JP7806733B2 - Vehicle control device - Google Patents

Description

The present invention relates to a vehicle control device.

Patent Document 1 discloses a control device for a vehicle capable of both automatic and manual driving. This vehicle control device allows for a setting to determine whether or not to perform parallel running avoidance control, which prevents vehicles from running alongside other vehicles in adjacent lanes, during automatic driving. The parallel running avoidance control is executed when the setting is enabled, but is not executed during manual driving.

Japanese Patent Application Laid-Open No. 2019-93807

Vehicles are increasingly being equipped with operation support functions to assist occupants in driving operations in manual driving mode, as well as safety support functions to ensure occupant safety. These support functions are also often applied in autonomous driving mode, where driving control is performed without the involvement of occupants in driving operations.

The assistance function operates according to the operation settings in both manual and automated driving modes, with the occupant setting the operation, including whether or not the function can be operated. If the operation settings for the assistance function in manual driving mode are maintained even after switching to automated driving mode, the operation settings of the previous occupant will be maintained even if the occupant (driver) is changed while driving in automated driving mode. For this reason, if the operation settings of another occupant, such as the previous occupant, are maintained in the assistance function, the new occupant may perform unintended operations, which leaves room for improvement.

The present invention was made in consideration of the above-mentioned circumstances, and aims to provide a vehicle control device that can prevent assistance functions for assisting occupants from operating unintentionally by the occupant.

To achieve the above object, the vehicle control device of claim 1 includes a driving control unit that, when controlling the driving of the vehicle, switches between a manual driving mode for driving the vehicle in accordance with the driving operation of the occupant and an automatic driving mode for driving the vehicle without the intervention of the driving operation of the occupant; an assistance unit that operates based on assistance settings to assist the occupant while on board; and an operation control unit that applies, as the assistance setting, a first setting set by the occupant in the manual driving mode, and, when switched to the automatic driving mode, operates the assistance unit by applying a second setting set in the automatic driving mode.

In the vehicle control device of claim 1, the driving control unit controls the driving of the vehicle by switching between a manual driving mode, which allows the vehicle to be driven in accordance with the occupant's driving operation, and an automatic driving mode, which allows the vehicle to be driven without the occupant's driving operation. The assistance unit operates based on the assistance settings to provide assistance to the occupant while riding in the vehicle.

Here, the assistance settings include a first setting set by the occupant in manual driving mode and a second setting in autonomous driving mode. When controlling the operation of the assistance unit, the operation control unit applies the first setting in manual driving mode and applies the second setting when switching to autonomous driving mode.

According to the present invention, when driving control is performed in autonomous driving mode, a common second setting is applied as the assistance setting, which has the effect of preventing assistance that would cause discomfort to the new occupant even if the occupant is changed during the course of the vehicle.

FIG. 2 is a block diagram showing a schematic configuration of a support function unit according to the present embodiment. 1 is a block diagram showing a schematic configuration of a vehicle control system according to an embodiment of the present invention; 10 is a flowchart showing an outline of the operation of the support function unit.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
2 is a block diagram showing a schematic configuration of a vehicle control system 10 as a vehicle control device according to this embodiment. The vehicle control system 10 according to this embodiment is responsible for driving control in the vehicle and safety support for the occupants. When controlling the vehicle, the vehicle control system 10 can operate in a manual driving mode in which the vehicle travels in accordance with the driving operation of the occupants, and an automatic driving mode in which the vehicle travels without any driving operation by the occupants.

As shown in FIG. 2, the vehicle control system 10 includes an operation unit 12 operated by the occupant, an operation unit 14, and a control unit 16 as a driving control unit. The vehicle control system 10 also includes an environment detection unit 18 for detecting the environmental conditions around the vehicle.

The operation unit 12 includes a steering wheel for steering operations, an accelerator pedal for acceleration operations, a brake pedal for braking operations, and an operation panel for various settings such as switching between manual and automatic driving modes (all not shown). The operating unit 14 also includes an actuator for steering the steered wheels, an actuator for braking operations, and an actuator for shifting gears in the transmission (automatic transmission) (all not shown).

In the vehicle control system 10, multiple ECUs 20 are provided in the control unit 16, etc. Each ECU 20 includes a microcomputer in which a CPU, ROM, RAM, non-volatile storage, etc. are connected via a bus, and the required functional circuits (all not shown). In the ECU 20, the CPU reads out programs stored in the ROM and storage, expands them into RAM, and executes them, thereby realizing functions according to the programs.

The vehicle (vehicle control system 10) is of the by-wire type. The operation unit 12 and the operation unit 14 are each provided with the necessary sensors, and the operation unit 12 and the operation unit 14 have each of their sensors and actuators connected to an ECU 20 of the control unit 16. In the vehicle control system 10, each of the multiple ECUs 20 and each of the multiple sensors are electrically connected via an in-vehicle network.

The control unit 16 controls the operation of actuators in accordance with information detected by each sensor, thereby controlling the vehicle's driving and implementing various vehicle functions through the cooperative operation of multiple ECUs 20, each of which is designed to perform its required functions. The control unit 16 also operates by switching between a manual driving mode, in which the vehicle's driving is controlled in accordance with the occupant's driving operations, and an automatic driving mode, in which the vehicle's driving is controlled without the occupant's driving operations.

When the control unit 16 is set to manual driving mode, it controls the operation of the actuators of the operating unit 14 in accordance with the detection results of each sensor in the operating unit 12, and performs steering and vehicle speed operations (acceleration, braking, and gear shifting) in accordance with the steering, braking, and accelerator operations performed by the occupant.

In manual driving mode, the vehicle control system 10 provides various operational assistance functions to assist the occupant in driving. These operational assistance functions include adaptive cruise control (ACC), forward collision warning (FCW), automatic emergency braking system (AEBS), night vision/pedestrian detection (NV/PD), traffic sign recognition (TSR), lane departure warning (LDW), lane keeping assist system (LKAS), blind spot monitoring (BSM), rear cross traffic alert (AFS), automatic headlamp beam adjustment (AFS), and advanced parking assist (APA).

The operation assistance function may be realized using sensors in the operation unit 12, sensors in the operation unit 14, and actuators in the operation unit 14. Furthermore, necessary sensors, actuators, functional components, etc. may be added to realize the operation assistance function. The environment detection unit 18 is provided with detection means such as various sensors for realizing the operation assistance function and is connected to the control unit 16 via on-board work. The detection means detects the environmental conditions around the vehicle, such as the vehicle's driving environment and the occupant's driving environment.

The detection means of the environment detection unit 18 are provided in accordance with the operation assistance functions of the vehicle control system 10, and include speed detection means, such as a vehicle speed sensor, for detecting vehicle speed, and acceleration detection means, such as an acceleration sensor, for detecting acceleration. Other examples of detection means include imaging means, such as a camera for capturing images of the vehicle's surroundings, and distance detection means, such as a LiDAR laser radar, for detecting objects around the vehicle and determining the distance to the object. Other examples of detection means include position detection means (on-board locator), such as a GPS sensor for detecting the vehicle's position, and attitude detection means, such as an IMU (inertial measurement unit), for detecting the vehicle's attitude.

The vehicle control system 10 is equipped with multiple operational assistance functions, enabling it to achieve Level 2 autonomous driving ADAS (Advanced Driver Assistance System) in manual driving mode, and it also provides navigation functions by using an on-board locator, etc.

In the vehicle control system 10, when the control unit 16 switches from manual driving mode to autonomous driving mode, the control unit 16 controls the operation unit 14 using information detected by the environment detection unit 18 to perform steering control, vehicle speed control, braking control, gear shift control, etc. As a result, the vehicle control system 10 achieves autonomous driving level 3 or higher, which controls the vehicle's driving without the driver's intervention.

Meanwhile, the vehicle control system 10 is provided with an assistance function unit (safety assistance function unit) 30 that mainly performs functions related to occupant safety, etc. The assistance function unit 30 is implemented by the ECU 20 executing the required assistance function program in the control unit 16. As an example, the assistance function unit 30 in this embodiment assists occupants in safely exiting the vehicle (safe exiting the vehicle). Such an assistance function unit 30 can be implemented by the vehicle control system 10 having a configuration similar to that of a BSM. Figure 1 shows a block diagram of the general configuration of the assistance function unit 30.

As shown in FIG. 1, the assistance function unit 30 includes a left rear detection unit 32L for detecting objects on the left rear of the vehicle, a right rear detection unit 32R for detecting objects on the right rear of the vehicle, an assistance processing unit 34, an alarm unit 36, a memory unit 38 for storing operation settings, and a setting unit 40 for performing operation settings. In the assistance function unit 30, the left rear detection unit 32L, the right rear detection unit 32R, and the alarm unit 36 function as assistance units, and the assistance processing unit 34 functions as an operation control unit.

The left rear detection unit 32L and the right rear detection unit 32R are realized in the environment detection unit 18 by using an imaging means (camera, etc.) that captures images of the area behind the vehicle (right rear and left rear) and a distance detection means (LiDAR, etc.) that detects objects behind the vehicle and determines the distance to the objects. The notification unit 36 can be an indicator provided on each of the left and right door mirrors, a display provided on the instrument panel, or a speaker for emitting an alarm (all not shown). The memory unit 38 is realized by the storage of the ECU 20 and stores the assistance settings. The setting unit 40 is provided, for example, as a touch-type display on the instrument panel of the operation unit 12, and enables the occupant to configure operation settings (assistance settings) for the operation of the assistance processing unit 34 (assistance function unit 30) through touch operations.

The assistance processing unit 34 is realized by the ECU 20 executing an assistance processing program (e.g., a safe disembarkation program) as an assistance function program. The assistance processing unit 34 detects other vehicles, bicycles, pedestrians, etc. behind the vehicle (rear right and rear left sides) as objects, and calculates the distance to the detected objects (the distance from a predetermined position, such as the center or rear end of the vehicle, to the object).

The assistance function unit 30 allows the occupant to set an operation setting as a first setting that operates in manual driving mode as an assistance setting. The assistance function unit 30 operates by the occupant operating the setting unit 40 (touch-type display), and the operation setting is stored in the memory unit 38. The operation setting includes whether to operate the assistance function unit 30 (whether to turn the assistance function on or off) and the sensitivity when operating the assistance function. The sensitivity is set high when the distance between the vehicle and the object is longer than a standard value (the distance corresponding to the standard sensitivity, for example, approximately 40 m), and low when it is shorter than the standard value.

The assistance function unit 30 is also capable of operating in autonomous driving mode. The memory unit 38 stores the second operational setting to be applied in autonomous driving mode as the standard setting. This standard setting has the assistance function turned on and the sensitivity set to standard sensitivity.

In addition, by being set to operate, the assistance function unit 30 activates the alarm unit 36 when an object is detected within a distance from the vehicle according to the sensitivity when an occupant exits the vehicle. In this case, if the object is located to the right rear of the vehicle, the alarm unit 36 lights or flashes the indicator on the right door mirror, and if the object is located to the left rear of the vehicle, the alarm unit 36 lights or flashes the indicator on the left door mirror. In addition, the alarm unit 36 displays a message on the instrument panel display indicating that an object has been detected and sounds a warning sound.

In the vehicle control system 10 configured in this manner, when the vehicle is enabled to drive, for example by turning on the ignition switch, the control unit 16 begins driving control in manual driving mode or automatic driving mode. When the vehicle control system 10 is set to manual driving mode, the control unit 16 controls the operating unit 14 in response to the occupant's driving operation using the operating unit 12 to perform vehicle driving control (steering control, vehicle speed control, braking control, etc.). At this time, an operation assistance function is set in the vehicle control system 10, and the control unit 16 executes the set operation assistance function to assist the occupant in driving.

In addition, when the vehicle control system 10 is set to autonomous driving mode, the control unit 16 controls the operation unit 14 in accordance with information (such as the driving environment) detected by the environment detection unit 18 to perform vehicle driving control.

The vehicle control system 10 is equipped with an assistance function unit 30 related to passenger safety, etc. Figure 3 shows a flowchart outlining the processing (assistance processing) of the assistance function unit 30.

The flowchart in Figure 3 is repeatedly executed as the vehicle control system 10 operates, and in the first step 100, the assistance processing unit 34 checks whether the vehicle is in manual driving mode. If the control unit 16 is operating in manual driving mode, the assistance processing unit 34 makes a positive determination in step 100 and executes assistance processing in manual driving mode. If the control unit 16 is set to autonomous driving mode, the assistance processing unit 34 makes a negative determination in step 100 and executes assistance processing in autonomous driving mode (steps 112 and 114 below).

In the assistance processing in manual driving mode, the operation settings stored in the memory unit 38 of the assistance processing unit 34 are read in step 102, and it is confirmed in step 104 whether the assistance function is set to on. If the assistance function is not set to on, the assistance processing unit 34 makes a negative judgment in step 104, proceeds to step 106, and stops the assistance function.

If the assistance function is set to on, the assistance processing unit 34 makes a positive judgment in step 104 and proceeds to step 108, where it executes assistance processing according to the operation settings set by the occupant. As a result, for example, when a passenger in the front passenger seat attempts to open the door (left door) to exit the vehicle, the assistance processing unit 34 will alert the alarm unit 36 that an object is approaching if an object is detected at the left rear of the vehicle within a distance corresponding to the set sensitivity.

On the other hand, in step 110, the assistance processing unit 34 checks whether the driving mode has been changed to automatic driving mode, and if the driving mode has been switched from manual driving mode to automatic driving mode, a positive judgment is made in step 110 and assistance processing in automatic driving mode is performed.

In assistance processing in autonomous driving mode, the assistance processing unit 34 reads the standard settings from the memory unit 38 in step 112 and executes assistance processing with the standard settings (e.g., standard sensitivity) in step 114. After this, the assistance processing unit 34 checks in step 116 whether the mode has been changed to manual driving mode, and if the mode has not been switched to manual driving mode, a negative determination is made in step 116, and assistance processing using the standard settings continues.

In contrast, when the driving mode is changed to manual driving mode, the assistance processing unit 34 makes a positive determination in step 116 and proceeds to step 118. In step 118, the assistance processing unit 34 continues the assistance processing using the standard settings in manual driving mode. In addition, in step 120, the assistance processing unit 34 checks whether the occupant has changed the operation settings of the assistance processing. If so, the assistance processing is temporarily terminated in step 120, and assistance processing according to the newly set operation settings is started by returning to step 100.

In this way, in the vehicle control system 10, the assistance function unit 30 performs safety assistance for the occupant based on the operation settings set by the occupant in manual driving mode. Also, in the vehicle control system 10, the assistance function unit 30 performs safety assistance for the occupant based on the standard settings set in autonomous driving mode. This allows assistance to be provided to the new occupant based on the standard settings, even if the occupant is replaced while the vehicle control system 10 is operating in autonomous driving mode. Furthermore, the new occupant will not experience any discomfort with the assistance being provided, as assistance during autonomous driving will not be provided using the assistance set by the previous occupant.

Furthermore, when the vehicle control system 10 switches from autonomous driving mode to manual driving mode, it uses the standard settings for autonomous driving mode as the operational settings. This allows the occupant to start driving operations without having to reset various settings when switching from autonomous driving mode to manual driving mode.

Note that the operational settings in manual driving mode may be set for each occupant. In this case, for example, an authentication means may be provided to identify (authenticate) the occupant seated in the driver's seat, and the operational settings set by the authenticated occupant may be applied to operate the assistance functions.

Also, the occupant may be authenticated in the autonomous driving mode, and the operation settings set by the authenticated occupant may be applied to the autonomous driving mode. This allows the operation settings set for each occupant to be used in the autonomous driving mode as well as in the manual driving mode, allowing the occupant to receive assistance according to their preferred operation settings.

In the embodiment described above, the disembarkation support function is applied as the safety support function. However, the occupant support function may be applied to other safety support functions, or may be applied to an operation support function for occupant driving operations.

10 Vehicle control system (vehicle control device)
12 Operation unit 14 Operation unit 16 Control unit (travel control unit)
18 Environment detection unit 30 Support function unit 32L Left rear detection unit (support unit)
32R Right rear detection unit (support unit)
34 Support processing unit (motion control unit)
36. Notification Department (Support Department)
38 Storage section

Claims (1)

a driving control unit that, when controlling the driving of the vehicle, switches between a manual driving mode for driving the vehicle in accordance with the driving operation of a driver and an automatic driving mode for driving the vehicle without the driver's operation;
a support unit that operates based on a support setting to support the occupant while riding;
an operation control unit that applies a first setting set by the occupant in the manual driving mode as the assistance setting, and when the manual driving mode is switched to the automatic driving mode, applies a second setting set in the automatic driving mode regardless of the content of the first setting, and operates the assistance unit;
Including,
the support unit includes a detection unit for detecting an object on the left and right sides behind the vehicle, and a notification unit for notifying the approach of the object,
The first setting is set by the occupant as an operation setting including whether or not the support unit is operable and its sensitivity,
The second setting is a standard setting including a standard operation enable/disable and a standard sensitivity applied to the assistance unit in the autonomous driving mode,
Vehicle control device.