WO2015141308A1 - 車両操作装置 - Google Patents
車両操作装置 Download PDFInfo
- Publication number
- WO2015141308A1 WO2015141308A1 PCT/JP2015/053035 JP2015053035W WO2015141308A1 WO 2015141308 A1 WO2015141308 A1 WO 2015141308A1 JP 2015053035 W JP2015053035 W JP 2015053035W WO 2015141308 A1 WO2015141308 A1 WO 2015141308A1
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- WIPO (PCT)
- Prior art keywords
- unit
- driving vehicle
- vehicle
- behavior
- autonomous driving
- Prior art date
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- 238000001514 detection method Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
- 239000003086 colorant Substances 0.000 description 4
- 230000012447 hatching Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3664—Details of the user input interface, e.g. buttons, knobs or sliders, including those provided on a touch screen; remote controllers; input using gestures
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Definitions
- the present invention relates to a vehicle operating device for operating an autonomous driving vehicle.
- an object of the present invention is to provide a vehicle operating device that allows an occupant to immediately change the behavior of an autonomous driving vehicle.
- the vehicle operation device is used for an automatically driven vehicle that automatically controls the behavior of the vehicle so as to travel along a set travel route, and includes a presentation unit and an instruction unit.
- the presenting unit presents the current behavior of the autonomous driving vehicle and the next behavior to be performed after a predetermined time to the occupant of the autonomous driving vehicle.
- the instruction unit can specify an action intended by the occupant with respect to the behavior of the autonomous driving vehicle presented by the presentation unit, and instructs the autonomous driving vehicle to perform an action according to the operation by the occupant.
- FIG. 1 is a block diagram illustrating a basic configuration of an autonomous driving vehicle according to an embodiment of the present invention.
- FIG. 2 is a diagram of an instruction unit and a presentation unit for explaining a first operation example of the vehicle operating device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIG. 3 is a top view of a schematic autonomous driving vehicle for explaining a second operation example of the vehicle operating device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIG. 4 is a diagram of an instruction unit and a presentation unit for explaining a second operation example of the vehicle operating device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIG. 1 is a block diagram illustrating a basic configuration of an autonomous driving vehicle according to an embodiment of the present invention.
- FIG. 2 is a diagram of an instruction unit and a presentation unit for explaining a first operation example of the vehicle operating device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIG. 3 is a top view of a schematic autonomous driving vehicle
- FIG. 5 is a diagram of an instruction unit and a presentation unit for explaining a second operation example of the vehicle operating device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIG. 6 is a diagram of an instruction unit and a presentation unit for explaining a third operation example of the vehicle operating device provided in the autonomous driving vehicle according to the embodiment of the present invention. It is a top view of the typical autonomous driving vehicle explaining the 4th example of operation of the vehicle operation device with which the autonomous driving vehicle concerning an embodiment of the invention is provided.
- FIG. 8 is a diagram of an instruction unit and a presentation unit for explaining a fourth operation example of the vehicle operation device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIG. 9 is a top view of a schematic autonomous driving vehicle for explaining a fifth operation example of the vehicle operating device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIG. 10 is a diagram of an instruction unit and a presentation unit for explaining a fifth operation example of the vehicle operating device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIG. 11 is a diagram of an instruction unit and a presentation unit for explaining a fifth operation example of the vehicle operation device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIG. 12 is a top view of a schematic autonomous driving vehicle for explaining a fifth operation example of the vehicle operating device provided in the autonomous driving vehicle according to the embodiment of the present invention.
- FIGS. 13A to 13C are diagrams illustrating an instruction unit provided in an autonomous driving vehicle according to another embodiment of the present invention.
- an automatic driving vehicle C As shown in FIG. 1, an automatic driving vehicle C according to an embodiment of the present invention includes a driving unit 6 that accelerates and decelerates the automatic driving vehicle C, a steering unit 7 that steers the automatic driving vehicle C, a driving unit 6, and the like. And a vehicle operation device 8 that controls the behavior of the autonomous driving vehicle C by controlling the steering unit 7.
- the self-driving vehicle C automatically controls the behavior of the host vehicle so as to travel along the travel route set in the vehicle operation device 8.
- the vehicle operation device 8 includes an instruction unit 1 that instructs the automatic driving vehicle C to perform an action according to an operation by the occupant of the automatic driving vehicle C, a presentation unit 2 that presents information to the automatic driving vehicle C occupant, and an automatic driving vehicle C.
- the control part 3 which controls each part with which is provided.
- the vehicle operation device 8 stores information necessary for processing performed by the information acquisition unit 41 that acquires various information related to automatic driving, a detection unit 42 that detects information around the automatic driving vehicle C, and the control unit 3. And a storage unit 5.
- the instruction unit 1 is composed of an input device that receives an operation of an occupant and inputs a signal corresponding to the operation to the control unit 3, for example.
- the presentation unit 2 includes a display device that displays images and characters to the occupant and an output device such as a speaker that reproduces sound.
- the presenting unit 2 presents the current behavior of the autonomous driving vehicle C and the next behavior to be performed after a predetermined time to the occupant.
- the instruction unit 1 and the presentation unit 2 are configured by a touch panel display, for example.
- the control unit 3 includes a route processing unit 31 that processes control related to the travel route on which the autonomous driving vehicle C travels, an action processing unit 32 that processes control related to the behavior of the automatic driving vehicle C, and the automatic driving vehicle C on the travel route. And an action determination unit 33 for determining whether or not the action is possible.
- the control part 3 is comprised by the computer which has a central processing unit (CPU) etc., for example, and processes a calculation required in the autonomous driving vehicle C.
- the control unit 3, the route processing unit 31, and the behavior processing unit 32 are displays as logical structures, and may be configured by separate hardware or may be configured by integral hardware. Based on information from the information acquisition unit 41, the detection unit 42, and the storage unit 5, the control unit 3 controls the autonomous driving vehicle C so as to travel safely and legally on the travel route.
- the route processing unit 31 sets a destination to which the autonomous driving vehicle C reaches in accordance with an instruction from the instruction unit 1, and based on a route search condition including the departure point, the destination, road information, and the like, from the departure point to the destination. Search and set the travel route.
- the route search condition may include a travel route, traffic information around the travel route, a time zone, a road type, a priority in route determination, and the like.
- the behavior processing unit 32 controls the behavior of the autonomous driving vehicle C, such as going straight, turning right, turning left, changing course, and temporarily stopping.
- the behavior processing unit 32 displays, via the presentation unit 2, the behavior being performed by the automatic driving vehicle C on the travel route set by the route processing unit 31 and the behavior of the automatic driving vehicle C after a predetermined time has elapsed from the current time. Present it to the crew.
- the behavior determination unit 33 determines whether or not to execute each behavior of the autonomous driving vehicle C based on information acquired by the information acquisition unit 41, information detected by the detection unit 42, and traffic regulations stored in the storage unit 5.
- the information acquisition unit 41 acquires information from outside by wireless communication and inputs the information to the control unit 3.
- the information acquisition unit 41 acquires the current position of the autonomous driving vehicle C by a positioning system such as a global positioning system (GPS).
- the information acquisition unit 41 acquires road information such as traffic regulation and traffic jam prediction from the outside.
- the information acquisition unit 41 may acquire map data and the like from the outside.
- the detection unit 42 includes, for example, a sensor such as a camera, a distance measuring device, and a speedometer.
- the electromagnetic waves can employ various frequency bands such as a radio wave region, infrared light, and visible light.
- the detection unit 42 detects information around the autonomous driving vehicle C, such as other vehicles, obstacles, travel route alignment, road width, road signs, road markings, lane boundaries, road surface conditions, and the like, and inputs them to the control unit 3. .
- the storage unit 5 includes a storage device such as a magnetic disk or a semiconductor memory.
- the storage unit 5 stores various data such as a program, map data, and traffic regulations necessary for processing performed in the control unit 3.
- the storage unit 5 may be used as a temporary storage area for processing performed in the control unit 3.
- the presenting unit 2 displays arrows A1 to A3 indicating at least three forward directions, that is, forward, right and left, while the autonomous driving vehicle C is traveling on the set travel route. Display the current direction and the next direction after the next predetermined time from among the three traveling directions, respectively, to the occupant.
- the instruction unit 1 constitutes a touch panel display together with the presentation unit 2, and regions corresponding to the arrows A1 to A3 are operable regions.
- the instructing unit 1 instructs the automatic driving vehicle C to move in the traveling direction indicated by the operated arrows A1 to A3 when the occupant operates the arrows A1 to A3 corresponding to the traveling direction. That is, the instruction unit 1 is configured so that the occupant can specify an intended behavior by an operation with respect to the behavior of the autonomous driving vehicle presented to the presentation unit 2.
- an arrow A2 that is hatched on the entire surface indicates that the current action is straight
- an arrow A3 that is hatched only on the periphery indicates that the action after a predetermined time has passed is a right turn. is doing. That is, the arrow A2 means that the current action of the autonomous driving vehicle C is straight ahead, and the arrow A3 means that the next action to be performed after a predetermined time is a right turn.
- the display methods of the arrows A1 to A3 are mutually changed by the control of the behavior processing unit 32 so that the occupant can determine the behavior of the automatic driving vehicle C at present and after a predetermined time.
- the self-driving vehicle C travels straight in the left lane of a two-lane road that is divided into lanes by a lane boundary along the travel route, Is approaching.
- the automatic driving vehicle C continues the automatic driving in this state, it continues straight ahead at the position C 00 after a predetermined time has elapsed.
- the presenting unit 2 presents only the arrow A2 meaning straight ahead as the current action. At this time, suppose that the passenger wants to turn right at the intersection ahead.
- the instruction unit 1 instructs the route processing unit 31 of the control unit 3 to make a right turn in response to an operation by the occupant to the area indicated by the arrow A3.
- the presenting unit 2 presents to the occupant that the instruction unit 1 has been properly operated by changing the display of the area indicated by the arrow A3 while the instruction unit 1 is being operated.
- the presenting unit 2 can display, for example, the colors of arrows A1 to A3, which mean the current action and the action after a predetermined time, and the colors of arrows A1 to A3, which mean that the action has been performed, in different colors.
- the route processing unit 31 changes the traveling route in the right turn direction in accordance with the instruction from the instruction unit 1.
- the automatic driving vehicle C starts changing the course to the adjacent right lane and blinks the direction indicator.
- the presenting unit 2 changes the display of the arrows A2 and A3, and changes the present action to be presented from straight ahead to right turn.
- the present action presented by the presenting unit 2 continues the state of the arrow A3 until the right turn is completed, and returns to the arrow A2 meaning straight ahead when the right turn is completed.
- the behavior determination unit 33 determines whether or not the route change to the right lane is safe and legal. to decide. If it is determined that possible for diversion of the right lane by the behavior decision unit 33, the control unit 3, as shown in FIG. 3, by controlling the driving unit 6 and the steering unit 7, as positions C 1, The attitude of the autonomous driving vehicle C is controlled, and the course change to the right lane is completed.
- Automatically driven vehicle C based on the circumference of the information, the control of the controller 3, after straight in the right lane, to automatically pause at the position C 2 in front of the intersection. Automatically driven vehicle C, such that the position C 3, after entering into the intersection while keeping the automatic safety, by entering the road crossing, to complete the right turn.
- the route processing unit 31 searches and sets a travel route to the destination again.
- the instruction unit 1 and the presentation unit 2 can instruct the autonomous driving vehicle C from the instruction unit 1 by displaying a plurality of other symbols on the presentation unit 2. .
- the presentation unit 2 displays six arrows B1 to B6. Arrows B1 to B6 indicate the action of changing the course to the left lane, going straight, changing the course to the right lane, turning left, temporarily stopping, and turning right. Arrows A1, A2, and A3 in FIG. 2 correspond to arrows B4, B2, and B6 in FIG. 6, respectively.
- the presentation unit 2 displays a symbol imitating a lane boundary between the arrows B1 to B3 pointing to the left front, the front, and the right front, so that the meaning of the arrows B1 and B3 is intuitively understood by the passenger Easy to communicate.
- the presentation unit 2 displays the symbol imitating the stop line at the tip of the arrow B5 facing forward, so that the meaning of the arrow B5 is easily transmitted intuitively to the occupant.
- the plurality of symbols presented by the presentation unit 2 may have any design as long as the occupant can determine the meaning thereof, but shapes and colors that are easily identifiable by the occupant should be used.
- the display of the symbols using the arrows B1 to B6 of the presentation unit 2 is effective for making it easy for an occupant to discriminate the behavior of the autonomous driving vehicle C intuitively.
- an arrow B ⁇ b> 3 whose entire surface is hatched is a course change to the right lane where the current action is adjacent, and an arrow B ⁇ b> 6 whose only peripheral part is hatched is the next action to be performed after a predetermined time It means that it is a right turn.
- the presentation unit 2 changes the display method of the arrows B1 to B6 under the control of the behavior processing unit 32 so that the occupant can determine the behavior of the autonomous driving vehicle C at present and after a predetermined time.
- the instructing unit 1 indicates that the areas corresponding to the arrows B1 to B6 are operable areas, and each area is operated by an occupant, thereby instructing the autonomous driving vehicle C of the actions that the arrows B1 to B6 mean. can do.
- Behavior determination unit 33 when the automatically driven vehicle C travels the position C 0, information information acquisition unit 41 acquires, based on the circumference of the information and traffic regulations detecting unit 42 detects, automatically driven vehicle C Decides it is impossible to make a right turn.
- the presentation unit 2 changes the display of the arrow A ⁇ b> 3 meaning a right turn according to the determination of the behavior determination unit 33, and the brightness becomes lower than, for example, the other arrows A ⁇ b> 1 and A ⁇ b> 2.
- the instruction unit 1 invalidates the operation to the area indicated by the arrow A ⁇ b> 3 by the occupant.
- the presentation unit 2 causes the occupant to get lost by signifying other symbols and the display method of symbols that indicate actions that the autonomous driving vehicle C cannot perform based on road information, road signs, road markings, and the like. It is possible to select an action intuitively.
- indication part 1 can control the autonomous driving vehicle C safely and legally by invalidating operation by a passenger
- the control unit 3 In a scene in which the autonomous driving vehicle C travels on the left lane of a two-lane road and the other vehicle D travels at a lower speed than the autonomous driving vehicle C, the control unit 3 It is assumed that after the change, the vehicle is selected to pass another vehicle D.
- the presentation unit 2 changes the display of an arrow B ⁇ b> 1 that indicates a course change to the left lane, an arrow B ⁇ b> 4 that indicates a left turn, and an arrow B ⁇ b> 6 that indicates a right turn, and other arrows B ⁇ b> 2 and B ⁇ b> 3.
- B5 are displayed so that the brightness is lower.
- the instruction unit 1 invalidates the operation performed by the occupant on the areas indicated by the arrows B 1, B 4, and B 6.
- the presenting unit 2 changes the course to the right lane where the current action is adjacent by an arrow B2 indicated by hatching on the entire surface, and the right lane of the next action to be performed after a predetermined time by an arrow B3 indicated by hatching only at the peripheral edge
- the passenger is informed that the course has been changed to At this time, suppose that the passenger gives priority to safety and wants to continue straight ahead.
- the instructing unit 1 instructs the control unit 3 to continue straight ahead in response to an operation by the occupant to the area indicated by the arrow B ⁇ b> 2.
- the selection of overtaking the other vehicle D of the control unit 3 is canceled, and the autonomous driving vehicle C travels straight with a safe inter-vehicle distance from the other vehicle D ahead as shown in FIG. Can continue.
- the passenger is presented with the current behavior of the autonomous driving vehicle C and the next behavior to be performed after a predetermined time. It can be easily understood whether the intention of the vehicle matches the behavior of the autonomous driving vehicle C. Therefore, when the behavior selected by the automatic driving vehicle C is different from the intention of the occupant, the occupant can immediately change the behavior of the automatic driving vehicle C.
- the behavior of the autonomous driving vehicle C can be easily determined by the presenting unit 2 presenting the behavior from at least three forward directions, that is, the front, the right, and the left. be able to.
- the occupant can intuitively determine the behavior of the automatic driving vehicle C by employing the arrow corresponding to the traveling direction of the automatic driving vehicle C in the instruction unit 1.
- the presenting unit 2 executes a sign displayed by changing the display method according to the determination of the behavior determining unit 33, and the symbol indicating the behavior of the autonomous driving vehicle C is displayed. Impossible behavior can be easily understood, contributing to safe and legal automated driving.
- the instruction unit 1 can control the autonomous driving vehicle C safely and legally by invalidating the operation by the occupant according to the determination of the behavior determination unit 33.
- the behavior determination unit 33 determines whether or not the behavior of the autonomous driving vehicle C can be executed based on road information or the like that cannot be detected by the detection unit 42, so that safer and more legal automatic operation can be performed. It can contribute to driving.
- the presenting unit 2 displays the current behavior of the automatic driving vehicle C and the behavior of the automatic driving vehicle C after a predetermined time by using different display methods, so that the passenger can And the action after a predetermined time can be easily discriminated.
- the occupant can directly instruct the automatic driving vehicle C to change the course by operating the instruction unit 1, and the automatic driving vehicle overtakes the other vehicle ahead. C.
- the automatic driving vehicle C can be temporarily stopped by the occupant's will regardless of the setting and selection of the automatic driving vehicle C.
- the occupant can be parked to see the scenery.
- the instruction unit 1 and the presentation unit 2 constitute an integrated touch panel display, so that the behavior of the automatic driving vehicle C can be displayed more intuitively. Other information such as execution availability can be displayed in an easy-to-understand manner.
- the instructing unit 1 instructs the traveling direction by various input devices such as a dial type, a lever type, and a button type. It may be.
- the presentation unit 2 may present by voice from a speaker, and the instruction unit 1 is also composed of a voice input device such as a microphone, and performs actions such as going straight and turning left and right. You may make it instruct
- the present invention includes various embodiments that are not described here, such as configurations in which the first to fifth operation examples are mutually applied. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.
- the occupant when the behavior of the autonomous driving vehicle and the intention of the occupant are different from each other by presenting the behavior of the autonomous driving vehicle and the behavior after a predetermined time to the occupant, the occupant immediately It is possible to provide a vehicle operating device that can change the behavior.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
Description
本発明の実施の形態に係る自動運転車両Cは、図1に示すように、自動運転車両Cを加減速する駆動部6と、自動運転車両Cを操舵する操舵部7と、駆動部6及び操舵部7を制御することにより自動運転車両Cの行動を制御する車両操作装置8とを備える。自動運転車両Cは、車両操作装置8において設定された走行経路に沿って走行するように自車両の行動を自動的に制御する。
以下、場面を例示しながら、車両操作装置8の第1~第5動作例について説明する。以下に示す各場面は、自動運転車両Cが、予め設定された走行経路を通行している間の場面である。
提示部2は、図2に示すように、自動運転車両Cが設定された走行経路を走行している間、少なくとも前方、右方及び左方の3つの進行方向を意味する矢印A1~A3を表示し、3つの進行方向のうちから、それぞれ現在及び次の所定時間後の進行方向を乗員に提示する。指示部1は、提示部2と共にタッチパネルディスプレイを構成しており、矢印A1~A3に対応する領域が操作可能な領域となっている。指示部1は、進行方向に対応する矢印A1~A3が乗員に操作されることにより、操作された矢印A1~A3が意味する進行方向への移動を自動運転車両Cに指示する。すなわち、指示部1は、提示部2に提示された自動運転車両の行動に対して、乗員が、意図する行動を操作により指定できるよう構成されている。
図3に示すように、自動運転車両Cが位置C0において、走行経路に沿って、車線境界線によって車線毎に区切られた片側2車線の道路の左側車線を直進しており、前方の交差点に接近しているとする。自動運転車両Cは、この状態で自動運転を継続する場合、所定時間経過後に位置C00において直進を継続する。すなわち、提示部2は、現在の行動として、直進を意味する矢印A2のみを提示している。このとき、乗員が前方の交差点を右折したいと考えたとする。
図6に示すように、指示部1及び提示部2は、提示部2に他の複数の記号を表示することにより、更に多くの行動を指示部1から自動運転車両Cに指示することができる。提示部2は、6つの矢印B1~B6を表示する。矢印B1~B6は、それぞれ、左側車線への進路変更、直進、右側車線への進路変更、左折、一時停止、右折の行動を意味する。図2における矢印A1,A2,A3は、それぞれ、図6における矢印B4,B2,B6に対応する。
図7に示すように、自動運転車両Cが位置C0において、走行経路に沿って片側2車線の道路の左側車線を直進しており、前方の交差点に接近しているとする。自動運転車両Cは、この状態で自動運転を継続する場合、所定時間経過後に位置C00において直進を継続する。すなわち、提示部2は、現在の行動として、直進を意味する記号を提示している。このとき、乗員が前方の交差点を右折したいと考えたとする。しかし、自動運転車両Cは、既に進路変更禁止を意味する車線境界線にさしかかっており、位置C0から右折を実行すると違法となってしまう。
図9に示すように、自動運転車両Cが片側2車線の道路の左側車線を走行し、前方に他車両Dが自動運転車両Cより低速で走行している場面において、制御部3が、進路変更の後に他車両Dを追い越すように選択したとする。提示部2は、例えば図10に示すように、左側車線への進路変更を意味する矢印B1、左折を意味する矢印B4及び右折を意味する矢印B6の表示を変更し、他の矢印B2,B3,B5と比べて明度が低くなるように表示する。指示部1は、提示部2の表示変更に応じて、乗員による矢印B1,B4,B6の領域への操作を無効化する。
上記のように、本発明は上記の実施の形態によって記載したが、この開示の一部をなす論述及び図面は本発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施の形態、実施例及び運用技術が明らかとなろう。
C 自動運転車両
1 指示部
2 提示部
8 車両操作装置
33 行動判断部
41 情報取得部
42 検出部
Claims (10)
- 設定された走行経路に沿って走行するように車両の行動を自動的に制御する自動運転車両に用いられる車両操作装置において、
前記自動運転車両の現在の行動及び所定時間後に行う次の行動を前記自動運転車両の乗員に提示する提示部と、
前記提示部に提示された前記自動運転車両の行動に対して、前記乗員が意図する行動を操作により指定でき、前記乗員による操作に応じた行動を前記自動運転車両に指示する指示部と
を備えることを特徴とする車両操作装置。 - 前記提示部は、前記自動運転車両の行動として、少なくとも前方、右方及び左方の3つの進行方向のうちから、それぞれ現在及び次の所定時間後の進行方向を提示することを特徴とする請求項1に記載の車両操作装置。
- 前記指示部は、前記自動運転車両の行動として、前記自動運転車両の進行方向に対応する矢印が前記乗員に操作されることにより、操作された前記矢印が意味する進行方向への移動を前記自動運転車両に指示することを特徴とする請求項1又は2に記載の車両操作装置。
- 前記自動運転車両の周囲の情報を検出する検出部と、
前記検出部が検出する情報及び交通法規に基づいて、前記自動運転車両の行動毎に実行の可否を判断する行動判断部と
を更に備え、
前記提示部は、前記自動運転車両の行動を意味する記号を、前記行動判断部の判断に応じて表示方法を変更して表示することを特徴とする請求項1~3のいずれか1項に記載の車両操作装置。 - 前記指示部は、前記行動判断部の判断に応じて、前記乗員による操作を無効化することを特徴とする請求項4に記載の車両操作装置。
- 無線通信により前記走行経路における道路情報を外部から取得する情報取得部を更に備え、
前記行動判断部は、前記情報取得部が取得する道路情報、前記検出部が検出する情報及び交通法規に基づいて、前記自動運転車両の行動毎に実行の可否を判断することを特徴とする請求項4又は5に記載の車両操作装置。 - 前記提示部は、前記現在の行動及び所定時間後に行う次の行動が互いに異なる場合、前記現在の行動及び所定時間後に行う次の行動を意味する記号を、互いに異なる表示方法で表示することにより乗員に提示することを特徴とする請求項1~6のいずれか1項に記載の車両操作装置。
- 前記指示部は、前記自動運転車両が車線毎に区切られた道路を走行する場合において、前記乗員による操作に応じて、隣接する車線への進路変更を前記自動運転車両に指示することを特徴とする請求項1~7のいずれか1項に記載の車両操作装置。
- 前記指示部は、前記乗員による操作に応じて、一時停止を前記自動運転車両に指示することを特徴とする請求項1~8のいずれか1項に記載の車両操作装置。
- 前記指示部及び前記提示部は、タッチパネルディスプレイにより構成され、前記自動運転車両の行動を意味する記号を表示し、前記記号を表示する領域を前記乗員により操作される領域とすることを特徴とする請求項1~9のいずれか1項に記載の車両操作装置。
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- 2015-02-04 EP EP15765485.6A patent/EP3121085B1/en active Active
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- 2015-02-04 RU RU2016140246A patent/RU2669910C2/ru active
- 2015-02-04 CN CN201580014097.4A patent/CN106103231B/zh active Active
- 2015-02-04 JP JP2016508581A patent/JP6609240B2/ja active Active
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Also Published As
Publication number | Publication date |
---|---|
CN106103231B (zh) | 2020-08-04 |
BR112016021450B1 (pt) | 2022-05-10 |
RU2016140246A (ru) | 2018-04-20 |
EP3121085B1 (en) | 2019-10-16 |
EP3121085A1 (en) | 2017-01-25 |
EP3121085A4 (en) | 2017-03-29 |
RU2669910C2 (ru) | 2018-10-16 |
BR112016021450A2 (pt) | 2021-08-17 |
US20170151958A1 (en) | 2017-06-01 |
JPWO2015141308A1 (ja) | 2017-04-06 |
MX358890B (es) | 2018-09-07 |
JP6609240B2 (ja) | 2019-11-20 |
CN106103231A (zh) | 2016-11-09 |
MX2016011781A (es) | 2016-10-28 |
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