JP6858738B2 - Automatic operation control device and automatic operation control method - Google Patents

Description

The present invention relates to an automatic driving control device for a vehicle, and more particularly to an automatic driving control device that realizes comfortable automatic driving for a passenger.

In recent years, in vehicles, computerization has progressed in order to meet the demands for fuel efficiency, safety improvement, convenience improvement, etc., and the installation of electronic control units (ECUs) for controlling in-vehicle devices has progressed. There is.

For example, there are a wide range of vehicle control devices that calculate control command values for controlled objects such as engines, transmissions, traveling motors, braking devices, and steering devices based on input data from in-vehicle sensors such as cameras and millimeter-wave radars. It is used.

In addition, as the driving mode of the vehicle, a driving support function that supports the driving operation of the occupant and an automatic driving function that the system automatically controls the driving regardless of the driving operation of the occupant have been developed. It is thought that the sophistication of vehicle control devices equipped with functions will advance.

Various technologies related to the automatic driving function are open to the public. For example, Patent Document 1 discloses a traveling control device for a vehicle that controls overtaking traveling. In Patent Document 1, the presence or absence of intersections and traffic lights, information on the surrounding environment of driving such as lanes, and the driving conditions of vehicles to be overtaken and following vehicles are detected and monitored, the suitability of overtaking is judged, and overtaking is stopped. An automatic driving technique for overtaking driving control including the above is disclosed.

Japanese Patent No. 6103716

In the vehicle travel control device disclosed in Patent Document 1, the vehicle surrounding environment recognition device is used to recognize and acquire surrounding environment information that is often overlooked by humans, and the system automatically operates based on the acquired information. By controlling, safer automatic driving is realized.

However, in the technique of Patent Document 1, although the information on the surrounding environment of the vehicle is acquired and the automatic driving control is performed, the state of the passenger including the driver in the vehicle is not taken into consideration. In other words, in the conventional technology, attention is not paid to whether the automatic driving is comfortable for the passenger of the vehicle, and there may be a difference between the judgment of the system and the feeling of the passenger, so that the passenger is comfortable. There was room for improvement as an automatic driving control technology for vehicles in terms of ensuring sexuality and improving the relationship of trust between the system and passengers.

The present invention has been made to solve the above problems, and an object of the present invention is to provide an automatic driving control device that reduces the difference between the judgment of the system and the feeling of the occupant.

An aspect of the automatic driving control device according to the present invention is an automatic driving control device mounted on a vehicle and controlling the automatic driving of the vehicle, monitoring the occupant state of the occupant of the vehicle, and the occupant state. The passenger status monitoring / acquisition unit for acquiring the above, the automatic driving mode determining unit for determining the automatic driving mode at least according to the passenger status acquired by the passenger status monitoring / acquiring unit, and the automatic driving mode. The parameters for automatic driving control are determined based on the parameter determining unit for automatic driving control that determines the parameters for automatic driving control according to the automatic driving mode determined by the determining unit, the vehicle state of the vehicle, and the surrounding environment information of the vehicle. It is equipped with an automatic driving control unit that calculates an automatic driving control plan according to the vehicle, generates a control command value for realizing the automatic driving control plan, and performs automatic driving control, and is equipped with the passenger status monitoring / acquisition unit. conditions, the as passenger state, the position of at least the passenger, gaze, operating conditions, to obtain a plurality from among the posture and facial expressions, the automatic operation mode determination unit, to the combination of the occupant state From a plurality of automatic driving modes defined by assigning, a mode satisfying the above conditions is selected to be the automatic driving mode, and the parameters for automatic driving control are at least the speed, acceleration / deceleration, inter-vehicle distance, and traveling of the vehicle. It is defined by a plurality of combinations of lane, lane change, noise, steering angle, angular speed, and angular acceleration, and the automatic driving control parameter determination unit is assigned to the automatic driving control parameter for each of the automatic driving modes. The above conditions are given to the automatic operation control unit as the automatic operation control parameters corresponding to the automatic operation mode.

According to the automatic driving control device according to the present invention, the parameters for automatic driving control are determined from the automatic driving mode according to the passenger state, the automatic driving control plan according to the parameters for automatic driving control is calculated, and the automatic driving control is performed. Since the control command value for realizing the plan is output and the automatic driving control is performed, the automatic driving can be realized by reducing the difference between the judgment of the system and the feeling of the passenger.

It is a functional block diagram which shows the structure of the automatic operation control apparatus of Embodiment 1 which concerns on this invention. It is a flowchart which shows the operation of the automatic operation control apparatus of Embodiment 1 which concerns on this invention. It is a figure which shows the specific example of the passenger state used in the automatic driving control apparatus of Embodiments 1 to 3 which concerns on this invention. It is a figure which shows the specific example of the automatic operation mode used in the automatic operation control device of Embodiments 1 to 3 which concerns on this invention. It is a figure which shows the specific example of the parameter for automatic operation control used in the automatic operation control apparatus of Embodiments 1 to 3 which concerns on this invention. It is a functional block diagram which shows the structure of the automatic operation control apparatus of Embodiment 2 which concerns on this invention. It is a flowchart which shows the operation of the automatic operation control apparatus of Embodiment 2 which concerns on this invention. It is a functional block diagram which shows the structure of the automatic operation control apparatus of Embodiment 3 which concerns on this invention. It is a flowchart which shows the operation of the automatic operation control device of Embodiment 3 which concerns on this invention. It is a figure which shows the hardware structure which realizes the automatic operation control apparatus of Embodiments 1 to 3 which concerns on this invention. It is a figure which shows the hardware structure which realizes the automatic operation control apparatus which concerns on Embodiment 1 to 3 of this invention.

<Embodiment 1>
FIG. 1 is a functional block diagram showing the configuration of the automatic operation control device 100 according to the first embodiment of the present invention. As shown in FIG. 1, the automatic operation control device 100 obtains vehicle state acquisition unit 101 that acquires the vehicle state of the own vehicle from the in-vehicle device 121 mounted on the own vehicle, and information on the surrounding environment of the own vehicle from the in-vehicle device 122. It includes a peripheral environment information acquisition unit 102 to be acquired, and a occupant state monitoring / acquisition unit 103 that monitors the occupant status of the vehicle boarding the own vehicle from the in-vehicle device 123 and acquires the occupant status. Further, the automatic driving mode determining unit 104 that determines the automatic driving mode according to the passenger state, the automatic driving control parameter determining unit 105 that determines the automatic driving control parameter according to the determined automatic driving mode, and the vehicle state. And based on the surrounding environment information, the automatic operation control plan according to the parameters for automatic operation control is calculated, and the control command value according to the calculated automatic operation control plan is output to the control target 131 to perform automatic operation control. It includes an automatic operation control unit 106.

The automatic operation control device 100 is configured by using a computer such as a microcomputer or a SoC (System-on-a-chip), and each of the above functional blocks is realized by operating the computer according to a program. Each functional block may include a data storage unit that stores necessary information, acquired information, data processing or data generation information, and the like. Each functional block may be mounted on an independent ECU or computer, or some or all blocks may be mounted on a single ECU or computer.

Hereinafter, the configuration of the automatic operation control device 100 will be described in more detail. The automatic driving control device 100 is equipped with an automatic driving function in which the system automatically controls driving regardless of the driving operation of the passenger. However, the automatic driving function referred to here also includes a driving support function that assists the driving operation of the passenger in a broad sense. For example, ACC (Adaptive Cruise Control) and TJA (Traffic Jam Assist), which are widely commercialized, are included. ), LKS (Lane Keep System) and other driving support functions are conceivable.

Further, the automatic driving control device 100 has a function of executing the end determination of the automatic driving control. For example, the automatic driving control device 100 ends the automatic driving control when the driver arrives at the destination by the automatic driving, or when the passenger intervenes (overrides) the driving operation during the automatic driving. To judge.

The vehicle state acquisition unit 101 acquires the vehicle state of the own vehicle from the vehicle-mounted device 121 that monitors the vehicle state such as the vehicle-mounted sensor and the vehicle-mounted ECU, and outputs the vehicle state to the automatic driving control unit 106. The vehicle state is information such as the vehicle running state required for calculating the automatic driving control plan, and includes, for example, the current speed of the vehicle, acceleration / deceleration, steering angle, angular speed, angular acceleration, vehicle weight, vehicle center of gravity, and the like. Is done. The sensors included in the in-vehicle device 121 include, for example, a vehicle speed sensor, a yaw rate sensor, an acceleration sensor, a gyro sensor, a direction sensor, and the like.

Examples of the in-vehicle device 122 include an autonomous in-vehicle sensor such as a camera, a millimeter-wave radar, LiDAR (Light Detection and Ranging), and an ultrasonic sonar, an in-vehicle communication device such as a V2X, a smartphone, and a mobile device capable of external communication. ..

The peripheral environment information acquisition unit 102 acquires the peripheral environment information of the vehicle from the vehicle-mounted device 122 that senses the peripheral environment of the vehicle such as the vehicle-mounted sensor and the communication device, and outputs the peripheral environment information to the automatic driving control unit 106.

The surrounding environment information acquisition unit 102 uses the detection information and communication information obtained from the in-vehicle device 122 described above to obtain peripheral environment information necessary for calculating an automatic driving control plan, such as road shape, lane, sign, and traffic light. , Information on stationary objects such as obstacles, and information on moving objects such as speeds, acceleration / deceleration, and steering angles of other vehicles, pedestrians, and bicycles.

The in-vehicle device 123 includes, for example, a camera capable of monitoring the entire interior of the vehicle, an in-vehicle device capable of monitoring the line of sight and state of a occupant such as a DMS (driver monitoring system), and a smartphone brought into the vehicle from the outside. It shall also include mobile devices with sensing functions.

The passenger status monitoring / acquisition unit 103 monitors the passenger status based on the passenger information obtained from the in-vehicle device 123, acquires the passenger status, and transmits the acquired passenger status to the automatic operation mode determination unit 104. Output.

Various passenger states can be considered, and especially when the system operates completely automatically, the degree of freedom of the passengers is greatly expanded, and the passenger states to be acquired are also diverse. For example, the position of the passenger (seat location), line of sight, operating state, posture, facial expression, number of passengers and attributes (eg, age, gender, height, weight), etc., which are necessary to determine the automatic driving mode. Passenger status is possible.

In order to facilitate the determination of the automatic driving mode, the position, line of sight, operating state, posture, facial expression, number of passengers, attributes, etc. of the occupant may be expressed by variables (parameters), and the occupant state may be parameterized.

For example, the line of sight of the passenger is set to the variable X, the position of the passenger is set to the variable Y, X = 1 when the line of sight is facing forward, X = 2 when the line of sight is facing forward, and the line of sight is obtained. If there is no such case, set X = 3. Further, when the position of the passenger is the position of the conventional driver's seat, Y = 1, and when the position of the passenger is the position of the conventional passenger seat, Y = 2. Then, for example, the automatic operation mode is tabulated by combining the following variables.

(X, Y) = (1, 1): Automatic operation mode 1
(X, Y) = (1, 2): Automatic operation mode 2
(X, Y) = (2, 1): Automatic operation mode 2
(X, Y) = (2, 2): Automatic operation mode 2
(X, Y) = (3, 1): Automatic operation mode 3
(X, Y) = (3, 2): Automatic operation mode 3
By using such a table, the automatic operation mode can be uniquely determined when the combinations of the variables X and Y are exactly the same.

Further, for example, the automatic operation mode may be determined as follows based on the calculation result by the mathematical formula F = X + Y using the variables X and Y.

F ≦ 2: Automatic operation mode 1
2 <F <4: Automatic operation mode 2
F ≧ 4: Automatic operation mode 3
Further, the automatic operation mode may be determined simply based on the values of the variables X and Y as follows.

X = 1, Y = 1: Automatic operation mode 1
X ≧ 3: Automatic operation mode 3
Other X and Y values: Automatic operation mode 2
The above formulas and conditional expressions are simple examples, but more complicated formulas, conditional expressions, and correlations may be used for judgment. Normally, there are more types of passenger status than types of automatic driving mode, so in that case, set the automatic driving mode only under specific conditions, and in other cases, conditions that correlate well. You can also select the automatic operation mode.

In addition, an ambiguous case can be expressed by an intermediate numerical value, and a case where the passenger state changes sequentially can be expressed.

It is also possible to perform weighting processing according to the occupant state or a variable indicating the occupant state. For example, the line of sight and operating state, which have a large effect on the comfort of the passenger, may be emphasized, and the variable to be emphasized may be multiplied by a weighting coefficient. It may be adopted or a specific variable may be considered preferentially. Further, when using a correlation or the like, it is also possible to weight the correlation according to the variable.

On the contrary, for example, it is conceivable to disregard the posture that has a small effect on the comfort of the passenger, and to lighten the weight of the disregarded variable. By weighting the occupant status, it is possible to further enhance the comfort of the occupant.

The information of the automatic operation mode determined by the automatic operation mode determination unit 104 is output to the automatic operation control parameter determination unit 105. Although the automatic driving of the vehicle is premised on a safe system, it is considered that the automatic driving of the vehicle that is comfortable for the passenger depends on the occupant's condition. The automatic driving mode is, for example, a mode in which the passenger is monitoring the front outside the vehicle, a mode in which the passenger is eating while watching TV, a mode in which the passenger is sleeping, and a mode in which multiple passengers are relaxing and playing cards. Various automatic driving modes required to determine the parameters for automatic driving control, such as a playing mode such as, and a mode in which the passenger rushes to arrive at the destination, can be considered.

In order to facilitate the determination of the parameters for automatic driving control, the automatic driving mode may be expressed by variables and parameterized as in the passenger state. Further, it is also possible to perform weighting processing according to the automatic operation mode or the variable indicating the automatic operation mode.

For example, if the mode that is rushing to the destination is given the highest priority, the variable indicating the mode is multiplied by the largest weighting factor, and the mode that monitors the front outside the vehicle is multiplied by the next largest weighting factor. Therefore, when it is necessary to select either of the two modes, the mode that is in a hurry to arrive at the destination is selected.

By weighting the automatic driving mode, it becomes easier to select a more important automatic driving mode, and the convenience of the passenger can be improved.

The automatic operation control parameter determination unit 105 determines the automatic operation control parameter according to the automatic operation mode, and outputs the determined automatic operation control parameter to the automatic operation control unit 106.

The parameters for automatic driving control are parameters necessary for calculating the automatic driving control plan, and for example, the system such as speed, acceleration / deceleration, inter-vehicle distance, traveling lane, lane change, noise, steering angle, angular speed and angular acceleration, etc. It is a parameter that determines the constraint condition of the automatic operation control plan to be calculated.

Although it is assumed that the automatic driving of the vehicle is a safe system, the automatic driving of the vehicle that is comfortable for the passengers can be achieved by giving the degree of freedom within the limits that are indispensable for the system such as safety. It becomes a parameter to be realized. In other words, within the limits that are essential for the system, such as emphasizing speed, emphasizing stability, emphasizing the positional relationship with surrounding objects, emphasizing the use of overtaking lanes, emphasizing noise reduction, etc. There is room to select the optimum parameters for automatic driving control according to the passenger condition.

Specifically, in the mode in which the passenger monitors the front outside the vehicle, even if the distance between the vehicle and the vehicle in front can be reduced, the distance between the vehicles may be sufficiently large to give the passenger a sense of security, or the passenger may use the vehicle. In the mode of eating while watching TV or in the mode in which multiple passengers are relaxing and playing games such as playing cards, the stability of the vehicle is emphasized, and in the mode in which the passengers are sleeping, the sleep is affected. In the mode where the passengers are in a hurry to arrive at the destination, the speed is emphasized so as to minimize the arrival time at the destination. Therefore, the parameters for automatic operation control in consideration of these constraints are determined according to the automatic operation mode.

In the above, as the parameters for automatic driving control, speed, acceleration / deceleration, inter-vehicle distance, driving lane, lane change, noise, steering angle, angular speed, angular acceleration, etc. are mentioned. Various parameters for automatic operation control required for calculation can be considered. In addition, the optimum comfort for the passenger changes depending on the vehicle performance of the parameters for automatic driving control.

It is also possible to weight the parameters for automatic driving control as well as the occupant state and the automatic driving mode. For example, weighting that emphasizes acceleration / deceleration and neglects noise can be considered. In this case, the automatic driving control unit 106 calculates the automatic driving control plan with an emphasis on acceleration or deceleration without considering the increase in noise.

By weighting the parameters for automatic driving control, an automatic driving control plan that is more suitable for the passenger's preference can be calculated.

The automatic driving control unit 106 calculates an automatic driving control plan according to the parameters for automatic driving control based on the vehicle state and surrounding environment information, and sets a control command value to the controlled object 131 in order to realize the automatic driving control plan. Output and perform automatic operation control. Further, the automatic operation control unit 106 may output a control command value to the control target 131 to perform automatic operation control, and may notify the automatic operation control state of the control target 131 to the notification target 132. The control target 131 includes, for example, devices such as a steering wheel, a throttle, a brake, a shift, and a blinker, which are necessary for realizing automatic driving of the vehicle. Further, as the notification target 132, for example, a navigation system having a display device can be mentioned, and for the notification target 132, which automatic driving mode the current own vehicle is in, for example, text, video, and audio. Notify passengers by combining any or several.

The passenger can know which automatic driving mode the current vehicle is driving in, and if the automatic driving mode is not comfortable, the passenger can forcibly change the automatic driving mode. Can be considered. A specific example will be described later as the second embodiment.

Next, the operation of the automatic operation control device 100 of the first embodiment will be described with reference to the flowchart shown in FIG.

When the vehicle or in-vehicle system is started and the automatic driving control device 100 is operated, the application of the automatic driving control is started, and the operation flow of the automatic driving control device 100 is started.

First, the vehicle state acquisition unit 101 acquires the vehicle state of the own vehicle from the vehicle-mounted device 121 that monitors the vehicle state such as the vehicle-mounted sensor and the vehicle-mounted ECU, and outputs the vehicle state to the automatic driving control unit 106 (step S1). ..

The peripheral environment information acquisition unit 102 acquires the peripheral environment information of the vehicle from the in-vehicle device 122 that senses the surrounding environment of the vehicle such as the in-vehicle sensor and the communication device, and outputs the peripheral environment information to the automatic driving control unit 106 (step). S2).

The occupant status monitoring / acquisition unit 103 monitors the occupant status based on the occupant information obtained from the in-vehicle device 123, acquires the occupant status, and sets the occupant status to the automatic operation mode determination unit 104. Output (step S3).

Since steps S1 to S3 are independent processes, the order of the processes may be changed or the processes may be performed at the same time.

Next, the automatic driving mode determination unit 104 determines the automatic driving mode according to the passenger state, and outputs the determined automatic driving mode to the automatic driving control parameter determination unit 105 (step S4).

The automatic operation control parameter determination unit 105 determines the automatic operation control parameter according to the automatic operation mode, and outputs the determined automatic operation control parameter to the automatic operation control unit 106 (step S5).

Hereinafter, the processes of steps S3 to S5 will be described with reference to the specific examples of FIGS. 3 to 5. FIG. 3 is a diagram showing a specific example of the occupant state used by the automatic driving control device, and shows an example of the occupant state item acquired in step S3 and an example of the occupant state. Note that FIG. 3 is commonly used in all embodiments.

In FIG. 3, the position, line of sight, operating state, posture, facial expression, and number of passengers are listed as passenger status items, but this is an example and is required to determine other automatic driving modes such as attributes. Various passenger conditions are possible.

In FIG. 3, as an example of the passenger status for each passenger status item, the passenger positions are front right side, front left side, rear right side, rear left side, rear center, front right side to rear right side (seat is tilted down). State), is shown.

The line of sight of the occupant indicates the front outside the vehicle, the outside of the vehicle, the rear outside the vehicle, the downward direction inside the vehicle, the in-vehicle TV, various places, and no line of sight.

The operating states of the passengers indicate outside monitoring, reading / smartphone (smartphone), watching TV, eating, sleeping, and playing with multiple players (playing cards, games).

The occupant's posture indicates sitting, relaxed posture, lying on his back, lying on his back, and lying down.

The passenger's facial expression usually indicates relaxation, impatience, and tension.

The number of passengers is 0, 1, 2, 3, 4, 5, but various passenger states required to determine the automatic driving mode can be considered.

When parameterizing the passenger status to facilitate the determination of the automatic driving mode, for example, the number of passengers is two, the operating status of the first passenger is monitored outside the vehicle, and the operating status of the second passenger is In the case of sleep, weighting with an emphasis on out-of-vehicle monitoring can be considered.

FIG. 4 is a diagram showing a specific example of the automatic operation mode used by the automatic operation control device, and shows a determination example of the automatic operation mode determined in step S4. Note that FIG. 4 is commonly used in all embodiments.

In FIG. 4, "forward monitoring mode", "TV / meal mode", "sleep mode", "multiplayer mode", and "fastest driving mode" are shown as examples of the automatic driving mode, but other than this, , Various automatic operation modes required to determine the parameters for automatic operation control can be considered.

In the example of FIG. 4, the passenger state in which the "forward monitoring mode" is determined is that the passenger's position is on the front right side, the line of sight is facing the front outside the vehicle, the operating state is the outside monitoring state, and the posture is sitting. , The facial expression is normal, and the number of passengers is one.

As for the passenger state in which the "TV / meal mode" is determined, the passenger's position is on the rear right side, the line of sight is alternating between the TV and the lower part of the vehicle, the operating state is the meal state, the posture is relaxed, and the facial expression is normal. The number of passengers is one.

The passenger status in which the "sleep mode" is determined is that the passenger's position is from the front right side to the rear right side, there is no line of sight, the operating state is sleeping, the posture is lying on his back, the facial expression is relaxed, and the number of passengers is It is a condition for one person.

As for the passenger state in which the "multiplayer mode" is determined, the position of the passenger is fluid (multiple seats on the front right side, etc.), the line of sight is directed to various places, the operating state is the multiplayer state, and the posture is The conditions are relaxed posture, relaxed facial expression, and 4 passengers.

As for the passenger state in which the "fastest driving mode" is determined, the passenger's position is on the front right side, the line of sight is facing the front outside the vehicle, the operating state is the outside monitoring state, the posture is sitting, and the facial expression is impatient. The facial expression and the number of passengers are required for one person.

Depending on various conditions such as vehicle performance and passengers, the automatic driving mode that exhibits optimum comfort for the passengers changes. For example, by setting an automatic driving mode that shows general passenger comfort in consideration of the statistically extracted results and creating a table that corresponds to the operating state of the passenger in advance, the passenger Can provide optimal comfort for the vehicle. Since the operating state of the passenger may be ambiguous, the automatic operation mode to be adopted when the passenger performs an ambiguous operation is also set.

FIG. 5 is a diagram showing a specific example of the parameter for automatic driving control used by the automatic driving control device, and shows an example of the parameter for automatic driving control determined in step S5. Note that FIG. 5 is commonly used in all embodiments.

In the normal state, the parameters for automatic operation control are determined for each automatic operation mode with respect to the normal parameters for automatic operation control set by default, and the determined parameters for automatic operation control are output to the automatic operation control unit 106.

In FIG. 5, when the "forward monitoring mode" is determined as the automatic driving mode, it is assumed that the passenger is monitoring outside the vehicle. Therefore, if the acceleration / deceleration is large, the passenger feels uncomfortable or uneasy. Since there is a possibility, reduce the acceleration / deceleration, and if the passenger is monitoring, the distance between the vehicles in front of the vehicle is worrisome, so take a sufficiently large distance from the front to give the passenger a sense of security. , It is a constraint condition that the distance between the vehicle and the side that comes into view is also large.

In addition, when "TV / meal mode" is determined as the automatic driving mode, passengers rarely monitor outside the vehicle, so the distance between vehicles should be the same as usual, and stability should be emphasized to suppress vibrations. In addition, it is a constraint condition that the vehicle travels in the driving lane to reduce lane changes and reduce acceleration / deceleration. In addition, in order to make it easier to hear the TV sound, it is a constraint condition that keeps a distance from surrounding large vehicles and motorcycles and minimizes noise.

When the "sleep mode" is determined as the automatic driving mode, stability is emphasized, so the constraint is close to the "TV / meal mode". However, since passengers do not monitor outside the vehicle, restrictions on the distance between vehicles are relaxed, and when sleeping on the left side of the vehicle, the driving lane is prevented from coming to the left side as a noise source. If you are sleeping on the right side of the car, drive in the overtaking lane so that a vehicle that can be a noise source does not come to the right side. ..

When "multiplayer mode" is determined as the automatic driving mode, it is assumed that you are relaxing and enjoying yourself even in the car, so you can drive stably at low speeds while neglecting the arrival time at your destination. It is a constraint condition for driving.

When the "fastest driving mode" is determined as the automatic driving mode, it is necessary to emphasize the arrival time at the destination, so the vehicle travels at high speed, the restrictions on acceleration / deceleration and inter-vehicle distance are relaxed, and the driving lane is changed. Drive with an emphasis on the overtaking lane, relax the restrictions on changing lanes, and make noise a constraint condition that relaxes the restrictions.

In FIG. 5, as examples of the parameters for automatic driving control, speed, acceleration / deceleration, inter-vehicle distance, traveling lane, lane change, noise, etc. are mentioned, but the present invention is not limited to these, and the steering angle is also included. Various parameters for automatic driving control, such as angular velocity and angular acceleration, which are necessary for calculating a comfortable automatic driving control plan for the passenger, can be considered.

Similar to the automatic driving mode, the parameters for automatic driving control that indicate the optimum comfort for the occupant change depending on various conditions such as vehicle performance and the occupant. For example, by considering the statistically extracted results, setting parameters for automatic driving control indicating general passenger comfort, and creating a table associated with the automatic driving mode in advance, boarding It can provide optimal comfort for the person.

Here, the description of the flowchart of FIG. 2 returns. In step S6, the automatic driving control unit 106 calculates an automatic driving control plan according to the parameters for automatic driving control based on the vehicle state and surrounding environment information (step S61), and controls to realize the automatic driving control plan. The control command value to the target 131 is output to perform automatic operation control (step S62). Further, the automatic operation control unit 106 may give a notification command to the notification target 132 of the automatic operation control state of the control target 131 (step S63). This is a case where a system for notifying the passenger of the automatic driving control state is provided and the setting is required to notify the passenger.

The automatic operation control device 100 executes the end determination of the automatic operation control every time a series of processes of steps S1 to S6 are performed (step S7). For example, when the vehicle arrives at the destination by automatic driving, if the passenger intervenes (overrides) the driving operation during the automatic driving, it is determined that the automatic driving control is terminated, and the automatic driving is performed. End the application of control. On the other hand, for example, when the destination has not arrived and the override has not been performed, the application of the automatic driving control shall be continued, and the process of step S1 and the like may be repeated.

The flow of FIG. 2 is usually repeatedly executed sequentially, and the automatic operation control device 100 continuously outputs a control command value to the control target 131.

As described above, in the automatic driving control device 100, the parameters for automatic driving control are determined based on the optimum automatic driving mode according to the occupant state of the vehicle, and the automatic driving control according to the parameters for automatic driving control. By calculating the plan, outputting the control command value to the controlled object to realize the automatic driving control plan, and performing automatic driving control, the difference between the judgment of the system and the feeling of the passenger is reduced, and the passenger It is possible to realize comfortable automatic driving of the vehicle. In addition, the realization of comfortable autonomous driving can improve the relationship of trust between the system and passengers.

<Embodiment 2>
In the automatic driving control device 100 of the first embodiment described above, the automatic driving mode determining unit 104 determines the automatic driving mode according to the passenger state output by the passenger condition monitoring / acquisition unit 103. ..

However, when the system uses the automatic driving mode determined according to the passenger condition, the automatic driving that is comfortable for the passenger is not always realized, and the difference between the judgment of the system and the feeling of the passenger still remains. there is a possibility. Therefore, it is desired to improve the comfort of the occupants of the vehicle by further reducing the difference between the judgment of the system and the sensation of the occupants.

The automatic driving control device 200 according to the second embodiment of the present invention can further reduce the difference between the judgment of the system and the feeling of the occupant.

FIG. 6 is a functional block diagram showing the configuration of the automatic operation control device 200 according to the second embodiment of the present invention. Note that, in FIG. 6, the same components as those of the automatic operation control device 100 described with reference to FIG. 1 are designated by the same reference numerals, and duplicate description will be omitted.

As shown in FIG. 6, the automatic driving control device 200 includes a vehicle state acquisition unit 101, a surrounding environment information acquisition unit 102, a occupant state monitoring / acquisition unit 103, and an automatic driving control parameter determination unit similar to the automatic driving control device 100. In addition to the 105 and the automatic operation control unit 106, an automatic operation mode command value acquisition unit 201 and a command value consideration automatic operation mode determination unit 202 are provided.

The automatic driving mode command value acquisition unit 201 acquires the automatic driving mode command value from the vehicle-mounted device 123 when the passenger issues a compulsory command for the automatic driving mode via the vehicle-mounted device 123, and the automatic driving mode command value acquisition unit 201 acquires the automatic driving mode command value from the vehicle-mounted device 123. The mode command value is output to the automatic operation mode determination unit 202 considering the command value. Further, the automatic operation mode command value acquisition unit 201 acquires the passenger status from the passenger status monitoring / acquisition unit 103.

The automatic operation mode determination unit 202 considering the command value determines the automatic operation mode according to the occupant state and the automatic operation mode command value, and outputs the output to the automatic operation control parameter determination unit 105.

That is, the passenger status output from the passenger status monitoring / acquisition unit 103 and the automatic operation mode command value output from the automatic operation mode command value acquisition unit 201 are input to the command value-considered automatic operation mode determination unit 202. The automatic operation mode output from the automatic operation mode determination unit 202 considering the command value is input to the automatic operation control parameter determination unit 105.

The automatic driving mode command value acquisition unit 201 outputs the automatic driving mode command value required for determining the automatic driving mode in response to a command from the passenger of the vehicle to the automatic driving mode determining unit 202 considering the command value.

The automatic driving mode command value is used when the passenger forcibly commands (designates) the automatic driving mode or forcibly cancels the command for the automatic driving mode. When 201 has not received a command from the passenger, the automatic operation mode command value that can be recognized that there is no command is output to the automatic operation mode determination unit 202 considering the command value.

If the command value-considered automatic operation mode determination unit 202 does not receive a command from the passenger, the automatic operation mode determination unit 202 determines the automatic operation mode based on the passenger condition output from the passenger condition monitoring / acquisition unit 103. It is possible to respond when the command from the passenger has not been received.

The automatic operation mode determination unit 202 considering the command value determines the automatic operation mode according to the passenger state and the automatic operation mode command value, and outputs the determined automatic operation mode to the automatic operation control parameter determination unit 105. The difference in function of the automatic driving control device 100 from the automatic driving mode determining unit 104 is that the automatic driving mode command value is taken into consideration in addition to the passenger state.

Next, the operation of the automatic operation control device 200 of the second embodiment will be described with reference to the flowchart shown in FIG.

When the vehicle or in-vehicle system is started and the automatic driving control device 200 is operated, the application of the automatic driving control is started, and the operation flow of the automatic driving control device 200 is started.

Since steps S1 to S3 are the same processes as those of the automatic operation control device 100 of the first embodiment, the description of the processes will be omitted. Further, since steps S1 to S3 and step S21 described later are independent processes, the order of the processes may be changed or the processes may be performed at the same time.

The process of step S21 is executed in parallel with the process of steps S1 to S3, and the automatic driving mode command value acquisition unit 201 issues a compulsory command of the automatic driving mode by the passenger of the vehicle via the in-vehicle device 123. Wait for

Then, when the automatic driving mode command value acquisition unit 201 receives a compulsory command of the automatic driving mode by the passenger of the vehicle, the automatic driving mode command value acquisition unit 201 holds the automatic driving mode command value for a certain period of time (step S211). During that period, the suitability of the compulsory command of the automatic driving mode by the passenger is determined, and the automatic driving mode command value is changed as necessary (step S212).

For example, when a passenger receives a compulsory command for the automatic driving mode, the automatic driving mode command value acquisition unit 201 holds the automatic driving mode command value until a certain period of time elapses, and monitors the passenger status. If the passenger status acquired from the acquisition unit 103 changes significantly or if other conditions are met, it is determined that it is necessary to change the command value of the forced automatic driving mode by the passenger, and the automatic driving mode command is given. The value is changed, and the changed automatic operation mode command value is output to the automatic operation mode determination unit 202 considering the command value. On the other hand, when it is determined that it is not necessary to change the command value of the forced automatic operation mode by the passenger, the command value is output to the automatic operation mode determination unit 202 considering the command value without changing the command value of the automatic operation mode. ..

Further, when the passenger forcibly cancels the command of the automatic driving mode, the automatic driving mode command value acquisition unit 201 sets the command value of the automatic driving mode command value capable of recognizing that the passenger has canceled the command. Output to the consideration automatic operation mode determination unit 202.

On the other hand, when the passenger has not forcibly released the command of the automatic operation mode, the automatic operation mode command value that can be recognized that there is no command is output to the automatic operation mode determination unit 202 considering the command value.

After passing through the processes of steps S1 to S3, the command value consideration automatic driving mode determination unit 202 determines the automatic driving mode according to the occupant state and the automatic driving mode command value, and uses the determined automatic driving mode for automatic driving control. Output to the parameter determination unit 105 (step S22). The difference in processing from step S4 of the automatic driving control device 100 shown in FIG. 2 is that the parameters for automatic driving control are determined in consideration of the automatic driving mode command value in addition to the passenger state.

For example, when the system of the automatic driving control device 200 determines that the vehicle is in the "forward monitoring mode" based on the passenger status and automatically operates, the passenger is actually in a hurry to arrive at the destination. Then, the passenger requests the automatic driving control device 200 to forcibly change to the "fastest driving mode" via the in-vehicle device 123 such as a smartphone. When it is determined that the passenger's expression is impatient in the passenger state acquired from the passenger status monitoring / acquisition unit 103, the automatic operation mode command value acquisition unit 201 forces the passenger to perform the automatic operation mode. It is determined that it is not necessary to change the command value, and the command value of the "fastest running mode" is output to the automatic operation mode determination unit 202 considering the command value. The command value-considering automatic driving mode determination unit 202 that has received the command value of the "fastest running mode" changes the automatic driving mode from the "forward monitoring mode" to the "fastest running mode".

Since the processes of steps S5, S6, and S7 after step S22 are the same as the processes of FIG. 2 of the first embodiment, the description thereof will be omitted.

As described above, in the automatic driving control device 200, the automatic driving mode command value acquisition unit 201 acquires the compulsory command value of the automatic driving mode by the passenger, and the automatic driving mode determination unit 202 considering the command value Since the automatic driving mode is determined according to the occupant state and the automatic driving mode command value, the difference between the judgment of the system and the feeling of the occupant can be further reduced, and the automatic driving of the vehicle more comfortable for the occupant can be realized. In addition, the realization of comfortable autonomous driving can further improve the relationship of trust between the system and passengers.

<Embodiment 3>
In the automatic driving control device 200 of the first embodiment described above, when there is a difference between the judgment of the system and the feeling of the occupant, the occupant forcibly commands the automatic driving mode to determine the system. It is possible to reduce the difference between the vehicle and the passenger's feeling and realize automatic driving of the vehicle that is comfortable for the passenger. However, it is necessary for the occupant to forcibly command the automatic operation mode, and especially when there is a frequent difference between the judgment of the system and the sensation of the occupant, the occupant frequently commands the occupant. This will increase annoying operations.

The automatic driving control device 300 according to the third embodiment of the present invention can further reduce the difference between the judgment of the system and the feeling of the occupant without requiring annoying operation for the occupant.

FIG. 8 is a functional block diagram showing the configuration of the automatic operation control device 300 according to the third embodiment of the present invention. In FIG. 8, the same components as those of the automatic operation control device 200 described with reference to FIG. 2 are designated by the same reference numerals, and duplicate description will be omitted.

As shown in FIG. 8, the automatic driving control device 300 includes a vehicle state acquisition unit 101, a surrounding environment information acquisition unit 102, a occupant state monitoring / acquisition unit 103, and an automatic driving control parameter determination unit similar to the automatic driving control device 200. In addition to 105, the automatic operation control unit 106 and the automatic operation mode command value acquisition unit 201, a past history acquisition / learning unit 301 and an automatic operation mode determination unit 302 considering learning results are provided.

The past history acquisition / learning unit 301 acquires the vehicle state, the surrounding environment information, the passenger state, and the automatic driving mode command value as the past history, and stores the learning result calculated by learning the acquired past history. The learning result consideration automatic driving mode determination unit 302 determines the automatic driving mode according to the passenger state and the automatic driving mode command value by using the learning result stored in the past history acquisition / learning unit 301.

That is, the vehicle state output from the vehicle state acquisition unit 101 and the peripheral environment information output from the surrounding environment information acquisition unit 102 are also input to the past history acquisition / learning unit 301, and the passenger state monitoring / acquisition unit 103. The passenger status output from and the automatic operation mode command value output from the automatic operation mode command value acquisition unit 201 are input to the past history acquisition / learning unit 301 and the learning result consideration automatic operation mode determination unit 302 for learning. The automatic operation mode output from the result-considering automatic operation mode determination unit 302 is input to the automatic operation control parameter determination unit 105.

Here, the learning of the past history may be sequentially executed while the automatic driving function is being applied, that is, during the automatic driving of the vehicle, but when the data becomes enormous and the learning processing time becomes long, the automatic driving function Is not applied, that is, when the vehicle is stopped or the passenger is absent, and then when the automatic driving control device 300 is started, the learning result stored in the automatic driving mode determination unit 302 considering the learning result is used. You may update it. This makes it possible to handle a huge amount of data.

Further, the learning of the past history may be processed by the computer mounted on the automatic operation control device 300, but the learning is performed by using the computer of another system such as the server computer and the ECU, and the past history acquisition / learning unit. The updated learning result may be stored in 301. Thereby, the learning of the past history can be performed more efficiently.

The learning result consideration automatic driving mode determination unit 302 determines and determines the automatic driving mode according to the passenger state and the automatic driving mode command value using the learning result stored in the past history acquisition / learning unit 301. The automatic operation mode is output to the automatic operation control parameter determination unit 105. Considering the command value of the automatic driving control device 200 The difference in function from the automatic driving mode determination unit 202 is that in addition to the passenger state and the automatic driving mode command value, the parameters for automatic driving control are considered in consideration of the learning result from the past history. To decide.

Next, the operation of the automatic operation control device 300 of the third embodiment will be described with reference to the flowchart shown in FIG.

When the vehicle or in-vehicle system is started and the automatic driving control device 300 is operated, the application of the automatic driving control is started, and the operation flow of the automatic driving control device 300 is started.

Since steps S1 to S3 and steps S21 are the same processes as the automatic operation control device 200 of the second embodiment, the description of the processes will be omitted. Further, since steps S1 to S3 and step S21 are independent processes, the order of the processes may be changed or the processes may be processed at the same time.

The process of step S21 is executed in parallel with the process of steps S1 to S3, and the automatic driving mode command value acquisition unit 201 issues a compulsory command of the automatic driving mode by the passenger of the vehicle via the in-vehicle device 123. Wait for

Then, when the automatic driving mode command value acquisition unit 201 receives a compulsory command of the automatic driving mode by the passenger of the vehicle, the automatic driving mode command value acquisition unit 201 holds the automatic driving mode command value for a certain period of time (step S211). During that period, the suitability of the compulsory command of the automatic driving mode by the passenger is determined, and the automatic driving mode command value is changed as necessary (step S212).

In step S31, the past history acquisition / learning unit 301 acquires the vehicle state, surrounding environment information, passenger state, and automatic driving mode command value as the past history (step S311), and the learning result calculated by learning the acquired past history. Is stored (step S312). The learning result stored in the past history acquisition / learning unit 301 is used by the learning result-considering automatic operation mode determination unit 302.

The automatic driving mode command value acquisition unit 201 has a difference between the judgment of the system and the feeling of the passenger, and when the passenger forcibly commands the automatic driving mode or forcibly cancels the command of the automatic driving mode. Used for. In other words, if the system uses the automatic driving mode forcibly commanded by the passenger as the past history, the automatic driving mode will not use the past history when the same surrounding environment and passenger status are obtained in the future. It is possible to determine a more comfortable automatic driving mode for the passenger, unlike the case of determining.

Therefore, the past history acquisition / learning unit 301 acquires the vehicle state, the surrounding environment information, the passenger state, and the automatic driving mode command value as the past history, and by learning the past history, the surrounding environment information, the passenger state, and the automatic driving. Correlation and useful rules are extracted from data such as mode command values and used as criteria when determining the automatic operation mode.

Past history learning can be learned using techniques in the AI (Artificial Intelligence) field such as machine learning and deep learning as an example, and more advanced learning is possible using these. It becomes. In this way, the existing learning method may be used, or a new learning method proposed in the future may be used. In addition, learning may be performed using a simpler technique such as machine learning or deep learning.

Machine learning is a learning method in which AI analyzes data to find rules and rules, and deep learning is a learning method that is a further development of machine learning, such as using a neural network. Is. Known techniques can be used for both, and the description thereof will be omitted.

After the processing of steps S1 to S3, the learning result-considering automatic driving mode determination unit 302 uses the learning result stored in the past history acquisition / learning unit 301 according to the passenger state and the automatic driving mode command value. The automatic operation mode is determined, and the determined automatic operation mode is output to the automatic operation control parameter determination unit 105.

The learning result consideration automatic driving mode determination unit 302 determines the automatic driving control parameter in consideration of the learning result based on the past history in addition to the passenger state and the automatic driving mode command value (step S32).

That is, when the past history acquisition / learning unit 301 learns the past history, stores the learning result, and then a vehicle state, surrounding environment information, and a passenger state that completely match the past history occur, the learning result is taken into consideration in automatic driving. The mode determination unit 302 selects the automatic operation mode according to the past history in consideration of the learning result of the past history.

For example, even when the system of the automatic driving control device 300 determines the "forward monitoring mode" based on the passenger state and performs automatic driving, and there is no command from the passenger for the automatic driving mode. When a vehicle state, surrounding environment information, and a passenger state that completely match the past history stored in the past history acquisition / learning unit 301 occur, the learning result-considered automatic driving mode determination unit 302 sets the "forward monitoring mode". Is changed to the automatic operation mode included in the past history.

Even if the vehicle condition, surrounding environment information, and passenger condition that completely match the past history do not occur, if similar vehicle condition, surrounding environment information, and passenger condition occur, correlation and useful rules can be learned by learning. Since there is a possibility that the information has been extracted, the learning result-considering automatic operation mode determination unit 302 selects the automatic operation mode in consideration of the learning result of the past history.

In addition, when a vehicle state, surrounding environment information, or a occupant state in which the correlation with the past history and useful rules cannot be extracted occurs, the automatic driving mode determination unit 302 considering the learning result determines the automatic driving by the normal system. Select a mode.

The steps S5 to S7 after step S32 are the same as those in the second embodiment, and the description thereof will be omitted.

As described above, in the automatic driving control device 300, the past history acquisition / learning unit 301 acquires the vehicle state, the surrounding environment information, the occupant state, and the automatic driving mode command value as the past history, and the acquired past history. The learning result is calculated and stored by the learning of. Learning result consideration The automatic driving mode determination unit 302 determines the automatic driving mode using the learning result based on the past history in addition to the passenger state and the automatic driving mode command value. Therefore, the system itself determines the system and determines the passenger. It improves the difference in sensation, enables the passenger to realize more comfortable automatic driving of the vehicle, and eliminates the need for the passenger to frequently command the automatic driving mode, thus reducing the troublesome movement for the passenger. it can. In addition, the relationship of trust between the system and the passenger can be further improved by realizing comfortable automatic driving and reducing annoying movements for the passenger.

Each component of the automatic operation control devices 100 to 300 according to the first to third embodiments described above can be configured by using a computer, and is realized by executing the program by the computer. That is, the automatic operation control devices 100 to 300 are realized by, for example, the processing circuit 50 shown in FIG. A processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor) is applied to the processing circuit 50, and the functions of each part are realized by executing a program stored in the storage device.

Dedicated hardware may be applied to the processing circuit 50. When the processing circuit 50 is dedicated hardware, the processing circuit 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable). Gate Array) or a combination of these.

In the automatic operation control devices 100 to 300, each function of the component may be realized by an individual processing circuit, or these functions may be collectively realized by one processing circuit.

Further, FIG. 11 shows a hardware configuration when the processing circuit 50 is configured by using a processor. In this case, the functions of each part of the automatic operation control devices 100 to 300 are realized by a combination with software or the like (software, firmware, or software and firmware). The software or the like is described as a program and stored in the memory 52. The processor 51, which functions as the processing circuit 50, realizes the functions of each part by reading and executing the program stored in the memory 52 (storage device). That is, it can be said that this program causes the computer to execute the procedure and method of operation of the components of the automatic operation control devices 100 to 300.

Here, the memory 52 is a non-volatile or non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EEPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, etc., or any storage medium used in the future. You may.

The configuration in which the functions of the components of the automatic operation control devices 100 to 300 are realized by either hardware or software has been described above. However, the present invention is not limited to this, and a configuration in which some components of the automatic operation control devices 100 to 300 are realized by dedicated hardware and some other components are realized by software or the like may be used. .. For example, for some components, the function is realized by the processing circuit 50 as dedicated hardware, and for some other components, the processing circuit 50 as the processor 51 is stored in the memory 52. It is possible to realize the function by reading and executing it.

As described above, the automatic operation control devices 100 to 300 can realize each of the above-mentioned functions by hardware, software, or a combination thereof.

In the present invention, each embodiment can be freely combined, and each embodiment can be appropriately modified or omitted within the scope of the invention.

103 Passenger status monitoring / acquisition unit, 104 Automatic operation mode determination unit, 105 Automatic operation control parameter determination unit, 106 Automatic operation control unit, 201 Automatic operation mode command value acquisition unit, 202 Automatic operation mode determination unit considering command value, 301 Past history acquisition / learning unit, 302 Learning result consideration automatic operation mode determination unit.

Claims (16)

An automatic driving control device mounted on a vehicle and controlling the automatic driving of the vehicle.
A passenger condition monitoring / acquisition unit that monitors the passenger status of the passengers of the vehicle and acquires the passenger status.
At least, the automatic driving mode determination unit that determines the automatic driving mode according to the passenger status acquired by the passenger condition monitoring / acquisition unit, and
An automatic operation control parameter determination unit that determines automatic operation control parameters according to the automatic operation mode determined by the automatic operation mode determination unit, and an automatic operation control parameter determination unit.
Based on the vehicle state of the vehicle and the surrounding environment information of the vehicle, an automatic driving control plan according to the automatic driving control parameter is calculated, and a control command value for realizing the automatic driving control plan is generated. Equipped with an automatic operation control unit that performs automatic operation control,
The passenger condition monitoring / acquisition unit
Examples passenger state, to obtain a plurality from among at least the position of the occupant, the line of sight, the operation state, posture and facial expressions,
The automatic operation mode determination unit
From a plurality of automatic driving modes defined by assigning conditions to the combination of passenger states, a mode satisfying the above conditions is selected as the automatic driving mode.
The parameters for automatic operation control are
It is defined by at least a plurality of combinations of the speed, acceleration / deceleration, inter-vehicle distance, driving lane, lane change, noise, steering angle, angular velocity and angular acceleration of the vehicle.
The parameter determination unit for automatic operation control is
An automatic driving control device that gives conditions assigned to the automatic driving control parameters for each automatic driving mode to the automatic driving control unit as the automatic driving control parameters corresponding to the automatic driving mode. It is provided with an automatic driving mode command value acquisition unit that outputs an automatic driving mode command value in response to a command from the passenger to forcibly specify or cancel the automatic driving mode.
The automatic operation mode determination unit
The automatic driving control device according to claim 1, wherein the automatic driving mode is determined according to the passenger state or the automatic driving mode command value output from the automatic driving mode command value acquisition unit. Further, a past history acquisition / learning unit that acquires the vehicle state, the surrounding environment information, the passenger state, and the automatic driving mode command value as a past history and stores the learning result calculated by learning the acquired past history. Prepare,
The automatic operation mode determination unit
The automatic according to claim 2, wherein the learning result stored in the past history acquisition / learning unit is used as a determination criterion when determining the automatic driving mode according to the passenger state or the automatic driving mode command value. Operation control device. The automatic operation control unit
The control command value is output to the control target to perform automatic operation control, and at the same time.
The automatic driving control device according to any one of claims 1 to 3, which outputs a notification command for notifying the passenger of the automatic driving mode of the vehicle. The automatic operation mode determination unit
The automatic driving control device according to claim 1, wherein the automatic driving mode is determined according to the passenger state after weighting the passenger state. The weighting process for the passenger status is
The automatic driving control device according to claim 5, further comprising a process of parameterizing the occupant state and multiplying the occupant state parameter to be emphasized by a weighting coefficient. The automatic operation mode determination unit
The automatic operation control device according to claim 1, wherein the automatic operation mode after weighting processing for the plurality of automatic operation modes is determined as the automatic operation mode. The parameter determination unit for automatic operation control is
The automatic operation control device according to claim 1, wherein the parameters for automatic operation control after weighting processing for the parameters for automatic operation control are determined as the parameters for automatic operation control. The automatic operation mode command value acquisition unit
When the passenger has not received a command for forcibly designating or forcibly canceling the automatic operation mode, a command value recognizable that there is no command is output as the automatic operation mode command value.
The automatic operation mode determination unit that received the command value
The automatic driving control device according to claim 2, wherein the automatic driving mode is determined according to the passenger state. The past history acquisition / learning department
The automatic operation control device according to claim 3, wherein at least one of machine learning and deep learning is used for learning the past history. The past history acquisition / learning department
The automatic driving control device according to claim 3, wherein the learning of the past history is executed when the automatic driving control is applied or not applied, and the stored learning result is updated. The past history acquisition / learning department
The automatic driving control device according to claim 11, wherein the learning of the past history is executed by using a computer in the automatic driving control device or a computer of a system outside the automatic driving control device. It is an automatic driving control method that controls the automatic driving of a vehicle.
(A) A step of monitoring the occupant state of the occupant of the vehicle and acquiring the occupant state, and
(B) At least, a step of determining the automatic driving mode according to the passenger condition, and
(C) A step of determining parameters for automatic operation control according to the automatic operation mode, and
(D) Based on the vehicle state of the vehicle and the surrounding environment information of the vehicle, an automatic driving control plan according to the automatic driving control parameter is calculated, and a control command value for realizing the automatic driving control plan is obtained. With a step to generate and perform automatic operation control,
The step (a) is
As the occupant condition comprises at least the position of the occupant, the line of sight, the operation state, a plurality of acquiring step from among the posture and facial expressions,
The step (b) is
Includes a step of selecting a mode that satisfies the conditions from a plurality of automatic driving modes defined by assigning conditions to the combination of passenger states to be the automatic driving mode.
The parameters for automatic operation control are
It is defined by at least a plurality of combinations of the speed, acceleration / deceleration, inter-vehicle distance, driving lane, lane change, noise, steering angle, angular velocity and angular acceleration of the vehicle.
The step (c) is
An automatic driving control method including a step of setting a condition assigned to the automatic driving control parameter for each automatic driving mode as the automatic driving control parameter corresponding to the automatic driving mode. (E) The step includes a step of outputting an automatic driving mode command value in response to a command from the passenger to forcibly specify or cancel the automatic driving mode.
The step (b) is
The automatic driving control method according to claim 13, further comprising a step of determining the automatic driving mode according to the passenger state or the automatic driving mode command value. (F) Further including a step of acquiring the vehicle state, the surrounding environment information, the passenger state, and the automatic driving mode command value as a past history, and storing the learning result calculated by learning the acquired past history.
The step (b) is
14. The 14th aspect, which includes a step in which the learning result stored in the step (f) is used as a determination criterion when determining the automatic driving mode according to the passenger state or the automatic driving mode command value. Automatic operation control method. The step (d) is
A step of outputting a control command value for realizing the automatic operation control plan, and
The automatic driving control method according to any one of claims 13 to 15, including a step of outputting a notification command for notifying the passenger of the automatic driving mode of the vehicle.

Images