map database 104. When the host vehicle 1 is traveling in a predetermined divergence area Xb upstream of the divergence point P2 (for example, a range 2 km upstream from the divergence point P2), the operation amount threshold setting unit 12 sets the operation amount threshold higher than when the host vehicle 1 is not traveling in the divergence area Xb.

[0016] The operation amount threshold setting unit 12 may acquire infrastructure information via a communication means, and may acquire, for example, a merging point P1 and / or a branching point P2 that has occurred due to lane restrictions caused by construction work or fallen objects.

[0017] Furthermore, as shown in FIG. 4 , when the host vehicle 1 traveling in the host lane T1 changes lanes to another lane T3 different from the host lane T1, the operation amount threshold setting unit 12 acquires a lane change space S in the other lane T3 in which the host vehicle 1 can move, based on the detection result of the detection device 102. Then, the operation amount threshold setting unit 12 acquires a time interval between a first other vehicle 2a traveling in front of the lane change space S and a second other vehicle 2b traveling behind the lane change space S. Furthermore, when the vehicle speeds of the first other vehicle 2a and the second other vehicle 2b are equal to or lower than a predetermined speed, the operation amount threshold setting unit 12 may acquire a distance D between the first other vehicle 2a and the second other vehicle 2b. When the time interval or distance D between the first other vehicle 2a and the second other vehicle 2b is within a predetermined value, the operation amount threshold setting unit 12 sets a higher operation amount threshold than when the time interval or distance D is greater than the predetermined value. The operation amount threshold setting unit 12 may acquire the average value of the inter-vehicle time or inter-vehicle distance D of a plurality of vehicles traveling in the other lane T3.

[0018] In addition, as shown in Figure 4, when there is a preceding vehicle 3a in the first area X1 within a predetermined distance ahead of the vehicle 1, the operation amount threshold setting unit 12 sets the operation amount threshold higher than when there is no preceding vehicle 3a.

[0019] In addition, as shown in Figure 4, when there is no following vehicle 3b in the second area X2 within a predetermined distance behind the vehicle 1, the operation amount threshold setting unit 12 sets the operation amount threshold higher than when there is a following vehicle 3b.

[0020] 1 determines whether the operation amount of the brake pedal 101 is equal to or less than the operation amount threshold set by the operation amount threshold setting unit 12. For example, the brake operation amount determination unit 13 determines whether the operation amount of the brake pedal 101 is equal to or less than the operation amount threshold based on a brake sensor that detects the depression angle (operation amount) of the brake pedal or a brake switch that detects a state in which the depression angle (operation amount) is equal to or less than a predetermined operation amount threshold (or greater than the operation amount threshold).

[0021] The vehicle control unit 14 shown in FIG. 1 controls the brake actuator 105 of the host vehicle 1 based on the determination result of the brake operation amount determination unit 13. That is, when the operation amount of the brake pedal 101 is equal to or less than the operation amount threshold, the vehicle control unit 14 controls the behavior of the host vehicle 1 with a control amount that reflects the operation amount. On the other hand, when the operation amount of the brake pedal 101 is greater than the operation amount threshold, the vehicle control unit 14 controls the behavior of the host vehicle 1 in a state where reflection of the operation amount on the control amount is limited. Specifically, when the operation amount is greater than the operation amount threshold, the vehicle control unit 14 controls the behavior of the host vehicle 1 without reflecting the operation amount on the control amount. Furthermore, when the operation amount is greater than the operation amount threshold, the vehicle control unit 14 may control the behavior of the host vehicle 1 with a control amount that reflects a value obtained by multiplying the operation amount of the brake pedal 101 by a coefficient that is less than 1. Furthermore, when the operation amount is greater than the operation amount threshold, the vehicle control unit 14 may gradually decrease the coefficient by which the operation amount of the brake pedal 101 is multiplied to 0.

[0022] Furthermore, if the operation amount is greater than the operation amount threshold, the vehicle control unit 14 issues a takeover request to switch from the autonomous driving mode to the manual driving mode. Furthermore, if the operation amount is greater than the operation amount threshold and the driver cannot take over driving authority, the vehicle control unit 14 may activate an emergency stop control MRM (Minimum Risk Maneuver) to perform emergency stop control of the vehicle. After issuing the takeover request, the vehicle control unit 14 can control the driving of the host vehicle 1 so that the host vehicle 1 can travel autonomously for approximately 10 seconds or until the host vehicle 1 stops on the shoulder of the road.

[0023] Furthermore, when the operation amount threshold setting unit 12 determines, based on the detection result of the detection device 102, that there is no following vehicle 3b within a predetermined distance behind the host vehicle 1, the operation amount threshold setting unit 12 may not set an operation amount threshold, and the vehicle control unit 14 may always control the behavior of the host vehicle 1 with a control amount that reflects the operation amount of the brake pedal 101. In other words, when it is determined that there is no other vehicle within a predetermined distance behind the host vehicle 1, the vehicle control unit 14 may reflect the operation amount of the brake pedal 101 in the control amount, regardless of the operation amount of the brake pedal 101.

[0024] In the present embodiment, the host vehicle 1 is traveling in an autonomous driving mode of driving assistance level 3 or 4, but when the host vehicle 1 is traveling in driving assistance level 1 or 2, the vehicle control unit 14 may reflect the operation amount of the brake pedal 101 in the control amount regardless of the operation amount of the brake pedal 101. Furthermore, when the host vehicle 1 is traveling in an autonomous driving mode of driving assistance level 3 or 4, the operation amount of the accelerator pedal (not shown) and the operation amount of the steering wheel (not shown) may not be reflected in the behavior of the host vehicle 1. Furthermore, when the host vehicle 1 is traveling in an autonomous driving mode of driving assistance level 3 or 4, if an operation of the accelerator pedal or steering wheel of a predetermined amount or more is detected, the vehicle control unit 14 may issue a take-over request to switch from the autonomous driving mode to the manual driving mode.

[0025] Next, the procedure of the driving control method executed by the processor 10 of the driving control device 100 will be described with reference to the flowchart in Figure 5. First, in step S1, the brake operation amount acquisition unit 11 of the processor 10 acquires the operation amount of the brake pedal 101.

[0026] Next, in step S2, the brake operation amount determination unit 13 determines whether or not the operation amount of the brake pedal 101 is equal to or less than the operation amount threshold value.

[0027] If it is determined in step S2 that the operation amount of the brake pedal 101 is equal to or less than the operation amount threshold, in step S3, the vehicle control unit 14 controls the behavior of the vehicle 1 with a control amount that reflects the operation amount.

[0028] On the other hand, if it is determined in step S2 that "the amount of operation of the brake pedal 101 is greater than the operation amount threshold," in step S4, the vehicle control unit 14 restricts the behavior of the vehicle 1 while limiting the reflection of the operation amount on the control amount.

[0029] As described above, the driving control device 100 according to this embodiment acquires the amount of operation of the brake pedal 101 of the host vehicle 1 operated by the driver, and when the amount of operation is equal to or less than a predetermined operation amount threshold, controls the behavior of the host vehicle 1 with a control amount that reflects the operation amount. When the amount of operation is greater than the operation amount threshold, the driving control device 100 controls the behavior of the host vehicle 1 with a state in which the reflection of the operation amount on the control amount is limited. This allows the driving control device 100 to flexibly control the deceleration of the host vehicle 1 to reflect the driver's intention when the operation amount is equal to or less than the predetermined operation amount threshold. On the other hand, when the operation amount is greater than the predetermined operation amount threshold, controlling the behavior of the host vehicle 1 with a control amount that reflects the operation amount may result in the host vehicle 1 being unable to continue traveling in autonomous driving. In contrast, the driving control device 100 according to this embodiment limits the reflection of the operation amount on the control amount when the operation amount is greater than the predetermined operation amount threshold, and therefore can continue to control the driving of the host vehicle 1 in autonomous driving mode. In addition, when the operation amount is below a predetermined operation amount threshold, the driving control device 100 controls the driving of the vehicle 1 to reflect the driver's intention, so that the vehicle 1 can drive based on the driver's judgment in a way that minimizes the impact on other vehicles in the vicinity.

[0030] Furthermore, when the operation amount of the brake pedal 101 is greater than the operation amount threshold, the driving control device 100 does not reflect the operation amount in the control amount and controls the behavior of the vehicle 1. As a result, when the operation amount is greater than a predetermined operation amount threshold, the driving control device 100 can smoothly continue to control the driving of the vehicle 1 in the autonomous driving mode without reflecting the operation of the brake pedal 101 by the driver in the behavior of the vehicle 1.

[0031] Furthermore, when the operation amount of the brake pedal 101 is greater than the operation amount threshold, the driving control device 100 may control the behavior of the vehicle 1 with a control amount that reflects a value obtained by multiplying the operation amount by a coefficient that is less than 1. In this way, when the operation amount is greater than a predetermined operation amount threshold, the driving control device 100 can continue to control the driving of the vehicle 1 in the autonomous driving mode while reflecting the driver's intentions.

[0032] Furthermore, when the host vehicle 1 is traveling in a predetermined merging area Xa upstream of the merging point P1, the driving control device 100 sets the operation amount threshold higher than when the host vehicle 1 is not traveling in the merging area Xa. That is, when the host vehicle 1 is traveling in the merging area Xa, the driving control device 100 sets the operation amount threshold so that the operation amount of the brake pedal 101 is more easily reflected in the behavior of the host vehicle 1 than when the host vehicle 1 is not traveling in the merging area Xa. As a result, when the host vehicle 1 passes through the merging point P1, the driving control device 100 can flexibly control the behavior of the host vehicle 1 in accordance with the driver's intention so that the impact on surrounding traffic flow can be minimized as much as possible based on the driver's judgment. For example, when passing through the merging point P1, if the host vehicle 1 decelerates based on the driver's operation of the brake pedal 101, other vehicles may open up space ahead for the host vehicle 1 to enter. Furthermore, when passing through the merging point P1, the vehicle 1 can decelerate based on the driver's operation of the brake pedal 101, and adjust the space ahead to make it easier for other vehicles to merge. This increases the likelihood that the vehicle 1 can pass through the merging point P1 more smoothly.

[0033] Furthermore, when the host vehicle 1 is traveling in a predetermined divergence area Xb upstream of the divergence point P2, the driving control device 100 sets the operation amount threshold higher than when the host vehicle 1 is not traveling in the divergence area Xb. That is, when the host vehicle 1 is traveling in the divergence area Xb, the driving control device 100 sets the operation amount threshold so that the operation amount of the brake pedal 101 is more easily reflected in the behavior of the host vehicle 1 than when the host vehicle 1 is not traveling in the divergence area Xb. As a result, when the host vehicle 1 passes through the divergence point P2, the driving control device 100 can flexibly control the behavior of the host vehicle 1 in accordance with the driver's intention so that the driver's judgment can minimize the impact on surrounding traffic flow. For example, when changing lanes after passing the divergence point P2, if the host vehicle 1 decelerates based on the driver's operation of the brake pedal 101, other vehicles may make space for the host vehicle 1 to enter. Furthermore, after passing the merging point P2, when another vehicle changes lanes into the lane in which the host vehicle 1 is traveling, the host vehicle 1 can decelerate based on the driver's operation of the brake pedal 101, and adjust the space ahead to make it easier for the other vehicle to enter. This increases the likelihood that the host vehicle 1 will be able to pass through the merging point P2 more smoothly.

[0034] Furthermore, when the host vehicle 1 performs a lane change, the driving control device 100 acquires the inter-vehicle time or inter-vehicle distance between a first other vehicle 2a traveling in front of the lane change space S in which the host vehicle 1 can move and a second other vehicle 2b traveling behind the lane change space S (see FIG. 4 ). When the inter-vehicle time or inter-vehicle distance is within a predetermined value, the driving control device 100 sets the operation amount threshold higher than when the inter-vehicle time or inter-vehicle distance is greater than the predetermined value. That is, the driving control device 100 sets the operation amount threshold higher the shorter the inter-vehicle time or inter-vehicle distance between the two other vehicles (the first other vehicle 2a and the second other vehicle 2b) in the other lane T3 to which the host vehicle 1 is changing lanes, thereby making it easier for the operation amount of the brake pedal 101 to be reflected in the behavior of the host vehicle 1. As a result, when the host vehicle 1 performs a lane change, the driving control device 100 can flexibly control the behavior of the host vehicle 1 to reflect the driver's intention so as to minimize the impact on surrounding traffic flow based on the driver's judgment. For example, if the host vehicle 1 decelerates to match the vehicle speeds of the first other vehicle 2a and the second other vehicle 2b based on the driver's operation of the brake pedal 101, the second other vehicle 2b may adjust its vehicle speed to make it easier for the host vehicle 1 to enter the lane change space S. In other words, even if the lane change space S is so narrow that the driving control device 100 determines that a lane change is not possible in autonomous driving mode, the host vehicle 1 may be able to change lanes by decelerating. Therefore, the host vehicle 1 is more likely to be able to change lanes more smoothly.

[0035] Furthermore, when a leading vehicle 3a is present within a predetermined distance ahead of the host vehicle 1, the driving control device 100 sets the operation amount threshold higher than when the leading vehicle 3a is not present (see FIG. 4). That is, when a leading vehicle 3a is present within a predetermined distance ahead of the host vehicle 1, the driving control device 100 sets the operation amount threshold so that the operation amount of the brake pedal 101 is more likely to be reflected in the behavior of the host vehicle 1 than when the leading vehicle 3a is not present. As a result, for example, when another vehicle attempts to change lanes into the space between the host vehicle 1 and the leading vehicle 3a, the host vehicle 1 can decelerate based on the driver's operation of the brake pedal 101 and adjust the space ahead to make it easier for the vehicle to change lanes.

[0036] Furthermore, when there is no other following vehicle 3b within a predetermined distance behind the host vehicle 1, the driving control device 100 sets the operation amount threshold higher than when there is another following vehicle 3b. As a result, when there is no other following vehicle 3b within a predetermined distance behind the host vehicle 1 and the deceleration of the host vehicle 1 has little effect on traffic flow, the driving control device 100 can control the driving of the host vehicle 1 in a state in which the driver's intentions are easily reflected in the behavior of the host vehicle 1.

[0037] Furthermore, when there is no following vehicle 3b within a predetermined distance behind the host vehicle 1, the driving control device 100 may not set an operation amount threshold, but may control the behavior of the host vehicle 1 with a control amount that reflects the operation amount of the brake pedal 101. As a result, when there is no following vehicle 3b within a predetermined distance behind the host vehicle 1 and deceleration of the host vehicle 1 has little effect on traffic flow, the driving control device 100 can control the driving of the host vehicle 1 so that the host vehicle 1 can always decelerate based on the driver's operation.

[0038] Furthermore, if the operation amount of the brake pedal 101 is greater than the operation amount threshold, the driving control device 100 issues a request to switch from the autonomous driving mode to the manual driving mode. As a result, if the amount of depression of the brake pedal 101 by the driver is greater than a predetermined threshold, the driving control device 100 can stop controlling the driving of the vehicle 1 in the autonomous driving mode and transfer driving authority to the driver.

[0039] REFERENCE SIGNS LIST 1...Own vehicle 2a...First other vehicle 2b...Second other vehicle 3a...Preceding other vehicle 3b...Following other vehicle 100...Drive control device 101...Brake pedal 102...Detection device 10...Processor 11...Brake operation amount acquisition unit 14...Vehicle control unit P1...Merging point P2...Diverging point Xa...Merging area Xb...Diverging area

Claims

1. A driving control method for controlling the driving of a host vehicle using a processor, wherein the processor acquires an operation amount of a brake pedal of the host vehicle operated by a driver, and when the operation amount is less than or equal to a predetermined operation amount threshold, controls the behavior of the host vehicle with a control amount reflecting the operation amount, and when the operation amount is greater than the operation amount threshold, controls the behavior of the host vehicle in a state where the reflection of the operation amount on the control amount is restricted.

2. The driving control method according to claim 1, wherein when the operation amount is greater than the operation amount threshold, the processor controls the behavior of the host vehicle without reflecting the operation amount on the control amount.

3. The driving control method according to claim 1, wherein when the operation amount is greater than the operation amount threshold, the processor controls the behavior of the host vehicle with a control amount reflecting a value obtained by multiplying the operation amount by a coefficient less than 1.

4. The driving control method according to any one of claims 1 to 3, wherein the processor acquires a merging point where a host lane on which the host vehicle travels merges with another lane different from the host lane, and when the host vehicle is traveling in a predetermined merging area upstream of the merging point, sets the operation amount threshold higher than when the host vehicle is not traveling in the merging area.

5. The driving control method according to any one of claims 1 to 3, wherein the processor acquires a diverging point where a host lane on which the host vehicle travels diverges, and when the host vehicle is traveling in a predetermined diverging area upstream of the diverging point, sets the operation amount threshold higher than when the host vehicle is not traveling in the diverging area.

6. The driving control method according to any one of claims 1 to 3, wherein when the host vehicle traveling in the host lane changes lanes to another lane different from the host lane, the processor acquires a lane change space in which the host vehicle can move in the other lane based on a detection result of a detection device of the host vehicle, acquires an inter-vehicle time or an inter-vehicle distance between a first other vehicle traveling ahead of the lane change space and a second other vehicle traveling behind the lane change space, and when the inter-vehicle time or the inter-vehicle distance is within a predetermined value, sets the operation amount threshold higher than when the inter-vehicle time or the inter-vehicle distance is greater than the predetermined value.

7. The driving control method according to any one of claims 1 to 3, wherein when there is a preceding other vehicle within a predetermined distance in front of the host vehicle, the processor sets the operation amount threshold higher than when there is no preceding other vehicle.

8. The driving control method according to any one of claims 1 to 3, wherein when there is no following other vehicle within a predetermined distance behind the host vehicle, the processor sets the operation amount threshold higher than when there is a following other vehicle.

9. The driving control method according to any one of claims 1 to 3, wherein when there is no following other vehicle within a predetermined distance behind the host vehicle, the processor does not set the operation amount threshold and controls the behavior of the host vehicle with the control amount reflecting the operation amount.

10. The driving control method according to any one of claims 1 to 9, wherein when the operation amount is greater than the operation amount threshold, the processor issues a request to switch from the automatic driving mode to the manual driving mode.

11. A driving control device for controlling the driving of a host vehicle, comprising: a brake operation amount acquisition unit that acquires an operation amount of a brake pedal of the host vehicle operated by a driver; and a vehicle control unit that controls the behavior of the host vehicle with a control amount reflecting the operation amount when the operation amount is less than or equal to a predetermined operation amount threshold, and controls the behavior of the host vehicle in a state where the reflection of the operation amount on the control amount is restricted when the operation amount is greater than the operation amount threshold.

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