Patent Application
20210171065
The present invention relates to an autonomous driving vehicle information presentation apparatus that presents suitable information from an autonomous driving vehicle to a traffic participant present around the vehicle.
Recently, autonomous driving techniques have been vigorously proposed to achieve safe and comfortable driving of a vehicle while reducing the burden on the driver.
The applicant of the present application has disclosed an invention of a vehicle control system as an example of the autonomous driving technique that includes: a detection unit that detects the state of surroundings of a vehicle; an autonomous driving control, unit that executes autonomous driving which autonomously controls as least one of the speed and steering of the vehicle based on the state of the surroundings of the vehicle detected by the detection unit; a recognition unit that recognizes the direction of a person from the vehicle based on the state of the surroundings of the vehicle detected by the detection unit; and an output unit that outputs information being recognizable by the person recognized by the recognition unit and having directivity in the direction of the person recognized by the recognition unit (see Patent Literature 1).
In the invention of the vehicle control system according to Patent Literature 1, information which is recognizable by a person recognized by the recognition unit and has directivity in the direction of the recognized person is outputted when a person is present around the host vehicle. This can reduce a sense of unease that the host vehicle may give to the person present around it.
Patent Literature 2 discloses an invention of a traffic signal display apparatus that displays the traffic signal display state of a traffic light present ahead of the host vehicle to a vehicle traveling behind the host vehicle.
In the invention of the traffic signal display apparatus according to Patent Literature 2, the traffic signal display state of a traffic light present ahead of the host vehicle is displayed to the vehicle traveling behind. This can reliably notify the occupant in the vehicle traveling behind (hereinafter also referred to as “trailing vehicle”) of the traffic signal display state of the traffic light and reduce a sense of unease that may be felt by the occupant in the vehicle traveling behind.
Patent Literature 1: JP 2017-199317 A
Patent Literature 2: JP 03-235200 A
However, even with the inventions according to Patent Literatures 1 and 2, when traffic participants are present around a scheduled travel route for the autonomous driving vehicle, there is still a possibility that the vehicle may fail to appropriately present the information to such specific traffic participants and thus give a sense of unease to traffic participants with a high probability of being present in the scheduled travel route for the vehicle.
The present invention has been made in view of the above circumstances and makes it an object thereof to provide an autonomous driving vehicle information presentation apparatus that enables an autonomous driving vehicle to reduce a sense of unease which the vehicle may give to a specific traffic participant with a high probability of being present in a scheduled travel route for the vehicle among traffic participants present around the vehicle.
In order to solve the above-described problem, an autonomous driving vehicle information presentation apparatus according to a present invention (1) is an autonomous driving vehicle information presentation apparatus that is used in an autonomous driving vehicle which obtains outside information on an outside including targets present around a host vehicle, generates an action plan for the host vehicle based on the obtained outside information, and autonomously controls at least one of speed and steering of the host vehicle in accordance with the generated action plan, and that presents information to traffic participants present around the host vehicle. A main characteristic feature of the autonomous driving vehicle information presentation apparatus is that it comprises: an interference area setting unit that sets an interference area on a scheduled travel route for the host vehicle based on the action plan; a prediction unit that predicts behavior of the traffic participants with respect to the host vehicle based on the outside information; an extraction unit that, based on the interference area set by the interference area setting unit and the behavior of the traffic participants predicted by the prediction unit, extracts a specific traffic participant among the traffic participants which is currently present inside the interference area or expected to enter the interference area; and an information presentation unit that presents information addressed to the traffic participants by using an exterior display apparatus provided at a front portion of the host vehicle, in which the information presentation unit presents information on the action plan for the host vehicle to the specific traffic participant extracted by the extraction unit as a presentation target.
According to the present invention, an autonomous driving vehicle can reduce a sense of unease which the vehicle may give to a specific traffic participant with a high probability of being present in a scheduled travel route for the vehicle among traffic participants present around the vehicle.
Autonomous driving vehicle information presentation apparatuses according to embodiments of the present invention will be hereinafter described in detail with reference to the drawings.
Note that, in the drawings be presented below, members having the came function are denoted by the same reference sign. Moreover, the sizes and shapes of members may be changed or exaggerated and schematically illustrated for convenience of explanation.
When the terms “left” and “right” are used in relation to a host vehicle M in the description of the vehicle control apparatuses according to the embodiments of the present invention, the front side of the host vehicle M in the direction of advance is the reference direction. Specifically, in a case where the host vehicle M is, for example, right-hand drive, the driver's seat side will be referred to as the right side, and the passenger's seat side will be referred to as the left side.
First of all, a configuration of an autonomous driving vehicle (hereinafter also referred to as “hast vehicle”) M including a vehicle control apparatus 100 according to an embodiment of present invention will be described with reference to
As illustrated in
The host vehicle M includes an automobile with an internal combustion engine such as a diesel engine or a gasoline engine as a power source, an electric automobile with an electric motor as a power source, a hybrid automobile with both an internal combustion engine and an electric motor, and the like. Of these, the electric automobile is driven using electric power discharged from a cell such as a secondary cell, a hydrogen fuel cell, a metal fuel cell, or an alcohol fuel cell, for example.
As illustrated in
These apparatuses and instruments are configured such that they are connected so as to be capable of communicating data to each other through a communication medium such as a controller area network (CAN), for example.
Note that the “vehicle control apparatus” may include other components (such as the external sensor 10 and an HMI 35) in addition to the components of the “vehicle control apparatus 100” according to this embodiment.
The external sensor 10 is configured of cameras 11, radars 13, and lidars 15.
The cameras 11 have an optical axis orientated toward the front side of the host vehicle and tilted obliquely downward, and has a function of capturing an image in the direction of advance of the host vehicle M. In an example, complementary metal oxide semiconductor (CMOS) cameras, charge coupled device (CCD) cameras, or the like can be used as the cameras 11 as appropriate. The cameras 11 are provided near the rearview mirror (not illustrated) inside the cabin of the host vehicle M and on a front portion of a right door and a front portion of a left door outside the cabin of the host vehicle M, or the like.
The cameras 11 repetitively capture images of, for example, a front side in the direction of advance, a right rear side, and a left rear side relative to the host vehicle M on a periodic basis. In this embodiment, the camera 11 provided near the rearview mirror is a pair of monocular cameras arranged side by side. The camera 11 may be a stereo camera.
The pieces of image information on the front side in the direction of advance, the right rear side, and the left rear side relative to the host vehicle M captured by the cameras 11 are transmitted to the vehicle control apparatus 100 through the communication medium.
The radars 13 have a function of obtaining distribution information on targets including a leading vehicle being a following target traveling ahead of the host vehicle M by emitting radar waves to the targets and receiving the radar waves reflected by the targets, the distribution information including the distances to the targets and the orientations of the targets. Laser beams, microwaves, millimeter waves, ultrasonic waves, or the like can be used as the radar waves as appropriate.
In this embodiment;, five radars 13 are provided, three on the front side and two on the rear side, as illustrated in
The lidars 15 (Light Detection and Ranging) have a function of detecting the presence of a target and the distance to a target by, for example, measuring the time taken to detect scattered light of emitted light. In this embodiment, five lidars 15 are provided, two on the front side and three on the rear side, as illustrated in
The navigation apparatus 20 is configured of a global navigation satellite system (GNSS) receiver, map information (navigation map), a touchscreen-type interior display apparatus 61 functioning as a human machine interface, speakers 63 (see
The route derived by the navigation apparatus 20 is provided to a target lane determination unit 110 (described later) of the vehicle control apparatus 100. The current position of the host vehicle M may be identified or complemented by an inertial navigation system (INS) utilizing the outputs of a vehicle sensor 30 (see
Note that the function of locating the current position of the host vehicle M may be provided independently of the navigation apparatus 20. Also, the navigation apparatus 20 may be implemented by a function of a terminal apparatus such as a smartphone or tablet carried by the user, for example. In this case, information is transmitted and received between the terminal apparatus and the vehicle control apparatus 200 via wireless or wired communication.
Next, the vehicle control apparatus 100 and its peripheral components mounted on the host vehicle M according to an embodiment of the present invention will be described with reference to
As illustrated in
The communication apparatus 25, the vehicle sensor 30, the HMI 35, the travel drive force output, apparatus 200, the steering apparatus 210, and the brake apparatus 220 are configured such that they are connected to the vehicle control apparatus 100 so as to be capable of communicating data to and from the vehicle control apparatus 100 through the communication medium.
The communication apparatus 25 has a function of performing communication through a wireless communication medium such as a cellular network, a Wi-Fi network, Bluetooth (registered trademark), or a dedicated short range communication (DSRC), for example.
The communication apparatus 25 wirelessly communicates with, for example, an information providing server of a system that monitors the traffic situations of roads, such as the Vehicle Information and Communication System (VICS) (registered trademark), and obtains traffic information indicating the traffic situation of the road which the host vehicle M is currently traveling or a road which the host vehicle M will be traveling. The traffic information contains pieces of information such as information on congestion ahead, information on the times required to pass through congested areas, information on accidents, failed vehicles, and construction, information on speed restrictions and lane closures, information on the locations of parking lots, and information on the availability of parking lots and rest areas.
The communication apparatus 25 may obtain the traffic information by, for example, communicating with a radio beacon provided on a side margin of the road or the like or performing vehicle-to-vehicle communication with another vehicle traveling around the host vehicle M.
The communication apparatus 25 also wirelessly communicates with, for example, an information providing server of the Traffic Signal Prediction Systems (TSPS) and obtains traffic signal information on traffic lights provided on the road which the host vehicle M is currently traveling or a road which the host vehicle M will be traveling. The TSPS serves to assist driving to smoothly cross intersections with traffic lights by using the traffic signal information on the traffic lights.
The communication apparatus 25 may obtain the traffic signal information by, for example, communicating with an optical beacon provided on a side margin of the road or the like or performing vehicle-to-vehicle communication with another vehicle traveling around the host vehicle M.
The vehicle sensor 30 has a function of detecting various pieces of information on the host vehicle M. The vehicle sensor 30 includes: a vehicle speed sensor that detects the vehicle speed of the host vehicle M; an acceleration sensor that, detects the acceleration of the host vehicle M; a yaw rate sensor that detects the angular speed of the host vehicle M about a vertical axis; an orientation sensor that detects the orientation of the host vehicle M; a tilt angle sensor that detects the tilt angle of the host vehicle M; an illuminance sensor that detects the illuminance of the area where the host vehicle M is present; a raindrop sensor that detects the amount of raindrops at the area where the host vehicle M is present; and so on.
Next the HMI 35 will be described with reference to
As illustrated in
As illustrated in
The accelerator pedal 41 is an acceleration operator that receives an acceleration instruction (or a deceleration instruction with a returning operation) by the driver. The accelerator position sensor 43 detects the amount of depression of the accelerator pedal 41 and outputs an accelerator position signal indicating the amount of the depression to the vehicle control apparatus 100.
Note that a configuration may be employed which, instead of outputting the accelerator position signal to the vehicle control apparatus 100, outputs the accelerator position signal directly to the travel drive force output apparatus 200, the steering apparatus 210, or the brake apparatus 220. This applies also to the other components of the driving operation system to be described below. The accelerator pedal counterforce output apparatus 45 outputs a force (operation counterforce) to the accelerator pedal 41 in the opposite direction from the direction in which the accelerator pedal 41 is operated, for example, in accordance with an instruction from the vehicle control apparatus 100.
The brake pedal 47 is a deceleration operator that receives a deceleration instruction by the driver. The brake depression amount sensor 49 detects the amount of depression of (or the force of depression on) the brake pedal 47, and outputs a brake signal indicating the result of the detection to the vehicle control apparatus 100.
The shift lever 51 is a gearshift operator that receives a shift stage change instruction by the driver. The shift position sensor 53 detects a shift stage designated by the driver and outputs a shift position signal indicating the result of the detection to the vehicle control apparatus 100.
The steering wheel 55 is a steering operator that receives a turn instruction by the driver. The steering angle sensor 57 detects the steering angle of the steering wheel 55, and outputs a steering angle signal indicating the result of the detection to the vehicle control apparatus 100. The steering torque sensor 58 detects torque applied to the steering wheel 55, and outputs a steering torque signal indicating the result of the detection to the vehicle control apparatus 100.
The steering wheel 55 corresponds to a “driving operator” in the present invention.
The other driving operation devices 59 are, for example, a joystick, buttons, a rotary switch, a graphical user interface (GUI) switch, and so on. The other driving operation devices 59 receive an acceleration instruction, a deceleration instruction, a turn instruction, and so on and output them to the vehicle control apparatus 100.
As illustrated in
The interior display apparatus 61 is a display apparatus preferably of a touchscreen type having a function of displaying various pieces of information to the occupants in the cabin. As illustrated in
The meter panel 85 displays, for example, a speedometer, a tachometer, an odometer, shift position information, on/off information on lights, and so on.
The multi-information panel 87 displays, for example: map information on the area around the host vehicle M; information on the current position of the host vehicle M on the map; traffic information (including traffic signal information) on the road which the host, vehicle M is currently traveling or a route which the host vehicle M will be traveling; traffic participant information on traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, and so on) present around the host vehicle M; various pieces of information such as messages to be presented to the traffic participants; and so on.
The right panel 89a displays image information on a right rear side, and a right lower side relative to the host vehicle M captured by the camera 11 provided on the right side of the host vehicle M.
The left panel 89b displays image information on a left rear side and a left lower side relative to the host vehicle M captured by the camera 11 provided on the left side of the host vehicle M.
The interior display apparatus 61 is not particularly limited. For example, it is formed of liquid crystal displays (LCDs), organic electroluminescence (EL) displays, or the like. The interior display apparatus 61 may be formed of head-up displays (HUDs) that project necessary images on the glass windows 77.
The speakers 63 have a function of outputting voice and sound. An appropriate number of speakers 63 are provided at appropriate positions inside the cabin such as in the instrument panel 60, the door panels, and the rear parcel shelf (none of which is illustrated), for example.
When the interior display apparatus 61 is of a touchscreen type, the contacting operation detection apparatus 65 has a function of detecting a touched position on any of the display screens of the interior display apparatus 61 and outputting information on the detected touched position to the vehicle control apparatus 100. The contacting operation detection apparatus 65 can omit this function when the interior display apparatus 61 is not of a touchscreen type.
The content playback apparatus 67 includes, for example, a digital versatile disc (DVD) playback apparatus, a compact disc (CD) playback apparatus, a television receiver, a playback apparatus for various guide images, and so on. Some or all of the interior display apparatus 61, the speakers 63, the contacting operation detection apparatus 65, and the content playback apparatus 67 may be components also used by the navigation apparatus 20.
The various operation switches 69 are arranged at appropriate positions inside the cabin. The various operation switches 69 include an autonomous driving ON/OFF switch 71 that issues an instruction to immediately start autonomous driving (or to start autonomous driving in the future) or to stop autonomous driving. The autonomous driving ON/OFF switch 71 may be a GUI switch or a mechanical switch. The various operation switches 69 may also include switches for driving the seat drive apparatus 75 and the window drive apparatus 79.
The seats 73 are seats for the occupants in the host vehicle M to sit on. The seat drive apparatus 75 freely drives the reclining angles, front-rear positions, yaw angles, and the like of the seats 73. The glass windows 77 are provided to all doors, for example. The window drive apparatus 79 drive the glass windows 77 so as to open or close them.
The in-cabin camera 81 is a digital camera utilizing a solid-state imaging element, such as a CCD or a CMOS. The in-cabin camera 81 is provided at such a position as to be capable of capturing an image of at least the head of the driver sitting on the driver's seat, such as in the rearview mirror, the steering boss (neither of which is illustrated), or the instrument panel 60. In an example, the in-cabin camera 81 repetitively captures an image of the inside of the cabin including the driver on a periodic basis, for example.
The exterior display apparatus 83 has a function of displaying various pieces of information to traffic participants present around the host vehicle M (including pedestrians, bicycles, motorcycles, other vehicles, and so on). As illustrated in
As illustrated in
Here, the configurations of the left and right front light units 91A and 91B of the exterior display apparatus 83 will now be described with reference to
The right front light unit 91A is formed in a circular shape in a front view. The right front light unit 91A is configured such that a turn signal 91Ab, a light display part 91Ac, and a position lamp 91Ad each formed in an annular shape are arranged concentrically in this order toward the radially outer side and centered around a headlamp 91Aa formed in a circular shape in a front view having a smaller diameter than the outer diameter of the right front light unit 91A.
The headlamp 91Aa serves to assist the occupant to view ahead while the host vehicle M is traveling through a dark area by illuminating the front side in the direction of advance with light. The turn signal 91Ab serves to notify traffic participants present around the host vehicle M of an intention to turn left or right when the host vehicle M does so. The light display part 91Ac serves to notify traffic participants present around the host vehicle M of traveling intention of the host vehicle M including stopping (this will be described later in detail) along with a content displayed on the front display unit 93. The position lamp 91Ad serves to notify traffic participants present around the host vehicle M of its vehicle width while the host vehicle M is traveling through a dark area.
Next referring back to
The vehicle control apparatus 100 is implemented by, for example, at least one processor or hardware having an equivalent function. The vehicle control apparatus 100 may be configured of a combination of electronic control units (ECUs), micro-processing units (MPUs), or the like in each of which a processor such as a central processing unit (CPU), a storage apparatus, and a communication interface are connected by an internal bus.
The vehicle control apparatus 100 includes the target lane determination unit 110, a driving assist control unit 120, a travel control unit 160, an HMI control unit 170, and a storage unit 180.
The functions of the target lane determination unit 110 and the driving assist control unit 120 and part or entirety of the function of the travel control unit 160 are implemented by the processor executing programs (software). Also, some or all of these functions may be implemented by hardware such as a large scale integration (LSI) circuit or an application specific integrated circuit (ASIC) or be implemented by a combination of software and hardware.
In the following description, when a subject is mentioned like “˜ unit does . . . ”, the driving assist control unit 120 reads out the corresponding program from a read only memory (ROM) or an electrically erasable programmable read-only memory (EEPROM) as necessary, loads it into a random access memory (RAM), and executes the corresponding function (described later).
The program may be prestored in the storage unit 180, or taken into the vehicle control apparatus 100 from another storage medium or through a communication medium, as necessary.
The target lane determination unit 110 is implemented by a micro processing unit (MPU), for example. The target lane determination unit 110 divides a route provided from the navigation apparatus 20 into a plurality of blocks (for example, divides the route at 100[m]-intervals in the direction of advance of the vehicle), and determines a target lane in each block by referring to accurate map information 181. For example, the target lane determination unit 110 determines which lane from the left to travel. When, for example, a branching point, a merging point, or the like is present on the route, the target lane determination unit 110 determines the target lane such that the host vehicle M will be able to travel a rational traveling route for advancing to the target, branched path. The target lane determined by the target lane determination unit 110 is stored in the storage unit 180 as target lane information 182.
The driving assist control unit 120 includes a driving assist mode control unit 130, a recognition unit 140, and a switching control unit 150.
The driving assist mode control unit 130 determines an autonomous driving mode (autonomous driving assisting state) to be executed by the driving assist control unit 120 based on an operation of the HMI 35 by the driver, an event determined by an action plan generation unit 144, how the host vehicle M should travel determined by a path generation unit 147, and so on. The HMI control unit 170 is notified of the autonomous driving mode.
Each autonomous driving mode can be switched (overridden) to a lower-level autonomous driving mode by an operation of a constituent element of the driving operation system in the HMI 35.
The override is initiated, for example, when a constituent element of the driving operation system in the HMI 35 by the driver of the host vehicle M continues to be operated for longer than a predetermined time, when a predetermined amount of change in operation (e.g., the accelerator position of the accelerator pedal 41, the brake depression amount of the brake pedal 47, or the steering angle of the steering wheel 55) is exceeded, when a constituent element of the driving operation system is operated more than a predetermined number of times, or the like.
The recognition unit 140 includes a host vehicle position recognition unit 141, an outside recognition unit 142, an area identification unit 143, the action plan generation unit 144, and the path generation unit 147.
The host vehicle position recognition unit 141 recognizes the traveling lane which the host vehicle M is currently traveling and the position of the host vehicle M relative to the traveling lane, based on the accurate map information 181 stored in the storage unit 180 and information inputted from the cameras 11, the radars 13, the lidars 15, the navigation apparatus 20, or the vehicle sensor 30.
The host vehicle position recognition unit 141 recognizes the traveling lane by comparing the pattern of road section lines recognised from the accurate map information 181 (e.g., the arrangement of continuous lines and broken lines) and the pattern of the road section lines around the host vehicle M recognized from images captured by the cameras 11. In this recognition, the current position of the host vehicle M obtained from the navigation apparatus 20 and the result of processing by the INS may be considered.
As illustrated in
The positions of the nearby vehicles may be represented as the centers of gravity of these other vehicles or representative points such as corners, or represented as areas expressed by the contours of the other vehicles. The states of the nearby vehicles may include the speeds and accelerations of the nearby vehicles and whether the nearby vehicles are changing lanes (or whether they are about to change lanes) which are figured out based on information from the above-mentioned various instruments. Alternatively, the outside recognition unit 142 may employ a configuration that recognizes the positions of targets including guard rails, utility poles, parked vehicles, pedestrians, and traffic signs, as well as the nearby vehicles including the leading vehicle and the trailing vehicle.
In embodiments of the present invention, of the nearby vehicles, the vehicle that is traveling immediately ahead of the host vehicle M in the same traveling lane as that of the host vehicle M and is a following target in following travel control will be referred to as “leading vehicle”. Also, of the nearby vehicles, the vehicle that is traveling immediately behind the host vehicle M in the same traveling lane as that of the host vehicle M will be referred to as “trailing vehicle”.
The area identification unit 143 obtains information on specific areas present around the host vehicle M (interchanges: ICs, junctions: JCTs, and points where the number of lanes increases or decreases) based on map information. In this way, the area identification unit 143 can obtain information on specific areas that assist the host vehicle M to travel smoothly even if the host vehicle M is hidden behind vehicles ahead including the leading vehicle and cannot capture an image in the direction of advance with the external sensor 10.
Instead of obtaining the information on specific areas based on the map information, the area identification unit 143 may obtain the information on the specific areas by identifying targets with image processing based on an image in the direction of advance captured with the external sensor 10 or by recognizing targets based on the contours in an image in the direction of advance with internal processing by the outside recognition unit 142.
Also, a configuration may be employed which, as will be described later, uses the VICS information obtained by the communication apparatus 25 to enhance the accuracy of the information on the specific areas obtained by the area identification unit 143.
The action plan generation unit 144 sets the start point of autonomous driving and/or the destination point of the autonomous driving. The start point of the autonomous driving may be the current position of the host vehicle M or a geographical point at which an operation is performed as an instruction to perform the autonomous driving. The action plan generation unit 144 generates an action plan in the zone from this start point to the destination point of the autonomous driving. Note that the action plan is not limited to the above, and the action plan generation unit 144 may generate action plans for any zones.
The action plan is formed of a plurality of events to be executed in turn, for example. Examples of the plurality of events include: a deceleration event in which the host vehicle M is caused to decelerate; an acceleration event in which the host vehicle M is caused to accelerate; a lane keep event in which the host vehicle M is caused to travel so as not to depart from its traveling lane; a lane change event in which the host vehicle M is caused to change its traveling lane; a passing event in which the host vehicle M is caused to pass the leading vehicle; a branching event in which the host vehicle M is caused to change to the desired lane at a branching point or to travel so as not to depart from the current traveling lane; a merge event in which the host vehicle M is in a merging lane for merging into a main lane and is caused to accelerate or decelerate and change its traveling lane; a handover event in which the host vehicle M is caused to transition from the manual driving mode to an autonomous driving mode (autonomous driving assisting state) at the start point of the autonomous driving or transition from the autonomous driving mode to the manual driving mode at the scheduled end point of the autonomous driving; and so on.
The action plan generation unit 144 sets a lane change event, a branching event, or a merge event at each point where the target lane determined by the target lane determination unit 110 changes. Information indicating the action plan generated by the action plan generation unit 144 is stored in the storage unit 180 as action plan information 183.
The action plan generation unit 144 includes a mode changing unit 145 and a notification control unit 146.
Based, for example, on the result of recognition of the targets present in the direction of advance of the host vehicle M by the outside recognition unit 142, the mode changing unit 145 selects a driving mode suitable for the recognition result from among driving modes including a plurality of preset levels of autonomous driving modes and the manual driving mode, and causes the host vehicle M to perform autonomous driving using the selected driving mode.
When the mode changing unit 145 changes the driving mode of the host vehicle M, the notification control unit 146 issues a notice indicating the driving mode of the host vehicle M has been changed. The notification control unit 146, for example, causes the speakers 63 to output audio information prestored in the storage unit 180 to issue a notice indicating that the driving mode of the host vehicle M has been changed.
Note that the notice is not limited to an audio notice. The notice may be issued in the form of a display, emitted light, a vibration, or a combination of these as long as it can notify the driver of the change in the driving mode of the host vehicle M.
The path generation unit 147 generates a path which the host vehicle M should travel, based on the action plan generated by the action plan generation unit 144.
As illustrated in
Also, the switching control unit 150 may perform switching control that brings the driving mode back to the original autonomous driving mode if detecting no operation on any constituent elements of the driving operation system in the HMI 35 for a predetermined time after the switching to the lower-level driving mode by the override.
The travel control unit 160 controls travel of the host vehicle M by controlling the travel drive force output apparatus 200, the steering apparatus 210, and the brake apparatus 220 such that the host vehicle M will pass through the path generated by the path generation unit 147, which the host vehicle M should travel, on the scheduled time.
When notified of setting information on the autonomous driving mode of the host vehicle M by the driving assist control unit 120, the HMI control unit 170 refers to mode-by-mode operation permission information 184 and controls the HMI 35 according to contents set for the autonomous driving mode.
As illustrated in
For example, when the driving mode executed by the vehicle control apparatus 100 is the manual driving mode, the HMI control unit 170 accepts the driver's operations of the driving operation system in the HMI 35 (e.g., the accelerator pedal 41, the brake pedal 47, the shift lever 51, the steering wheel 55, and so on; see
The HMI control unit 170 includes a display control unit 171.
The display control unit 171 controls displays on the interior display apparatus 61 and the exterior display apparatus 83. Specifically, for example, when the driving mode executed by the vehicle control apparatus 100 is an autonomous driving mode with a high degree of autonomy, the display control unit 171 performs control that causes the interior display apparatus 61 and/or the exterior display apparatus 83 to display information such as a reminder, warning, or driving assistance to traffic participants present around the host vehicle M. This will be described later in detail.
The storage unit ISO stores pieces of information such as the accurate map information 181, the target lane information 182, the action plan information 183, and the mode-by-mode operation permission information 184, for example. The storage unit 180 is implemented with a ROM, a RAM, a hard disk drive (HDD), a flash memory, or the like. The programs to be executed by the processor may be prestored in the storage unit 180 or downloaded from an external apparatus via in-vehicle Internet equipment or the like. Alternatively, the programs may be installed into the storage unit 180 by connecting a mobile storage medium storing the programs to a drive apparatus not illustrated.
The accurate map information 181 is map information that is more accurate than the normal map information included in the navigation apparatus 20. The accurate map information 181 contains, for example, information on the centers of lanes, information on the boundaries of the lanes, and so on. The boundaries of the lanes include the types, colors, and lengths of lane marks, the widths of roads, the widths of shoulders, the widths of main lanes, the widths of lanes, the positions of boundaries, the types of boundaries (guard rail, plant, and curb), hatched zones, and so on, and these boundaries are contained in an accurate map.
The accurate map information 131 may also contain road information, traffic regulation information, address information (addresses and postal codes), facility information, telephone number information, and so on. The road information contains information indicating the types of roads such as expressways, toliways, national highways, and prefectural roads, and information on the number of lanes in each road, the width of each lane, the gradient of the road, the position of the road (three-dimensional coordinates including the longitude, latitude, and height), the curvature of the lane, the positions of merging or branching points on the lane, the signs provided on the road, and so on. The traffic regulation information contains information such as the occurrence of lane closures due to construction, traffic accident, congestion, or the like.
As illustrated in
The travel drive force output apparatus 200 outputs drive force (torque) for causing the host vehicle M to travel to its drive wheels. When the host vehicle M is an automobile with an internal combustion engine as a power source, the travel drive force output apparatus 200 includes, for example, the internal combustion engine, a transmission, and an engine electronic control unit (ECU) that controls the internal combustion engine (none of which is illustrated).
Alternatively, when the host vehicle M is an electric automobile with an electric motor as a power source, the travel drive force output apparatus 200 includes a motor for traveling and a motor ECU that controls the motor for traveling (neither of which is illustrated).
Still alternatively, when the host vehicle M is a hybrid automobile, the travel drive force output apparatus 200 includes an internal combustion engine, a transmission, an engine ECU, a motor for traveling, and a motor ECU (none of which is illustrated).
When the travel drive force output apparatus 200 includes only an internal combustion engine, the engine ECU adjusts the throttle opening degree of the internal combustion engine, the shift stage, and so on in accordance with later-described information inputted from the travel control unit 160.
When the travel drive force output apparatus 200 includes only a motor for traveling, the motor ECU adjusts the duty ratio of a PWM signal to be applied to the motor for traveling in accordance with information inputted from the travel control unit 160.
When the travel drive force output apparatus 200 includes an internal combustion engine and a motor for traveling, the engine ECU and the motor ECU cooperate with each other to control the travel drive force in accordance with information inputted from the travel control unit 160.
The steering apparatus 210 includes, for example, a steering ECU and an electric motor (neither of which is illustrated). The electric motor changes the direction of the turning wheels by exerting force on a rack-and-pinion mechanism, for example. The steering ECU drives the electric motor in accordance with information inputted from the vehicle control apparatus 100 or steering angle or steering torque information inputted, to thereby change the direction of the turning wheels.
The brake apparatus 220 is, for example, an electric servo brake apparatus including a brake caliper, a cylinder that transfers hydraulic pressure to the brake caliper, an electric motor that generates the hydraulic pressure in the cylinder, and a braking control unit (none of which is illustrated). The braking control unit of the electric servo brake apparatus controls the electric motor in accordance with information inputted from the travel control unit 160 to output a brake torque corresponding to a braking operation to each wheel. The electric servo brake apparatus may include a mechanism, as a backup, that transfers hydraulic pressure generated by operating the brake pedal 47 to the cylinder through a master cylinder.
Note that the brake apparatus 220 is not limited to the above-described electric servo brake apparatus, and may be an electronically controlled hydraulic brake apparatus. The electronically controlled hydraulic brake apparatus controls an actuator in accordance with information inputted from the travel control unit 160 to transfer hydraulic pressure in a master cylinder to a cylinder. Also, the brake apparatus 220 may include a regenerative brake using a motor for traveling that can be included in the travel drive force output apparatus 200.
Next, a block configuration of an autonomous driving vehicle information presentation apparatus 300 according to an embodiment of the present invention included in the above-described vehicle control apparatus 100 will be described with reference to
As illustrated in
As illustrated in
Note that the channel for the outside information obtaining unit 311 to obtain the outside information is not limited to the external sensor 10. For example, the navigation apparatus 20 and the communication apparatus 25 may be employed.
As illustrated in
The interference area setting unit 321 is a functional member corresponding to the recognition unit 140 of the vehicle control apparatus 100 illustrated in
As illustrated in
As illustrated in
Note that the extraction unit 325 may employ a configuration which, when a plurality of specific traffic participants SP are present, further extracts, based on the interference area 351 set by the interference area setting unit 321 and the behavior of the specific traffic participants SP predicted by the prediction unit 323, a highest-degree specific traffic participant SP1 whose degree of interference with the host vehicle M is assumed to be the highest among the extracted specific traffic participants SP. Here, the degree of interference with the host vehicle M is equivalent to the degree of collision of the highest-degree specific traffic participant SP1 with the host vehicle M.
The extraction unit 325 is a functional member corresponding to the recognition unit 140 of the vehicle control apparatus 100 illustrated in
As illustrated in
As illustrated in
The (pair of) right and left eye equivalent units 91A and 91B are functional members corresponding to the right and left front light units 91A and 91B (see
Also, the front display unit 93 has a function of displaying information addressed to a traffic participant NP present ahead of the host vehicle M in the direction of advance (including a specific traffic participant SP). In the autonomous driving vehicle information presentation apparatus 300 according to the embodiment of the present invention, the front; display unit 93 is used to display a message addressed to a specific traffic participant SP extracted by the extraction unit 325 to communicate with this specific traffic participant SP.
The pair of eye equivalent units 91A and 91B and the front display unit 93 correspond to the “exterior display apparatus 83” in the present invention.
The information presentation unit 331 has a function of presenting information including the action plan for the host vehicle M and the like by using the pair of eye equivalent units 91A and 91B and the front display unit 93. The information presentation unit 331 is a functional member corresponding to the HMI control unit 170 of the vehicle control apparatus 100 illustrated in
Next, the operation of the autonomous driving vehicle information presentation apparatus 300 according to an embodiment of the present invention will be described with reference to
It is assumed that the autonomous driving vehicle (host vehicle) M equipped with the autonomous driving vehicle information presentation apparatus 300 is traveling in a preset level of autonomous driving mode.
In step 311 illustrated in
In step S12, the action plan generation unit 144 generates an action plan for the host vehicle M based on the outside information, the congestion information, and the traffic signal information obtained in step S11.
In step S13, the travel control unit 160 (see
In step S14, the interference area setting unit 321 sets the interference area 351 on the scheduled travel route for the host vehicle M based on the action plan for the host vehicle M generated in step S12.
In step S15, the prediction unit 323 predicts behavior of traffic participants NP with respect to the host vehicle M based on the outside information obtained by the outside information obtaining unit 311.
In step S16, based on the interference area 351 set by the interference area setting unit 321 and the behavior of the traffic participants NP predicted by the prediction unit 323, the extraction unit 325 extracts a specific traffic participant SP among the traffic participants NP who is currently present inside the interference area 351 or expected to enter the interference area 351.
When a plurality of specific traffic participants SP are present, the extraction unit 325 further extracts, based on the interference area 351 set by the interference area setting unit 321 and the behavior of the specific traffic participants SP predicted by the prediction unit 323, a highest-degree specific traffic participant SP1 whose degree of interference with the host vehicle M is assumed to be the highest among the extracted specific traffic participants SP.
In step S17, the information presentation unit 331 presents information containing the action plan for the host vehicle M and the like by using the pair of eye equivalent units 91A and 91B and the front display unit 93. Specifically, the information presentation unit 331 presents the information on the action plan for the host vehicle M to the highest-degree specific traffic participant SP1 as the presentation target by directing a sight line SL (see
Next, the operation of the autonomous driving vehicle information presentation apparatus 300 according to an embodiment of the present invention will be described with reference to
Like the right front light unit 91A, the left front light unit 91B illustrated in
In the traveling scene illustrated in
In the traveling scenes illustrated in
In the traveling scene illustrated in
Here, in
This may be solved by, for example, providing a mechanism that enables horizontal movement of the optical axes of the right and left head lamps 91Aa (see
Instead of or in addition to the above, the issue may be solved by, for example, preparing a lighting control pattern with which the annularly formed display surfaces of the right and left light display units 91Ac (see
Next, operation and advantageous effects of the autonomous driving vehicle information presentation apparatuses 300 according to the embodiments of the present invention will be described.
An autonomous driving vehicle information presentation apparatus 300 based on an aspect (1) is based on an autonomous driving vehicle information presentation apparatus 300 that is used in an autonomous driving vehicle which obtains outside information on an outside including targets present around a host vehicle M, generates an action plan for the host vehicle M based on the obtained outside information, and autonomously controls at least one of speed and steering of the host vehicle M in accordance with the generated action plan, and that presents information to traffic participants NP present around the host vehicle M.
The autonomous driving vehicle information presentation apparatus 300 based on the aspect (1) includes: an interference area setting unit 321 that sets an interference area 351 on a scheduled travel route for the host vehicle M based on the action plan; a prediction unit 323 that predicts behavior of the traffic participants NP with respect to the host vehicle M based on the outside information; an extraction unit 325 that, based on the interference area 351 set by the interference area setting unit 321 and the behavior of the traffic participants NP predicted by the prediction unit 323, extracts a specific traffic participant SP among the traffic participants NP which is currently present inside the interference area 351 or expected to enter the interference area 351; and an information presentation unit 331 that presents information addressed to the traffic participants NP by using an exterior display apparatus 83 provided at a front portion of the host vehicle M.
The information presentation unit 331 employs a configuration that presents information on the action plan for the host vehicle M to the specific traffic participant SP extracted by the extraction unit 325 as a presentation target.
In the autonomous driving vehicle information presentation apparatus 300 based on the aspect (1), the interference area setting unit 321 sets the interference area 351 on the scheduled travel route for the host vehicle M based on the action plan for the host vehicle M. The prediction unit 323 predicts the behavior of the traffic participants NP with respect to the host vehicle M based on the outside information. Based on the interference area 351 set by the interference area setting unit 321 and the behavior of the traffic participants NP predicted by the prediction unit 323, the extraction unit 325 extracts a specific traffic participant SP among the traffic participants NP which is currently present inside the interference area 351 or expected to enter the interference area 351. The information presentation unit 331 presents information addressed to the traffic participants NP by using the exterior display apparatus 83 (the pair of eye equivalent units 91A and 91B and the front display unit 93) provided at the front portion of the host vehicle M.
In particular, the information presentation unit 331 presents information on the action plan for the host vehicle M to the specific traffic participant SP extracted by the extraction unit 325 as a presentation target.
According to the autonomous driving vehicle information presentation apparatus 300 based on the aspect (1), the information presentation unit 331 presents information on the action plan for the host vehicle M to a specific traffic participant SP, as a presentation target, with a high probability of being present in the interference area 351 on the scheduled travel route for the host vehicle M. Thus, by attracting the attention of the specific traffic participant SP that is likely to interfere with the host vehicle M, the host vehicle M can communicate with the traffic participant present around the host vehicle M (specific traffic participant SP). The autonomous driving vehicle can therefore be expected to achieve an advantageous effect of reducing a sense of unease that may be felt by the traffic participant present around the host vehicle M (specific traffic participant SP).
An autonomous driving vehicle information presentation apparatus 300 based on an aspect (2) is the autonomous driving vehicle information presentation apparatus 300 based on the aspect (1) in which the exterior display apparatus 83 includes a pair of eye equivalent units (right and left front light units) 91A and 91B provided at portions of the host vehicle M where headlights thereof are installed, and equivalent to eyes of the host vehicle M on an assumption that the host vehicle M is personified in a front view, and a front display unit 93 provided between the pair of eye equivalent units 91A and 91B.
The information presentation unit 331 employs a configuration that presents the information on the action plan for the host vehicle M to the specific traffic participant SP as the presentation target by directing a sight line SL to the specific traffic participant SP with the pair of eye equivalent units 91A and 91B and displaying a message addressed to the specific traffic participant SP with the front display unit 93.
In the autonomous driving vehicle information presentation apparatus 300 based on the second aspect (2), the information presentation unit 331 presents the information on the action plan for the host vehicle M to the specific traffic participant SP as the presentation target by directing the sight line SL to the specific traffic participant SP with the pair of eye equivalent units 91A and 91B and displaying a message addressed to the specific traffic participant SP with the front display unit 93.
According to the autonomous driving vehicle information presentation apparatus 300 based on the aspect (2), the information presentation unit 331 presents the information on the action plan for the host vehicle M to the specific traffic participant SP as the presentation target by directing the sight line SL to the specific traffic participant SP with the pair of eye equivalent units 91A and 91B and displaying a message addressed to the specific traffic participant SP with the front display unit 93. Thus, the host vehicle M can properly attract the attention of a specific traffic participant SP with a high probability of being present in the scheduled travel route for the host vehicle M.
By being able to communicate with the specific traffic participant SP in this manner, the autonomous driving vehicle M can further reduce a sense of unease that may be felt by the specific traffic participant SP.
An autonomous driving vehicle information presentation apparatus 300 based on an aspect (3) is the autonomous driving vehicle information presentation apparatus 300 based on the aspect (2) in which the information presentation unit 331 may employ a configuration that displays the message addressed to the specific traffic participant SP with both or one of a character and a design by using the front display unit 93.
In the autonomous driving vehicle information presentation apparatus 300 based on the aspect (3), the information presentation unit 331 displays the message addressed to the specific traffic participant SP with both or one of a character and a design by using the front display unit 93.
According to the autonomous driving vehicle information presentation apparatus 300 based on the aspect (3), the information presentation unit 331 displays the message addressed to the specific traffic participant SP with both or one of a character and a design by using the front display unit 93. This further enhances the effect of attracting the attention of the specific traffic participant SP and thus enables intimate communication with the specific traffic participant SP.
An autonomous driving vehicle information presentation apparatus 300 based on an aspect (4) is the autonomous driving vehicle information presentation apparatus 300 based on the aspect (2) or (3) in which based on the interference area 351 set by the interference area setting unit 321 and the behavior of the specific traffic participants SP predicted by the prediction unit 323, the extraction unit 325 extracts a highest-degree specific traffic participant SP1 whose degree of interference with the host vehicle M is assumed to be the highest among the specific traffic participants SP. The information presentation unit 331 directs the sight line to the highest-degree specific traffic participant SP1 by using the pair of eye equivalent units 91A and 91B such that the sight line follows the highest-degree specific traffic participant SP1.
In the autonomous driving vehicle information presentation apparatus 300 based on the aspect (4), the extraction unit 325 extracts the highest-degree specific traffic participant SP1 whose degree of interference with the host vehicle M is assumed to be the highest among specific traffic participants SP with a high probability of being present in the scheduled travel route for the host vehicle M. The information presentation unit 331 directs the sight line to (makes eye contact with) the highest-degree specific traffic participant SP1 by using the pair of eye equivalent units 91A and 91B such that the sight line follows the highest-degree specific traffic participant SP1.
According to the autonomous driving vehicle information presentation apparatus 300 based on the aspect (4), the information presentation unit 331 directs the sight line to the highest-degree specific traffic participant SP1, whose degree of interference with the host vehicle M is assumed to be the highest, by using the pair of eye equivalent units 91A and 91B such that the sight line follows the highest-degree specific traffic participant SP1. This even further enhances the effect of attracting the attention of the highest-degree specific traffic participant SP1 and thus enables intimate communication with the highest-degree specific traffic participant SP1.
An autonomous driving vehicle information presentation apparatus 300 based on an aspect (5) is the autonomous driving vehicle information presentation apparatus 300 based on the aspect (4) further including a monitoring unit 327 that tracks and monitors behavior of the highest-degree specific traffic participant SP1. The information presentation unit 331 employs a configuration that, when determining, based on a result of the monitoring by the monitoring unit 327, that the highest-degree specific traffic participant SP1 has noticed the sight line directed thereto by using the pair of eye equivalent units 91A and 91B, the information presentation unit 331 returns a message indicating that a mutual communication has been made to the highest-degree specific traffic participant SP1 by using the pair of eye equivalent units 91A and 91B.
In the autonomous driving vehicle information presentation apparatus 300 based on the aspect (5), the monitoring unit 327 tracks and monitors the behavior of the highest-degree specific traffic, participant SP1. When determining, based on the result of the monitoring by the monitoring unit 327, that the highest-degree specific; traffic participant SP1 has noticed the sight line directed thereto by using the pair of eye equivalent units 91A and 91B, the information presentation unit 331 returns a message indicating that a mutual communication has been made (e.g., a sign such as winking or changing the size of functional portions equivalent to the pupils) to the highest-degree specific traffic participant SP1 by using the pair of eye equivalent units 91A and 92B.
According to the autonomous driving vehicle information presentation apparatus 300 based on the aspect (5), when determining, based on the result of the monitoring by the monitoring unit 327, that the highest-degree specific traffic participant SP1 has noticed the sight line directed thereto by using the pair of eye equivalent units 91A and 91B, the information presentation unit 331 returns a message indicating that a mutual communication has been made to the highest-degree specific traffic participant SP1 by using the pair of eye equivalent units 91A and 91B. This even further enhances the effect of attracting the attention of the highest-degree specific traffic participant SP1 and thus enables intimate communication with the highest-degree specific traffic participant SP1. This makes it possible to create a smooth traffic environment filled with human-like friendliness.
The plurality of embodiments described above represent examples of embodying the present invention. Therefore, the technical scope of the present invention shall not be interpreted in a limited manner by these embodiments. This is because the present invention can be implemented in various ways without departing from its gist or its main characteristic features.
Lastly, the present invention can be implemented by providing a program that implements one or more of the functions according to the above-described embodiments to a system or an apparatus via a network or from a storage medium, and causing one or more processors in a computer of the system or the apparatus to read out and execute the program. Alternatively, the present invention may be implemented with a hardware circuit (e.g., ASIC) that implements one or more of the functions. Information including the program that implements the functions can be held in a recording apparatus such as a memory or a HDD or a recording medium such as a memory card or an optical disk.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-223299 | Dec 2019 | JP | national |
