Patent Application
20230373510
The present invention mainly relates to a computation apparatus.
Some vehicles support driving assistance or perform automated driving by an electronic control unit (ECU) performing some or all of driving operations on behalf of a driver (see Patent Literature 1).
Various forms of the driving assistance are conceivable, and there is room for improvement in the configuration described in Patent Literature 1 in implementing the various forms.
An illustrative object of the present invention is to implement more appropriate driving assistance.
An aspect of the present invention is a computation apparatus for computing a travel route of a vehicle, the computation apparatus comprising: an acquisition unit configured to acquire vehicle state information indicating a state of the vehicle, vehicle periphery information indicating a state around the vehicle, and driver state information indicating a state of a driver of the vehicle; a calculation unit configured to calculate the travel route of the vehicle based on the vehicle state information, the vehicle periphery information, and the driver state information; and a signal output unit configured to output a signal in a case where the travel route satisfies a predetermined condition, wherein the acquisition unit further acquires confirmation motion information indicating whether or not a confirmation motion is made by the driver, the signal output unit suppresses the output of the signal based on the confirmation motion information after outputting the signal, and in a case in which the signal output by the signal output unit is set as a first notification signal for notifying the driver, and the confirmation motion is not made for a predetermined period, the signal output unit further outputs a second notification signal for notifying the driver, the second notification signal having a higher notification level than the first notification signal.
According to the present invention, appropriate driving assistance can be implemented.
Other features and advantages of the present invention will be apparent from the following description taken in conjunction with the accompanying drawings. Note that the same reference numerals denote the same or like components throughout the accompanying drawings.
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain principles of the invention.
Hereinafter, embodiments will be described in detail with reference to the attached drawings. Note, the following embodiments are not intended to limit the scope of the claimed invention, and limitation is not made to an invention that requires a combination of all features described in the embodiments. Two or more of the multiple features described in the embodiments may be combined as appropriate. Furthermore, the same reference numerals are given to the same or similar configurations, and redundant description thereof is omitted.
The steering mechanism 3 is configured to change a traveling direction of the vehicle 1. In the present embodiment, the steering mechanism 3 is configured to be able to change a direction of the front wheel 2 by a handlebar, a front fork, and the like that are rotatable with respect to a vehicle body.
In the present embodiment, the detection apparatus 4 includes a vehicle speed detection apparatus 41, a steering angle detection apparatus 42, and an inclination angle detection apparatus 43. The vehicle speed detection apparatus 41 is configured to be able to detect a traveling speed of the vehicle 1. A known vehicle speed sensor may be used as the vehicle speed detection apparatus 41. The steering angle detection apparatus 42 is configured to be able to detect a steering angle of the steering mechanism 3. A known optical encoder may be used as the steering angle detection apparatus 42. The inclination angle detection apparatus 43 is configured to be able to detect an inclination of the vehicle body of the vehicle 1 as an inclination angle. A known acceleration sensor may be used as the inclination angle detection apparatus 43.
In the present embodiment, the monitoring apparatus 5 includes a periphery monitoring apparatus 51 and a driver monitoring apparatus 52. For the monitoring apparatuses 51 and 52, it is sufficient if any known imaging apparatus or distance measuring apparatus such as a camera, a millimeter wave radar, or a light detection and ranging (LiDAR) is used.
The periphery monitoring apparatus 51 is configured to be able to monitor a state around the vehicle 1 (the presence or absence of an object around the vehicle 1, a relative position thereof, or the like). The object is an object for which contact of the vehicle 1 is to be avoided, and examples of the object include other vehicles different from the vehicle (self-vehicle) 1, on-road installations, and the like. In the present embodiment, it is assumed that a plurality of periphery monitoring apparatuses 51 are provided on the vehicle body in such a way as to be able to image areas in all directions around the vehicle 1. As another embodiment, one or more peripheral monitoring apparatuses 51 may be provided in such a way as to be able to image from a front area to a side area of the vehicle 1, or in such a way as to be able to image the front area of the vehicle 1.
The driver monitoring apparatus 52 is configured to be able to monitor a driving form (a posture, a line of sight, or the like) of the driver of the vehicle 1. In the present embodiment, a pair of driver monitoring apparatuses 52 is provided in front of and behind a seat SH on which the driver sits in such a way as to be able to image the driver. In another embodiment, one or more driver monitoring apparatuses 52 may be provided in front of the seat SH in such a way as to be able to image the front face of the driver.
The computation apparatus 6 is configured to be able to compute a travel route RT (
The display apparatus 7 is connected to the computation apparatus 6, and can display a predetermined notification to the driver based on a signal from the computation apparatus 6. Although details will be described below, the display apparatus 7 can display the travel route RT as a computation result of the computation apparatus 6.
In step S2000 (hereinafter, simply referred to as “S2000”, and the same applies to other steps to be described below), whether or not the vehicle 1 is traveling is determined. In S2000, the CPU 61 functions as a determination unit. In a case where the vehicle 1 is traveling (in a case of Yes determination), the processing proceeds to S2010, and in the other case (in a case of No determination), the processing returns to S2000. The travel route RT calculated in the present embodiment is a trajectory predicted to be drawn by the vehicle 1 in a case where the vehicle 1 continues traveling, and in general, the trajectory can be sufficiently predicted in a case where the vehicle 1 is traveling at a speed equal to or higher than a reference speed. Details will be described below. For this reason, in the present embodiment, in a case where the speed of the vehicle 1 is equal to or higher than the reference speed, for example, in a case where the vehicle speed is equal to or higher than 30 [km/h] (30 km per hour), the processing proceeds to S2010.
In S2010, vehicle state information i1 indicating the state of the vehicle 1 is acquired. In S2010, the CPU 61 functions as an acquisition unit. In the present embodiment, the vehicle state information i1 includes vehicle speed information i11, steering angle information i12, and inclination angle information i13. The vehicle speed information i11 indicates the speed of the vehicle 1 and is acquired based on the detection result of the vehicle speed detection apparatus 41. The steering angle information i12 indicates the steering angle of the vehicle 1 and is acquired based on the detection result of the steering angle detection apparatus 42. The inclination angle information i13 indicates the inclination of the vehicle body of the vehicle 1 and is acquired based on the detection result of the inclination angle detection apparatus 43.
In S2020, vehicle periphery information i2 indicating the state around the vehicle 1 is acquired. In S2020, the CPU 61 functions as the acquisition unit. The vehicle periphery information i2 is acquired based on the monitoring result of the periphery monitoring apparatus 51. In a case where the object around the vehicle 1 is an on-road installation, the object can be identified as real estate, and accordingly, the vehicle periphery information i2 may be additionally acquired based on map information.
In S2030, driver state information i3 indicating the state of the driver is acquired. In S2030, the CPU 61 functions as the acquisition unit. The driver state information i3 is acquired based on the monitoring result of the driver monitoring apparatus 52. In the present embodiment, the driver state information i3 includes driver posture information i31 and driver light-of-sight information i32. The driver posture information i31 indicates the posture of the driver, the driver line-of-sight information i32 indicates a direction of the line of sight of the driver, and both of these pieces of information i31 and i32 are acquired based on the monitoring result of the driver monitoring apparatus 52.
In S2040, the travel route RT of the vehicle 1 is calculated (or predicted) based on the vehicle state information i1, the vehicle periphery information i2, and the driver state information i3. In S2040, the CPU 61 functions as a calculation unit. The calculation of the travel route RT based on these pieces of information i1 to i3 may be performed based on a known analysis model.
As described above, the vehicle state information i1 includes the vehicle speed information i11, the steering angle information i12, and the inclination angle information i13. The trajectory predicted to be drawn by the vehicle 1 can be analyzed based on these pieces of information i11 to i13, and in general, the accuracy of the analysis of the trajectory can become higher when being closer to the vehicle 1 and can become lower when being farther from the vehicle 1.
The above-described analysis result based on the information i11 to i13 can be corrected based on the vehicle periphery information i2 and the driver state information i3. In general, it is considered that the driver performs a driving operation of the vehicle 1 in such a way as to avoid the object around the vehicle 1. Therefore, it can be said that the above-described analysis result can be corrected based on the vehicle periphery information i2. Further, as described above, the driver state information i3 includes the driver posture information i31 and the driver line-of-sight information i32, and it is possible to predict a driving operation (or the intention) that can be performed by the driver in a relatively near future according to these pieces of information i31 and i32. Therefore, it can be said that the above-described analysis result can be corrected based on the driver state information i3.
In S2050, the travel route RT calculated in S2040 is displayed on the display apparatus 7. In S2050, the CPU 61 functions as a display instruction unit. Since the calculated travel route RT is a trajectory predicted to be drawn by the vehicle 1 in a case where the vehicle 1 continues traveling, it can be said that a longer travel route RT can be calculated as the speed of the vehicle 1 increases. Therefore, a display content of the travel route RT may be changed according to the vehicle speed. For example, a long distance travel route RT may be displayed in a case where the vehicle speed is relatively high, and a short distance travel route RT may be displayed in a case where the vehicle speed is relatively low.
In addition, as described above, the accuracy of the analysis of the trajectory predicted to be drawn by the vehicle 1 can become higher when being closer to the vehicle 1 and can become lower when being farther from the vehicle 1. Therefore, the appearance (color intensity, brightness, or the like) of the travel route RT may be changed according to the distance from the vehicle 1. For example, as illustrated in
In S2060, it is determined whether or not the travel route RT calculated in S2040 satisfies a predetermined condition. In S2060, the CPU 61 functions as the determination unit. In a case where the predetermined condition is satisfied (in a case of Yes determination), the processing proceeds to S2070, and in a case where the predetermined condition is not satisfied (in a case of No determination), the processing proceeds to S2090. The predetermined condition is, for example, a condition under which it is difficult for the vehicle 1 to avoid the object around the vehicle 1 indicated by the vehicle periphery information i2. Therefore, in the present embodiment, the processing proceeds to S2070 in a case where the object around the vehicle 1 indicated by the vehicle periphery information i2 is located on the travel route RT. Additionally, the processing may proceed to S2070 in a case where a distance from the vehicle 1 to the object is smaller than a reference distance determined according to the vehicle speed.
In S2070, a signal SIG1 is output in response to the determination that the travel route RT satisfies the predetermined condition in S2060 (see
In S2080, it is determined whether or not the vehicle 1 is traveling, as in S2000. In S2080, the CPU 61 functions as the determination unit. In a case where the vehicle 1 is traveling (in a case of Yes determination), the processing returns to S2010, and in a case where the vehicle 1 is not traveling (in a case of No determination), the processing proceeds to S2090.
In S2090, the output of the signal SIG1 is suppressed, and the processing returns to S2000. In S2090, the CPU 61 functions as a signal output suppression unit. S2090 suppresses unnecessary notification. In S2090, in a case where the signal SIG1 is not output, the output of the signal SIG1 is suppressed as it is.
The flowchart finally returns to S2000 or S2010. Therefore, the travel route RT is calculated again in S2040, that is, the travel route RT displayed on the display apparatus 7 is updated. The update may be performed at a predetermined cycle while the vehicle 1 is traveling. Therefore, even in a case where the signal SIG1 is output in S2070, the output of the signal SIG1 is suppressed in a case where the updated travel route RT no longer satisfies the condition of S2060.
As a result, as illustrated in
According to the present embodiment, the travel route RT that can be analyzed based on the vehicle state information i1 is corrected based on the vehicle periphery information i2 and the driver state information i3. As a result, the travel route RT is calculated with high accuracy. The travel route RT is displayed on the display apparatus 7, and the driver can also change his/her driving operation by viewing the travel route RT. According to the present embodiment, it is possible to implement appropriate driving assistance in this manner.
An aspect in which the notification NT is displayed in a case where the object around the vehicle 1 is located on the travel route RT has been exemplified in the first embodiment described above (see S2060 in
Therefore, as illustrated in
On the other hand, in a case where the driver makes a confirmation motion (here, a motion of directing a line of sight to the object OB that is another vehicle is made), the display of the notification NT may be suppressed.
In S6000, it is determined whether the confirmation motion is made by the driver based on the confirmation motion information i33. In a case where the confirmation motion is made (Yes determination), the processing proceeds to S2090, and the output of the signal SIG1 for displaying the notification NT is suppressed. On the other hand, in a case where the confirmation motion is not made (No determination), the processing proceeds to S2080.
In the present embodiment, the computational processing in a case where the travel route RT of the self-vehicle 1 and the travel route RT ‘of another vehicle as the object OB intersect has been exemplified, but the computational processing is also applicable to the first embodiment. For example, the notification NT may be displayed in a case where the object OB is located on the travel route RT, and the display of the notification NT may be suppressed in a case where the driver makes the confirmation motion for the object OB.
As another embodiment, in a case where the confirmation motion is not made for a predetermined period, another signal having a higher notification level than the signal SIG1 may be output, and as illustrated in
In the first embodiment described above, in S2040, the analysis result based on the pieces of information i11 to i13 of the vehicle state information i1 is corrected based on the vehicle periphery information i2 and the driver state information i3, and the travel route RT is calculated. However, the travel route RT displayed on the display apparatus 7 is not limited to the example of the first embodiment.
The actual route RTa and the predicted route RTb may be individually displayed on the display apparatus 7, or the display of the predicted route RTb may be omitted (only the actual route RTa may be displayed). In such a case, in S2060 (see
In the above description, to facilitate understanding, each element is indicated by a name related to its functional aspect, but each element is not limited to an element that has the content described in the embodiment as a main function, and may be element that has supplementary content. Each element is, therefore, not strictly limited by its functional expression, which may be replaced with a similar expression. For example, an expression “apparatus” may be replaced with “unit”, “component”, “piece”, “member”, “structure”, “assembly”, or the like, or may be omitted.
Some features of the embodiments are summarized as follows: A first aspect is a computation apparatus (6), for computing a travel route (RT) of a vehicle (1), the computation apparatus comprising:
In the embodiment, the travel route that can be analyzed based on the vehicle state information is corrected based on the vehicle periphery information and the driver state information. As a result, the travel route can be calculated with high accuracy, and appropriate driving assistance can be implemented.
In a second aspect, the driver state information includes
As a result, the travel route can be calculated with high accuracy.
In a third aspect, the signal output unit outputs the signal in a case where an object (OB) around the vehicle indicated by the vehicle periphery information is located on the travel route.
Accordingly, it is possible to issue an alert for an object.
In a fourth aspect, the object includes another vehicle around the vehicle and/or an on-road installation.
As a result, it is possible to issue an alert for another vehicle and/or an on-road installation.
In a fifth aspect, the acquisition unit acquires the vehicle state information based on a monitoring result of a monitoring apparatus (51) installed on the vehicle.
As a result, it is possible to appropriately acquire the vehicle periphery information.
In a sixth aspect, the acquisition unit acquires the vehicle state information based on map information.
As a result, it is possible to appropriately acquire the vehicle periphery information.
In a seventh aspect, the acquisition unit acquires the driver state information based on a monitoring result of a second monitoring apparatus (52) installed on the vehicle.
As a result, it is possible to appropriately acquire the driver state information.
In an eighth aspect, the signal which is output from the signal output unit is a notification signal for notifying the driver.
Accordingly, the driver is alerted.
In a ninth aspect, the acquisition unit further acquires confirmation motion information (i33) indicating whether or not a confirmation motion is made by the driver, the signal output unit suppresses the output of the signal based on the confirmation motion information after outputting the signal
Accordingly, an unnecessary alert is suppressed.
In a tenth aspect, the confirmation motion includes a motion of directing the line of sight of the driver to the object (OB) around the vehicle indicated by the vehicle periphery information.
As a result, the above-described ninth aspect is appropriately implemented.
In an eleventh aspect, in a case in which the signal output by the signal output unit is set as a first notification signal (SIG1) for notifying the driver, and the confirmation motion is not made for a predetermined period, the signal output unit further outputs a second notification signal for notifying the driver, the second notification signal having a higher notification level than the first notification signal.
As a result, it is possible to more effectively issue an alert.
In a twelfth aspect, the calculation unit updates the travel route at a predetermined cycle based on the vehicle state information, the vehicle periphery information, and the driver state information, and the signal output unit suppresses the output of the signal in a case where the updated travel route no longer satisfies the predetermined condition after outputting the signal.
Accordingly, an unnecessary alert is suppressed.
In a thirteenth aspect, the vehicle state information includes information (i11) indicating a speed of the vehicle, information (i12) indicating a steering angle of the vehicle, and information (i13) indicating an inclination of a vehicle body of the vehicle.
As a result, the vehicle state information can be appropriately acquired.
A fourteenth aspect is a vehicle (1), comprising the above computation apparatus (6), and a wheel (2).
That is, the above-described computation apparatus is applicable to a typical vehicle.
In a fifteenth aspect, the vehicle is a two-wheeled vehicle.
That is, the above-described computation apparatus is applicable to a typical two-wheeled vehicle.
In a sixteenth aspect, the computation apparatus further comprises a display apparatus (7) connected to the computation apparatus and configured to display the travel route.
As a result, the travel route can be visually recognized.
In a seventeenth aspect, the display apparatus performs display for notifying the driver based on the signal output by the signal output unit.
Accordingly, the alert can be visually recognized.
The invention is not limited to the foregoing embodiments, and various variations/changes are possible within the spirit of the invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-032810 | Mar 2021 | JP | national |
This application is a continuation of International Patent Application No. PCT/JP2022/000209 filed on Jan. 6, 2022, which claims priority to and the benefit of Japanese Patent Application No. 2021-032810 filed on Mar. 2, 2021, the entire disclosures of which are incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2022/000209 | Jan 2022 | US |
| Child | 18228299 | US |
