JP6358156B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a driving support apparatus for a vehicle that can perform automatic driving of the vehicle.

  In order to realize automatic driving of a vehicle, a camera, various sensors for detecting an obstacle, and highly accurate map data are essential. The map data necessary to execute automatic driving includes the vehicle width, lane number, curve curvature, road inclination, intersection position, intersecting road angle, speed limit, and other data. A large amount of data necessary for this purpose is stored. However, since it takes a lot of cost and time to prepare such high-accuracy map data, high-accuracy map data is added sequentially for each area in the introduction period of automatic operation. A situation is assumed. As a result, an area where automatic driving is possible and an area where automatic driving is impossible are mixed. In such a case, if you are driving on a road in an area where automatic driving is possible and you are traveling to a road in an area where automatic driving is not possible, you will not be able to execute automatic driving suddenly, so the driver will be quite uncomfortable. There may be a situation that feels like.

JP 2014-2603 A

  Therefore, an object of the present invention is to make the driver feel uncomfortable when the area where the high-precision map data is maintained and the area where the high-precision map data is not provided are mixed. An object of the present invention is to provide a driving support device for a vehicle that can be prevented.

  The invention according to claim 1 is a driving support device for a vehicle having a travel control function for automatically driving the vehicle, a storage unit for storing map data, and a route calculation unit for calculating a guide route from the current location to the destination. And a check unit that checks whether or not all the routes of the guide route have high-precision map data necessary for automatic driving, and when all the routes of the guide route do not have high-precision map data, It has a feature in that it includes a notifying unit for notifying that there is a portion that cannot be automatically operated in the guide route.

The block diagram of the vehicle-mounted navigation system which shows 1st Embodiment of this invention. Flow chart of operation switching control Flowchart of operation switching control showing the second embodiment of the present invention. Diagram explaining the guide route

  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 and 2. First, FIG. 1 is a block diagram schematically showing the overall configuration of an in-vehicle navigation system 1 with an automatic driving function of the present embodiment. As shown in FIG. 1, the in-vehicle navigation system 1 includes a position detector 2, a map data input device 3, an operation switch group 4, an in-vehicle camera 5, a driver state detector 6, and an external memory 7. , A display device 8, a remote control sensor 9, and a control device 10 connected thereto.

  The control device 10 has a configuration as a normal computer, and includes a well-known CPU, ROM, RAM, I / O, and a bus line for connecting these configurations. The control device 10 includes a parking brake sensor 11, a vehicle speed sensor 12, an ETC in-vehicle device 13, a remote operation device 14, an idling stop control ECU 15, a mobile phone 16, an in-vehicle communication device 17, and a body system ECU 18. And a travel control system ECU 19 are connected.

  The position detector 2 includes a known geomagnetic sensor 20, a gyroscope 21, a distance sensor 22, and a GPS receiver 23 that detects the position of the vehicle based on radio waves from a GPS (Global Positioning System) satellite. ing. Since these sensors 20, 21, 22, and 23 have errors of different properties, they are configured to be used while being interpolated by a plurality of sensors. Depending on the accuracy, the sensor may be configured as a part of the above-described sensors, and may further be configured to add a steering rotation sensor, a wheel sensor for each wheel, or the like.

  The map data input unit 3 includes so-called map matching data for improving the accuracy of position detection, map data (including an area where high-precision map data necessary for executing automatic driving is prepared), landmark data, and the like. It is a device for inputting various data including. As a medium, a DVD-ROM (or CD-ROM) is generally used because of the amount of data, but a medium such as a hard disk or a memory card may be used. The map data input device 3 constitutes a storage unit.

  The operation switch group 4 includes, for example, a touch switch (touch panel) integrated with the display device 8 or a mechanical switch, and outputs a switch signal corresponding to a user's switch operation to the control device 10.

  The in-vehicle camera 5 is composed of a plurality of cameras that capture an external situation of the vehicle (front / rear / left / right direction, all-around direction), and the captured image information is output to the control device 10. The driver state detector 6 detects the state of the driver (information necessary for determining whether or not the driver can drive the vehicle) and outputs a detection signal to the control device 10. Specifically, the driver state detector 6 includes a sensor that detects that the driver is holding the steering wheel with both hands, a sensor that measures the heart rate (pulse) and blood pressure of the driver, and a driver seat. A sensor that detects that the seating position is appropriate, a sensor that detects that alcohol is included in the breath of the driver (none of which are shown), and the like are used to detect the state of the driver. . In this case, among the various sensors of the driver state detector 6, the sensor for obtaining the driver's biological information is preferably constituted by a wearable sensor that can be attached to clothes, a hair accessory, or the like. The driver state detector 6 constitutes a detection unit.

  The external memory 7 is composed of a memory card or the like, and can store various data such as music data. The display device 8 is composed of a color display device such as a liquid crystal display, for example. On the screen of the display device 8, additional data such as a map, a current position mark of the vehicle, and a guide route for guiding to the destination are displayed. Can be displayed in a superimposed manner.

  In addition, the control device 10 of the in-vehicle navigation system 1 determines the position of the destination from the remote control sensor 9 via the remote control terminal (hereinafter referred to as a remote control) 24, the operation switch group 4, or the remote operation device 14. When input, it has a function of automatically selecting an optimum route from the current position to the destination to form and display a guidance route (guide route), a so-called route guidance function. As a method for automatically setting an optimum route in this way, a method such as the Dijkstra method is known. The control device 10 has functions as a route calculation unit, a check unit, a notification unit, and an operation switching unit. Note that the remote operation device 14 is composed of, for example, a joystick switch.

  The control device 10 is configured to be connected to the external network 25 via the mobile phone 16 or the in-vehicle communication device 17, and can be connected to the Internet or connected to various information centers. . Further, the control device 10 can capture the fee information received from the ETC roadside device by the ETC onboard device 13 by communicating with the ETC onboard device 13.

  The control device 10 can make settings for the ECUs 15, 18, 19 by communicating with the idling stop control ECU 15, the body system ECU 18, and the travel control system ECU 19. In addition, the control device 10 sends to the travel control system ECU 19 high-accuracy map data for automatic driving, information on the current position of the vehicle, position information on the destination, information on the optimum guidance route from the current position to the destination, By transmitting photographing information of the external situation of the vehicle photographed by the camera 5, vehicle speed information, etc., the travel control system ECU 19 can execute automatic driving of the vehicle in an area where highly accurate map data is prepared. It is configured. Further, the control device 10 is configured to be able to transmit an instruction signal that instructs the idling stop control ECU 15 to turn on or off the idling stop function.

  In FIG. 1, a parking brake sensor 11, a vehicle speed sensor 12, an ETC in-vehicle device 13, a remote operation device 14, an idling stop control ECU 15, a mobile phone 16, an in-vehicle communication device 17, a body system ECU 18, The travel control system ECU 19 and the like are configured to be directly connected. Instead, the parking brake sensor 11, the vehicle speed sensor 12, the ETC in-vehicle device 13, and the remote are connected to the control device 10 via the in-vehicle LAN. The operation device 14, the idling stop control ECU 15, the mobile phone 16, the in-vehicle communication device 17, the body system ECU 18, the travel control system ECU 19, and the like may be connected.

  Next, operation | movement of the control apparatus 10 of the vehicle-mounted navigation system 1 of the above structure is demonstrated with reference to the flowchart of FIG. The flowchart of FIG. 2 shows the contents of the switching control of the automatic driving manual operation in the control of the control device 10. First, when the ignition switch of the vehicle is turned on, the destination is input (set) by operating the operation switch group 4 or the remote controller 12 in step S10 of FIG. In step S10, the control device 10 calculates an optimum guidance route from the current position of the vehicle to the destination, and displays the calculated route, the current position of the vehicle, and a map around the current position on the display device 8. To do.

  Then, it progresses to step S20 and it is checked whether the high accuracy map data required for automatic driving | operation is provided in all the routes of the guidance route to the destination. If all the high-accuracy map data is provided (“YES” in step S30), the process proceeds to step S40, and a message indicating that automatic driving control is to be executed is displayed on the display device 8 or output by voice. To notify the driver and execute automatic driving control of the vehicle. Although not shown in FIG. 1, the in-vehicle navigation system 1 includes an audio output device, and the control device 10 can output audio via the audio output device.

  Thereafter, the process proceeds to step S50 to determine whether or not the vehicle has arrived at the destination. When the vehicle has not arrived ("NO"), the process returns to step S40 and the automatic operation control is continued. If the destination arrives at the above step S50 ("YES"), the process proceeds to step S60, where the arrival guidance is notified, for example, a message indicating that the destination has been reached is displayed on the display device 8 or outputted by voice. To inform the driver.

  In step S30, when all the high-accuracy map data is not provided ("NO"), the process proceeds to step S70, and the guidance route includes a portion (area) provided with high-accuracy map data and a high-accuracy. It is checked whether there is a mixture with a part (area) that does not have map data. Here, when they are mixed (“YES” in step S80), the process proceeds to step S90, and a message indicating that the route (guidance route) where automatic driving and manual driving are mixed is displayed on the display device 8. It outputs to the driver and informs the driver.

  Next, the process proceeds to step S100, where automatic driving of the vehicle is executed in an area where high-precision map data is provided in the guidance route, and manual driving of the vehicle is executed in an area where high-precision map data is not provided. Run. In this case, before the automatic driving of the vehicle is executed, a message to the effect that the automatic driving is executed is displayed on the display device 8 or output by voice thereafter. Similarly, before the manual operation of the vehicle is executed, a message to the effect that the manual operation is to be executed is displayed on the display device 8 or output by voice. Further, during manual operation, normal maze guidance for car navigation is executed.

  Thereafter, the process proceeds to step S110 to determine whether or not the vehicle has arrived at the destination. When the vehicle has not arrived ("NO"), the process returns to step S100 and the automatic operation or the manual operation is continued. If the destination arrives at the above step S110 (“YES”), the process proceeds to step S120, where the arrival guidance is notified, for example, a message indicating that the destination has been reached is displayed on the display device 8 or outputted by voice. To inform the driver.

  In step S80, when there is no mixture of map data, that is, when there is no high-accuracy map data for the guidance route ("NO"), the process proceeds to step S130 and travels to the destination by manual operation. A message to the effect that it is a route (guidance route) is displayed on the display device 8 or outputted by voice to notify the driver. Then, it progresses to step S140 and performs a manual driving | operation. In the case of manual operation, the route guidance for normal car navigation is executed.

  Thereafter, the process proceeds to step S150, where it is determined whether or not the vehicle has arrived at the destination. If the vehicle has not arrived ("NO"), the process returns to step S140, and the manual operation is continued. If the destination arrives at the above step S150 (“YES”), the process proceeds to step S160, where the arrival guidance is notified, for example, a message indicating that the destination has been reached is displayed on the display device 8 or outputted by voice. To inform the driver.

  According to this embodiment having such a configuration, when there is no high-accuracy map data in all the routes of the guide route from the current location to the destination, there is a portion that cannot be automatically operated in the guide route. Since it is configured to notify (step S90 and step S130 in FIG. 2), when the area where high-precision map data is maintained and the area where high-precision map data is not maintained are mixed. The driver can clearly understand that there is a portion that cannot be automatically driven in the guidance route, so that the driver does not feel uncomfortable.

  Further, in the above embodiment, automatic driving and manual driving are mixed when a portion with high-precision map data and a portion without high-precision map data are mixed for the guidance route. Since it is configured to notify that it is a guidance route to be performed (step S90 in FIG. 2), the driver can clearly recognize that automatic driving and manual driving are mixed.

  Further, in the above-described embodiment, the automatic operation is notified before the automatic operation is executed, and the manual operation is notified before the manual operation is executed (step S100 in FIG. 2). Thus, the driver can clearly recognize the execution of the automatic driving or the manual driving. Furthermore, in the above-described embodiment, when no high-precision map data is provided for the guidance route, it is notified that the guidance route is a guidance route that travels manually to the destination (step S130 in FIG. 2). Thus, the driver can clearly recognize that only manual driving is possible.

  3 and 4 show a second embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals. In the second embodiment, when an area with high-precision map data and an area without high-precision map data are mixed, the driver's condition is checked and manual driving cannot be performed. In some cases, the guidance route that can be automatically operated is set again. This will be specifically described below.

  First, the processing from step S10 to step S60 is the same as in the first embodiment. In step S30, when all the high-precision map data is not provided ("NO"), the process proceeds to step S200, and the driver's state (the driver performs steering) based on the detection signal from the driver state detector 6. Check if you hold with both hands, check the driver's heart rate (pulse) and blood pressure, whether the seating position of the driver's seat is appropriate, whether the driver's breath contains alcohol, etc. It is determined whether the person can perform manual operation.

  Here, when the driver is in a state where manual driving is not possible (“YES” in step S210), the process proceeds to step S220, and the control device 10 is a guidance route (guide route) that can automatically drive from the current location to the destination, that is, , Reset (recalculate) the guide route with high-precision map data for all routes from the current location to the destination. For example, as shown in FIG. 4, when area B is an area not provided with high-precision map data (when an area other than area B is an area provided with high-precision map data), step It is assumed that route B passing through area B is set as a guidance route in S10. In such a case, the route A that does not pass through the area B is reset in step S220. Here, the route B is a guidance route that prioritizes the shortest distance, the shortest time, the minimum fuel consumption, and the like. The route A is a guidance route that can continue the automatic operation even if it becomes a detour. In this case, the driver is notified of the fact that the guidance route capable of automatic driving has been reset, and that the guidance route has become a roundabout guidance route (displayed on the display device 8 or voice output). Is preferable.

  Thereafter, the process proceeds to step S40, and thereafter, the processing from step S40 to step S60 is executed in the same manner as in the first embodiment. In step S220, when a guidance route capable of automatic driving cannot be set, it is preferable to notify the driver to that effect and stop the control.

  In step S210, when the driver is in a state where manual driving is possible ("NO"), the process proceeds to step S80. Thereafter, the processing from step S80 to step S160 is executed in the same manner as in the first embodiment.

  The configuration of the second embodiment other than that described above is the same as the configuration of the first embodiment. Therefore, in the second embodiment, substantially the same operational effects as in the first embodiment can be obtained. In particular, according to the second embodiment, when the driver is in a state where manual driving is not possible, the user can travel to the destination by automatic driving by resetting a guidance route that can be driven automatically.

  In the second embodiment, when the driver is in a state where manual driving is not possible, the guidance route that allows automatic driving is set again. However, the present invention is not limited to this, and before entering the manual driving area. When the driver desires automatic driving, the driver may be able to input the request, and the guidance route that allows automatic driving may be reset.

  In the drawings, 1 is an in-vehicle navigation system, 2 is a position detector, 3 is a map data input device (storage unit), 5 is an in-vehicle camera, 6 is a driver state detector (detection unit), 8 is a display device, 10 is Control device (route calculation unit, check unit, notification unit, operation switching unit), 16 is a mobile phone, 17 is an in-vehicle communication device, 18 is a body system ECU, and 19 is a travel control system ECU.

Claims (6)

A vehicle driving support device (1) having a travel control function for automatically driving a vehicle,
A storage unit (3) for storing map data;
A route calculator (10) for calculating a guide route from the current location to the destination;
A check unit (10) for checking whether or not all of the guidance routes have high-precision map data necessary for automatic driving;
An informing unit (10) for notifying that there is a portion that cannot be automatically driven in the guidance route when all of the guidance routes are not equipped with highly accurate map data;
A vehicle driving support device comprising:   The notification unit (10) mixes automatic driving and manual driving when a portion having high-accuracy map data and a portion not having high-accuracy map data are mixed in the guidance route. The vehicle driving support device according to claim 1, wherein the vehicle is notified that the route is a guidance route.   The guidance route includes an operation switching unit (10) that executes automatic operation in a portion where high-precision map data is provided and performs manual operation in a portion where high-precision map data is not provided. The vehicle driving support device according to claim 2.   The notification unit (10) notifies that an automatic operation is to be executed before the execution of the automatic operation, and notifies that an automatic operation is to be executed before the execution of the manual operation. The vehicle driving support device according to claim 3.   The said alerting | reporting part (10) alert | reports that it is a guidance path | route which drive | works with a manual driving | running | working to the destination, when the highly accurate map data is not provided at all about the said guidance path | route. Vehicle driving support device. Provided with a detection unit (6) for detecting the state of the driver,
The route calculation unit (10) is a case where a portion having high-precision map data and a portion not having high-precision map data are mixed for the guidance route. 2. The vehicle driving support device according to claim 1, wherein when the state is a state where manual driving is impossible, the guidance route capable of automatic driving from the current position to the destination is recalculated.

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