JP2017133893A - 報知制御装置及び報知制御方法 - Google Patents
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Abstract
【解決手段】HCU20は、自動運転機能を備える車両Aにおいて、自動運転機能から運転者への運転操作に係る制御権の移譲を、車両Aに搭載された報知機器10を制御することで運転者に予告する報知制御装置である。HCU20は、自動運転機能によって車両Aの運転操作が制御されている状況にて、車線変更を要するLC予定ゾーンの発生を推定し、推定したLCゾーンにおける複数の走行環境要因に基づいて車線変更制御の難しさを示すLCレベルを判定する。そしてHCU20は、LCレベルに対応した通知態様により、制御権の移譲の可能性を、制御権が移譲される理由と共に、報知機器10を用いて運転者に通知する。
【選択図】図1
Description
図1及び図2に示す本開示の第一実施形態によるHCU(HMI(Human Machine Interface)Control Unit)20は、自動運転機能を備えた車両Aに搭載されている。車両Aには、自動運転機能を実現するための電子制御ユニットとして、自動運転ECU60及び車両制御ECU80が搭載されている。HCU20は、自動運転ECU60に加えて、運転者へ向けて情報を通知する複数の報知機器10及び運転者状態を検出する複数の検出機器15と電気的に接続されている。
図5に示す本開示の第二実施形態は、第一実施形態の変形例である。第二実施形態の自動運転ECU260は、プロセッサ61a(図2参照)によって自動運転プログラムを実行することにより、第一実施形態と実質同一の各機能部(61〜64)に加えて、プレ権限移譲処理部30及びメイン権限移譲処理部40を構築する。一方、HCU220は、メインプロセッサ21及び描画プロセッサ22(図2参照)によって報知制御プログラムを実行することでHMI制御部50を構築する。即ち、HCU220には、プレ権限移譲処理部30及びメイン権限移譲処理部40が構築されない。
図6に示す本開示の第三実施形態は、第一実施形態の別の変形例である。第三実施形態の車載ネットワークには、自動運転ECU60及びHCU220と電気的に接続された移譲制御ECU330が設けられている。移譲制御ECU330は、プロセッサ、RAM、記憶媒体、及び入出力インターフェースを有するマイクロコンピュータを主体とした電子制御ユニットである。移譲制御ECU330は、プロセッサによって移譲制御プログラムを実行することにより、第一実施形態と実質同一のプレ権限移譲処理部30及びメイン権限移譲処理部40を構築する。
以上、複数の実施形態について説明したが、本開示は、上記実施形態に限定して解釈されるものではなく、本開示の要旨を逸脱しない範囲内において種々の実施形態及び組み合わせに適用することができる。
Claims (9)
- 運転者に代わって運転操作を実施可能な自動運転機能を備える車両(A)において、前記自動運転機能から前記運転者への運転操作に係る制御権の移譲を、当該車両に搭載された報知機器(10)を制御することで前記運転者に予告する報知制御装置であって、
前記自動運転機能によって前記車両の運転操作が制御されている状況にて、車線変更を要する変更実施場面の発生を推定する推定部(31)と、
前記推定部にて推定された前記変更実施場面における複数の走行環境要因に基づいて車線変更制御の難しさのレベルを判定する判定部(32)と、
前記判定部によって判定された前記レベルに対応した通知態様により、前記制御権の移譲の可能性を、前記制御権が移譲される理由と共に、前記報知機器を用いて前記運転者に通知する通知部(52)と、を備える報知制御装置。 - 前記判定部は、前記走行環境要因として、前記変更実施場面における道路の構造情報を用いて、前記レベルを判定し、
前記通知部は、前記構造情報に起因して前記レベルが引き上げられた場合に、前記制御権が移譲される理由として、前記運転者への通知に前記構造情報を含める請求項1に記載の報知制御装置。 - 前記判定部は、前記走行環境要因として、前記変更実施場面における道路の混雑情報を用いて、前記レベルを判定し、
前記通知部は、前記混雑情報に起因して前記レベルが引き上げられた場合に、前記制御権が移譲される理由として、前記運転者への通知に前記混雑情報を含める請求項1又は2に記載の報知制御装置。 - 前記判定部は、前記走行環境要因として、前記変更実施場面における気象情報を用いて、前記レベルを判定し、
前記通知部は、前記気象情報に起因して前記レベルが引き上げられた場合に、前記制御権が移譲される理由として、前記運転者への通知に前記気象情報を含める請求項1〜3のいずれか一項に記載の報知制御装置。 - 前記推定部は、前記車両の進行方向の地図情報に基づき、予め設定された合流ポイントが進行方向にある場合に、前記変更実施場面の発生を推定する請求項1〜4のいずれか一項に記載の報知制御装置。
- 前記推定部は、前記車両の外部から通信によって取得する交通規制情報に基づき、前記車両の進行方向にて車線規制が行われている場合に、前記変更実施場面の発生を推定する請求項1〜5のいずれか一項に記載の報知制御装置。
- 前記通知部は、前記判定部の判定にて用いられる複数の前記走行環境要因のうちで、前記レベルを引き上げた全ての前記走行環境要因を、前記運転者へ向けて通知する請求項1〜6のいずれか一項に記載の報知制御装置。
- 前記車両に搭載された複数の前記報知機器の少なくとも一つを用いることにより、前記制御権の移譲を前記運転者に予告する報知制御装置であって、
前記通知部は、前記レベルが高くなるほど、前記制御権の移譲の通知に用いる前記報知機器の数を増加させる請求項1〜7のいずれか一項に記載の報知制御装置。 - 運転者に代わって運転操作を実施可能な自動運転機能を備える車両(A)において、前記自動運転機能から前記運転者への運転操作に係る制御権の移譲を、当該車両に搭載された報知機器(10)を制御することで前記運転者に予告する報知制御方法であって、
少なくとも一つのプロセッサ(21,22,61a)は、
前記自動運転機能によって前記車両の運転操作が制御されている状況にて、車線変更を要する変更実施場面の発生を推定し、
推定した前記変更実施場面における複数の走行環境要因に基づいて車線変更制御の難しさのレベルを判定し、
判定した前記レベルに対応した通知態様により、前記制御権の移譲の可能性を、前記制御権が移譲される理由と共に、前記報知機器を用いて前記運転者に通知する報知制御方法。
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