JP2018193063A - Autonomous driving system - Google Patents

Abstract

To provide an autonomous driving system that autonomously detects a driver's seated position and safely switch driving modes.SOLUTION: An autonomous driving system includes a seatbelt control ECU 19 and an autonomous driving processing unit 10 that performs autonomous driving. At the time of initiating an autonomous driving mode, the autonomous driving processing unit 10 stores a driver's seat position, notifies the seatbelt control ECU 19 of vibration of a seatbelt, and notifies a driver of a state. Further, at the time of terminating the autonomous driving, the autonomous driving processing unit may determine the driver's posture and switch a driving mode.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic driving system capable of switching operation modes.

  In the automatic driving technology of a vehicle, it is necessary to notify the driver of a state change when switching to automatic driving or terminating automatic driving.

  Further, at the end of automatic driving, it is necessary to transfer the operation to the driver after confirming that the driver is in a posture that allows manual operation.

  As a method for detecting the driver's posture, there is a technique disclosed in Japanese Patent Laid-Open No. 2009-126209 (Patent Document 1). This publication states that “when the vehicle is running, the weight distribution of the seat weight distribution sensor 15 is detected at regular time intervals and compared with the registered weight distribution. “It is determined that the posture has collapsed”.

JP 2009-126209 A

  In an automatic driving system, it is necessary to clearly notify the driver of switching to automatic driving. Further, when the automatic operation mode is ended, it is necessary to confirm whether or not the driver can drive.

  In the technique of Patent Document 1, the driver needs to register the weight distribution of the normal sitting state in advance.

  Therefore, an object of the present invention is to enable automatic detection of a position where a driver is normally seated.

  In order to solve the above problems, for example, the configuration described in the claims is adopted.

  The present application includes a plurality of means for solving the above problems. To give an example, the present application includes a seat belt control ECU and an automatic operation processing device that performs automatic operation, and the automatic operation processing device has an automatic operation mode. When starting, the seat position of the driver is stored, the seat belt control ECU is notified that the seat belt is vibrated, and the driver is notified of the state.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the automatic driving system which detects a driver | operator's seating position automatically and switches a driving mode safely.

  Problems, configurations, and effects other than those described above will become apparent from the description of the following examples.

System Configuration. Flow at the time of automatic operation start operation. Flow at the end of automatic operation. Flow when warning action is performed when switching to automatic operation.

  Embodiments will be described below with reference to the drawings.

  FIG. 1 shows a configuration when the present invention is applied to an automatic driving system.

  The automatic driving device 10 processes information obtained from the sensor input 15 such as the road shape DB 14 and the camera, the vehicle state input 16 and the like, and transmits the information to the vehicle speed control ECU 17 and the steering control ECU 18 using the control signal line 111 for automatic driving. Realize. The automatic driving apparatus 10 includes a CPU for controlling, a ROM for storing programs, and a RAM for storing temporary data.

  The display device 11 and the sound / light notification device 13 notify the driver of the operation state, and the driver's operation is input through the operation SW 12.

  The seat control ECU 110 changes the angle of the seat on which the driver is seated and the position in the front-rear direction by a motor, and also detects the seat angle and the seat position.

  The seat belt control ECU 19 realizes the occupant posture maintenance by the winding operation in an emergency such as the slack removal of the belt or the collision of the vehicle when the driver wears the seat belt, and detects the belt withdrawal amount.

  FIG. 2 is a flowchart of a processing procedure when the automatic operation mode is switched.

  Step 21: The automatic driving device 10 periodically executes an automatic driving mode start determination process in order to capture a driver switching operation.

  Step 22: The automatic driving apparatus 10 confirms whether the driver has an operation of switching to the automatic driving mode using the operation SW12. When it is determined that there is no switching operation, the process proceeds to step 26, and the automatic operation mode start determination process ends. If it is determined that there is a switching operation, the process proceeds to step 23.

  Step 23: The automatic driving device 10 acquires information on the belt withdrawal amount from the seat belt control ECU 19, and records it in the internal storage device as the belt withdrawal amount [1].

  Step 24: The automatic driving apparatus 10 acquires information on the seat position from the seat control ECU 110, and records it in the internal storage device as the seat position [1].

  Step 25: The automatic driving device 10 acquires information on the seat angle from the seat control ECU 110, and records it in the internal storage device as the seat angle [1].

  Step 26: The automatic driving apparatus 10 starts an automatic driving mode in response to a driver's operation request.

  Step 27: Notify the driver that the operation mode has been switched by the display device 11 or the sound / light notification device 13. A belt vibration instruction is issued to the seat belt control ECU 19 to notify the driver.

  Step 28: The operation start determination process is terminated.

  By directly notifying the occupant of the start of automatic operation by the vibration of the belt, it is possible to more reliably notify that the mode has been switched.

  FIG. 3 is a flowchart of a processing procedure when ending the automatic operation mode.

  The automatic driving device 10 ends the automatic driving mode when it is determined that the automatic driving cannot be continued based on the operation of the operation SW 12, the running state of the vehicle, a signal acquired from the outside, or the like.

  Step 31: Executed when the automatic driving device 10 ends automatic driving.

  Step 32: The automatic driving apparatus 10 ends the automatic driving and determines the operation mode to be set next. In the case of switching by the operation SW 12, the mode selected by the driver is set, and when the information acquired from the road shape DB 14 is insufficient, a mode in which only speed control is automatically controlled is selected. Make it possible.

  Step 33: The automatic driving apparatus 10 acquires the belt withdrawal amount from the seat belt control ECU 19, and stores it as the belt withdrawal amount [2].

  Step 34: The automatic driving apparatus 10 acquires information on the seat position from the seat control ECU 110 and stores it as the seat position [2].

  Step 35: The automatic driving device 10 acquires information on the seat angle from the seat control ECU 110 and stores it as the seat angle [2].

  Step 36: The automatic driving apparatus 10 calculates the difference between the stored belt withdrawal amount [1] and the belt withdrawal amount [2]. If the difference is smaller than the threshold value, the process proceeds to step 37. If the difference exceeds the threshold value, the process proceeds to step 310.

  Step 37: The automatic driving apparatus 10 calculates the difference between the stored seat angle [1] and the seat angle [2]. If the difference is smaller than the threshold value, the process proceeds to Step 38. If the difference exceeds the threshold value, the process proceeds to step 310.

  Step 38: The automatic driving apparatus 10 calculates the difference between the stored sheet position [1] and the sheet position [2]. If the difference is smaller than the threshold value, the process proceeds to step 39. If the difference exceeds the threshold value, the process proceeds to step 310.

  Step 39: The automatic driving device 10 switches the operation mode determined in Step 35, and notifies the driver by the display device 11 and the sound / light notification device 13 that the operation mode has been switched.

  Step 310: The automatic driving apparatus 10 forcibly stops the automatic driving mode, and notifies the driver by the display device 11 and the sound / light notification device 13 that the driving mode has been switched. Here, the automatic operation mode is forcibly stopped as an example here, but other processes can be performed as the NG process. For example, the processing may be selected according to the situation in step 310, such as urging the driver to return to the posture and continuing the automatic driving mode, or stopping the vehicle while warning the surroundings.

  By determining the driver's posture in steps 36 to 38 and switching the driving mode, the driving mode can be switched more safely.

  FIG. 4 is a flowchart in a case where a warning operation is performed to the occupant at the end of the automatic operation mode.

  Step 402: The automatic driving apparatus 10 initializes a counter for the number of alarms.

  Steps 403 to 407 are equivalent to steps 32 to 38 of the first embodiment.

  Step 408: The automatic driving apparatus 10 instructs the seat belt control ECU 19 to perform an operation of repeating the seat belt winding and reversing in a short time as an alarm operation for correcting the seat position. In addition, the driver is notified by the display device 11 and the sound / light notification device 13.

  Step 409: The automatic driving device 10 adds a counter for the number of alarms.

  Step 410: The automatic driving device 10 compares the counter of the number of alarms with a threshold value, and proceeds to step 413 when the counter exceeds the threshold value. If the counter is equal to or smaller than the threshold value, the process proceeds to step 411.

  Step 411: The automatic driving apparatus 10 waits for a certain period of time to wait for the occupant's posture return.

  Step 412: The automatic driving device 10 switches the operation mode determined in Step 403, and notifies the driver of the change of the operation mode by the display device 11 or the sound / light notification device 13.

  Step 413: The automatic driving device 10 forcibly stops the automatic driving mode, and notifies the driver by the display device 11 and the sound / light notification device 13 that the driving mode has been switched.

  Step 414: The process is terminated.

  When it is determined in step 407 that the boarding posture is incorrect, an operation for prompting the occupant to return to the normal posture is performed, and the driving mode is switched after the posture is restored.

  Although an example in which the seat belt control ECU winds up the belt has been described as means for returning the posture, the seat control ECU may be realized by an operation that causes the backrest portion or the like.

  In addition, this invention is not limited to an above-described Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment. Each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files for realizing each function can be stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

10 ... Automatic operation processing device 11 ... Display device 12 ... Operation SW
13 ... Sound / light notification device 14 ... Road shape DB
15 ... Sensor input signal of camera etc. 16 ... Vehicle state input signal 17 ... Vehicle speed control ECU
18 ... Steering control ECU
19 ... Seat belt control ECU
110 ... Seat control ECU

Claims (8)

A seat belt control ECU;
A road shape database that stores road shapes;
An automatic operation processing device that performs automatic operation,
When the automatic driving processing device starts the automatic driving mode, the driver's seat position is stored, the seat belt control ECU is notified to vibrate the seat belt, and the driver is informed of the state,
When the automatic operation mode is terminated, if the information in the road shape database is insufficient, the automatic operation mode is changed to a mode in which only the speed control is automatically controlled. The automatic driving system according to claim 1,
The automatic driving system is characterized in that when automatic driving ends, the driver's posture is determined and the driving mode is switched. The automatic driving system according to claim 2,
The automatic driving system is characterized by notifying the seat belt control ECU (19) of a warning operation for correcting the seat position when the automatic driving ends. The automatic driving system according to claim 3,
An automatic driving system characterized in that when the alarm operation for correcting the seat position is repeated a predetermined number of times, processing corresponding to the situation is performed. The automatic driving system according to claim 3 or 4,
An automatic driving system, wherein the automatic driving mode is forcibly stopped when the alarm operation for correcting the seat position is repeated a predetermined number of times. The automatic driving system according to claim 1,
In the automatic operation processing device, the difference between the first seat position when the operation is switched to the automatic operation mode and the second sheet position after shifting to the automatic operation mode is a predetermined value or more. In the case, the automatic operation system is characterized in that the automatic operation mode is terminated. The automatic driving system according to claim 1,
In the automatic operation processing device, the difference between the first seat angle when the switching operation to the automatic operation mode is performed and the second seat angle after the transition to the automatic operation mode is a predetermined value or more. In the case, the automatic operation system is characterized in that the automatic operation mode is terminated. The automatic driving system according to claim 1,
In the automatic operation processing device, the difference between the first belt withdrawal amount when the switching operation to the automatic operation mode is performed and the second belt withdrawal amount after shifting to the automatic operation mode is greater than or equal to a predetermined value. If so, the automatic driving mode is terminated.

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