JP6992429B2 - Driving control device - Google Patents

Description

The present disclosure relates to a travel control device applied to an automatic driving system of a vehicle.

As a control device applied to an automatic driving system of a vehicle, the one described in Patent Document 1 below is known. The control device described in Patent Document 1 below is intended to prevent the occupant from unexpectedly starting the vehicle when the vehicle is stopped in the automatic driving mode. Specifically, when the automatic driving mode is set and the vehicle is stopped, at least one of the door opening operation, the door lock unlocking operation, and the seatbelt opening operation is detected. In this case, the shift position is set to the non-traveling range, and the automatic operation mode is switched to the manual operation mode.

Japanese Unexamined Patent Publication No. 2016-199104

In Patent Document 1, when the vehicle is stopped, it is grasped that the vehicle is in a state unsuitable for driving, the shift position is set to the non-driving range so that the vehicle cannot start, and the mode is set to the manual driving mode. It has been changed to avoid an unintended start.

However, there is no disclosure on how to handle vehicle safety devices such as door locks and seat belts with respect to the driving state when traveling in the automatic driving mode.

The present disclosure is a travel control device applied to an automatic driving system of a vehicle, and is a travel control capable of accurately controlling a vehicle safety device according to the situation of the own vehicle and the situation around the own vehicle. The purpose is to provide the device.

The present disclosure is a travel control device applied to an automatic driving system of a vehicle, and is a recognition unit (101) that recognizes the situation of the own vehicle and the situation around the own vehicle, and according to the recognition result of the recognition unit. It is equipped with a safety control unit (102) that controls a safety device mounted on the vehicle and for holding an occupant in the vehicle interior. The safety control unit executes suppression control for suppressing the release of the safety device based on the safety degree of the own vehicle specified from the recognition result of the recognition unit, and is within a predetermined range around the own vehicle. If there is another vehicle and it cannot be confirmed that the other vehicle within the specified range around the own vehicle is an autonomous driving vehicle and is in an appropriate automatic driving state, it is judged that the safety level is low and suppression control is executed. To do .

In the present disclosure, the recognition result of the recognition unit includes the situation of the own vehicle. Therefore, for example, when the automatic driving function has a functional abnormality or the speed of the own vehicle is relatively high, the safety level of the own vehicle is high. Can be specified as low, and the safety level of the own vehicle can be specified as high when there is no functional abnormality in the automatic driving function or when the speed of the own vehicle is relatively low. Furthermore, since the recognition result of the recognition unit includes the situation around the own vehicle, for example, when another vehicle exists around the own vehicle or when the existing other vehicle is not under the control of automatic driving. Identify that the safety level of the own vehicle is low, and identify that the safety level of the own vehicle is high when there is no other vehicle around the own vehicle or when the other vehicle that exists is under the control of autonomous driving. can do. Since it is determined whether or not the suppression control can be executed based on the safety level of the own vehicle identified in this way, it is possible to accurately control the safety device of the own vehicle according to the situation of the own vehicle and the situation around the own vehicle. It will be possible.

The reference numerals in parentheses described in "Means for Solving the Problem" and "Claims" indicate a correspondence with "a mode for carrying out the invention" described later, and are referred to as "forms for carrying out the invention". It does not indicate that "means for solving the problem" and "claims" are limited to "forms for carrying out the invention" described later.

According to the present disclosure, it is a traveling control device applied to an automatic driving system of a vehicle, and can accurately control a vehicle safety device according to the situation of the own vehicle and the situation around the own vehicle. A travel control device can be provided.

FIG. 1 is a block configuration diagram for explaining a functional configuration of the travel control device according to the present embodiment. FIG. 2 is a flowchart for explaining the processing of the travel control device shown in FIG. FIG. 3 is a flowchart for explaining the processing of the travel control device shown in FIG. FIG. 4 is a flowchart for explaining the processing of the travel control device shown in FIG. FIG. 5 is a flowchart for explaining the processing of the travel control device shown in FIG. FIG. 6 is a flowchart for explaining the processing of the travel control device shown in FIG. FIG. 7 is a diagram for supplementarily explaining the explanation of the flowcharts shown in FIGS. 2 to 6. FIG. 8 is a diagram for supplementarily explaining the explanation of the flowcharts shown in FIGS. 2 to 6.

Hereinafter, the present embodiment will be described with reference to the accompanying drawings. In order to facilitate understanding of the description, the same components are designated by the same reference numerals as possible in the drawings, and duplicate description is omitted.

The traveling control device 10 will be described with reference to FIG. The travel control device 10 contains information output from the automatic operation changeover switch 20, the peripheral recognition sensor 21, the seat belt attachment / detachment sensor 22, the door lock detection sensor 23, the speed sensor 24, the door open detection sensor 25, and the receiving device 26. Entered.

When the automatic operation changeover switch 20 is operated, information that the automatic operation is started or information that the automatic operation is canceled is input to the traveling control device 10. The peripheral recognition sensor 21 is a cognitive device for recognizing the situation around the own vehicle on which the travel control device 10 is mounted, and includes a camera, LIDAR, a millimeter wave radar, a sonar, and the like. The situation around the own vehicle includes the situation of the road and the white line, and the situation of other vehicles traveling on the road. The peripheral recognition sensor 21 recognizes the recognized situation around the own vehicle and outputs the information to the traveling control device 10.

The seatbelt attachment / detachment sensor 22 is a sensor for detecting whether the seatbelt is worn or the seatbelt is removed. The seatbelt attachment / detachment sensor 22 can also detect a state in which the seatbelt is substantially not functioning due to the seat being tilted too much, and in that case, it is detected as if the seatbelt is removed. The seatbelt attachment / detachment sensor 22 outputs the detected seatbelt attachment / detachment information to the travel control device 10.

The door lock detection sensor 23 is a sensor for detecting whether the door is locked or not. The door lock detection sensor 23 can detect whether or not the front and rear seat doors are locked. The door lock detection sensor 23 outputs the detected door lock information to the travel control device 10.

The speed sensor 24 is a sensor for detecting the speed of the own vehicle. The speed sensor 24 outputs the detected speed queen of the own vehicle to the travel control device 10.

The door open detection sensor 25 is a sensor for detecting whether the door is closed or the door is open. The door opening detection sensor 25 outputs door opening information including whether the door is closed or the door is open to the traveling control device 10.

The receiving device 26 is a device that receives information transmitted via the network. The receiving device 26 outputs the received information to the traveling control device 10.

The travel control device 10 outputs an instruction signal to the EPS 31, EPB 32, ECB 33, MG 34, transmission 35, transmission device 36, alarm device 37, external display device 38, seat belt control device 29, and door lock control device 40.

EPS31 is an electric power steering (Electric Power Steering). The EPS 31 generates a steering assist force in response to an instruction signal output from the travel control device 10. The EPB 32 is an electric parking brake. The EPB 32 locks and releases the parking brake in response to an instruction signal output from the travel control device 10. The ECB 33 is an electronically controlled brake system. The ECB 33 generates a braking force in response to an instruction signal output from the travel control device 10.

MG34 is a motor generator. The MG 34 can also generate power while generating driving force in response to an instruction signal output from the travel control device 10. The transmission 35 controls the transmission according to the instruction signal output from the travel control device 10.

The transmitting device 36 is a device that transmits information transmitted via a network. The transmission device 36 transmits information output from the travel control device 10.

The alarm device 37 is a device that issues an alarm to the occupants in the own vehicle by voice or video. The alarm device 37 transmits information output from the travel control device 10.

The external display device 38 is a device that displays information toward the outside of the vehicle. The external display device 38 displays based on the information output from the travel control device 10.

The seatbelt control device 39 is a device that controls the attachment / detachment of the seatbelt by locking the seatbelt of the own vehicle by energization or the like so that the seatbelt does not come off. The seatbelt control device 39 executes seatbelt attachment / detachment control such as attaching or detaching the seatbelt based on the information output from the traveling control device 10.

The door lock control device 40 is a device that controls the locked state of the door by locking the door of the own vehicle so that it cannot be released by energization or the like. The door lock control device 40 executes door lock control such as locking the door and unlocking the door based on the information output from the travel control device 10.

The travel control device 10 is configured as a computer having a calculation unit such as a CPU, a storage unit such as a RAM or a ROM, and an interface unit for exchanging data as hardware components.

Subsequently, the functional components of the control device will be described. The travel control device 10 includes a recognition unit 101 and a safety control unit 102 as functional components.

The recognition unit 101 is a part that recognizes the situation of the own vehicle and the situation around the own vehicle. More specifically, the recognition unit 101 grasps the situation regarding the speed of the own vehicle and the situation regarding the automatic driving of the own vehicle based on the information output from the speed sensor 24 and the information regarding the automatic driving state. The recognition unit 101 grasps the surrounding situation of the own vehicle based on the information output from the peripheral recognition sensor 21.

The safety control unit 102 controls a safety device mounted on the vehicle and for holding an occupant in the vehicle interior according to the recognition result of the recognition unit 101. The safety control unit 102 executes suppression control for suppressing the release of the safety device based on the safety degree of the own vehicle specified from the recognition result of the recognition unit 101.

Since the recognition result of the recognition unit 101 includes the situation of the own vehicle, for example, when the automatic driving function has a functional abnormality or the speed of the own vehicle is relatively high, the safety level of the own vehicle is low. It is possible to specify that the safety level of the own vehicle is high when there is no functional abnormality in the automatic driving function or when the speed of the own vehicle is relatively low. Further, since the recognition result of the recognition unit 101 includes the situation around the own vehicle, for example, when another vehicle exists around the own vehicle or when the existing other vehicle is not under the control of automatic driving. It is specified that the safety level of the own vehicle is low, and the safety level of the own vehicle is high when there is no other vehicle around the own vehicle or when the existing other vehicle is under the control of automatic driving. Can be identified. Since the safety control unit 102 determines whether or not the suppression control can be executed based on the safety degree of the own vehicle specified in this way, the safety device of the vehicle is set according to the situation of the own vehicle and the situation around the own vehicle. It becomes possible to control accurately.

In the present embodiment, the safety control unit 102 identifies that the safety level is low when the recognition result of the recognition unit 101 indicates that there is a high possibility that the occupant will be in danger when the occupant gets off. When it indicates that the degree of safety is low, it is specified that the degree of safety is high, and when it is specified that the degree of safety is low, suppression control is executed.

In the present embodiment, the level of safety is specified according to the level of danger that the occupant will be in danger when the occupant gets off. Therefore, when the possibility of danger is high, the release of the safety device is suppressed and the occupant It is possible to ensure safety.

In this embodiment, the safety device includes at least one of a seat belt and a door lock. According to the present embodiment, it is possible to suppress the release of the seat belt and the door lock, which are safety devices, based on the degree of safety of the own vehicle. Therefore, when it is assumed that a danger will occur if the safety device is released. It is possible to suppress the release of the safety device and ensure the safety of the occupants.

In the present embodiment, the safety control unit 102 changes the treatment according to the type of the safety device in the suppression control. According to the present embodiment, the suppression control can be optimized according to the type of the safety device, and the degree of freedom of releasing the safety device can be increased.

In the present embodiment, the safety control unit 102 does not suppress the release of the safety device when the number of operations for the safety device exceeds the threshold number. According to the present embodiment, even if the conditions for suppressing the release of the safety device are satisfied, the release of the safety device is not suppressed when the number of operations for the safety device exceeds the threshold number, and the safety device is released. Therefore, it is possible to cope with a case where it is required to immediately leave the own vehicle, for example, when the vehicle is submerged.

In the present embodiment, the suppression control includes notifying the safety device not to be released. According to the present embodiment, it is possible to ensure the safety of the occupants by notifying that the safety device is not released even if the means for prohibiting the release of the safety device is not provided in the suppression control.

In the present embodiment, the safety control unit 102 determines that the degree of safety is low when another vehicle is within a predetermined range around the own vehicle, and executes suppression control. If there are other vehicles within a predetermined range around the own vehicle, there is a possibility that the occupants may be in danger if the occupants get off. Therefore, by determining that the degree of safety is low when there is another vehicle within a predetermined range around the own vehicle, it is possible to suppress the release of the safety device and ensure the safety of the occupants.

In the present embodiment, the safety control unit 102 determines that the degree of safety is low and suppresses it when it cannot be confirmed that the other vehicle within a predetermined range around the own vehicle is an autonomous driving vehicle and is in an appropriate automatic driving state. Take control.

If another vehicle within a predetermined range around the own vehicle is an autonomous driving vehicle and is in an appropriate automatic driving state, even if the occupant gets off, the automatic driving function can recognize it and perform avoidance driving. On the other hand, if the other vehicle within the predetermined range around the own vehicle is not in the proper automatic driving state even if it is an autonomous driving vehicle, or if the other vehicle within the predetermined range around the own vehicle is not an autonomous driving vehicle. , There is a possibility that proper avoidance driving cannot be performed even if the occupants get off. Therefore, if it can be confirmed that the other vehicle within the predetermined range around the own vehicle is an autonomous driving vehicle and is in an appropriate automatic driving state, and if it is judged that the degree of safety is low, the safety device is released. By restraining the vehicle, it is possible to suppress the disembarkation of the occupants and ensure the safety of the occupants.

In the present embodiment, the safety control unit 102 prohibits the release of the safety device when the own vehicle is traveling and an abnormality occurs in the function of the automatic driving system.

If an abnormality occurs in the drive function of the automatic driving system, it is assumed that an abnormality occurs in driving or steering, making it difficult to drive the own vehicle on an appropriate route and with an appropriate driving force. If an abnormality occurs in the recognition function of the autonomous driving system, it may be difficult to recognize the surrounding environment. Therefore, when an abnormality occurs in the function of the automatic driving system, it is possible to suppress the movement and disembarkation of the occupant in the own vehicle by prohibiting the release of the safety device, and to ensure the safety of the occupant.

In the present embodiment, the safety control unit 102 changes the execution content of the suppression control according to the vehicle speed of the own vehicle. If the safety device is released when the vehicle speed of the own vehicle is high, there is a high possibility that the occupants will be in danger. It may be unlikely that the occupants will be at risk. Therefore, by changing the execution content of the suppression control according to the vehicle speed of the own vehicle, it is possible to get off smoothly while ensuring the safety of the occupants.

Subsequently, the operation of the traveling control device 10 will be described with reference to FIG. In step S101, the safety control unit 102 acquires the state of the safety device. The safety control unit 102 acquires the state of the seatbelt and the door lock as a safety device based on the information output from the seatbelt attachment / detachment sensor 22 and the door lock detection sensor 23.

In step S102 following step S101, the safety control unit 102 determines whether or not there is an operation for removing the safety device by the occupant. The operation of removing the safety device by the occupant is an operation in which the occupant operates a button for removing the seat belt, or the occupant operates the door lock. If there is an operation for removing the safety device by the occupant, the process proceeds to step S103, and if there is no operation for removing the safety device by the occupant, the process proceeds to step S151.

In step S103, the safety control unit 102 acquires the number of operations for removing the safety device by the occupant. In step S104 following step S103, the safety control unit 102 determines whether the number of operations for removing the safety device by the occupant per predetermined time exceeds the number of threshold operation operations. If the number of safety device removal operations by the occupant per predetermined time exceeds the threshold operation number, the process proceeds to step S105, and if the number of safety device removal operations by the occupant per predetermined time does not exceed the threshold operation number. The process proceeds to step S111.

In step S105, the safety control unit 102 determines the permission to remove the safety device, and outputs a control signal for removing the seat belt and releasing the door lock to the seat belt control device 39 and the door lock control device 40. ..

In step S106 following step S105, the safety control unit 102 outputs a control signal to the transmission device 36 and the external display device 38 to output a non-intrusion request so that another vehicle does not invade within a predetermined range around the own vehicle. Is output. It returns when the processing of step S106 is completed.

In step S111, the recognition unit 101 determines whether or not another vehicle is absent within a predetermined range around the own vehicle. If another vehicle does not exist within the predetermined range around the own vehicle, the process proceeds to step S112, and if the other vehicle does not exist within the predetermined range around the own vehicle, the process proceeds to step S151. If the self-driving vehicle passing around can acquire the state of the safety device of the own vehicle by vehicle-to-vehicle communication and can avoid collision even if the door of the own vehicle is opened, the own vehicle It may be determined whether or not there is a vehicle other than a normal self-driving car within a predetermined range of surroundings.

In step S112, the safety control unit 102 determines whether or not the speed of the own vehicle is slower than the threshold speed 1. The threshold speed 1 corresponds to a speed at which there is no danger even if the vehicle gets off the vehicle. If the speed of the own vehicle is slower than the threshold speed 1, the process proceeds to step S105, and if the speed of the own vehicle is not slower than the threshold speed 1 and the speed of the own vehicle is equal to or higher than the threshold speed 1, the process proceeds to step S151.

In step S151, the safety control unit 102 determines that the safety device is prohibited from being removed, and controls the seatbelt control device 39 and the door lock control device 40 to prohibit the seatbelt from being removed or the door lock from being released. Output a signal. When the process of step S151 is completed, the process returns.

Subsequently, another example of the operation of the traveling control device 10 will be described with reference to FIG. In step S101, the safety control unit 102 acquires the state of the safety device. The safety control unit 102 acquires the state of the seatbelt and the door lock as a safety device based on the information output from the seatbelt attachment / detachment sensor 22 and the door lock detection sensor 23.

In step S102 following step S101, the safety control unit 102 determines whether or not there is an operation for removing the safety device by the occupant. The operation of removing the safety device by the occupant is an operation in which the occupant operates a button for removing the seat belt, or the occupant operates the door lock. If there is an operation for removing the safety device by the occupant, the process proceeds to step S103, and if there is no operation for removing the safety device by the occupant, the process proceeds to step S151.

In step S103, the safety control unit 102 acquires the number of operations for removing the safety device by the occupant. In step S104 following step S103, the safety control unit 102 determines whether the number of operations for removing the safety device by the occupant per predetermined time exceeds the number of threshold operation operations. The number of threshold operations may be changed depending on whether the target safety device is a seat belt or a door lock. If the number of safety device removal operations by the occupant per predetermined time exceeds the threshold operation number, the process proceeds to step S105, and if the number of safety device removal operations by the occupant per predetermined time does not exceed the threshold operation number. The process proceeds to step S121.

In step S105, the safety control unit 102 determines the permission to remove the safety device, and outputs a control signal for removing the seat belt and releasing the door lock to the seat belt control device 39 and the door lock control device 40. ..

In step S106 following step S105, the safety control unit 102 outputs a control signal to the transmission device 36 and the external display device 38 to output a non-intrusion request so that another vehicle does not invade within a predetermined range around the own vehicle. Is output. It returns when the processing of step S106 is completed.

In step S121, the safety control unit 102 determines whether or not the speed of the own vehicle is slower than the threshold speed 1. The threshold speed 1 corresponds to a speed at which there is no danger even if the vehicle gets off the vehicle. If the speed of the own vehicle is slower than the threshold speed 1, the process proceeds to step S105, and if the speed of the own vehicle is not slower than the threshold speed 1 and the speed of the own vehicle is equal to or higher than the threshold speed 1, the process proceeds to step S131.

In step S131, the recognition unit 101 determines whether or not another vehicle is absent within a predetermined range around the own vehicle. If another vehicle does not exist within the predetermined range around the own vehicle, the process proceeds to step S132, and if the other vehicle does not exist within the predetermined range around the own vehicle, the process proceeds to step S151.

In step S132, the safety control unit 102 determines whether or not there is a functional abnormality. A functional abnormality is a case where an abnormality occurs in a function in an automatic driving system. The functional abnormality may be an abnormality in the drive function in the automatic driving system or an abnormality in the recognition function in the automatic driving system. When the drive function in the automatic driving system is abnormal, there are cases where there is an abnormality in EPS31, EPB32, ECB33, MG34, transmission 35, etc., and cases where steering and braking do not function normally due to a storm or overloading. There is. When the recognition function in the automatic driving system becomes abnormal, there are cases where an abnormality occurs in the peripheral recognition sensor 21 and cases where the recognition rate decreases due to heavy rain. If there is no functional abnormality, the process proceeds to step S133, and if there is a functional abnormality, the process proceeds to step S151.

In step S133, the safety control unit 102 determines whether or not the speed of the own vehicle is slower than the threshold speed 2. The threshold speed 2 corresponds to a speed having a sufficient margin from recognition to execution of treatment. For example, even when the vehicle in front suddenly brakes or the like, a speed that can be sufficiently avoided by steering or braking with respect to the distance to the vehicle in front corresponds to the threshold speed 2. The threshold speed 2 is set to a speed equal to or higher than the threshold speed 1. If the speed of the own vehicle is slower than the threshold speed 2, the process proceeds to step S134, and if the speed of the own vehicle is not slower than the threshold speed 2 and the speed of the own vehicle is equal to or higher than the threshold speed 2, the process proceeds to step S151.

In step S134, the safety control unit 102 determines the seatbelt removal permission, and outputs a control signal for removing the seatbelt to the seatbelt control device 39. When the process of step S134 is completed, the process proceeds to the process of step S106.

In step S151, the safety control unit 102 determines that the safety device is prohibited from being removed, and controls the seatbelt control device 39 and the door lock control device 40 to prohibit the seatbelt from being removed or the door lock from being released. Output a signal. When the process of step S151 is completed, the process returns.

Subsequently, another example of the operation of the traveling control device 10 will be described with reference to FIGS. 4 to 8. In step S201, the safety control unit 102 acquires the state of the safety device. The safety control unit 102 acquires the state of the seatbelt and the door lock as a safety device based on the information output from the seatbelt attachment / detachment sensor 22 and the door lock detection sensor 23.

In step S202 following step S201, the safety control unit 102 determines whether or not there is an operation for removing the safety device by the occupant. The operation of removing the safety device by the occupant is an operation in which the occupant operates a button for removing the seat belt, or the occupant operates the door lock. If there is an operation for removing the safety device by the occupant, the process proceeds to step S203, and if there is no operation for removing the safety device by the occupant, the process proceeds to step S251.

In step S203, the safety control unit 102 acquires the number of operations for removing the safety device by the occupant. In step S204 following step S203, the safety control unit 102 determines whether the number of operations for removing the safety device by the occupant per predetermined time exceeds the number of threshold operation operations. If the number of safety device removal operations by the occupant per predetermined time exceeds the threshold operation number, the process proceeds to step S205, and if the number of safety device removal operations by the occupant per predetermined time does not exceed the threshold operation number. The process proceeds to step S211.

In step S205, the safety control unit 102 determines the permission to remove the safety device, and outputs a control signal for removing the seat belt and releasing the door lock to the seat belt control device 39 and the door lock control device 40. ..

In step S206 following step S205, the safety control unit 102 outputs a control signal to the transmission device 36 and the external display device 38 to output a non-intrusion request so that another vehicle does not invade within a predetermined range around the own vehicle. Is output. It returns when the processing of step S206 is completed.

In step S211th, the safety control unit 102 determines whether or not the operated safety device is a door lock. If the operated safety device is a door lock, the process proceeds to step S212 of FIG. 5, and if the operated safety device is not a door lock, the process proceeds to step S221 of FIG.

In step S212 in FIG. 5, the safety control unit 102 determines whether or not only a normal autonomous vehicle exists within a predetermined range. A normal autonomous driving vehicle is a vehicle equipped with an automatic driving system, and the installed automatic driving system is operating normally.

The predetermined range in step S212 of FIG. 5 will be described with reference to FIG. 7. In step S212, since the operated safety device is a door lock, the predetermined range is a range in which the vehicle does not collide even if the vehicle gets off from the doors provided on both sides of the own vehicle. As shown in FIG. 7, the shaded area extending rearward from both sides of the own vehicle is a predetermined range. When the speed of the own vehicle is relatively high, the amount extending to the rear of the own vehicle may be increased as compared with the case where the speed of the own vehicle is relatively slow. Further, if the position of the operated door lock can be specified, only the area on the operated side may be set as a predetermined range. Further, only the area behind the door corresponding to the operated door lock may be set as a predetermined range.

In step 212 of FIG. 5, if it is determined that only the normal autonomous vehicle exists within the predetermined range, the process proceeds to step S213, and it is determined that not only the normal autonomous vehicle exists within the predetermined range. If so, the process proceeds to step S251 in FIG.

In step S213, the safety control unit 102 determines whether or not the speed of the own vehicle is slower than the threshold speed 1. The threshold speed 1 corresponds to a speed at which there is no danger even if the vehicle gets off the vehicle. If the speed of the own vehicle is slower than the threshold speed 1, the process proceeds to step S205 of FIG. 4, and if the speed of the own vehicle is not slower than the threshold speed 1 and the speed of the own vehicle is equal to or higher than the threshold speed 1, the step of FIG. 4 Proceed to the process of S251.

In step S221 in FIG. 6, the safety control unit 102 determines that the operated safety device is a seat belt.

In step S222 following step S221, the safety control unit 102 determines whether or not the speed of the own vehicle is slower than the threshold speed 1. The threshold speed 1 corresponds to a speed at which there is no danger even if the vehicle gets off the vehicle. If the speed of the own vehicle is slower than the threshold speed 1, the process proceeds to step S205 of FIG. 4, and if the speed of the own vehicle is not slower than the threshold speed 1 and the speed of the own vehicle is equal to or higher than the threshold speed 1, the process of step S231 is performed. Proceed to.

In step S231, the safety control unit 102 determines whether or not there is a functional abnormality. A functional abnormality is a case where an abnormality occurs in a function in an automatic driving system. The functional abnormality may be an abnormality in the drive function in the automatic driving system or an abnormality in the recognition function in the automatic driving system. If there is no functional abnormality, the process proceeds to step S232, and if there is a functional abnormality, the process proceeds to step S251 in FIG.

In step S232, the safety control unit 102 determines whether or not only a normal autonomous vehicle exists within a predetermined range. A normal autonomous driving vehicle is a vehicle equipped with an automatic driving system, and the installed automatic driving system is operating normally.

The predetermined range in step S232 of FIG. 6 will be described with reference to FIG. In step S232, since the operated safety device is a seatbelt, the predetermined range is a range that the own vehicle can avoid even if other surrounding vehicles steer, accelerate, or decelerate suddenly. As shown in FIG. 8, the shaded area over the entire circumference of the own vehicle is a predetermined range. When the speed of the own vehicle is relatively high, the amount extending to the rear of the own vehicle may be increased as compared with the case where the speed of the own vehicle is relatively slow. If the predetermined range is not changed by the operated safety device as in step S131 of FIG. 3, the predetermined range may be a range including both the predetermined range of FIG. 7 and the predetermined range of FIG.

In step S232 of FIG. 6, if it is determined that only a normal autonomous vehicle exists within a predetermined range, the process proceeds to step S233, and it is determined that not only a normal autonomous vehicle exists within the predetermined range. If so, the process proceeds to step S251 in FIG.

In step S233, the safety control unit 102 determines whether or not the speed of the own vehicle is slower than the threshold speed 2. The threshold speed 2 corresponds to a speed having a sufficient margin from recognition to execution of treatment. For example, even when the vehicle in front suddenly brakes or the like, a speed that can be sufficiently avoided by steering or braking with respect to the distance to the vehicle in front corresponds to the threshold speed 2. If the speed of the own vehicle is slower than the threshold speed 2, the process proceeds to step S234, and if the speed of the own vehicle is not slower than the threshold speed 2 and the speed of the own vehicle is equal to or higher than the threshold speed 2, the process of step S251 in FIG. 4 Proceed to.

In step S234, the safety control unit 102 determines the seatbelt removal permission, and outputs a control signal for removing the seatbelt to the seatbelt control device 39. When the process of step S234 is completed, the process proceeds to the process of step S206 of FIG.

In step S251 of FIG. 4, the safety control unit 102 determines that the safety device is prohibited from being removed, and prohibits the seatbelt control device 39 and the door lock control device 40 from removing the seatbelt and releasing the door lock. Outputs a control signal for. It returns when the process of step S251 is completed.

The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. These specific examples with appropriate design changes by those skilled in the art are also included in the scope of the present disclosure as long as they have the features of the present disclosure. Each element provided in each of the above-mentioned specific examples, its arrangement, conditions, a shape, and the like are not limited to those exemplified, and can be appropriately changed. The combinations of the elements included in each of the above-mentioned specific examples can be appropriately changed as long as there is no technical contradiction.

101: Recognition unit 102: Safety control unit

Claims (3)

It is a driving control device applied to the automatic driving system of a vehicle.
A recognition unit (101) that recognizes the situation of the own vehicle and the situation around the own vehicle, and
A safety control unit (102) mounted on the vehicle and controlling a safety device for holding an occupant in the vehicle interior is provided according to the recognition result of the recognition unit.
The safety control unit
Based on the safety degree of the own vehicle specified from the recognition result of the recognition unit, the suppression control for suppressing the release of the safety device is executed.
If there is another vehicle within the specified range around the own vehicle, and if it cannot be confirmed that the other vehicle within the specified range around the own vehicle is an autonomous vehicle and is in an appropriate automatic driving state, the safety level is determined. A travel control device that determines that the vehicle is low and executes the suppression control . It is a driving control device applied to the automatic driving system of a vehicle.
A recognition unit (101) that recognizes the situation of the own vehicle and the situation around the own vehicle, and
A safety control unit (102) mounted on the vehicle and controlling a safety device for holding an occupant in the vehicle interior is provided according to the recognition result of the recognition unit.
The safety control unit
Based on the safety degree of the own vehicle specified from the recognition result of the recognition unit, the suppression control for suppressing the release of the safety device is executed.
A travel control device that prohibits the release of the safety device when the own vehicle is traveling and an abnormality occurs in the function of the automatic driving system . The travel control device according to claim 1 or 2 .
The safety control unit identifies that the degree of safety is low when the recognition result indicates that there is a high possibility that the occupant will be in danger when the occupant gets off, and indicates that the possibility of danger is low. A travel control device that specifies that the degree of safety is high in some cases and executes the suppression control when the degree of safety is specified to be low.

Images