JP7284679B2 - Autonomous driving system - Google Patents

Description

TECHNICAL FIELD The present invention relates to an automatic driving system having an automatic driving mode in which a vehicle automatically runs and a manual driving mode in which a driver operates the vehicle to run the vehicle.

In recent years, in vehicles such as automobiles, an automatic driving system has been developed for automatically driving the vehicle. In general, this automated driving system has an automated driving mode that assumes hands-free driving in which the driver does not need to grip the steering wheel, and a manual driving mode that allows the driver to grip the steering wheel and perform driving operations. ing.

In such an automated driving system, if it becomes difficult to continue automated driving due to an abnormality in the system, or if it becomes difficult to continue automated driving because the system is out of the operating area for which automated driving is intended, the driver will be forced to hold the steering wheel. is required to take over driving. In addition, when the driver desires manual driving by his/her own operation and performs an override operation of gripping the steering wheel during automatic driving, automatic driving is canceled and handed over to manual driving by the driver.

In order to take over the operation from the automatic operation to the manual operation, it is a condition that the driver is in a state in which proper driving operation is possible. For this reason, for example, Patent Document 1 discloses that the passenger can operate the steering wheel depending on whether or not the end of the operation task is detected within a predetermined time after the operation task of grasping the specified position of the steering wheel is requested. A technique for determining whether or not the state is

JP 2019-55632 A

In general, whether or not the driver grips the steering wheel is detected by a touch sensor provided on the steering wheel. However, as disclosed in Patent Document 1, when handing over driving from automatic driving to manual driving, simply designating the gripping position of the steering wheel unambiguously does not allow a part of the body to steer due to the driver's fault. Touching a specified position on the wheel or moisture adhering to a specified position on the steering wheel may cause the touch sensor to make an erroneous detection.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances. The purpose is to provide a system

An automatic driving system according to one aspect of the present invention includes an automatic driving mode in which a driver automatically drives the vehicle without touching the steering wheel, and a driving operation in which the driver grips the steering wheel to drive the vehicle. An automatic driving system comprising a manual driving mode for driving the vehicle, and a driving environment recognition unit that recognizes the driving environment in the traveling direction of the own vehicle, and the state of the driver during driving in the automatic driving mode. A driver monitoring unit that monitors and detects at least the state of the driver's face and hands, and determines the holding position of the steering wheel based on the recognition result of the driving environment and the detection result of the driver's state. and a gripping position presenting unit that presents the gripping position of the steering wheel determined by the gripping position determining unit to the driver.

Advantageous Effects of Invention According to the present invention, it is possible to prevent erroneous detection of gripping while properly instructing the driver about the gripping position of the steering wheel when switching from automatic driving to manual driving.

Schematic diagram of automated driving system Explanatory diagram showing the arrangement of the driver monitoring camera Explanatory diagram showing changes in steering gripping position Explanatory diagram showing changes in steering grip position according to steering angle Explanatory diagram showing the steering grip position when driving on a curve Explanatory diagram showing the steering grip position when the driver is facing left in the direction of travel of the vehicle. Explanatory drawing showing the steering grip position when the driver is facing the right side in the direction of travel of the vehicle. Explanatory diagram showing the steering grip position when the driver is looking downward Explanatory diagram showing the steering grip position when the driver's left hand is operating the device Explanatory diagram showing the steering grip position when the driver's right hand is operating the device Explanatory diagram showing the steering grip position when both hands of the driver are operating the device Explanatory diagram showing notification when the driver grips the steering wheel Flowchart of Steering Wheel Grip Position Notification Processing Flowchart of steering wheel gripping position determination processing Flowchart of Steering Wheel Grip Position Conversion Processing

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of an automatic driving system. The automatic driving system 1 shown in FIG. 1 is installed in a vehicle such as an automobile, and has an automatic driving mode in which the vehicle automatically runs without the driver touching the steering wheel, and an automatic driving mode in which the driver grips the steering wheel and operates the vehicle. It also has a manual operation mode for driving the vehicle.

Specifically, the automatic driving system 1 includes an automatic driving control unit 10 as a center, an external environment recognition unit 20, a locator unit 30, a driver monitoring unit 40, a braking/driving control unit 50, a steering control unit 60, and an information notification unit. 70 and the like. Each unit comprises a computer having a single or multiple processors and a computer system comprising peripheral devices, and is communicatively connected to each other via an in-vehicle network.

The external environment recognition unit 20 includes various devices for environment recognition such as a camera unit 21 and a radar device 22 such as a millimeter wave radar and a laser radar. Form the environment recognition part. The external environment recognition unit 20 includes detection information of objects around the own vehicle detected by the camera unit 21 and the radar device 22, etc., traffic information obtained by infrastructure communication such as road-to-vehicle communication and vehicle-to-vehicle communication, and positioning by the locator unit 30. The external environment around the own vehicle is recognized based on the positional information of the own vehicle.

For example, the external environment recognition unit 20 is equipped with a stereo camera composed of two cameras that take images of the same object from different viewpoints as the camera unit 21 in the vehicle, and a pair of left and right images captured by the stereo camera are captured. By stereo processing, the external environment is recognized three-dimensionally. The camera unit 21 as a stereo camera includes, for example, two shutter-synchronized color cameras each having an imaging device such as a CCD or CMOS near the rearview mirror inside the front window in the upper part of the passenger compartment, and are positioned in the vehicle width direction with a predetermined baseline length. It is configured to be arranged on the left and right.

A pair of left and right images captured by the camera unit 21 as a stereo camera are subjected to matching processing to obtain the amount of pixel shift (parallax) at corresponding positions between the left and right images. A distance image is generated by Based on the principle of triangulation, the points on the range image are coordinate-transformed into points on the real space centered on the vehicle, and the left and right white lines, obstacles, and lanes of the road on which the vehicle travels are demarcated. A vehicle or the like traveling in front of the vehicle is recognized three-dimensionally.

White lines on the left and right of a road can be recognized by extracting point groups that are candidates for white lines from an image and calculating straight lines and curves that connect the candidate points. For example, in a white line detection area set on an image, edges whose luminance changes more than a predetermined amount are detected on a plurality of search lines set in the horizontal direction (vehicle width direction), and one set of white lines is detected for each search line. By detecting the start point and the white line end point, an intermediate area between the white line start point and the white line end point is extracted as a white line candidate point.

Then, the white line is recognized by processing the time-series data of the spatial coordinate positions of the white line candidate points based on the amount of vehicle movement per unit time and calculating a model that approximates the left and right white lines. As the approximation model of the white line, it is possible to use an approximation model obtained by connecting straight line components obtained by Hough transform, or a model approximating with a curve such as a quadratic equation.

The locator unit 30, together with the external environment recognition unit 20, forms a driving environment recognition unit that recognizes the driving environment in the direction in which the vehicle is traveling. The position of the own vehicle is detected mainly by positioning based on In addition, when the positioning accuracy deteriorates due to the capture state of the signal (radio wave) from the satellite or the influence of multipath due to the reflection of the radio wave, the locator unit 30 uses the on-vehicle sensor such as the gyro sensor 32 and the vehicle speed sensor 33. The position of the own vehicle is detected by using positioning based on autonomous navigation.

Positioning by a plurality of navigation satellites is performed by receiving signals including information on orbits and times transmitted from the navigation satellites via the receiver 31, and based on the received signals, the self-position of the own vehicle is determined by longitude, latitude, and so on. Positioning is performed as an absolute position including altitude and time information. Positioning by autonomous navigation is based on the traveling direction of the vehicle detected by the gyro sensor 32 and the moving distance of the vehicle calculated from the vehicle speed pulse output from the vehicle speed sensor 33, and the relative position change is calculated as Measure the position of your vehicle.

The locator unit 30 also includes a map database DB, and specifies the position on the map data of the map database DB from the position data of the own vehicle that has been positioned. The map database DB is a database that holds high-precision maps created for travel control including automatic driving, and is stored in large-capacity storage media such as HDDs (hard disk drives) and SSDs (solid state drives). .

In detail, a high-definition map is a multi-dimensional map that holds static information such as road shapes and connections between roads, and dynamic information such as traffic information collected by infrastructure communication in multiple layers. (dynamic map). Road data includes types of road white lines, number of lanes, width of lanes, sequence of points data indicating center positions in the width direction of lanes, curvature of lanes, azimuth angles of travel lanes, speed limits, etc. are included and maintained together with attribute data such as data reliability and date of data update.

Furthermore, the locator unit 30 maintains and manages the map database DB, inspects the nodes, links, and data points of the map database DB to always keep them up-to-date, and also newly updates areas where there is no data on the database. Create and add data to build a more detailed database. The updating of the data in the map database DB and the addition of new data are carried out by comparing the position data obtained by positioning and the data stored in the map database DB.

The driver monitoring unit 40 includes a driver monitoring camera 41 that captures an image of the driver. The driver monitoring camera 41 is used to monitor the state of the driver, and to detect at least the state of the face and hands of the driver. functions as a person monitoring unit. Specifically, the driver monitoring unit 40 processes the image captured by the driver monitoring camera 41, and detects the direction of the driver's face and line of sight, the movement of the driver's hands, the operation status of various devices, and the like. do.

FIG. 2 is an explanatory diagram showing the arrangement of the driver monitoring camera. For example, the driver monitoring camera 41 is installed on the instrument panel in front of the driver's seat of the own vehicle M. As shown in FIG. The driver monitoring camera 41 images the driver D from the front, and is set so that the upper body including mainly the driver's face and hands is within the imaging range.

The driver monitoring unit 40 detects the orientation of the face, the direction of the line of sight, and the state of the hands of the driver D, based on the captured image of the driver D sitting in the driver's seat without gripping the steering wheel H. do. For example, the driver monitoring unit 40 determines from the image of the face Df of the driver D whether the driver D is facing the direction of travel of the vehicle and gazes ahead, or whether the driver is looking to the left or right of the direction of travel and looking aside. detect whether Further, from the image of the hand Dh of the driver D, it is detected whether or not the driver D is holding or operating a device T such as a mobile phone or a personal digital assistant with one hand or both hands.

In addition to the driver monitoring camera 41, the driver monitoring unit 40 includes a biological sensor for detecting biological information such as breathing, heart rate, blood pressure, body temperature, brain waves, etc. of the driver, and also detects the health condition of the driver. do.

The braking/driving control unit 50 controls the running driving force generated by the electric motor and the internal combustion engine, and also controls the running speed of the own vehicle, switching between forward and reverse, braking, and the like. For example, the braking/driving control unit 50 controls the operating state of the engine based on signals from various sensors that detect the operating state of the engine and various control information acquired via the in-vehicle network. Based on the wheel speed of the four wheels, the steering angle, the yaw rate, and other vehicle information, the brake devices (not shown) of the four wheels are controlled independently of the driver's brake operation. Furthermore, the braking/driving control unit 50 calculates the brake fluid pressure of each wheel based on the braking force of each wheel, and performs antilock brake control, side slip prevention control, and the like.

The steering control unit 60 controls the steering torque by an electric power steering (EPS) unit 61 provided in the steering system based on vehicle speed, driver's steering torque, steering angle, yaw rate, and other vehicle information. This steering torque control is executed as current control for the electric motor of the EPS unit 61 that achieves the target steering torque for matching the actual steering angle with the target steering angle. The EPS unit 61 uses the target steering torque from the steering control unit 60 as an instruction torque, and controls the drive current of the electric motor corresponding to this instruction torque, for example, by PID control.

The information notification unit 70 outputs an alarm for alerting the driver when an abnormality occurs in various devices of the vehicle, and various information to be presented to the driver. In addition, the information notification unit 70 presents the control state to the driver while running control including automatic driving is being executed, and when the running control including automatic driving is suspended by the driver's operation, the control state at that time is displayed. To inform the driver of the driving state. Information is presented by the information reporting unit 70 using at least one of visual outputs such as monitors, displays, and lamps, auditory outputs such as speakers and buzzers, and tactile outputs such as motor-driven vibration mechanisms. will be

In this embodiment, in order to directly and effectively notify the driver holding the steering wheel H, the steering wheel H is provided with light emitters such as LEDs over the entire circumference, and the motor and the eccentricity A vibration generator, such as a weight, is attached. The lighting of the steering wheel H is controlled by a steering lighting controller 71 connected to the information reporting unit 70 . Also, the vibration generator of the steering wheel H is controlled by a steering vibration controller 72 connected to the information reporting unit 70 .

Next, the automatic driving control unit 10, which is the core of the automatic driving system 1, will be described. A driving mode switch 11 for the driver to select a driving mode is connected to the automatic driving control unit 10 . When the driver operates the driving mode switch 11 to turn on the driving support mode or the automatic driving mode, the automatic driving control unit 10 operates the braking/driving control unit based on the information from the external environment recognition unit 20 and the locator unit 30. 50 and steering control unit 60.

The driving assistance mode is a mode for partially assisting the driver's driving operation, and in this embodiment, it is a driving mode in which the driver needs to grip or steer the steering wheel H. In addition, the automatic driving mode is a driving mode premised on hands-free driving in which the driver does not need to grip the steering wheel H, and acceleration/deceleration control and steering control are performed in the designed operating region where the automatic driving function operates normally. It is a conditional automatic operation mode that automatically performs all of the above.

A steering grip sensor 12 that detects that the driver has gripped the steering wheel H is connected to the automatic driving control unit 10 . The steering grip sensor 12 is, for example, a capacitive touch sensor in which an electrode layer is formed using a flexible conductive material, and is arranged along the entire circumference of the rim portion of the steering wheel H.

When the automatic driving control unit 10 no longer satisfies the conditions for continuing automatic driving (automatic driving conditions) during control in the automatic driving mode in which the driver does not need to touch the steering wheel H, the driver is instructed to drive. output a takeover request requesting the takeover of

For example, when an abnormality occurs in a part of the system, when it becomes difficult to continue automatic driving because it is out of the operation range of automatic driving, or when the driver monitoring unit 40 detects deterioration of the driver's physical condition If it is determined that the vehicle is not in a state in which normal operation is possible, it determines that the automatic operation conditions are not satisfied and outputs a takeover request.

When the automatic driving control unit 10 detects that the driver has gripped the steering wheel H in response to the takeover request from the signal from the steering grip sensor 12, the automatic driving control unit 10 stops controlling the automatic driving mode and drives the own vehicle. is handed over to the driver.

In addition, when the automatic driving control unit 10 detects that the driver has gripped the steering wheel H by a signal from the steering grip sensor 12 during control in the automatic driving mode, the driver performs manual driving by his/her own driving operation. It is determined that the override operation is desired to cause the own vehicle to run. When the automatic driving control unit 10 detects the driver's override operation, the automatic driving control unit 10 stops controlling the automatic driving mode and hands over the driving of the own vehicle to the driver.

A handover request to manual driving by such a system or a handover request to manual driving by a driver's override operation is accepted based on a signal from the steering grip sensor 12 . However, when the steering wheel grip sensor 12 detects that the driver has gripped the steering wheel H, there is a possibility that an erroneous contact with the steering wheel grip sensor 12 due to the driver's fault or an erroneous detection due to adhesion of moisture or the like may occur. .

For this reason, the automatic driving control unit 10 avoids that the same gripping position is continuously indicated by changing the gripping position of the steering wheel H (steering gripping position) at any time, and the steering gripping sensor 12 It is designed to prevent erroneous contact and erroneous detection. The automatic driving control unit 10 includes a gripping position determination unit 10a, a gripping position presenting unit 10b, and a gripping notification unit 10c as functions related to changing the gripping position of the steering wheel.

The gripping position determination unit 10 a determines the steering gripping position based on the recognition result of the driving environment by the external environment recognition unit 20 and the detection result of the driver's state by the driver monitoring unit 40 . Basically, when it is detected that the driver is facing the direction of travel of the vehicle and the driver is not operating any equipment with both hands open, handover to manual driving is performed. Randomly changed on every request and after a certain amount of time in one location.

FIG. 3 is an explanatory diagram showing changes in steering grip position. As shown in FIG. 3, at the time of the first takeover request (n=1), if the upper right area R11 and the lower left area R12 of the steering wheel H are determined as the steering grip position, the next takeover request (n =2), the steering grip position is changed to the upper left area R21 of the steering wheel H and the lower right area R22. Further, in the third takeover request (n=3), the upper region R31 and the lower region R32 of the steering wheel H are set as the steering grip position. The same applies when a predetermined time has passed at a predetermined steering gripping position.

In this case, the gripping position determination unit 10a shifts the steering gripping position in the circumferential direction according to the steering angle or the steering speed, with the steering angle θ of 0 degrees as the reference position, and shifts the steering gripping position to a state where the steering angle θ is other than 0 degrees. However, it is adjusted so that the steering gripping position is the same position as seen from the driver.

FIG. 4 is an explanatory diagram showing changes in the steering gripping position according to the steering angle. In FIG. 4, the steering gripping position is adjusted so that the regions R11 and R12 are the same as seen from the driver even when the steering angle θ is different from θ=0, θ=θ1, θ=θ2. . The same applies when the steering speed is different.

In addition, when determining the steering grip position, the gripping position determination unit 10a, as shown in the following (1) to (3), the shape of the road in the traveling direction of the own vehicle, the state of the driver's hand, the driver's The steering grip position is determined based on the face direction detection result.
(1) Road Shape in Traveling Direction of Own Vehicle When the gripping position determination unit 10a detects that the road shape in the traveling direction of the own vehicle is a curve with a curvature greater than or equal to a preset curvature, the steering gripping position is set to the steering wheel H. to the upper position of the The shape of the road in the traveling direction of the own vehicle can be detected from recognition information from the external environment recognition unit 20 and map information and self-position information from the locator unit 30 .

FIG. 5 is an explanatory diagram showing a steering gripping position when traveling on a curve. In FIG. 5, two regions Rcv1 and Rcv2 on the upper portion of the steering wheel H are the steering gripping positions. As a result, it is possible to improve the operability when the driver grips the steering wheel H and steers the vehicle while traveling around a curve.
(2) Direction of Driver's Face When the driver monitoring unit 40 detects that the driver is facing left or right with respect to the traveling direction of the vehicle, the gripping position determination unit 10a Determine the position on the side in which the driver is facing. It should be noted that the orientation of the driver's face here includes the direction of the driver's line of sight.

FIG. 6 is an explanatory diagram showing the steering grip position when the driver is looking leftward in the direction of travel. In FIG. 6, the upper and lower areas Rl1 and Rl2 on the left half side of the steering wheel H are the steering gripping positions, and it becomes easy for the driver to recognize the gripping position of the steering wheel H within the left side of the field of vision. , it is possible to quickly grasp the steering wheel H and take over driving.

FIG. 7 is an explanatory diagram showing the steering grip position when the driver is looking to the right in the direction of travel. In FIG. 7, the upper and lower regions Rr1 and Rr2 on the right half side of the steering wheel H are the steering gripping positions, and it becomes easy for the driver to recognize the gripping position of the steering wheel H within the right field of vision. , it is possible to quickly grasp the steering wheel H and take over driving.

FIG. 8 is an explanatory diagram showing the steering grip position when the driver is looking downward. In FIG. 8, the left and right regions Rd1 and Rd2 on the lower half side of the steering wheel H are the steering gripping positions, and it is easy for the driver to recognize the gripping position of the steering wheel H within the lower field of view facing the driver. As a result, it becomes possible to quickly grasp the steering wheel H and take over driving.
(3) State of Driver's Hands When the driver monitoring unit 40 detects that the driver is operating a device with either the left or right hand, the gripping position determination unit 10a changes the steering gripping position to the the side of the hand that is not operating the device.

FIG. 9 is an explanatory diagram showing the steering grip position when the driver's left hand is operating the device. In FIG. 9, since the driver operates the device T with the left hand Dhl, the regions Rtr1 and Rtr2 of the steering wheel H on the right hand Dhr side where the device is not operated are the steering gripping positions. As a result, the driver can quickly grasp the steering wheel H with the free right hand Dhr and take over driving.

FIG. 10 is an explanatory diagram showing the steering gripping position when the right hand of the driver is operating the device. In FIG. 10, since the driver operates the device T with the right hand Dhr, the regions Rtl1 and Rtl2 of the steering wheel H on the left hand Dhl side where the device is not operated are the steering gripping positions. As a result, the driver can quickly grasp the steering wheel H with the left hand Dhl in a free state and take over driving.

Further, the gripping position determination unit 10a determines the steering gripping position to be the entire steering wheel H when the driver monitoring unit 40 detects that the driver is operating the device with both hands.

FIG. 11 is an explanatory diagram showing the steering grip position when both hands of the driver are operating the device. In FIG. 11, both hands Dhl and Dhr of the driver are operating the devices T1 and T2, so the gripping position determining unit 10a sets the entire region Rall of the steering wheel H as the steering gripping position. As a result, it is possible for the driver to quickly grip the steering wheel H at the position where it is easiest for the driver to take over driving.

The gripping position presenting unit 10b transmits the steering gripping position determined by the gripping position determining unit 10a to the information reporting unit 70. FIG. In the present embodiment, the information notification unit 70 causes a portion of the steering wheel H corresponding to the steering gripping position to emit light via a steering lighting controller 71 to notify the driver of the gripping position.

The steering gripping position may be notified using a display panel or HUD (head-up display) provided on an instrument panel or the like. For example, the steering wheel H may be graphically displayed on the display panel or HUD, and the steering grip position shown in FIGS.

The grip notification unit 10c notifies the information notification unit 70 when it is detected by the signal from the steering grip sensor 12 that the driver has gripped the grip position of the steering wheel H presented by the grip position presentation unit 10b. In the present embodiment, the information notification unit 70 vibrates the steering wheel H via the steering vibration controller 72 to notify the driver.

FIG. 12 is an explanatory diagram showing notification when the driver grips the steering wheel. As shown in FIG. 12, when the driver properly grips the grip position of the steering wheel H suggested by the system, the entire steering wheel H vibrates. As a result, it is possible to tactilely inform the driver that the system has recognized that the steering wheel H has been gripped by the driver. In this case, even if the driver grips or touches a portion of the steering wheel H other than the presented portion, the system does not recognize it as gripping, and the steering wheel H does not vibrate.

Next, the operation of the automatic driving system 1 will be described, focusing on the operation of the automatic driving control unit 10 shown in the flowcharts of FIGS. 13 to 15. FIG. FIG. 13 is a flowchart of steering wheel gripping position notification processing, FIG. 14 is a flowchart of steering wheel gripping position determination processing, and FIG. 15 is a flowchart of steering wheel gripping position conversion processing.

First, the steering wheel gripping position reporting process of FIG. 13 will be described. In this steering wheel gripping position notification process, the automatic driving control unit 10 checks whether or not the automatic driving mode is ON based on the signal from the driving mode switch 11 in the first step S1. When the automatic operation mode is OFF, the process waits until the automatic operation mode is turned ON, and when the automatic operation mode is turned ON, the process proceeds from step S1 to step S2.

In step S2, the automatic driving control unit 10 executes the steering wheel gripping position determination process of FIG. 14 to determine the gripping position of the steering wheel H. FIG. Further, the automatic driving control unit 10 executes the steering wheel gripping position conversion process of FIG. 15 in step S3 to convert the determined steering wheel gripping position to a position according to the steering angle and the steering speed.

Here, the steering wheel gripping position determining process in step S2 and the steering wheel gripping position conversion process in step S3 will be described.

First, in the steering wheel gripping position determination process of step S2, the automatic driving control unit 10, as shown in FIG. Execute processing to detect the shape of the road in the direction of travel.

Next, based on the information from the driver monitoring unit 40, the automatic driving control unit 10 executes a process of detecting the orientation of the driver's face in step S12, and detects the state of the driver's hands in step S13. Execute the processing to be performed. Further, the automatic driving control unit 10 executes random number calculation processing in step S14, and proceeds to position determination processing in step S15.

In step S15, the automatic driving control unit 10 determines the steering gripping position based on the detection processing results of steps S11 to S13 and the random number calculation processing result of step S14. When determining the steering gripping position, the detection results of steps S11 to S13 and the random number calculation processing result of step S14 are appropriately selected.

For example, as described above, when the shape of the road in the direction in which the vehicle is traveling is a curve with a curvature greater than the set curvature, the steering gripping position is limited to the upper portion of the steering wheel H and determined. Further, when the driver faces left, right, or downward with respect to the traveling direction of the vehicle, the steering gripping position is determined on the side of the steering wheel H facing the driver.

Further, when the driver operates either the left or right hand device, the steering gripping position is determined on the side of the steering wheel H not operated by the driver. The steering grip position is determined on the entire steering wheel H when operating the device with .

In addition, when the road shape is a straight road, the driver is facing the direction of travel of the vehicle, and the driver is not operating a device with both hands open, the steering wheel grip position is determined by random number arithmetic processing. determined by the resulting random position.

Next, in the steering wheel gripping position conversion process in step S3, the automatic driving control unit 10 acquires information on the steering gripping position in the first step S21, as shown in FIG. Get steering speed information. Then, in step S23, the automatic driving control unit 10 executes steering gripping position conversion processing for converting the steering gripping position to a position shifted in the circumferential direction by a predetermined angle based on the current steering angle and steering speed.

After that, the automatic driving control unit 10 returns to the steering wheel gripping position notification process, and in step S4, executes the steering gripping position display process for displaying and specifying the previously determined steering gripping position. In this steering gripping position display processing, the automatic driving control unit 10 transmits the steering gripping position to the information notification unit 70, and emits light at the specified position of the steering wheel H via the steering light emission controller 71, so that the driver can see the steering wheel. Present the gripping position.

Next, in step S5, the automatic driving control unit 10 determines whether or not the steering wheel H is gripped at the steering gripping position presented in step S4 based on the signal from the steering gripping sensor 12. When the automatic driving control unit 10 determines that the steering wheel H is not gripped at the presented steering gripping position, the process proceeds to step S6 and checks whether or not the set time has elapsed.

In step S6, if the set time has not elapsed, the automatic driving control unit 10 returns from step S6 to step S3, and changes the steering grip position when the steering angle or steering angular velocity changes. When the set time has elapsed, the automatic driving control unit 10 returns from step S6 to step S2 and redetermines the steering gripping position to a new position.

On the other hand, in step S5, when the automatic driving control unit 10 determines that the steering wheel H is gripped at the presented position, the process proceeds from step S5 to step S7. In step S7, the automatic driving control unit 10 notifies the information notification unit 70 that the steering wheel H is gripped, and returns to the process of step S1. The information notification unit 70 vibrates the steering wheel H via the steering vibration controller 72 to notify the driver that the system has recognized that the steering wheel H has been gripped.

As described above, in the present embodiment, when driving is handed over from automatic driving to manual driving, the recognition result of the driving environment by the external environment recognition unit 20 and the locator unit 30 and the detection result of the driver's state by the driver monitoring unit 40 are obtained. The gripping position of the steering wheel H is determined based on and, and the determined gripping position of the steering wheel is presented to the driver, so that erroneous detection of gripping can be prevented while properly instructing the driver about the gripping position of the steering wheel. be able to.

1 Automatic Driving System 10 Automatic Driving Control Unit 10a Grip Position Determination Unit 10b Grip Position Presentation Unit 10c Grip Notification Unit 11 Operation Mode Switch 12 Steering Grip Sensor 20 External Environment Recognition Unit 30 Locator Unit 40 Driver Monitoring Unit 41 Driver Monitoring Camera 50 Braking and driving control unit 60 Steering control unit 70 Information notification unit 71 Steering light emission controller 72 Steering vibration controller

Claims (9)

An automatic driving mode comprising an automatic driving mode in which the vehicle is automatically driven without the driver touching the steering wheel, and a manual driving mode in which the vehicle is driven by the driver gripping the steering wheel and operating the vehicle. a driving system,
a driving environment recognition unit that recognizes the driving environment in the traveling direction of the own vehicle;
a driver monitoring unit that monitors the state of the driver while traveling in the automatic driving mode and detects at least the state of the driver's face and hands;
a gripping position determination unit that determines a gripping position of the steering wheel based on the recognition result of the driving environment and the detection result of the driver's state;
a gripping position presentation unit that presents the gripping position of the steering wheel determined by the gripping position determination unit to the driver;
An automatic driving system comprising: The present invention further comprises a gripping notification unit that, when recognizing that the driver has gripped the gripping position of the steering wheel presented by the gripping position presentation unit, notifies the driver by vibrating the steering wheel. The automatic driving system according to claim 1. The gripping position determination unit determines the gripping position of the steering wheel to be a position above the steering wheel when the driving environment recognition unit recognizes that the road shape in the traveling direction of the vehicle is curved. The automatic driving system according to claim 1 or 2, characterized by the above. When the driver monitoring unit detects that the driver is operating the device with either the left or right hand, the gripping position determining unit adjusts the gripping position of the steering wheel to the position where the device is not operated. 3. The automatic driving system according to claim 1, wherein the determination is made on the hand side. When the driver monitoring unit detects that the driver is operating the device with both hands, the gripping position determining unit determines the gripping position of the steering wheel to be the entire steering wheel. The automatic driving system according to claim 1 or claim 2. The gripping position determination unit adjusts the gripping position of the steering wheel to the driving position when the driver monitoring unit detects that the driver is facing left or right with respect to the traveling direction of the host vehicle. 3. The automatic driving system according to claim 1 or 2, wherein the direction to which the person is facing is determined. When the driver monitoring unit detects that the driver is facing the traveling direction of the vehicle and both hands of the driver are open, the gripping position determination unit determines the gripping position of the steering wheel. 3. The automatic driving system according to claim 1, wherein the position is determined at random. The automatic driving system according to claim 7, wherein the gripping position determining unit adjusts the gripping position of the steering wheel according to a steering angle or a steering speed of the steering wheel. The gripping position presentation unit presents the gripping position of the steering wheel determined by the gripping position determination unit to the driver by causing the corresponding position of the steering wheel to emit light. 9. The automatic driving system according to any one of 8.

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