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WO2018150677A1 - Dispositif d'aide à la commutation de conduite et procédé d'aide à la commutation de conduite - Google Patents

Dispositif d'aide à la commutation de conduite et procédé d'aide à la commutation de conduite Download PDF

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Publication number
WO2018150677A1
WO2018150677A1 PCT/JP2017/042380 JP2017042380W WO2018150677A1 WO 2018150677 A1 WO2018150677 A1 WO 2018150677A1 JP 2017042380 W JP2017042380 W JP 2017042380W WO 2018150677 A1 WO2018150677 A1 WO 2018150677A1
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WO
WIPO (PCT)
Prior art keywords
driver
sight
line
driving
switching
Prior art date
Application number
PCT/JP2017/042380
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English (en)
Japanese (ja)
Inventor
匡史 日向
初美 青井
芽衣 上谷
Original Assignee
オムロン株式会社
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Filing date
Publication date
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Publication of WO2018150677A1 publication Critical patent/WO2018150677A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a driving switching support device and a driving switching support method, and more particularly, to a driving switching support device that supports switching from automatic driving that automatically performs vehicle driving control to manual driving by a driver, and driving.
  • the present invention relates to a switching support method.
  • the technical level of automatic driving includes several levels, such as a level that automates a part of driving control (acceleration, steering, braking, etc.), a combination of these, advanced level, and a level of full automation.
  • a level that automates a part of driving control acceleration, steering, braking, etc.
  • advanced level advanced level
  • level of full automation a level of full automation.
  • the driver may perform work other than driving or the driver's arousal level may decrease. For this reason, it is necessary to assist the driver so that the handover from the automatic operation to the manual operation can be performed safely, and techniques relating to these are also being studied.
  • Patent Document 1 when an automatic driving section ends, a safety confirmation index is presented in a position in a vehicle where safety should be confirmed, for example, a front window, a room mirror, and left and right side windows, A technique for detecting a user's finger pointing confirmation operation with respect to the presented index with a camera and controlling the vehicle based on the detection result, for example, if there is a possibility that the driver has neglected the finger pointing confirmation operation, the vehicle deceleration And a technique for canceling automatic driving after expanding the distance between vehicles.
  • the present invention has been made in view of the above problems, and when switching from automatic driving to manual driving, driving switching that can prompt accurate safety confirmation according to the surrounding situation of the vehicle and the driver's line-of-sight trend
  • An object is to provide a support device and a driving switching support method.
  • a driving switching support device (1) is a driving switching support device that assists a driver to switch from automatic driving to automatically driving control of a vehicle to manual driving.
  • data detected by a line-of-sight detection unit that detects the driver's line of sight and data detected by an object detection unit that detects objects existing around the vehicle are used.
  • a line-of-sight determination unit that determines a relationship between the driver's line of sight and the object; Based on the determination result by the line-of-sight determination unit, a caution prompting processing unit that performs a process of calling the driver attention;
  • a signal output unit for outputting a signal for permitting switching from the automatic operation to the manual operation to the automatic operation control unit when a predetermined condition is satisfied after the dunning process by the attention dunning processing unit; It is characterized by.
  • the driver's line of sight is obtained by using the data detected by the line-of-sight detection unit and the data detected by the object detection unit before switching to the manual driving. And the object is determined, and based on the determination result, a dunning process for calling the driver's attention is performed. Therefore, accurate safety according to the surrounding situation of the vehicle and the driver's line-of-sight trend Confirmation can be urged, and handing over to the manual operation can be performed safely.
  • the line of sight determination unit in which the driver's line of sight stays in a direction different from the direction of the object? Whether or not When it is determined by the line-of-sight determination unit that the driver's line of sight is staying in a direction different from the direction of the object, the caution urge processing unit performs a urging process to urge the driver to pay attention. It is characterized by what it does.
  • the driving switching support device (2) when it is determined that the driver's line of sight is staying in a direction different from the direction of the target object, a dunning process for calling the driver is performed. Therefore, the driver can quickly check the object existing in a direction different from the direction of his / her line of sight by the prompting process, and can check the situation around the vehicle without fail.
  • the driving switching support device (3) is the data detected by the driver state detection unit that detects the state of the driver before switching to the manual driving in the driving switching support device (1).
  • a driver state determination unit that determines whether or not the driver is in a state where manual driving is possible, The line-of-sight determination unit determines whether or not the driver's line of sight is staying in a direction different from the direction of the object; The driver state determination unit determines that the driver is in a state where manual driving is possible, and the gaze determination unit retains the driver's line of sight in a direction different from the direction of the object.
  • the caution dunning processing unit performs a dunning process for urging the driver to pay attention.
  • the driver state determination unit determines that the driver is in a state where manual driving is possible, and the line-of-sight determination unit differs from the direction of the object.
  • a dunning process for urging the driver to perform attention is performed, so that the direction of the driver is different from the direction of his / her line of sight by the dunning process.
  • the object existing in the vehicle can be quickly confirmed, and the situation around the vehicle can be confirmed without fail in the state where the manual operation is possible.
  • the driving switching support device (4) is the data detected by the line-of-sight detection unit in the driving switching support devices (1) to (3) after the dunning process by the attention dunning processing unit. And a visual recognition determination unit that determines whether or not the object is visually recognized by the driver using the data detected by the object detection unit, The predetermined condition is that the visual recognition determination unit determines that the object is visually recognized by the driver.
  • the driving switching support device (4) after the reminding process, when it is determined that the object is visually recognized by the driver, a signal for permitting switching to the manual driving is the automatic driving control unit. Therefore, after the driver has confirmed the situation around the vehicle without fail, the switching to the manual driving can be performed, and the safety at the time of the switching can be further improved.
  • the driving switching support method is a driving switching support method executed by a computer mounted on a vehicle capable of switching from automatic driving for automatically controlling driving of the vehicle to manual driving by the driver, Before switching to the manual driving, data detected by a line-of-sight detection unit that detects the driver's line of sight and data detected by an object detection unit that detects objects existing around the vehicle are used.
  • a line-of-sight determination step for determining a relationship between the driver's line of sight and the object; Based on the determination result of the line-of-sight determination step, a caution prompting process step for performing a process of urging the driver to pay attention;
  • the driving switching support method before switching to the manual driving, using the data detected by the line-of-sight detection unit and the data detected by the object detection unit, the driver's line-of-sight and the target Since the dunning process is performed to call attention to the driver based on the determination result, an appropriate safety check according to the surrounding situation of the vehicle and the driver's line-of-sight trend is promoted. And hand over to the manual operation can be performed safely.
  • FIG. 1 is a block diagram showing a schematic configuration of an automatic driving system including an operation switching support device according to the embodiment (1).
  • FIG. 2 is a block diagram illustrating a schematic configuration of the operation switching support apparatus according to the embodiment (1).
  • the automatic driving system 1 includes a driving switching support device 10 and an automatic driving control device 30, and includes an automatic driving function for automatically performing driving control such as acceleration, steering, and braking of a vehicle, and a manual driving function by a driver's operation. It has.
  • the automatic driving system 1 includes a driver monitoring device 20, a power source control device 40, a steering control device 50, a braking control device 60, an accelerator pedal sensor 71, a steering sensor. 72, a brake pedal sensor 73, a peripheral monitoring sensor 74, a navigation system 80, an HMI (Human-Machine-Interface) 90, a communication device 100, and the like, which include various sensors and control devices necessary for controlling automatic driving and manual driving. . These various sensors and control devices are connected via the communication bus 2.
  • the operation switching support device 10 is a device that executes various controls such as a caution prompting process and a signal output process for assisting switching from automatic driving to manual driving, and includes a control unit 10a, a storage unit 10b, and various signals not shown. Input section and output section.
  • the control unit 10a includes a microprocessor including a CPU, a ROM, a RAM, and the like, and reads various programs stored in the ROM into the RAM, and executes them by the CPU.
  • the driving switching support device 10 is connected to the automatic driving control device 30, the driver monitoring device 20, the surroundings monitoring sensor 74, the navigation system 80, the HMI 90, the communication device 100, and the like.
  • the control etc. which output the signal which permits the switch to driving
  • the driver monitor device 20 includes one or more cameras 21 that capture an image of the driver's condition.
  • the driver monitor device 20 is installed at a position where the image of the driver can be taken (for example, a state facing the driver seat side in front of the driver seat).
  • Image data of the driver sequentially captured by the driver monitor device 20 is output to the driving switching support device 10 at a predetermined timing.
  • the driver monitor device 20 and the operation switching support device 10 may be configured as an integrated device.
  • a handle contact sensor, a seating sensor, a biological information sensor, etc. may be provided in addition to the driver monitor device 20.
  • the handle contact sensor and the seating sensor are each constituted by a pressure-sensitive sensor or a capacitance sensor provided on the handle or the seat, respectively.
  • the biological information sensor is a sensor that detects a driver's biological information (pulse, blood pressure, brain wave, etc.), and is composed of a wearable sensor worn by the driver, a non-contact sensor using radio waves (microwave, etc.), and the like.
  • the driver monitor device 20 and these sensors may be combined.
  • the camera 21 mounted on the driver monitor device 20 is, for example, an infrared light camera unit (including an image sensor such as a CCD or a CMOS), an infrared light irradiation unit so that the driver's state can be imaged regardless of day or night. (LED), an interface unit, and a camera control unit that controls these units.
  • the camera control unit controls the infrared light camera unit and the infrared light irradiation unit, irradiates infrared light (such as near infrared rays) from the infrared light irradiation unit, and the reflected light of the infrared light from the infrared light camera unit.
  • infrared light camera unit including an image sensor such as a CCD or a CMOS
  • LED infrared light irradiation unit so that the driver's state can be imaged regardless of day or night.
  • LED an interface unit
  • a camera control unit controls these units.
  • the camera control unit
  • the automatic driving control device 30 is a device that executes various types of control related to the automatic driving of the vehicle, and includes an electronic control unit that includes a control unit 30a, a storage unit 30b, an input unit for various signals (not shown), an output unit, and the like. Yes.
  • the control unit 30a includes a microprocessor including a CPU, a ROM, a RAM, and the like, and reads various programs stored in the ROM into the RAM and executes them by the CPU, thereby executing various vehicle controls.
  • the automatic driving control device 30 includes a power source control device 40, a steering control device 50, a braking control device 60, an accelerator pedal sensor 71, a steering sensor 72, a brake pedal sensor 73, a peripheral monitoring sensor 74, The navigation system 80, the HMI 90, the communication device 100, and the like are connected. Based on the information acquired from these, the automatic driving control device 30 outputs a control signal for performing automatic driving to each control device, and performs automatic driving control (automatic steering control, automatic speed adjustment control, automatic braking control, etc.) of the vehicle. )I do.
  • the automatic driving means that the vehicle is automatically driven along the road by the control performed by the automatic driving control device 30 without driving by the driver.
  • work automatically toward the set destination is contained.
  • the automatic driving control device 30 ends the automatic driving when it is determined that the vehicle during the automatic driving has reached a predetermined automatic driving end point.
  • the automatic driving control device 30 controls the automatic driving to be terminated when the driver performs an automatic driving cancel operation (for example, an operation of an automatic driving cancel button, a steering wheel, an accelerator or a brake operation by the driver). May be performed.
  • Manual driving is a driving state in which the vehicle is driven mainly by the driving operation of the driver.
  • the power source control device 40 is an electronic control unit that controls a power source such as a vehicle engine or a motor.
  • the power source control device 40 controls the driving force of the vehicle by controlling, for example, the amount of fuel supplied to the engine and the amount of air supplied, or the amount of electricity supplied to the motor.
  • the driving force of the vehicle is controlled according to a control signal from the automatic driving control device 30.
  • the steering control device 50 is an electronic control unit that controls the electric power steering system of the vehicle.
  • the steering control device 50 controls the steering torque of the vehicle by driving an assist motor that controls the steering torque of the vehicle in the electric power steering system.
  • the steering torque is controlled according to a control signal from the automatic operation control device 30.
  • the braking control device 60 is an electronic control unit that controls the brake system of the vehicle.
  • the braking control device 60 controls the braking force applied to the wheels of the vehicle, for example, by adjusting the hydraulic pressure applied to the hydraulic brake system.
  • the braking force to the wheels is controlled in accordance with a control signal from the automatic driving control device 30.
  • the accelerator pedal sensor 71 is a sensor that detects the amount of depression of the accelerator pedal (accelerator pedal position). A signal corresponding to the depression amount of the accelerator pedal detected by the accelerator pedal sensor 71 is output to the automatic driving control device 30 and the power source control device 40.
  • the steering sensor 72 is, for example, a sensor that is provided on the steering shaft of the vehicle and detects a steering torque applied to the steering wheel by the driver. A signal corresponding to the driver's steering operation detected by the steering sensor 72 is output to the automatic driving control device 30 and the steering control device 50.
  • the brake pedal sensor 73 is a sensor that detects the amount of depression of the brake pedal (the position of the brake pedal) or the operation force (such as the depression force). A signal corresponding to the depression amount and operating force of the brake pedal detected by the brake pedal sensor 73 is output to the automatic driving control device 30 and the braking control device 60.
  • the perimeter monitoring sensor 74 is an object existing around the vehicle (moving objects such as cars, bicycles, people, road markings (white lines, etc.), guardrails, median strips, and other structures that affect the running of the vehicle) It is a sensor which detects.
  • the peripheral monitoring sensor 74 includes at least one of a front monitoring camera, a rear monitoring camera, a radar, a rider, and an ultrasonic sensor. Object detection data detected by the periphery monitoring sensor 74 is output to the operation switching support device 10 and the automatic operation control device 30.
  • a stereo camera, a monocular camera, etc. may be employ
  • a radar detects the position, direction, distance, and the like of an object by transmitting radio waves such as millimeter waves around the vehicle and receiving radio waves reflected by the object existing around the vehicle.
  • the rider detects the position, direction, distance, and the like of the object by transmitting laser light around the vehicle and receiving light reflected by the object present around the vehicle.
  • the navigation system 80 is a device that performs route guidance to a set destination, and includes a GPS reception unit 81, a map database 82, a navigation control unit 83, a display unit (not shown), an operation unit, a vehicle speed sensor, an acceleration sensor, and a yaw rate. Sensors etc. are included.
  • the GPS receiver 81 measures vehicle position information (for example, longitude and latitude).
  • the map database 82 includes high-precision map data for automatic driving control as well as map data for guidance display.
  • map data include lanes such as road positions (intersections, junctions, etc.), types (high speeds, general roads, etc.), shapes (gradients, radius of curvature, etc.), and detailed road information (lanes, traffic jams, lane regulation information, etc.) Information that can create a route in units is included.
  • the navigation system 80 determines the road and lane on which the vehicle travels based on the vehicle position information measured by the GPS receiver 81 and the map database 82, and the route from the current position of the vehicle to the destination. Is calculated, the route is displayed on the display unit, and the route guidance is performed by voice.
  • the vehicle position information, travel road information, guide route information, and the like obtained by the navigation control unit 83 are output to the driving switching support device 10 and the automatic driving control device 30.
  • the information on the guide route includes information related to control of automatic driving such as the start / end points of the automatic driving section and the end (cancellation) notice point of automatic driving.
  • An HMI (Human Machine Interface) 90 informs the driver of the operating status and release information of the automatic driving system 1 visually and audibly based on signals transmitted from the driving switching support device 10 and the automatic driving control device 30.
  • This is a device for outputting an operation signal related to automatic driving control to the driving switching support device 10 or the automatic driving control device 30.
  • the HMI 90 includes, for example, a display unit 91, an audio output unit 92, an operation unit 93, a microphone (not shown), and the like that are provided at positions that are easily visible to the driver.
  • the driver monitor device 20 may be incorporated in the HMI 90.
  • the communication device 100 is a device that acquires various types of information via a wireless communication network (for example, a communication network such as a mobile phone network, VICS (registered trademark), DSRC (registered trademark)).
  • the communication device 100 may have a vehicle-to-vehicle communication function or a road-to-vehicle communication function.
  • a vehicle-to-vehicle communication function or a road-to-vehicle communication function for example, a road on the course of the vehicle by road-to-vehicle communication with a roadside transmitter / receiver (eg, optical beacon, ITS Spot (registered trademark)) provided beside the road
  • a roadside transmitter / receiver eg, optical beacon, ITS Spot (registered trademark)
  • the driving switching support device 10 includes a driver state detection unit 11, a line-of-sight detection unit 12, a driver state determination unit 13, a line-of-sight determination unit 14, a caution prompting processing unit 15, a visual recognition determination unit 16, a switching permission signal output unit 17, and switching.
  • a non-permission signal output unit 18 and an object detection unit 19 are provided.
  • the functions of these units are realized by the control unit 10a.
  • the driver state detection unit 11 performs image processing on the captured data acquired from the driver monitor device 20 before switching to manual operation (before automatic driving is canceled), and detects the state of the driver.
  • “Before switching to manual operation” refers to the timing at which automatic operation is switched to manual operation. For example, it is the timing when the driving switching support device 10 inputs the automatic driving end signal output from the automatic driving control device 30. Specifically, this is the timing at which the processes of steps S4 and S5 shown in FIG.
  • Various methods can be adopted as an image processing method for detecting the state of the driver. For example, a feature amount extraction process or an analysis process indicating the contour, direction, position, movement, blinking operation, and the like of the driver's face is performed from the imaging data.
  • the line-of-sight detection unit 12 performs image processing of the captured data acquired from the driver monitor device 20 and detects the driver's line of sight before switching to manual operation.
  • Various methods can be adopted as an image processing method for detecting the driver's line of sight.
  • the movement of the line of sight is detected based on the positional relationship between a reference point (a portion that does not move) and a moving point (a portion that moves) in the image portion of the driver's eyes.
  • a reference point a portion that does not move
  • a moving point a portion that moves
  • the positional relationship is detected by setting the reference point as the head and the moving point as the iris.
  • an infrared camera is used, the positional relationship is detected by setting the reference point as the corneal reflection and the moving point as the pupil.
  • the driver state determination unit 13 determines the driver state using data indicating the driver state detected by the driver state detection unit 11, and determines whether or not the driver is in a state where manual driving is possible. judge.
  • the state of the driver means, for example, a state of facing forward, a state of looking aside, a state of working (reading, eating, drinking, playing games, operating a smartphone, etc.) without looking forward, and drowsiness State of being asleep, falling asleep, sudden seizures and panic. For example, when the driver is facing forward, the driver state determination unit 13 determines that it is in a state where manual driving is possible.
  • the line-of-sight determination unit 14 uses the data detected by the line-of-sight detection unit 12 that detects the driver's line of sight and the data detected by the object detection unit 19 that detects objects existing around the vehicle. The relationship between the person's line of sight and the object is determined. For example, the driver's line-of-sight trend and the position of the object are collated to determine whether or not the driver's line of sight is staying in a direction different from the direction of the object.
  • the object detection unit 19 affects objects existing around the vehicle (moving objects such as cars, bicycles, people, road markings, guardrails, median strips, and other vehicles) detected by the periphery monitoring sensor 74. And the data of the object (including road environment information and information related to other vehicles) acquired from the outside of the vehicle via the communication device 100, and the like.
  • the determination as to whether or not the driver's line of sight remains is, for example, whether or not the direction (position) of the line of sight remains in a direction (in the region) where the object does not exist for a certain period of time, Alternatively, the determination is made based on whether or not a certain frequency is detected within a predetermined time.
  • the attention prompting processing unit 15 is determined by the driver state determination unit 13 to be in a state where the driver can perform manual driving, and the direction of the target detected by the target detection unit 19 by the line-of-sight determination unit 14 is When it is determined that the driver's line of sight is staying in a different direction, a urging process for urging the driver to watch the direction of the object is performed.
  • the line-of-sight detection unit 12 After the dunning process by the attention dunning processing unit 15, the line-of-sight detection unit 12 performs image processing on the captured data acquired from the driver monitor device 20, and detects the movement of the driver's line of sight.
  • the visual recognition determination unit 16 uses the line-of-sight data detected by the line-of-sight detection unit 12 to perform a process of determining whether the driver's line of sight is directed toward the target, that is, whether the target is viewed.
  • the switching permission signal output unit 17 When the visual recognition determination unit 16 determines that the driver's line of sight is directed in the direction of the object, the switching permission signal output unit 17 outputs a signal (switching permission signal) that permits switching from automatic driving to manual driving. The process which outputs to the automatic driving
  • the switching permission signal output unit 17 is determined by the driver state determination unit 13 to be in a state where the driver can perform manual driving, and the driver's line of sight is directed toward the target by the line-of-sight determination unit 14. If it is determined that there is, a process for outputting a signal permitting switching to the automatic operation control device 30 is performed.
  • the switching disapproval signal output unit 18 switches to manual driving when the driver state determination unit 13 determines that the driver is not in a state where manual driving is possible (for example, a dozing state, a sudden illness attack or a panic state).
  • the signal which does not permit (switch non-permission signal) is output to the automatic operation control device 30.
  • FIG. 3 is a flowchart showing processing operations performed by the operation switching support device 10 and the automatic operation control device 30 according to the embodiment (1).
  • the planned travel route to the destination includes an expressway, and the IC (interchange) entrance (main line entrance) to the IC exit (main line exit) of the expressway is set as an automatic operation section.
  • the automatic driving section is not limited to this.
  • the automatic operation control device 30 performs processing for starting automatic operation control in step S1, and starts automatic operation control.
  • automatic driving control is automatically started when a predetermined handover condition from manual driving to automatic driving is satisfied after the main road merges.
  • automatic operation control may be started when a predetermined handover condition from manual operation to automatic operation is satisfied after an operation (manual operation) of an automatic operation switching button (not shown) is performed.
  • step S2 it is determined whether or not the automatic driving is about to end. For example, based on the vehicle position information received from the navigation system 80, information on the takeover point from automatic driving to manual driving, etc., it is determined whether or not the vehicle has reached the point before the automatic driving end point (takeover point). Specifically, when the automatic driving section from the IC entrance to the IC exit of the expressway is set, whether or not the predetermined point before the IC exit of the expressway has been reached or until the IC exit is reached It is determined whether or not the predicted time is less than a predetermined time.
  • step S2 If it is determined in step S2 that the automatic driving is about to end, the process proceeds to step S3, and a notification process for notifying completion (release) of automatic driving is performed.
  • the voice output unit 92 performs a process of outputting a voice such as “The automatic driving section will soon be completed. Please prepare for manual driving”, and the process proceeds to step S4.
  • step S4 a process of outputting an automatic driving end signal to the driving switching support device 10 is performed.
  • the operation switching support device 10 inputs an automatic operation end signal from the automatic operation control device 30 in step S5, and proceeds to step S6.
  • step S6 image processing of the captured data acquired from the driver monitor device 20, that is, image processing for detecting the driver's state and image processing for detecting the driver's line of sight is performed, and the process proceeds to step S7.
  • imaging data after the automatic driving end signal is input may be used, or imaging data (recorded data) before (before) the automatic driving cancellation signal is input may be used. .
  • step S7 processing is performed for obtaining data of an object existing around the vehicle from at least one of the periphery monitoring sensor 74 and the communication device 100, and detecting the object, and the process proceeds to step S8.
  • Objects that exist around the vehicle include moving objects such as cars, bicycles, and people, road markings, guardrails, median strips, road installations such as lane control tools, and other structures that affect the running of the vehicle. Is included.
  • step S8 a process of determining the driver state based on the data in which the driver state is detected in step S6 is performed, and the process proceeds to step S9.
  • the driver state detected in step S6 includes, for example, information such as the position, orientation, movement, or eyelid movement (blink) of the driver's face.
  • step S8 from these information, the driver is looking forward, looking aside, working (reading, eating, drinking, playing games, smartphones, etc.) without looking forward, Determine if you are drowsy, dozing, sudden illness, panic.
  • step S9 it is determined whether or not the driver is in a state where manual driving is possible. If it is determined that manual driving is possible, the process proceeds to step S10.
  • the state where manual driving is possible includes a state where the driver's face is facing forward. In addition, including a state where the driver can return to a posture capable of manual driving in a short time, such as a state where the driver's body is facing forward and other work (reading, eating, drinking, playing games, operating a smartphone, etc.) May be.
  • a driver's state obtained from a handle contact sensor, a seating sensor, a biological information sensor, etc. (not shown) is detected. You may determine combining data.
  • step S10 it is determined whether there is an object to be monitored (cautioned) around the vehicle based on the detection result of the object existing around the vehicle in step S7. If it is determined in step S10 that there is an object around the vehicle, the process proceeds to step S11.
  • step S11 the process which determines the relationship between a driver
  • next step S12 it is determined whether or not the driver's line of sight is staying in a direction different from the direction of the object. For example, whether the line of sight is staying (overviewed) or not is, for example, whether the direction (position) of the line of sight remains in a direction (in the region) where the object does not exist for a certain time or more. Or whether or not a certain frequency is detected within a predetermined time.
  • step S12 If it is determined in step S12 that the driver's line of sight is staying in a direction different from the direction of the object (that is, the direction in which the object does not exist), the process proceeds to step S13.
  • step S13 a process for alerting the driver, for example, a reminder process for prompting confirmation of the object is performed.
  • the vehicle is traveling in the central lane of 3 lanes on one side, the planned travel route is set to a route that exits the highway from the IC exit on the left side, the end of automatic driving is notified, and the vehicle is 1 behind the left lane.
  • the voice output unit 92 Perform a notification process to output a sound such as “There is a car.
  • step S14 the driver is cautioned in step S13.
  • image processing of the captured data acquired from the driver monitor device 20 is performed, and the driver's line of sight is displayed. Perform detection processing.
  • step S15 it is determined whether or not the object notified in step S13 has been visually recognized by the driver (whether or not the line of sight is directed toward the object) using the line-of-sight detection data.
  • step S15 if it is determined that the object is visually recognized (in the above example, the line of sight is directed to the left rear), the process proceeds to step S16, whereas if it is determined that the object is not visually recognized by the driver, step is performed. The process returns to S14 and is repeated.
  • step S ⁇ b> 16 a process for outputting a signal (switch permission signal) for permitting switching from automatic operation to manual operation to the automatic operation control device 30 is performed.
  • step S12 determines whether the line of sight does not stay in a direction different from the direction of the object (the direction in which the object does not exist) (in other words, the line of sight is directed in the direction of the object).
  • step S16 a process of outputting a signal permitting switching from automatic operation to manual operation to the automatic operation control device 30 is performed.
  • Step S10 if it is determined that there is no object to be noted around the vehicle, the process proceeds to Step S17, and it is determined whether the driver's line of sight is not staying outside the front. If it is determined in step S17 that the line of sight is staying at other than the front (for example, the line of sight is staying in either the left or right direction, or the line of sight is staying in the room mirror), the process proceeds to step S18.
  • step S18 a dunning process for prompting confirmation ahead is performed. For example, a notification process for outputting a voice such as “Please check forward” from the voice output unit 92 is performed.
  • step S19 it is determined whether or not a predetermined time has elapsed. If it is determined that the predetermined time has elapsed, the process proceeds to step S16. If it is determined in step S17 that the line of sight is not staying except in front (looking forward), the process proceeds to step S16, and a signal permitting switching from automatic operation to manual operation is output to the automatic operation control device 30. Perform the process.
  • step S20 the automatic driving control device 30 inputs a switching permission signal from the driving switching support device 10.
  • step S21 the automatic driving control is terminated (released), and a process of switching from automatic driving to driving control by manual driving is performed. Execute, and then finish the process.
  • step S9 if it is determined in step S9 that the driver is not in a state in which manual driving is possible, for example, a dozing state, a sudden illness attack, or a panic state, the process proceeds to step S22.
  • step S ⁇ b> 22 a process of outputting a signal that does not permit switching from automatic operation to manual operation (switch non-permission signal) to the automatic operation control device 30 is performed.
  • step S23 the automatic driving control device 30 inputs a switching non-permission signal from the driving switching support device, and in the subsequent step S24, based on the switching non-permission signal, the vehicle is stopped at a safe place (such as a road shoulder). Is executed, and then the process ends.
  • a safe place such as a road shoulder
  • steps S14 and S15 it is determined whether or not a predetermined time (a time necessary for the confirmation of the object) has elapsed after the reminding process for prompting the confirmation of the object in step S13. If it is determined that the time has passed, the process may proceed to step S16 to perform a process of outputting a switching permission signal to the automatic operation control device 30.
  • a predetermined time a time necessary for the confirmation of the object
  • the data detected by the line-of-sight detection unit 12 and the data detected by the object detection unit 19 are used before switching to manual operation.
  • the line-of-sight determination unit 14 determines whether or not the driver's line of sight is staying in a direction different from the direction of the object.
  • the driver state determination unit 13 determines that the driver is in a state where manual driving is possible, and the line-of-sight determination unit 14 determines that the driver's line of sight is staying in a direction different from the direction of the object. In such a case, a dunning process for alerting the driver is performed.
  • the dunning process can prompt an accurate safety check according to the surrounding situation of the vehicle and the driver's line-of-sight trend.
  • the existing object can be confirmed quickly, the situation around the vehicle can be confirmed without fail, and handing over to manual operation can be performed safely.
  • a switching permission signal for manual operation is output to the automatic operation control device 30. Therefore, after the driver has confirmed the situation around the vehicle without fail, switching to manual driving can be performed, and safety at the time of switching can be further improved.
  • the driver state determination unit 13 determines that the driver is in a state where manual driving is possible, and the line-of-sight determination unit 14 does not retain the driver's line of sight in a direction different from the direction of the object. If it is determined, that is, if the driver is in a state where manual driving is possible and the driver has confirmed all the objects around the vehicle, manual driving is promptly performed without forcing the driver to perform a safety check operation. You can switch to
  • the driving switching support device 10 ⁇ / b> A may be configured not to include the driver state detection unit 11 and the driver state determination unit 13.
  • the driving switching support device 10A before switching to manual driving, data detected by the gaze detection unit 12 that detects the driver's gaze and data detected by the object detection unit 19 The process of determining the relationship between the driver's line of sight and the object by the line-of-sight determination unit 14A is performed.
  • the caution prompting processing unit 15A performs a urging process to call the driver's attention.
  • the visual determination unit 16 uses the line-of-sight data detected by the line-of-sight detection unit 12 to determine whether or not the driver's line of sight is directed toward the object, that is, whether or not the object is viewed. Is done.
  • the switching permission signal output unit 17 When the visual recognition determination unit 16 determines that the driver's line of sight is directed in the direction of the object, the switching permission signal output unit 17 generates a signal that permits switching from automatic driving to manual driving. Is output.
  • the non-permission signal output unit 18 outputs a signal (switch non-permission signal) that does not permit switching from automatic operation to manual operation to the automatic operation control device 30.
  • the driving switching support device 10A As in the driving switching support device 10, it is possible to prompt an appropriate safety check according to the surrounding situation of the vehicle and the driver's line-of-sight trend. It is possible to safely switch from automatic operation to manual operation.
  • operation switching support devices 10 and 10A may be incorporated in the automatic operation control device 30. Further, a part or all of the functions of the operation switching support devices 10 and 10A may be incorporated in the navigation system 80.
  • a driving switching support device that supports switching from automatic driving to automatically driving a vehicle to manual driving by a driver, A storage unit and a hardware processor;
  • the storage unit A line-of-sight detection data storage unit that stores data detected by a line-of-sight detection unit that detects the line of sight of the driver;
  • An object detection data storage unit for storing data detected by an object detection unit for detecting an object existing around the vehicle;
  • the hardware processor is Before switching to the manual driving, using the data detected by the line-of-sight detection unit and the data detected by the object detection unit, determine the relationship between the driver's line of sight and the object, Based on the determination result, a dunning process for calling attention to the driver is performed,
  • An operation switching support device that outputs a signal permitting switching from the automatic operation to the manual operation to the automatic operation control unit when a predetermined condition is satisfied after the dunning process.
  • a hardware processor mounted on a vehicle that can be switched from automatic driving for automatically controlling driving of the vehicle to manual driving by a driver
  • data detected by a line-of-sight detection unit that detects the driver's line of sight and data detected by an object detection unit that detects objects existing around the vehicle are used. Determining a relationship between the driver's line of sight and the object; Based on the result of the determination, performing a reminding process to call attention to the driver; And a step of outputting a signal for permitting switching from the automatic operation to the manual operation to an automatic operation control unit when a predetermined condition is satisfied after the dunning process.
  • the present invention can be widely used mainly in the field of the automobile industry, such as an automatic driving system that performs control to switch from automatic driving to manual driving.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Le but de la présente invention est de fournir un dispositif d'aide à la commutation de conduite qui, lors de la commutation d'une conduite autonome à une conduite manuelle, peut inviter un conducteur à confirmer de manière appropriée la sécurité en fonction des conditions autour d'un véhicule et du mouvement de la ligne de visée du conducteur. Un dispositif d'assistance à la commutation de conduite 10, qui est monté sur un véhicule capable de passer d'un entraînement autonome pour commander de manière autonome le déplacement du véhicule à une conduite manuelle par un conducteur, comprend : une unité de détermination de ligne de visée 14 pour déterminer, avant la commutation vers la conduite manuelle, une relation entre la ligne de visée du conducteur et un objet, en utilisant des données détectées par une unité de détection de ligne de visée 12 pour détecter la ligne de visée du conducteur et des données détectées par une unité de détection d'objet 19 pour détecter un objet présent autour du véhicule; une unité de traitement de demande d'attention 15 effectuant un traitement pour demander au conducteur de faire attention, sur la base des résultats de détermination de l'unité de détermination de ligne de visée 14; et une unité de sortie de signal 17 pour délivrer en sortie, lorsqu'un objet est visuellement reconnu après le traitement de demande par l'unité de traitement de demande d'attention 15, un signal permettant la commutation d'une conduite autonome vers une conduite manuelle, à un dispositif de commande de conduite autonome 30.
PCT/JP2017/042380 2017-02-17 2017-11-27 Dispositif d'aide à la commutation de conduite et procédé d'aide à la commutation de conduite WO2018150677A1 (fr)

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CN112997229A (zh) * 2018-11-13 2021-06-18 索尼公司 信息处理装置、信息处理方法和程序
US10713948B1 (en) * 2019-01-31 2020-07-14 StradVision, Inc. Method and device for alerting abnormal driver situation detected by using humans' status recognition via V2V connection
WO2021192526A1 (fr) * 2020-03-27 2021-09-30 パイオニア株式会社 Dispositif de traitement d'information, procédé de traitement d'information, programme de traitement d'information et support de stockage
CN113936474A (zh) * 2021-10-16 2022-01-14 安徽江淮汽车集团股份有限公司 应用于自动驾驶的车速调节方法
WO2023144951A1 (fr) * 2022-01-27 2023-08-03 三菱電機株式会社 Dispositif de détection d'état d'occupant et procédé de détection d'état d'occupant

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US10916030B2 (en) 2018-12-07 2021-02-09 Toyota Research Institute, Inc. Adaptive infrared lighting for full vehicle cabin based on occupancy
US11144052B2 (en) 2018-12-07 2021-10-12 Toyota Research Institute, Inc. Readiness and identification by gaze and/or gesture pattern detection
CN115087576A (zh) * 2020-03-03 2022-09-20 株式会社东海理化电机制作所 辅助驾驶装置
CN111399481B (zh) * 2020-03-30 2022-02-01 东风汽车集团有限公司 一种自动驾驶场景信息收集及远程升级方法及系统
WO2025112935A1 (fr) * 2023-11-30 2025-06-05 岚图汽车科技有限公司 Procédé, appareil et dispositif d'attribution d'autorité de conduite dans une co-conduite homme-machine, et véhicule, support et produit-programme

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