Patent Application
20220371625
The present application claims priority to Japanese application number 2021-085874 filed in the Japanese Patent Office on May 21, 2021, the entire contents of both of which being incorporated herein by reference.
The present disclosure relates to a vehicle control apparatus and a vehicle control method and, in particular, to a vehicle control apparatus and a vehicle control method for driving assistance.
Conventionally, a vehicle that can travel by automated driving technology (or autonomous driving technology) has been developed. Under automated driving control, the vehicle travels by proactively performing a vehicle operation (SAE Level of Driving Automation 3 or higher). In other words, a driver does not have to perform the vehicle operations such as of an accelerator, a brake, and a steering wheel. The automated driving technology is useful for the driver with normal driving ability, and is particularly useful for an elderly person with reduced driving ability and a person with mild cognitive impairment (MCI) in terms of travel safety.
Meanwhile, some of the drivers have a desire to drive the vehicle by himself/herself. However, in the case where required driving ability, which is required for the driver according to traffic environment or the like, is not balanced with the driver's current driving ability, the driver may feel bored of or, conversely, be psychologically stressed by driving. In view of the above, the present applicant has proposed a vehicle control apparatus that provides driving assistance or a driving load so as to balance the required driving ability with the current driving ability (see Patent document 1, for example). With this vehicle control apparatus, the driver can drive the vehicle in a balancing state between the required driving ability and the current driving ability. As a result, the driver can enjoy and concentrate on safe driving regardless of difficulty of the traffic environment or a level of the current driving ability.
[Patent document 1] Japanese Patent No. 6,555,649
In the technique disclosed in Patent document 1, in the case where the driver's current driving ability is relatively insufficient, the necessary driving assistance is provided. Thus, safety of vehicle driving is enhanced. However, since the driver simply relies on the vehicle to compensate for the insufficient driving ability, this technique cannot maintain or improve the driver's driving ability. For this reason, this technique cannot extend the driver's safe driving life.
Embodiments are directed to providing a vehicle control apparatus and a vehicle control method capable of maintaining and improving a driver's driving ability while securing safe driving by automated driving.
In order to achieve the above purpose, a vehicle control apparatus according to the present disclosure is a vehicle control apparatus that executes driving assistance control for a vehicle such that the vehicle travels according to traffic environment and travel environment around the vehicle, the vehicle traveling by using plural travel functions, which include a running function, a stopping function, and a turning function, by a vehicle operation using plural driving functions of a driver. The vehicle control apparatus may operate in different modes: a normal mode in which the vehicle is operated using the plural driving functions of the driver; an fully automated mode in which the vehicle performs all of the plural driving functions; an optimization mode in which, when a temporary reduction of driving performance of any of the plural driving functions of the driver is detected, physical stimulation information is provided to the driver that makes the driver recognize the temporary reduction of the driving performance; and an assistance mode in which, when a chronic reduction of the driving performance of any of the plural driving functions of the driver is detected, information on assistance with execution of the driving performance for any of the plural driving functions for which chronic reduction is detected is provided to the driver.
Accordingly, when any of the driver's driving ability is lost or there is a sign of such loss, the vehicle performs all of the driving functions instead. Thus, safety of vehicle travel is ensured. In addition, when any of the driving performance is temporarily reduced, the physical stimulation is applied to the driver, or the driver is provided with the information that makes the driver recognize the temporary reduction of the driving performance. Thus, it is possible to recover the temporarily reduced driving ability of the driver and to cause the driver himself/herself to continue driving. Furthermore, when any of the driving performance is chronically reduced, the driving performance is maintained or improved by providing the driver with the information on the assistance with the execution of the driving performance. Thus, instead of performing the function instead, the vehicle can compensate for the driver's lack of ability or can urge the driver to improve his/her ability while allowing the driver to proactively execute his or her driving performance. Therefore, it is possible to maintain or improve the driver's driving ability through driving while ensuring safe travel.
The vehicle control apparatus further executes insufficient function substitution processing in which, when the temporary reduction or the chronic reduction of the driving performance of any of the plural driving functions of the driver is detected, the vehicle is controlled such that the vehicle performs the driver's driving function with the driving performance instead.
Thus, even when the driver's driving ability is low, the vehicle performs the driving function associated with the insufficient driving performance instead. Thus, the safety of the vehicle travel is ensured, and the driver can extend driving life without giving up driving.
The plural driving functions of the driver include a perceptual function to perceive the traffic environment and the travel environment, a determination function to determine a necessary driving operation in the traffic environment and the travel environment, and an operation function to perform the driving operation.
Whether the driver has specified driving performance may be determined for each of the plural driving functions. In this way, an insufficient function with low driving performance may be identified and to appropriately select the insufficient function, for which the optimization processing or the assistance processing should be executed.
In the assistance processing, information with a different content is provided according to each of the plural driving functions of the driver.
Accordingly, appropriate assistance information can be provided according to a type of the insufficient function.
A vehicle control method according to embodiment is a vehicle control method for executing driving assistance control for a vehicle such that the vehicle travels according to traffic environment and travel environment around the vehicle, the vehicle traveling by using plural travel functions, which include a running function, a stopping function, and a turning function, by a vehicle operation using plural driving functions of a driver. The vehicle control method includes: when loss or a sign of loss of any of the plural driving functions of the driver is detected, controlling the vehicle such that the vehicle performs all of the plural driving functions; when a temporary reduction of driving performance of any of the plural driving functions of the driver is detected, controlling the vehicle to eliminate the temporary reduction of the driving performance by applying physical stimulation to the driver or by providing the driver with information that makes the driver recognize the temporary reduction of the driving performance; and, when a chronic reduction of the driving performance of any of the plural driving functions of the driver is detected, controlling the vehicle to maintain or improve the driving performance by providing the driver with information on assistance with execution of the driving performance for any of the plural driving functions for which chronic reduction is detected.
Accordingly, the driver's driving ability may be maintained or improved while ensuring safe travel.
According to the vehicle control apparatus and the vehicle control method in the present disclosure, the driver's driving ability may be maintained or improved while ensuring safe travel.
A description will hereinafter be made on a vehicle control apparatus and a vehicle control method according to embodiments of the present disclosure with reference to the accompanying drawings.
First, a description will be made on an overview of vehicle control that is provided by the vehicle control apparatus according to the embodiment with reference to
The vehicle control apparatus 100 (see
More specifically, in the case where the driver has normal driving ability, the vehicle control apparatus 100 intervenes in the vehicle operation only at a particular time to execute the driving assistance control (automatic acceleration, automatic braking, automatic steering, or the like). Examples of the particular time are a time when the driver's driving ability is temporarily reduced (for example, due to fatigue or drowsiness) and a time when travel environment is relatively difficult (for example, a surrounding traffic condition is complicated, a road shape is complicated, or surrounding environment is dark). In the case where the driving ability of the driver (for example, an elderly person or a person with MCI) is partially reduced (for example, a lack of muscle strength to operate a steering wheel), the vehicle control apparatus 100 compensates for the reduced driving ability. In addition, the vehicle control apparatus 100 executes the driving assistance control to maintain or recover the reduced driving ability or to further improve the driving ability.
Meanwhile, in the case where such an abnormality sign is detected that the driver's conscious level or driving ability is reduced rapidly or over a specified period (several minutes to several tens of minutes) (for example, at onset of an acute illness or when a drowsiness level is high), the vehicle control apparatus 100 executes the driving assistance control to maintain safe travel. In an event of abnormality in which the driver loses consciousness or driving ability, in order to avoid occurrence of an accident, the vehicle control apparatus 100 executes the automated driving control and also executes processing to notify outside of an emergency situation.
Next, a description will be made on a configuration of the vehicle control apparatus according to the embodiment with reference to
The in-vehicle apparatus 20 includes an in-vehicle camera 21, an outside camera 22, a radar 23, and plural vehicle behavior sensors (a vehicle speed sensor 24, an acceleration sensor 25, a yaw rate sensor 26) to detect behavior of the vehicle 1, plural operation detection sensors (a steering angle sensor 27, a steering torque sensor 28, an accelerator operation amount sensor 29, a brake depression amount sensor 30) to detect the driver's operation, a positioning device 31, a navigation system 32, and an information communication device 33.
The vehicle control system 40 includes an engine control system 41, a brake control system 42, and a steering control system 43 that respectively correspond to a running function, a stopping function, and a turning function of the vehicle. The information notification apparatus 50 includes a display device 51, an audio output device 52, an information transmission device 53, and plural actuators 54.
The controller 10 may be constructed of a computer device that includes: a processor 11; memory 12 that stores various programs executed by the processor 11 and data; an input/output device; and the like. The controller 10 is configured to output a control signal for executing the vehicle control (the driving assistance control and the automated driving control) to the vehicle control system 40 and the information notification apparatus 50 on the basis of a signal received from the in-vehicle apparatus 20.
The in-vehicle camera 21 captures an image of the driver of the vehicle 1 and outputs image information. Based on this image information, the controller 10 particularly determines a facial expression and an upper body posture of the driver.
The outside camera 22 captures an image around the vehicle 1 (typically, at least front of the vehicle 1) and outputs image information. Based on this image information, the controller 10 identifies a target object and a position thereof on the outside of the vehicle. The target objects at least include a traffic participant and a boundary of a travel road. More specifically, the target objects include surrounding moving bodies (a vehicle, a pedestrian, and the like) and immobile structures (an obstacle, a parked vehicle, the travel road, a lane marking, a stop line, a traffic signal, a traffic sign, an intersection, and the like).
The radar 23 measures the position and a speed of the target object that exists around the vehicle 1 (typically, in front of the vehicle 1). For example, as the radar 23, a millimeter-wave radar, a laser radar (LIDAR), an ultrasonic sensor, or the like can be used.
The vehicle speed sensor 24 detects a speed (a vehicle speed) of the vehicle 1. The acceleration sensor 25 detects acceleration of the vehicle 1. The yaw rate sensor 26 detects a yaw rate generated to the vehicle 1. The steering angle sensor 27 detects a rotation angle (a steering angle) of a steering wheel 43b of the vehicle 1. The steering torque sensor 28 detects rotational torque that is associated with rotation of the steering wheel 43b. The accelerator operation amount sensor 29 detects a depression amount of an accelerator pedal 41b. The brake depression amount sensor 30 detects a depression amount of a brake pedal 42b.
The positioning device 31 includes a GPS receiver and/or a gyroscope sensor, and detects a position of the vehicle 1 (current vehicle position information). The navigation system 32 stores map information therein and can provide the map information to the controller 10. The controller 10 can calculate an entire travel route (including a travel lane, the intersection, the traffic signal, and the like) to a destination on the basis of the map information and the current vehicle position information.
The information communication device 33 communicates with an external communication device. For example, the information communication device 33 performs inter-vehicular communication with another vehicle and road-vehicle communication with an external communication device, receives various pieces of driving information and traffic information (traffic jam information, speed limit information, and the like), and provides the information to the controller 10.
The engine control system 41 controls drive power of an engine system (an internal combustion engine, an electric motor, or the like) of the vehicle 1. The controller 10 drives the engine system by sending a control signal to an engine controller 41a on the basis of input from the accelerator pedal 41b, and can thereby accelerate or decelerate the vehicle 1.
The brake control system 42 controls drive power of a brake system of the vehicle 1. For example, the brake control system 42 includes brake actuators such as a hydraulic pump and a valve unit. The controller 10 drives the brake system by sending a control signal to a brake controller 42a on the basis of input from the brake pedal 42b, and can thereby decelerate the vehicle 1.
The steering control system 43 controls drive power of a steering system of the vehicle 1. The steering control system 43 includes an electric motor for an electric power steering system, and the like, for example. The controller 10 drives the steering system by sending a control signal to a steering controller 43a on the basis of input from the steering wheel 43b, and can thereby change an advancing direction of the vehicle 1.
The display device 51 can visually display assistance information (visual information) for assisting the driver with the vehicle operation in a display area. More specifically, the display device 51 is a HUD. The display area corresponds to size of an entire or partial front windshield of the vehicle 1, and the assistance information is displayed in the driver's field of view. Instead of the HUD, a liquid-crystal display may be used.
The audio output device 52 is a speaker, for example, and can provide assistance information (auditory information) for assisting the driver with the vehicle operation.
The information transmission device 53 can transmit information on driving assistance to an external information communication device (for example, the driver's mobile information terminal).
The actuators 54 include an electric motor, a gear mechanism, and the like. The plural actuators 54 are configured to move each of plural operation sections to be operated at the time when the driver drives the vehicle 1 (for example, the accelerator pedal 41b, the brake pedal 42b, and the steering wheel 43b) in an operation direction without the driver's input. The controller 10 outputs a control signal to each of the actuators 54 and can thereby cause the corresponding operation section to demonstrate desired behavior.
The vehicle control system (for example, the engine control system, the brake control system, and the steering control system) in this embodiment is configured to be actuated by a drive-by-wire method. In addition, the vehicle control system in this embodiment is configured that the operation input from the operation section is transmitted as a control signal via the controller 10, and a drive unit corresponding to the operation section receives the control signal and is driven on the basis of the control signal. Thus, the controller 10 can output the control signal to the drive unit independently of movement of the operation section by the actuator 54.
Next, a description will be made on a processing procedure by the vehicle control apparatus according to the embodiment with reference to
Contents of the vehicle control are an advanced driver-assistance system (ADAS), the automatic acceleration, the automatic braking, the automatic steering, automatic vehicle posture stabilization control, automated driving (level 3 or higher), and maintenance assistance processing and improvement assistance processing for the driver's driving ability. The ADAS at least includes assistance functions for following a preceding vehicle, preventing a collision with the preceding vehicle, preventing lane departure, and the like (automatic entry avoidance control). The automatic vehicle posture stabilization control is control to stabilize a posture of the vehicle 1, that is, vehicle dynamics (a pitch, a roll, and a yaw) and to prevent sideslip, overturning, and the like.
The in-vehicle apparatus 20 may continuously transmits the acquired information to the controller 10. Based on the acquired information, the controller 10 performs the following calculations or makes the following evaluations.
The controller 10 evaluates traffic environment around the vehicle 1 on the basis of the input information from the outside camera 22, the radar 23, the positioning device 31, the navigation system 32 (the map information), and the like (traffic environment evaluation). More specifically, the controller 10 calculates the position, a speed, and the like of the target object (the vehicle, the pedestrian, a border line, a guard rail, the stop line, the traffic sign, or the like) around the vehicle 1.
In addition, the controller 10 evaluates a physical function of the driver on the basis of information from the steering angle sensor 27, the steering torque sensor 28, the brake depression amount sensor 30, the in-vehicle camera 21, and the like (physical function evaluation). More specifically, the controller 10 estimates levels of the driver's physical functions to operate the operation section with an appropriate operation amount and at an appropriate operation speed and to visually capture visual stimulation on the outside of the vehicle. Whether the driver operates the operation section with the appropriate operation amount and at appropriate operation speed is evaluated by a difference between a combination of the operation amount and the operation speed (the steering angle, a steering angular velocity, the depression amount, a depression speed, or a brake hydraulic pressure of the brake pedal 42b, or the like) actually input by the driver via the operation section and a combination of a target operation amount and a target operation speed at the time of traveling on a target travel route. Based on a driving request (the destination and the like), the target travel route is calculated by using results of the traffic environment evaluation, a travel environment evaluation, the physical function evaluation, and the like such that the vehicle 1 can travel safely and efficiently.
The controller 10 evaluates travel environment around the vehicle 1 on the basis of the information from the outside camera 22, the vehicle speed sensor 24, the acceleration sensor 25, the positioning device 31, and the like (the travel environment evaluation). More specifically, the controller 10 estimates physical quantities (for example, a curve radius and a road surface friction coefficient of the travel road) that affect the vehicle dynamics.
In addition, the controller 10 calculates the current vehicle dynamics of the vehicle 1 on the basis of the information from the vehicle speed sensor 24, the acceleration sensor 25, the yaw rate sensor 26, and the like (vehicle dynamics calculation). The vehicle dynamics includes the speed, the acceleration, the yaw rate, three-axis rotational moment (pitch, yaw, and roll), and the like.
The controller 10 determines the driver's arousal level on the basis of the image information from the in-vehicle camera 21 (arousal level determination). For example, the arousal level is evaluated by opening amounts of the driver's eyes and/or mouth and by a position or the posture of the driver's upper body. For example, the arousal level can be evaluated in four levels (zero, low, moderate, and high arousal).
The controller 10 determines whether there is a predicted risk in the traffic environment evaluation and the travel environment evaluation. The predicted risks include a traffic risk due to the traffic environment (for example, a collision of the vehicle 1 with the other vehicle) and a travel risk due to the travel environment affecting the vehicle dynamics (for example, spinning on a curved road). Then, the controller 10 evaluates risk-reducing action taken by the driver in response to this predicted risk on the basis of the information from the in-vehicle apparatus 20, the in-vehicle camera 21, and the like (risk-reducing action evaluation).
The risks include a vehicle accident, such as the collision of the vehicle 1, and states where postural stability of the vehicle 1 is lost or reduced (spinning, overturning, and the like). Risk objects causing such a risk include the traffic participants (the other vehicle, the pedestrian, and the like), the guard rail, the border line, the traffic signal (a red light), the stop line, and the like. The risk objects further include risk-generating portions of the travel road (a clipping point on the curved road, and the like). Each of these target objects becomes the risk object in such a circumstance where the respective object possibly poses the risk in the immediate future (for example, within a specified period, e.g., 10 seconds) in the case where the current vehicle behavior (vehicle dynamics) continues. The risk-reducing action is action taken by the driver in response to the predicted risk and, in particular, the vehicle operation (the acceleration, braking, and/or steering) that is performed to reduce a probability of occurrence of the predicted risk. For example, in the case where the predicted routes of the vehicle 1 and the other vehicle intersect and the collision between these vehicles is predicted, the risk-reducing action is the vehicle operation to reduce a collision probability or the vehicle operation to set the closest distance between the vehicle 1 and the other vehicle to be equal to or longer than a specified distance. Furthermore, the object, which is unlikely to pose the risk at a current time point but should be perceived during the travel, and the object, which possibly poses the risk in the future beyond a specified period, may be included as the risk objects.
In addition, the risk-reducing action includes such action that the driver perceives the risk object (for example, the other vehicle with the collision possibility or a location near the clipping point on the curved road) before operating the operation section. For example, the risk-reducing action includes shifting of the driver's sightline to the risk object and shifting of the driver's posture to handle the risk (that is, perception of the risk object by the driver) on the basis of the image information from the in-vehicle camera 21.
The controller 10 evaluates the driver's current cognitive load on the basis of the result of the traffic environment evaluation (cognitive load evaluation). For example, the controller 10 evaluates that, according to the vehicle speed, the driver's cognitive load is greater as the number of the target objects within a specified distance from the vehicle 1 is increased. For example, the cognitive load can be evaluated in three levels (low, moderate, and high). In addition, the controller 10 may analyze and learn the driver's cognitive ability level on the basis of information on the vehicle operation by the driver and the driver's sightline direction, and may then update the driver's cognitive ability level. In this case, the cognitive load evaluation can be calculated by a ratio of a magnitude of the current cognitive load to the driver's cognitive ability level.
The controller 10 stores a vehicle model, which defines physical motion of the vehicle 1, in a storage section. The vehicle model represents a relationship between specifications of the vehicle 1 (mass, wheelbase, and the like) and physical variations (the speed, the acceleration, the steering angle, and the like) by an equation of motion. The result of the travel environment evaluation (for example, the road surface friction coefficient) can also be applied to the vehicle model.
The controller 10 stores a driver model of the driver who drives the vehicle 1 in the storage section. The controller 10 analyzes and learns the driver's operation characteristic on the basis of the input information from the in-vehicle apparatus 20, and constantly updates the driver model. The driver model represents the driver's operation characteristic and includes an operation amount, a reaction delay time (time constant), and the like for a particular operation under a certain condition. The result of the cognitive load evaluation (the magnitude of the cognitive load) and the result of the physical function evaluation can also be applied to the driver model. For example, in a situation where the cognitive load is high, the driver model is corrected to reduce the driver's operating ability. Meanwhile, in the case where it is determined, from the result of the physical function evaluation, that a depression force or arm strength is low, such a determination is reflected to the time constant related to the operation amount and the operation speed of the operation section. By using the driver model, the controller 10 can predict the driver's operation. The controller 10 also stores an ideal driver model, which represents the driver's ideal operation characteristic with the high driving ability, in the storage section, and thus can also predict the ideal operation.
The controller 10 applies the input information from the in-vehicle apparatus 20 to the vehicle model and the driver model, and can thereby calculate the vehicle dynamics that is predicted to be generated in a period from the current time point to the near future (vehicle dynamics prediction calculation). In other words, by inputting current conditions (the traffic environment, the travel environment, the cognitive load, and the physical function) into the driver model and the vehicle model, the controller 10 can predict the vehicle operation (a type of the operation, the operation amount, operation timing, and the like) to be performed by the driver after a specified period (for example, after 10 seconds) from the current time point, and can calculate predicted vehicle dynamics to be generated by the predicted vehicle operation.
Furthermore, the controller 10 makes a driving ability evaluation. The driving ability represents a measure of the driver's ability to avoid the various risks. The controller 10 evaluates or calculates the driving ability against the risk on the basis of the result of the risk-reducing action evaluation (the risk-reducing action taken by the driver), a difference between the predicted vehicle dynamics and the actual vehicle dynamics, and the result of the cognitive load evaluation (the magnitude of the cognitive load). For example, the driving ability against the risk can be a required risk-reducing time that is required by the driver to reduce the predicted risk. The required risk-reducing time may be a time from initiation of the risk-reducing action to disappearance of the predicted risk or a required time from the driver's perception of the risk to completion of the risk-reducing action. In this case, in the case where the driving ability is evaluated as low, the required risk-reducing time is output as a large value.
For example, the controller 10 uses the driver model to calculate a predictive travel route of the vehicle 1 at a future time point in a case where it is assumed that the current vehicle behavior continues only for a specified time. When the specified time reaches a certain time, the risk can no longer be avoided in the predictive travel route at the time point. Then, a time until occurrence of the risk in the predictive travel route, which is calculated at this time, (a risk margin time) may be set as the required risk-reducing time.
The controller 10 can update driving ability data by using the calculated driving ability evaluation. The driver's driving ability changes over time. For example, the driving ability of a novice driver tends to be improved while the driving ability of the elderly person tends to be reduced. Plural driving ability data sets may be provided in a manner to correspond to plural evaluation periods. For example, the driving ability data sets in a short term (one to six months before the current time point), a medium term (three to nine months before the current time point), and a long term (one to two years before the current time point) can be created.
The controller 10 performs a function redistribution calculation on the basis of the current vehicle dynamics, the result of the driving ability evaluation (the current driving ability), the result of the cognitive load evaluation, and the result of the physical function evaluation. The controller 10 executes the driving assistance control and the automated driving control on the basis of this calculation. During normal driving, the driver (for example, the novice driver or the elderly person) exerts driving performance by using his/her own driving functions (a perceptual function, a determination function, and the physical function). However, in the case where the driver cannot avoid the predicted risk (that is, in the case where the driver's driving performance does not satisfy the required driving ability to avoid the predicted risk), the controller 10 executes the driving assistance control such that the vehicle 1 performs the driving function, which is related to the insufficient driving ability, instead. Meanwhile, in the event of abnormality (for example, loss of consciousness), for example, the automated driving control is executed, and the driver's driving function is substituted with an equivalent and corresponding function of the vehicle 1.
In addition, the controller 10 compares the result of the driving ability evaluation (the current driving ability against the predicted risk) to the driving ability data. Then, in the case where the current driving ability is lower than the driving ability in the past, the controller 10 provides assistance (including the automated driving) to compensate for the reduced driving ability. When the driver's arousal level is moderate (for example, the mild drowsiness), the controller 10 executes processing to wake the driver (for example, blowing cool air to the driver). When the driver's arousal level is low (for example, the severe drowsiness or the loss of consciousness), the controller 10 executes the automated driving.
Next, a description will be made on a human-machine system configured to include the driver and the vehicle in an embodiment on.
As illustrated in
When the driver executes the perceptual performance, the determination performance, and the operational performance to operate the vehicle, the vehicle executes the travel performance, the braking performance, and the steering stability performance in response to the driver. In this way, the vehicle as the human-machine system can travel safely. Conventionally, in order to efficiently execute three types of the performance of the vehicle, the vehicle is provided with an interface that mediates between the driver's function and the vehicle function. In this way, overall vehicle performance (for example, braking ability, fuel economy, and the like) is improved.
During the automated driving, the controller 10 substitutes the vehicle to control for all or most of the perceptual function, the determination function, and the physical function of the driver. For example, the vehicle sensors in the in-vehicle apparatus 20, e.g., in-vehicle camera, the acceleration sensor, the radar, and the like, substitute for the perceptual function. The controller 10 in the vehicle substitutes for the determination function. The in-vehicle actuators 54 substitute for the physical function. The driver only needs to have the physical function to give a minimum instruction such as an engine start in an exceptional case, and needs not have most of the driving function and the driving ability (the driving performance).
In this embodiment, in the case where the driver's driving ability is low at the time of detecting the predicted risk (or at the time of encountering the risk), the vehicle control apparatus 100 executes the driving function substitution processing to substitute the driving function related to the low driving ability of the driver (an insufficient function) with the corresponding function of the vehicle 1. In this processing, the vehicle control apparatus 100 detects, of the driver's driving functions, the driving function (perceptual, determination, or operation) with low performance, and intervenes in the vehicle operation such that the vehicle 1 only assists this low driving function (the insufficient function). In this way, even when the driver's driving ability is partially reduced, the travel function of the human-machine system, which is configured to include the driver and the vehicle 1, is maintained. In
In addition, in this embodiment, when executing the driving function substitution processing, the vehicle control apparatus 100 executes the driving performance assistance processing to maintain or recover the driving ability of the insufficient function.
In this embodiment, during a normal time, i.e., when no predicted risk is detected, the vehicle control apparatus 100 executes the driving performance assistance processing to improve the driver's driving performance.
The driving performance assistance processing for improving the driver's driving performance is processing to provide the driver with advice on driving action that the driver should perform so as to raise the driver's driving ability to a higher level of the driving ability. For example, a recommended vehicle operation by an experienced driver with the high driving ability is taught to the driver. This corresponds to that the driver learns a driving technique from the experienced driver. With this assistance processing, the driver learns a model vehicle operation for the poor function among the perceptual function, the determination function, and the operation function, and can thereby improve his/her driving ability.
Next, a description will be made on a processing flow of the driving assistance control by the vehicle control apparatus according to an embodiment.
First, as illustrated in
Then, the controller 10 calculates the target travel route on the basis of the acquired information and the driving request (S2). The target travel route includes: a target travel path (positional information at plural positions) in a specified period (for example, 10 seconds) from the current time point; the speed at each position on the path; and the like. By using the driving request and the results of the traffic environment evaluation, the travel environment evaluation, the physical function evaluation, and the like, the controller 10 calculates the target travel route with specified levels of safety and travel efficiency. The controller 10 can calculate plural target travel routes, each of which satisfies a specified constraint condition (for example, that lateral acceleration is equal to or lower than a specified value). For example, in the case where the obstacle exists ahead of the vehicle 1, the controller 10 can set the plural target travel routes to avoid the obstacle. Here, even when the vehicle 1 moves away from the target travel route, the vehicle 1 can travel on another travel route. However, since the other travel route does not satisfy a specified standard, the travel efficiency and ride comfort thereon are poor.
Then, the controller 10 calculates target vehicle dynamics for travel on the target travel route (S3). The target vehicle dynamics includes the speed, the acceleration, the yaw rate, the three-axis rotational moment (pitch, yaw, and roll), and the like at each of the positions on the target travel route. The target vehicle dynamics is a target control value that is used when the vehicle 1 executes the driving assistance control and the automated driving control. Plural types of the target vehicle dynamics (or the plural target control values) can be set in a manner to correspond to the plural target travel routes.
Furthermore, the controller 10 calculates an operation amount of a target vehicle operation (the accelerator operation amount, a brake depression amount, the steering angle, or the like) that is a driving performance request for the driver and the vehicle 1 in order to achieve a physical quantity of the target vehicle dynamics at each of the positions on the target travel route, or calculates the control signal for the vehicle control system 40 (human-machine performance request setting processing). The driving performance request with a specified range is set due to the plural target travel routes.
Next, the controller 10 determines whether the insufficient function exists among the driver's driving functions (S4). More specifically, the controller 10 determines whether each of the driving functions (the perceptual function, the determination function, and the operation function) executes the driving performance necessary to avoid the predicted risk.
For example, based on the traffic environment evaluation, the travel environment evaluation, and the like, the controller 10 predicts the risk, which occurs within a specified time, from the current vehicle behavior (vehicle dynamics). The controller 10 calculates a time from the current time point to the occurrence of the predicted risk (the traffic risk or the travel risk) (that is, a risk margin time TTR (time to risk)). The risk margin time TTR is an expected time until the vehicle 1 enters a risk area in the case where the vehicle 1 maintains the current vehicle behavior (the vehicle dynamics such as the speed and the acceleration). The entry to the risk area means the collision of the vehicle 1 with the other vehicle or a position, at which spinning of the vehicle 1 is predicted, in the curved road, for example.
In regard to the perceptual function, based on the result of the risk-reducing action evaluation, the controller 10 determines whether the risk object is perceived (for example, whether the driver moves his/her sightline to the risk object, or whether the driver tilts his/her head or upper body in response to the lateral G) by specified time (for example, by a specified time before predicted occurrence time of the predicted risk, or by the time when the vehicle 1 moves away from any of the target travel routes). In the case where the driver does not perceive the risk object by the specified time, the controller 10 identifies the perceptual function as the insufficient function.
In regard to the determination function, based on the result of the risk-reducing action evaluation, the controller 10 determines whether the driver has made an appropriate determination to reduce the risk and initiated recommended risk-reducing action by the above specified time. The recommended risk-reducing action is the target vehicle operation (for example, an accelerator, brake, or steering operation) for the target vehicle dynamics. Once the target vehicle dynamics is achieved, the risk is avoided. For example, in the case where the brake operation is required to avoid a collision with the obstacle in front, the controller 10 determines whether the brake operation has been initiated on the basis of the information from the brake depression amount sensor 30. Meanwhile, in the case where the steering operation is required to avoid the collision with the obstacle in front, the controller 10 determines whether the steering operation has been initiated on the basis of the information from the steering angle sensor 27. In the case where the driver has not initiated the recommended risk-reducing action by the specified time, the controller 10 identifies the determination function as the insufficient function.
In regard to the operation function, the controller 10 determines whether the driver has appropriately executed the vehicle operation for the risk-reducing action (mainly, whether a vehicle operation amount is appropriate) so as to reduce the probability of occurrence of the predicted risk to zero. Accordingly, the controller 10 calculates the probability of occurrence of the predicted risk by using the vehicle model in consideration of a change in the vehicle dynamics caused by the risk-reducing action in addition to the current vehicle dynamics. In the case where the driver does not appropriately perform the vehicle operation for the risk-reducing action, the controller 10 identifies the operation function as the insufficient function.
If the insufficient function does not exist (S4: NO), the probability of occurrence of the predicted risk becomes zero within the specified time, and thus the controller 10 operates in a normal mode and terminates the processing.
On the other hand, if the insufficient function exists (S4: YES), the controller 10 determines, in regard to the insufficient function, how the driver's driving ability is reduced (S5). More specifically, the controller 10 determines (1) whether any of the driver's driving functions has been lost or there is a sign of loss of any of the driver's driving functions (LOSS OR SIGN OF LOSS OF FUNCTION), (2) whether the driving performance of any of the driver's driving functions has temporarily been reduced (TEMPORARY), or (3) whether the driving performance of any of the driver's driving functions has chronically been reduced (CHRONIC).
The controller 10 determines that any of the driving functions has been lost when the driver's arousal level is low or in the event of abnormality in which the driving ability is lost (for example, severe drowsiness or the loss of consciousness). Meanwhile, the controller 10 determines that there is a sign of loss of any of the driving functions in the case where such an abnormality sign is detected that the driving ability is reduced rapidly or over a predetermined period (several minutes to several tens of minutes) (for example, at the onset of the acute illness or when the drowsiness level is high) (S5: LOSS OR SIGN OF LOSS OF FUNCTION).
In this case, the controller 10 controls the vehicle 1 by the vehicle control system 40 such that the vehicle 1 performs all of the plural driving functions instead (S6: ALL FUNCTIONS SUBSTITUTION PROCESSING), i.e., a fully automated mode. In other words, the automated driving control is executed. Thereafter, the controller 10 terminates the processing.
The controller 10 determines that the driving performance of any of the driving functions has temporarily been reduced when the driver's arousal level is moderate (for example, when the driver's fatigue or mild drowsiness is detected) (S5: TEMPORARY).
In this case, the controller 10 controls the vehicle 1 to eliminate a temporary reduction of the driving performance by applying physical stimulation to the driver or providing the driver with information that makes the driver recognize the temporary reduction of the driving performance (S7: OPTIMIZATION PROCESSING), i.e., an optimization mode. For example, the controller 10 attempts to recover the arousal level by providing the driver with visual, auditory, or tactile noise which has an effective frequency band (15 to 20 kHz) for maintaining arousal but of which the driver is not conscious or by blowing cool air to the driver.
Alternatively or additionally, the controller 10 may use the display device 51 to highlight the risk object in the display area, may use the audio output device 52 to notify of appearance of the risk object by voice (such as “An obstacle is present ahead.”, or the like). When the driver is urged by such notification and perceives the risk object, a temporary reduction of the driver's perceptual performance can be eliminated.
Further alternatively or additionally, the controller 10 may use the information notification apparatus 50 to notify the driver of appropriate determination action to be performed in order to travel on the target travel route. In this way, the driver can acknowledge an appropriate driving determination, and at least a temporary reduction of the determination performance can be eliminated. More specifically, the controller 10 displays driving operation assistance information by the display device 51, or informs the driving operation assistance information by voice using the audio output device 52. The driving operation assistance information includes contents and order of the target vehicle operations to be performed by the driver in response to the risk.
Further alternatively or additionally, the controller 10 may use the information notification apparatus 50 to notify the driver of the appropriate operation amount and appropriate operation timing for the travel on the target travel route by the movement of the operation section. In this way, the driver learns the appropriate operation, and at least a temporary reduction of the operational performance can be eliminated. More specifically, the controller 10 uses the actuator 54 to move the operation section (for example, the brake pedal 42b or the steering wheel 43b) for the intervened vehicle control to an operating position that corresponds to the appropriate operation amount.
Furthermore, the controller 10 controls the vehicle 1 by the vehicle control system 40 such that the vehicle 1 performs the driving function with the temporarily reduced driving performance instead of the driver (S8: INSUFFICIENT FUNCTION SUBSTITUTION PROCESSING), i.e., a partial automatic mode.
More specifically, in the case where the perceptual performance is temporarily reduced, the controller 10 sets the detected risk object as a tracking object and executes tracking control.
Meanwhile, in the case where the determination performance is temporarily reduced, the controller 10 executes the vehicle control to disable the vehicle operation by the driver or override the vehicle operation by the driver with another vehicle operation so as to avoid the risk. In the drive-by-wire vehicle 1, even when the driver operates the operation section, due to disablement of the vehicle operation, the control signal is no longer generated on the basis of the operation of the operation section. For example, in the case where the obstacle in front is avoided, it is assumed that the driver performs the steering operation to drive by a side of the obstacle. Meanwhile, since an oncoming vehicle is approaching, the target vehicle operation is deceleration by the brake operation (that is, the target travel route is set to a route on which the vehicle 1 is decelerated before reaching the obstacle). In this situation, the controller 10 disables the steering operation, and outputs the control signal to the brake controller 42a so as to stop the vehicle 1 before reaching the obstacle. On the contrary, in the case where the target vehicle operation is the steering operation but the driver performs the brake operation, the controller 10 disables the brake operation, and outputs the control signal to the steering controller 43a so as to avoid the obstacle.
In the case where the performance of the operation function is temporarily reduced, the controller 10 executes the vehicle control for avoiding the risk. For example, in the case where the driver depresses the brake pedal 42b to avoid the collision with the obstacle but the depression amount is insufficient due to the small depression force by the driver, the controller 10 outputs the control signal corresponding to the appropriate operation amount to the brake controller 42a such that the vehicle 1 stops before reaching the obstacle. Meanwhile, in the case where the driver operates the steering wheel 43b to avoid the collision with the obstacle but the operation amount thereof is insufficient due to the low arm strength of the driver, in order to secure a clearance from the obstacle, the controller 10 outputs the control signal corresponding to the appropriate operation amount to the steering controller 43a. After the insufficient function substitution processing, the controller 10 terminates the processing.
In the case where the result of the driving ability evaluation (the current driving ability against the predicted risk) is compared to the driving ability data and the current driving ability is lower than the driving ability in the past, the controller 10 determines that the driving performance of any of the driver's driving functions is chronically reduced (S5: CHRONIC).
In this case, the controller 10 controls the vehicle 1 to provide the driver with information on assistance with execution of the driving performance so as to maintain or improve the driving performance (S9: ASSISTANCE PROCESSING), i.e., an assistance mode.
More specifically, in the case where the perceptual performance is chronically reduced, in order to bring the driver's driving performance (perceptual performance) close to a level in which the vehicle 1 can travel on the target travel route, the controller 10 uses the information notification apparatus 50 to notify the driver of an execution mode of the perceptual function by the experienced driver with the high driving ability to travel on the target travel route. In this way, the driver learns model perceptual action (a perceived object, timing, and the like) of the experienced driver, and can thereby improve the perceptual performance. In this embodiment, the vehicle operation includes the perceptual action.
For example, in the case where the driver does not perceive a target that is present when making a right turn, the controller 10 visually highlights the target to be perceived in the display area of the display device 51. Alternatively or additionally, the controller 10 may notify of the target to be perceived by using the audio output device 52.
In the case where the driver does not perceive overspeeding, the controller 10 limits the driver's viewable range in front of the vehicle to a narrower range. In this case, the display device 51 darkens (or reduces transparency of) a portion of the display area that corresponds to a peripheral portion of the front windshield and thereby narrows the range where the driver can see the outside through the front windshield. As a result, the driver feels a fast moving speed of outside scenery within the narrow viewable range. Thus, the driver can easily notice overspeeding of the vehicle 1. The controller 10 may notify of an overspeed state of the vehicle 1 by using the display device 51 and/or the audio output device 52.
In the case where the driver does not perceive external G, the controller 10 uses the display device 51 or the audio output device 52 to notify the driver that the external G is applied to the vehicle 1 and also to notify the posture to be assumed by the driver.
In the case where the determination performance is chronically reduced, in order to bring the driver's driving performance (determination performance) close to the level in which the vehicle 1 can travel on the target travel route, the controller 10 uses the information notification apparatus 50 to notify the driver of an execution mode of the determination function by the experienced driver with the high driving ability to travel on the target travel route. In this way, the driver learns model determination action of the experienced driver to travel on the target travel route, and can thereby improve the determination performance.
For example, in the case where the driver once operates the steering wheel in a left turning direction and thereafter operates the steering wheel in a right turning direction when making the right turn, the controller 10 uses the information notification apparatus 50 to notify the driver of the driving operation assistance information after termination of driving. In this case, the driving operation assistance information includes information on the vehicle operation that is performed by the driver when making the right turn (a left turning operation) and information on the target vehicle operation to be performed by the driver when making the right turn.
For example, in the case where initiation timing of the brake operation or the steering operation by the driver is late on the curved road, the driving operation assistance information includes information on the vehicle operation by the driver on the curved road and information on the target vehicle operation to be performed by the driver on the curved road.
The driver may be notified of the driving operation assistance information during the travel of the vehicle 1. However, due to such a possibility that the driver who is notified of the assistance information gets confused, in this embodiment, the driver is notified of the assistance information of the determination function after the termination of driving.
In the case where the operational performance is chronically reduced, in order to bring the driver's driving performance (operational performance) close to the level in which the vehicle 1 can travel on the target travel route, the controller 10 uses the information notification apparatus 50 to notify the driver of the appropriate operation amount and the appropriate operation speed of the operation section to travel on the target travel route. In this way, the driver learns model operation action (the operation amount, the operation speed, and the like) of the experienced driver, and can thereby improve the operational performance.
For example, in the case where the driver rotates the steering wheel 43b to the right when making the right turn, but a rotational operation amount is small due to the low arm strength of the driver, and the actual travel route is shifted away from the target travel route, the controller 10 can use the display device 51 and/or the audio output device 52 to notify the driver that a rotational operation speed of the steering wheel 43b is low and to notify the driver of the actual operation amount, the target operation amount, visual expression of the actual route and the target travel route, and the like.
For example, in the case where the driver depresses the brake pedal 42b on the curved road, but the depression speed is low due to the small depression force of the driver, and the actual travel route is located on an outer side of the target travel route, the controller 10 can use the display device 51 and/or the audio output device 52 to notify the driver that the depression speed of the brake pedal 42b is low and to notify the driver of the actual operation speed, the target operation speed, the visual expression of the actual route and the target travel route, and the like.
After the assistance processing in step S9, the controller 10 controls the vehicle 1 by the vehicle control system 40 such that the vehicle 1 performs the driving function with the chronically reduced driving performance instead (S8: INSUFFICIENT FUNCTION SUBSTITUTION PROCESSING). After the insufficient function substitution processing, the controller 10 terminates the processing.
The specific configuration and means in the present disclosure can be modified and improved within the scope of the technical idea described in the claims. A description will hereinafter be made on such modified examples.
Firstly, the problems to be solved by the embodiments and the effects of the embodiments are not limited to those described above. Problems not described above and can exert effects not described above may be realized by embodiments. In addition, embodiments may solve only some of the problems described above or exert some of the effects described above.
The above-described optimization processing, substitution processing, and assistance processing merely constitute one example. According to each of the driving functions, various types of the optimization processing to eliminate the temporary reduction of the driving performance of the function, various types of the substitution processing in which the vehicle performs the function instead, and various types of the assistance processing to maintain or improve the driving performance of the function can be adopted.
Lastly, a description will be made on operational effects of the vehicle control apparatus 100 according to this embodiment and the modified examples of this embodiment.
The vehicle control apparatus 100 in this embodiment executes the driving assistance control for the vehicle 1 such that the vehicle 1 travels according to the traffic environment and the travel environment around the vehicle 1. The vehicle 1 travels by using the plural travel functions, which are the running function, the stopping function, and the turning function, by the vehicle operation using the driver's plural driving functions. The vehicle control apparatus 100 is configured to execute: the all functions substitution processing (S6) in which, when the loss or the sign of the loss of any of the plural driving functions of the driver is detected, the vehicle 1 is controlled such that the vehicle 1 performs all of the plural driving functions instead; the optimization processing (S7) in which, when the temporary reduction of the driving performance of any of the plural driving functions of the driver is detected, the vehicle 1 is controlled to eliminate the temporary reduction of the driving performance by applying the physical stimulation to the driver or by providing the driver with the information that makes the driver recognize the temporary reduction of the driving performance; and the assistance processing (S9) in which, when the chronic reduction of the driving performance of any of the plural driving functions of the driver is detected, the vehicle 1 is controlled to maintain or improve the driving performance by providing the driver with the information on the assistance with the execution of the driving performance.
Just as described, in this embodiment, when any of the driver's driving ability is lost or there is the sign of such loss, the vehicle 1 performs all of the driving functions instead of the driver, i.e., operates in the fully automatic mode. Thus, the safety of the vehicle travel is ensured. In addition, in this embodiment, in the case where any of the driving performance is temporarily reduced, the physical stimulation is applied to the driver, or the driver is provided with the information that makes the driver recognize the temporary reduction of the driving performance. Thus, it is possible to recover the temporarily reduced driving ability of the driver and to cause the driver himself/herself to continue driving, i.e., operates in the optimization mode. Furthermore, in this embodiment, in the case where any of the driving performance is chronically reduced, the driving performance is maintained or improved by providing the driver with the information on the assistance with the execution of the driving performance. Thus, instead of performing the function instead, the vehicle 1 can compensate for the driver's lack of ability or can urge the driver to improve his/her ability while allowing the driver to proactively execute his or her driving performance, i.e., operates in the assistance mode. Therefore, it is possible to maintain or improve the driver's driving ability through driving while ensuring the safe travel by the automated driving.
In this embodiment, the vehicle control apparatus 100 further executes the insufficient function substitution processing (S8) in which, when the temporary reduction or the chronic reduction of the driving performance of any of the plural driving functions of the driver is detected, the vehicle 1 is controlled such that the vehicle 1 performs the driver's driving function with the driving performance instead. Just as described, in this embodiment, even when the driver's driving ability is low, the vehicle 1 performs the driving function associated with the insufficient driving performance instead. Thus, in this embodiment, the safety of the vehicle travel is ensured, and the driver can extend driving life without giving up driving.
In this embodiment, the plural driving functions of the driver include the perceptual function to perceive the traffic environment and the travel environment, the determination function to determine the necessary driving operation in the traffic environment and the travel environment, and the operation function to perform the driving operation. In this embodiment that is configured as described above, in the driving performance determination processing, it is determined for each of the plural driving functions whether the driver has the specified driving performance. In this way, in this embodiment, it is possible to identify the insufficient function with the low driving performance and to appropriately select the insufficient function, for which the optimization processing or the assistance processing should be executed.
In this embodiment, in the assistance processing, the information with the different content is provided according to each of the plural driving functions of the driver. In this embodiment that is configured as described above, the appropriate assistance information can be provided according to the type of the insufficient function.
Example embodiments have been disclosed herein, and although specific terms are employed, they are used and are to be interpreted in a generic and descriptive sense only and not for purpose of limitation. In some instances, as would be apparent to one of ordinary skill in the art as of the filing of the present application, features, characteristics, and/or elements described in connection with a particular embodiment may be used singly or in combination with features, characteristics, and/or elements described in connection with other embodiments unless otherwise specifically indicated. Accordingly, it will be understood by those of skill in the art that various changes in form and details may be made without departing from the spirit and scope of the present invention as set forth in the following claims.
1 Vehicle
10 Controller
20 In-vehicle apparatus
40 Vehicle control system
50 Information notification apparatus
100 Vehicle control apparatus
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-085874 | May 2021 | JP | national |
