JP2002056489A - Control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent traveling in a file in the excessively reduced state of the awakening degree of a driver. SOLUTION: When the awakening degree of the driver is determined to be lower than a prescribed level by an awakening degree determination unit 3, a vehicle control unit 1 prohibits transition to a traveling mode in a file, and, when determined to be in the traveling mode in a file, controls a seat attitude control unit 4 so as to prohibit the hit angle of a seatback of a driver seat to be tilted more than a prescribed angle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a vehicle, for example, to a control device for a vehicle that controls a vehicle such as an automobile driven by a driver to run in a platoon.

[0002]

2. Description of the Related Art Conventionally, in the field of automobiles, which are typical vehicles, a platoon running system in which a plurality of cars run automatically in a state of forming a platoon is disclosed in, for example, Japanese Patent Application Laid-Open No. Hei 9
No. 081899 and Japanese Patent Application Laid-Open No. 11-321380.

[0003]

According to the conventional platooning system, the burden on the driver's driving operation is reduced and the traffic efficiency on the road is improved. Excessive decrease in the degree (that is, the degree of concentration of the driver in the automatic driving state) is not preferable for safe driving.

[0004] Therefore, an object of the present invention is to provide a vehicle control device that prevents platooning in a state where the arousal level of a driver is excessively reduced.

[0005]

In order to achieve the above object, a vehicular control device according to the present invention provides a vehicle and / or a vehicle behind and / or a vehicle on a road facility side in a predetermined service section where platooning is possible. A vehicle control device that controls a vehicle to run while forming a row with the vehicles while communicating with a communication device, and determines whether the vehicle is running in a row. Means, and prohibition means for prohibiting the inclination angle of the seat back of the driver's seat from being tilted more than a predetermined angle when the determination means determines that the vehicle is traveling in platoon.

[0006] Alternatively, a vehicle control device having another configuration for achieving the above-mentioned object, comprising: a judging means for judging whether or not the vehicle is traveling in a platoon, and displaying or inputting information during traveling. It is characterized by comprising a regulation means for regulating the operation, and regulation relaxation means for relaxing the regulation operation by the regulation means when the decision means determines that the vehicle is running in platoon.

[0007] A vehicle control device having another configuration for achieving the above-mentioned object, wherein the driver can switch between a platooning mode in which platooning is performed and a manual driving mode by a driver's driving operation. Switching means, an arousal level detecting means for detecting the arousal level of the driver in the manual running mode, and a switching operation to the platoon running mode when the arousal level detected by the arousal level detecting means is lower than a predetermined level. Prohibition means for prohibiting the operation.

[0008]

According to the present invention described above, it is possible to provide a vehicle control device that prevents platooning in a state where the driver's arousal level is excessively reduced.

In other words, according to the first aspect of the present invention, when the automatic platooning is being performed, the driver's seat back is prevented from falling down significantly, so that the driver's arousal level is excessively lowered. In the platoon can be prevented.

[0010] In general, when the driver is performing manual driving by driving operation, in order to prevent the driver from neglecting the forward gaze operation, an image display on the television and a destination setting operation on the navigation unit are performed. Alternatively, the information search operation via the Internet is prohibited, but according to the invention of claim 2, when automatic platooning is performed, for example, restrictions on these display and input operations are relaxed, so that the driver Can be prevented from running in platoon in a state where the awakening degree is excessively reduced.

According to the third aspect of the present invention, when the driver's arousal level is excessively reduced, the automatic transition to the platooning mode is prohibited, so that the driver's arousal level is excessively reduced. In this state, it is possible to prevent platooning.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle control device according to the present invention will be described in detail with reference to the drawings as an embodiment in which the present invention is applied to a vehicle such as an automobile that can be driven by a driver himself / herself.

First, in the present embodiment described below, each of the display screens numbered with circles from 1 to 16 shown in FIGS. 20 to 27 is a display screen for convenience in expressing the description. 1 to the display screen 16.

In the present embodiment, there are two lanes parallel to the same traveling direction, one of which is a lane that can be platooned in a predetermined service section, and the other lane is a manual lane operated by a driver. It is assumed that the lane is dedicated to driving.

Further, in this embodiment, even during the automatic platooning in the service section, the driver of each vehicle is completely released from the operation of the own vehicle and is in an awake state for stable driving. However, for example, it is assumed that the system is not allowed to fall so as to fall asleep.

First, the hardware configuration of the vehicle control device according to the present embodiment will be described.

FIG. 1 is a block diagram showing an overall system configuration of a vehicle control device according to this embodiment.
Broadly classified, a platoon running control system based on the control processing of the vehicle control unit 1, a navigation control system based on the arithmetic processing of the navigation control unit 2, a driver's arousal level determining system based on the arithmetic processing of the arousal level determining unit 3, and a seat attitude control unit 4 Of the driver's seat back reclining angle control system by the control process of Hereinafter, the configuration of each subsystem will be described with reference to FIG.

The platoon running control system 11 is a platoon merging switch that can be set by the driver so that the vehicle can join the platoon in the service section of the platoon running. 12
Is a platoon release switch that can be set by the driver so that the own vehicle running in the platoon is released from the platoon.

Reference numeral 13 denotes a road-to-vehicle communication device for transmitting and receiving various information to and from road-side communication equipment (so-called infrastructure).
Information on the service end position of the platooning, the number of lanes, the gradient, the curvature, the platoon speed, and information on obstacles existing ahead is obtained. Reference numeral 14 denotes a distance sensor such as a laser radar or a millimeter-wave radar for detecting an inter-vehicle distance from another vehicle traveling ahead of the host vehicle.

Reference numeral 15 denotes an inter-vehicle communication device for transmitting and receiving various information to and from other vehicles existing around the own vehicle. In this embodiment, the inter-vehicle communication device receives the vehicle speed and acceleration of the preceding vehicle and the following vehicle, Is transmitted to other vehicles existing around the own vehicle.

16 detects the lateral position of the own vehicle with respect to the traveling path and the service starting point of the platooning (the path from a predetermined reference point (the road from a predetermined reference point) by detecting information from the lane marker indicating the traveling path to be traveled. This is a lane marker sensor that detects a traveling distance, for example, and detects a lateral position based on magnetism received from a magnetic nail embedded in a road surface in advance. Reference numeral 17 denotes a vehicle speed sensor that detects the vehicle speed of the own vehicle.

Reference numeral 18 denotes an actuator for adjusting the opening of the engine throttle for adjusting the speed of the host vehicle, an actuator for braking, an actuator for acceleration / deceleration control such as an automatic transmission. Reference numeral 19 denotes a steering system actuator such as a steering actuator that changes the traveling direction of the host vehicle.

Reference numeral 20 denotes a row running display on which various information such as a vehicle speed to be observed in manual running and various information related to row running are displayed.

The vehicle control unit 1 includes the road-to-vehicle communication device 13, the distance sensor 14, and the vehicle-to-vehicle communication device 1 described above.
5. Based on the information obtained by the lane marker sensor 16 and the like, by controlling an acceleration / deceleration control actuator 18 and a steering system actuator 19 such as a throttle, a brake actuator, or an automatic transmission, the platooning with another vehicle can be performed. The host vehicle is automatically or semi-automatically joined to a possible lane, and platooning with another vehicle is controlled in the lane (details will be described later with reference to FIGS. 2 and 4).

In general, the inter-vehicle distance between the front and rear vehicles when the platooning is automatically performed is considerably shorter than when the driver is manually driving the platoon, and the specified platooning speed is set. Although it is quite difficult for the driver to follow the own vehicle by manual operation, if the vehicle control unit 1 performs acceleration / deceleration control, a plurality of vehicles can form a platoon with a short inter-vehicle distance. Here, the platoon speed to be protected by the own vehicle may be obtained from the infrastructure side via the road-to-vehicle communication device 13 or may be obtained from another vehicle traveling at the head of the platoon to which the own vehicle belongs via the inter-vehicle communication device 15. May be obtained from
The vehicle control unit 1 is equipped with a microcomputer (not shown), and realizes a platooning control process by operating a CPU according to programs and parameters stored in a memory in advance.

<Awakening degree determination system> 21 is a device for photographing the front of the vehicle, for example, a CCD (Charge Coupled Device).
ce) and other imaging devices. The arousal level determination unit 3 detects a line (white line or the like) that divides the lane in which the own vehicle is located by general image processing based on an image captured by the image capturing device 21, and detects the own vehicle from the detected line. The degree of the driver's awake state is determined based on the number of times the vehicle has deviated (the details will be described later with reference to FIG. 5). The result of this determination is sent to the vehicle control unit 1 and used for processing described later. The awakening degree determination unit 3 is equipped with a microcomputer (not shown), and realizes these awakening degree determination processes by operating a CPU according to programs and parameters stored in a memory in advance.

<Navigation control system> 22 is a wireless communication device for transmitting and receiving data to and from an external device. In the present embodiment, the navigation control system 22 is connected to the map information distribution center 200 via an external wireless base station. Type information equipment (terminal) 3
Data communication with 00 or the like is performed.

Reference numeral 23 denotes a GPS sensor for detecting the current position of the vehicle based on a GPS (global positioning system) signal received from the outside. 24
Is a navigation main switch that allows the operator to set the operation of the navigation control unit 2 on and off.

Reference numeral 25 denotes a navigation function selection switch for setting a desired destination, setting a scale of a map screen, setting a display mode, and the like. Reference numeral 26 denotes an execution instruction switch capable of instructing the navigation control unit 2 to execute the function selected by the navigation function selection switch 25 and the set information. Also,
Reference numeral 27 denotes a cancel switch that can cancel the function selected in the same manner or the set display mode.

Reference numeral 28 denotes a map scroll switch that allows the operator to scroll the displayed map screen up, down, left, and right. Reference numeral 29 denotes a map information storage module in which map information used for displaying a map screen is stored.
-A driver that can read map information stored in advance in a storage medium such as a ROM, or a storage device that stores map information received from a map information distribution center 200 described later.

Reference numeral 30 denotes a television antenna for receiving a television signal from the outside. Reference numeral 31 denotes a navigation display that displays a map image, various function selection screens, a television screen, and the like.

The navigation control unit 2 displays a map image including the current position detected by the GPS sensor 23, guides a route to a set desired destination, and the like in accordance with the settings of the switches described above. The navigation control unit 2 is equipped with a microcomputer (not shown). The CPU operates according to programs and parameters stored in a memory in advance.
These navigation control processes are realized (details will be described later with reference to FIGS. 10 to 18 and FIGS. 20 to 30).

The remote control terminal 35 can communicate with the navigation control unit 2 and
It has the functions of the navigation main switch 24, the function selection switch 25, the execution switch 26, and the cancel switch 27 described above.

<Reclining Angle Control System> The seat attitude control unit 4 adjusts the inclination angle θ of the seat back 41 in the driver's seat according to the operation of the reclining angle adjustment switch 34 which can adjust the angle of the seat back to a desired angle. The inclination angle of the seat back 41 is adjusted by driving the reclining angle adjusting mechanism 33 while referring to the detection result of the reclining angle sensor 32 to be detected (see FIG. 7: details will be described later with reference to FIG. 6). In the present embodiment, the reclining angle adjustment switch 34 is configured to be rotatable up and down around a rear end 34a.
In response to the occupant performing a turning operation from the position shown by the solid line in FIG.
1 makes the inclination angle θ smaller (transition in the direction of raising) or larger (transition in the direction of tilting). The seat attitude control unit 4 is equipped with a microcomputer (not shown), and according to a program stored in a memory in advance,
The operation of the PU realizes a seat back attitude control process according to the turning operation of the reclining angle adjustment switch 34.

The above-described methods for detecting the various sensors and the configuration of the communication device are generally common at present, and therefore, detailed description in this embodiment is omitted.

The processing procedure performed by each control / judgment unit will be described below.

[Passing Run Control Process] FIGS. 2 and 4 are flowcharts showing a platoon running control process performed by the vehicle control unit 1 in the present embodiment, in which an ignition switch (not shown) is operated to be turned on. Starts the process.

In FIG. 2, step S 1: data received by each communication device such as the road-to-vehicle communication device 13 described above with reference to FIG. 1, detection results of various sensors such as the distance sensor 14, The inclination angle θ of the seat back 41 and the state of the awakening degree decrease determination flag FW representing the determination result of the awakening degree of the driver in the awakening degree determination unit 3 are input.

Step S2: Based on the detection result of the lane marker sensor 16 and the like, it is determined whether or not the vehicle is traveling in the platoon running lane (service section for platoon running). When the vehicle is traveling), the process proceeds to step S3, and when NO (during the manual traveling lane), the process proceeds to step S18 in FIG.

Step S3: The platoon running mode flag FT for internal processing for determining whether or not the platoon running mode is set to 1
(Platform running mode) is determined, and if the determination is YES (FT = 1), step S12 is performed.
If NO (FT = 0: manual driving mode), the process proceeds to step S4.

Steps S4 and S6: It is determined whether or not the arousal level decrease determination flag FW is set to 1 indicating that the arousal level is low (step S4).
If O (FW = 0: high arousal level), step S5
If the answer is YES (FW = 1), to alert the driver, the display 20 for platooning shows "The alertness is low. You cannot enter the platoon. Take a break in the parking area Is displayed (step S6), and the process returns to step S1.

Step S5, Step S8: It is determined whether or not the inclination angle θ of the seat back 41 is larger than a predetermined value P (Step S5). If the determination is NO (θ ≦ P), the process proceeds to Step S7. If YES (θ> P), the message “Driver's seat back is falling down” appears on the platoon display 20 to alert the driver.
You cannot enter the platoon. Please raise your seat back "(step S8), and the process returns to step S1.

Step S7: Since the driver is in the awake state and the seat back 41 is fully upright, the road-to-vehicle communication device 13, the vehicle-to-vehicle communication device 14
Based on the received data and the like, the vehicle shifts to the platoon running mode. That is, the acceleration / deceleration control actuator 18 and the steering control actuator 19 are controlled so that the formation with the preceding vehicle is formed.

Step S9, Step S10: It is determined whether the formation of the platoon is completed (Step S9). If the determination is YES (completion of formation of the platoon), the process proceeds to Step S11. If the determination is NO (during formation of the platoon), A message “Forming a platoon” is displayed on the platoon running display 20 (step S1).
0), and return to step S7.

Step S11: platoon running mode flag F
T is set to 1, and the process proceeds to step S12 in FIG.

In FIG. 3, step S12: "Executing in platooning mode" is displayed on platooning display 20.

Step S13: It is determined whether or not the platoon release switch 12 has been operated. If the determination is YES (the switch has been operated), the flow proceeds to step S14.
If NO (no operation of the switch), step S
Return to 1.

Step S14: Based on the data received by the road-to-vehicle communication device 13 and the vehicle-to-vehicle communication device 14, etc., the mode is shifted to the non-platform running mode. That is, the acceleration / deceleration control actuator 1 is changed so that the lane changes from the lane running in the formation of the platoon to the adjacent manual driving lane.
8 and the steering control actuator 19 are controlled.

Step S15, Step S16: It is determined whether the shift to the non-convoy running mode has been completed (Step S15).
15) If the judgment is YES (completion from the platoon is completed), the process proceeds to step S17. If the judgment is NO (during platooning), the display 20 for platoon running indicates "during platooning".
Is displayed (step S16), and the process returns to step S14.

Step S17: platoon running mode flag F
T is reset to 0, and the process returns to step S1.

In FIG. 4, steps S18 and S19: Based on the data received by the roadside-to-vehicle communication device 13, it is determined whether a platooning lane exists one kilometer ahead (step S18). If there is no platoon running lane), the process proceeds to step S20, and YES
If (row running lane is present), "row running lane is ahead" is displayed on the row running display 20 (step S19).

Steps S20 to S22: Based on the received data in the road-to-vehicle communication device 13, it is determined whether or not a platoon running lane exists in the running road (to the side of the lane in which the vehicle is running: that is, the adjacent lane). When the determination is NO (there is no platoon driving lane), the process proceeds to step S22. When the determination is YES (the platoon driving lane is present), the display 20 for the platoon driving displays "It is a service section for platoon driving (platform running available area)". (Step S21), and it is determined whether the platoon merge switch 11 has been operated (step S2).
2). If the determination in step S22 is YES (the switch is operated), the process proceeds to step S23,
If NO (no operation of the switch), step S
Return to 1.

Steps S23 to S26: Processing similar to steps S4 to S6 and S8 described above is performed.

Step S27, Step S28: It is determined whether there is a platoon running lane in the running path (Step S2).
7) If the determination is NO (there is no platoon running lane), the process returns to step S1, and if the determination is YES (the platoon running lane is present), the mode is shifted to the row running mode by the same control as in step S7 described above (step S28). ,
It returns to step S9.

[Arousal Degree Determination Process] FIG. 5 is a flowchart showing the arousal level determination process performed by the arousal level determination unit 3 in the present embodiment. The process is performed by turning on an ignition switch (not shown). Is started.

In the figure, steps S31 and S32: An image captured by the image capturing device 21 is input (step S31), and a line (white line or the like) dividing a lane is determined by a general method based on the captured image. The position of the host vehicle is detected (step S32).

Steps S33 to S35: Count the number of times the host vehicle wanders (departs from the line) within the predetermined time period and determines that the counted number is a predetermined value (the degree of awakening has decreased). It is determined whether the value is larger than an experimental value (step S33). If the determination is NO (the number of fluctuations is smaller than a predetermined value), a wakefulness reduction flag indicating a reduction in the wakefulness of the driver is determined. The FW is reset to 0 (step S34), and if YES (the number of fluctuations is a predetermined value or more), the awakening degree reduction flag FW is set to 1 (step S35), and the process returns to step S31.

According to the platoon running control process using the result of the arousal level determination process (arousal level reduction flag FW), when the arousal level of the driver is excessively reduced,
Since the transition to the automatic platooning mode is prohibited, it is possible to prevent platooning in a state where the awakening degree of the driver is excessively reduced.

[Seat Back Attitude Control Process] FIG. 6 is a flowchart showing the seat back attitude control process performed by the seat attitude control unit 4 according to the present embodiment, in which an ignition switch (not shown) is turned on. Starts the process.

In the figure, step S41: While inputting the operation state of the reclining angle adjustment switch 34 and the detection result of the reclining angle sensor 32,
The state of the platoon running mode flag FT is input from the vehicle control unit 1.

Steps S42 and S43: It is determined whether or not the reclining angle adjustment switch 34 is being operated (step S42). When the switch is not being operated, the process returns to step S41. It is determined whether or not the switch on the raising side where the inclination angle θ of 41 is reduced is operated (step S43).

Step S44: When the operation is performed on the raising side in the judgment of step S43, the reclining angle adjusting mechanism 33 is operated so that the inclination angle θ of the seat back 41 is reduced in this step, and
It returns to 41.

Step S45, Step S46: When the tilting operation is being performed in the determination of step S43, it is determined whether or not the platoon running mode flag FT is set to 1 (step S45). When FT = 1, the inclination angle is determined. It is determined whether θ is greater than the predetermined angle (step S46).

Step S47: If FT = 0 in the judgment of step S45, or if the inclination angle θ is smaller than the predetermined angle, the seat back 4
The reclining angle adjusting mechanism 33 is operated so that the inclination angle θ of 1 becomes large, and the process returns to step S41.

Step S48: FT = 1 in the judgment of step S45, and the inclination angle θ is a predetermined angle (determined in advance by an experiment, which can determine that the possibility of excessively lowering the driver's arousal level is high). If the angle is larger than the angle, the operation of the seat back 41 by the reclining angle adjusting mechanism 33 is stopped in this step, and the process returns to step S41.

According to the seat back attitude control process described above, when the platooning mode flag FT = 1 in which automatic platooning is being performed, even if the driver operates the reclining angle adjustment switch 34, the driver's seat is not Since it is prohibited that the seat back 41 is overturned significantly, it is possible to prevent platooning in a state where the awakening degree of the driver is excessively reduced.

[Communication Navigation System] Next, a vehicle control device comprising the above-described subsystems (FIG. 1)
A case will be described in which a vehicle equipped with a device performs data communication with an external information distribution center or information device using the wireless communication device 22.

FIG. 8 is a block diagram showing the overall configuration of the communication navigation system according to the present embodiment, and a vehicular control device (FIG. 1) comprising the above-described subsystems.
, A road map information distribution center 200 that distributes map information used by the vehicle 100 for navigation processing, and a stationary or portable information device (terminal) 300.

In FIG. 8, the wireless communication device 22 of the vehicle control device (FIG. 1) is a mobile phone or a communication module capable of accessing the Internet via a wireless public telephone line. All components shown in FIG. 1 are not shown for convenience of illustration).

Further, the road map information distribution center 200
A host computer 20 including a database in which map information of each area and various service information (such as information on stores and sightseeing spots) associated with the map information are stored in advance.
1. a communication device 203 that can access the Internet;
And the vehicle 100 and the terminal 300 via the communication device 203.
Map information and the like requested from the host computer 201
And a server computer 202 for transferring the obtained information to the requesting device.

The terminal 300 is connected to a communication device (or communication module) 301 accessible to the Internet.
-Type personal computer or portable information terminal (PDA) separately or integrally provided
It is.

The details of the processing in the communication navigation system having such a configuration will be described below.

[Distribution Contract Processing of Road Map Information] First, prior to obtaining map information and the like from the road map information distribution center 200, the vehicle 100 or the terminal 300
The distribution contract processing performed with the road map information distribution center 200 will be described with reference to FIGS.

FIG. 9 is a flowchart showing a road map information distribution contract process performed by the road map information distribution center 200 (server computer 202) in this embodiment. FIG. 10 shows a vehicle 1 according to the present embodiment.
00 (navigation control unit 2) or terminal 30
10 is a flowchart showing a road map information distribution contract process performed at 0. These processes are started in response to a request from the vehicle 100 or the terminal 300 (hereinafter, a purchase contract terminal) when a communication line is established with the road map information distribution center 200.

Step S51, Step S61: The road map information distribution center 200 waits until receiving a predetermined contract procedure start signal transmitted from the purchase contract terminal in step S61 (step S51). Here, the contract procedure start signal transmitted by the purchase contract terminal is a start screen <3-1> (FIG. 1) displayed according to data received from the road map information distribution center 200 as the communication line is established.
1 (a)), "purchase" is transmitted in response to selection by the operator.

Step S52, step S62: The purchase contract terminal enters the purchaser ID information entry form <3-2> according to the data transmitted from the road map information distribution center 200 in step S52 (see FIG. 11 (b)). Is displayed (step S62).

Step S53, Step S63: The road map information distribution center 200 waits until receiving the purchaser ID information input at the purchase contract terminal according to the purchaser ID information entry form <3-1> in step S63. (Step S53).

Step S54, step S64: The purchase contract terminal according to the data transmitted from the road map information distribution center 200 in step S54, the contract period list / charge system form <3-3> (see FIG. 11 (c)). ) Is displayed (step S64).

Step S55, Step S65: The road map information distribution center 200 waits until receiving the contract period information input at the purchase contract terminal according to the contract period list / charge system form <3-3> in step S65. (Step S55).

Step S56, Step S66: The purchase contract terminal displays the contract content confirmation form <3-4> (see FIG. 12 (a)) according to the data sent from the road map information distribution center 200 in step S56. (Step S66).

Step S57, Step S58, Step S67: The road map information distribution center 200 receives the confirmation (contract content approval) signal or the correction signal input to the contract content confirmation form <3-4> in step S67. It is determined (step S57). When the correction information is received in step S58, the process returns to step S54. Otherwise, the process waits until the confirmation signal is received.

Step S59, step S68, step S69: The purchase contract terminal determines in step S68
In step S59, a purchase contract completion message form <3-5> (see FIG. 12B) is displayed according to the data sent from road map information distribution center 200, and the process ends. On the other hand, when the data cannot be received, the correction signal is transmitted from the purchase contract terminal in step S67. Therefore, in step S69, the road map information distribution center 200 renews the contract period list.
Wait until the data of the charge system form <3-3> is received, and if the contract period list / charge system form <3-3> can be displayed according to the received data, step S
Return to 65.

[Navigation Control Processing] Next, the navigation control processing including the distribution processing of the road map information performed between the vehicle 100 and the road map information distribution center 200 which have been subjected to the distribution contract processing described above will be described with reference to FIGS. This will be described with reference to FIG.

<Navigation control unit 2> FIG.
18 are flowcharts showing a navigation control process performed by the vehicle 100 (navigation control unit 2) in the present embodiment, and are started in response to the operation of the navigation main switch 24 being turned on.

In FIG. 13, steps S71 to S73: On the display screen A (FIG. 28 (a)) displayed on the display 31 in step S71, "TV"
Is selected, the process proceeds to step S161 (FIG. 18), and if "navigation" is selected, the process proceeds to step S74 and the display screen 1 (FIG. 20) is displayed on the display 31.
(A)) Display.

Steps S75 to S77: Display screen 1 displayed on display 31 in step S75
(FIG. 20A), “CD-ROM (DVD-ROM-
When the “ROM information” is selected, the CD-ROM (DV) prepared in advance in the map information storage module 29 is selected.
The process proceeds to step S111 to use map information of a storage medium such as a D-ROM), and when “distribution information” is selected, step S78 is performed to obtain map information and the like necessary for navigation from the road map information distribution center 200. When "end" is selected, the process ends, and the main switch 24 is set to the same state as the off state.

Steps S78 to S80: Display screen 4 displayed on display 31 in step S78
In FIG. 21B, a predetermined ID is set by the operator.
When the information is input and "Send" is selected, the process proceeds to step S80, and when "Return" is selected, the process returns to step S74.

Steps S81 to S83: In step S81, communication with the road map information distribution center 200 is established, ID information input by the operator is transmitted, and the display 31 is displayed on the display screen 5 (FIG. 22).
(A) is displayed and waits until an authentication completion signal is received from the road map information distribution center 200. When the authentication is completed, the display screen 6 (FIG.
2 (b)) is displayed.

Steps S84 to S86: The display screen 8 (FIG. 23B) is displayed on the display 31, and the process waits until the navigation control program and the road map information are received from the road map information distribution center 200. When the reception of the data is completed, the display screen 9 (FIG. 24A) is displayed on the display 31, and the process proceeds to step S87 (FIG. 14).

Steps S111 to S114: Since the operator has selected "CD-ROM information" in step S75, in the "distribution mode" in which a communication line has already been established with the road map information distribution center 200. In some cases, after transmitting a signal indicating the end of distribution to the center, display screen 2 (FIG. 20 (b)) is displayed on display 31, and then display screen 3 (FIG. 21 (a)) is displayed. Proceed to step S115 (FIG. 15).

Next, referring to FIG.
Step S92: Display screen 9 being displayed (FIG. 24A)
When "select information source" is selected, the process proceeds to step S74 (FIG. 13), when "destination setting" is selected, the process proceeds to step S93, and when "current position display / route guidance" is selected, the process proceeds to step S93. In S88, it is determined whether the destination is already set, and the display 31
Is displayed on the display screen 12 (FIG. 25B) (step S).
89, step S90), step S141 (FIG. 16)
Proceed to. At this time, when the destination is not set, a map image and a mark indicating the current position are displayed on the screen, and when the destination is set, a route guidance route is further displayed.

Steps S93 to S96: The display screen 10 (FIG. 24 (b)) is displayed on the display 31 when the row running mode flag FT = 1 or when the vehicle speed is 0 even if FT = 0. On the other hand, when the platoon running mode flag FT is 0 and the vehicle speed is greater than 0, a predetermined time is displayed on the display 31 (this is a time previously determined by an experiment that the occupant can sufficiently view the displayed contents. ) Over the display screen 7 (FIG. 23).
After displaying (a)), the display screen 9 (FIG. 24 (a)) is displayed, and the process returns to step S87.

Steps S97-S98, S102-S103: Display screen 10 being displayed
In FIG. 24 (b), "destination manual setting"
Is selected, the display screen 11 is displayed on the display 31.
(FIG. 25 (a)) is displayed, and a “* month * day setting destination” in which a destination set by the terminal 300 described later can be set.
Is selected, a new destination is set based on the destination setting data most recently received from the outside, and the process proceeds to step S104.

Steps S99 to S101: In response to a change operation of the map scroll switch 28 by the operator on the display screen 11 being displayed (FIG. 25A), the displayed map image is scrolled and "setting" is performed. Is selected, the process proceeds to step S104, and if "return" is selected, the process returns to step S93.

Step S104: The display screen 12 (FIG. 25 (b)) including the map image, the mark indicating the current position, and the route guidance route to the set destination is displayed on the display 31, and step S141 ( Proceed to FIG.

Next, in FIG. 15, step S115
Step S120: Display screen 3 being displayed (FIG. 21)
In (a)), when “select information source” is selected, the process proceeds to step S74 (FIG. 13), and when “destination setting” is selected, the process proceeds to step S121, and “current position display / route guidance” is selected. When it is done, step S1
It is determined in step 16 whether the destination has already been set, and the display screen 15 (FIG. 27A) is displayed on the display 31 (steps S117 and S118), and step S118
151 (FIG. 17). At this time, when the destination is not set, a map image and a mark indicating the current position are displayed on the screen, and when the destination is set, a route guidance route is further displayed.

Steps S121 to S124: When the platoon running mode flag FT = 1 or FT =
If the vehicle speed is 0 even if it is 0, the display 3
1 displays the display screen 13 (FIG. 26 (a)). On the other hand, when the platoon running mode flag FT = 0 and the vehicle speed is greater than 0, the display screen 7 (FIG. 23 (a) Display screen 3 after displaying))
(FIG. 21A) is displayed, and the process returns to step S115.

Steps S125 to S126, S130 to S131: When "destination manual setting" is selected on the displayed display screen 13 (FIG. 26A), the display screen 14 (FIG. 26) is displayed. (B)) is displayed, and when “* month * date setting destination” capable of setting the destination set by the terminal 300 described later is selected, the destination setting data most recently received from outside. Set a new destination based on.

Steps S127 to S129: The map image is scrolled according to the change operation of the map scroll switch 28 by the operator on the display screen 14 (FIG. 26B) being displayed, and "SETTING" is selected. In some cases, the process proceeds to step S132, and when "return" is selected, the process returns to step S127.

Step S132: The display screen 15 (FIG. 27 (a)) including the map image, the mark indicating the current position, and the route guidance route to the set destination is displayed on the display 31, and step S151 ( Proceed to FIG. 17).

Next, in FIG. 16, step S141
Step S144: Display screen 12 being displayed (FIG. 25)
In (b)), when "select information source" is selected, the process proceeds to step S74 (FIG. 13), and when "search" is selected, the process proceeds to step S145 to set "destination".
Is selected, the process proceeds to step S93 (FIG. 14), and if the "TV" switch is selected, the process proceeds to step S93.
161 (FIG. 18).

Steps S145 to S148: When the row running mode flag FT = 1 or FT =
If the vehicle speed is 0 even if it is 0, the display 3
1 displays a search list display screen (FIG. 29). On the other hand, when the platoon running mode flag FT = 0 and the vehicle speed is greater than 0, the display screen 7 (FIG. 23 (a) )), The display screen 12 (FIG. 25B) is displayed, and step S141 is performed.
Return to

Step S149, Step S150: When any symbol is selected on the displayed search list display screen (FIG. 29), various service information previously associated with the map information in accordance with the selected symbol is displayed. A search is performed, and a display screen showing the result is displayed, for example, as shown in FIG. 30 (in this case, the location of the restaurant).
It returns to step S71.

Next, in FIG. 17, step S151
Step S154: Display screen 15 being displayed (FIG. 27)
In (a)), when “select information source” is selected, the process proceeds to step S74 (FIG. 13), and when “search” is selected, the process proceeds to step S155 to set “destination”.
Is selected, the process proceeds to step S121 (FIG. 15), and if the "TV" switch is selected, the process proceeds to step S121.
161 (FIG. 18).

Steps S155 to S158: When the row running mode flag FT = 1 or FT =
If the vehicle speed is 0 even if it is 0, the display 3
1 displays a search list display screen (FIG. 29). On the other hand, when the platoon running mode flag FT = 0 and the own vehicle speed is greater than 0, the display screen 7 (FIG. 23) is displayed on the display 31 for the above-described predetermined time. (A)), the display screen 15 (FIG. 27 (a)) is displayed, and step S
Return to 151.

Step S159, Step S160: When any symbol is selected on the displayed search list display screen (FIG. 29), various service information previously associated with the map information in accordance with the selected symbol is displayed. A search is performed, and a display screen showing the result is displayed, for example, as shown in FIG. 30 (in this case, the location of the restaurant).
It returns to step S71.

Next, in FIG. 18, step S161
Step S164: When the platoon running mode flag FT = 1, or when the own vehicle speed is 0 even when FT = 0, the display screen B is displayed on the display 31 (FIG. 28).
(B)), while the platooning mode flag FT =
When the vehicle speed is 0 and the own vehicle speed is larger than 0, the display screen C (FIG. 28) is displayed on the display 31 for a predetermined time.
After the display of (c)), the display screen A (FIG. 28) when the processing step before the determination of step S161 in the current control cycle is step S72 (FIG. 13).
(A)), the display screen 12 (FIG. 25 (b)) at the time of step S144 (FIG. 16), and the step S154
In the case of (FIG. 17), the display screen 15 (FIG. 27A) is displayed, and the process returns to step S71.

Step S165: When "navigation" is selected on the display screen B (FIG. 28B) displaying a television broadcast, the flow advances to step S74 (FIG. 13), and when no selection is made, the flow returns to step S71. I do.

<Road Map Information Distribution Center 200 (for Communication with Navigation Control Unit 2)> FIG.
FIG. 21 is a flowchart showing a road map information distribution process performed by the road map information distribution center 200 when communicating with the navigation control unit 2. In the navigation control process described above, the display screen 4 (FIG.
The process is started in response to the navigation control unit 2 transmitting the ID information input in (b)) (step S81 in FIG. 13).

In the figure, steps S171 to S174: It is determined whether the received ID information matches the information of the contractor already registered in the database, and authentication is performed by referring to the contents of the contract. If the user cannot receive the information, information for displaying a screen indicating the reason is transmitted to the user, and if the user can distribute map information or the like, an authentication completion signal is transmitted.

Step S175: Since the authentication is completed,
The distribution of the navigation program and the road map information is started, and the process returns to step S171.

According to the navigation control processing in the navigation control unit 2 described above, when the platooning mode flag FT = 0 in which manual driving (vehicle speed> 0) is performed by the driver's driving operation, the driver gazes forward. In order to prevent negligence in the operation, display of images on the television, operation of setting a destination on the navigation control unit 2, or operation of searching for information via the Internet is prohibited, but platooning in which automatic platooning is performed When the mode flag FT = 1, the restrictions on these display and input operations are relaxed and operation becomes possible, so that it is possible to prevent platooning in a state where the awakening degree of the driver is excessively reduced.

<Terminal 300> If a distribution contract is concluded with the road map information distribution center 200 by the above-described road map information distribution contract processing (FIG. 10), even if the terminal 300 is used, display of a map image, A route guidance to a desired destination can be performed. Here, the procedure is described in FIG.
This will be described with reference to FIGS.

FIGS. 31 to 33 are flowcharts showing the navigation control processing of the terminal 300 according to the present embodiment. The navigation control processing is started when the operator starts the terminal 300 and performs a predetermined operation. Be started.

Steps S181 to S183: On the display screen 4 (FIG. 21B) displayed on the display, when predetermined ID information is input by the operator and "Send" is selected, the process proceeds to step S184. When "return" is selected, the process returns to step S181.

Steps S184 and S186: In step S184, communication with the road map information distribution center 200 is established, and the input ID information is transmitted.
Display screen 5 (FIG. 22A) on the display,
It waits until an authentication completion signal is received from the road map information distribution center 200. When the authentication is completed, the display screen 6 (FIG. 22B) is displayed on the display.

Steps S187 and S188: Wait until a navigation control program and road map information are received from the road map information distribution center 200. When the reception of the data is completed, the display screen 9 (FIG. 24A) is displayed on the display, and the process proceeds to step S189 (FIG. 32).

Next, in FIG. 32, step S189
Step S191: Display screen 9 being displayed (FIG. 24)
In (a)), when "destination setting" is selected, the process proceeds to step S192, and when "current position display / route guidance" is selected, the display screen 12 including a map image and a mark indicating the current position (FIG. 25). (B)) is displayed on the display, and the flow advances to step S199 (FIG. 33).

Steps S192 to S194: When "destination manual setting" is selected on the displayed display screen 10 (FIG. 24B), the display screen 11 (FIG. 25A) is displayed on the display. .

Steps S195 to S197: The map image is scrolled according to the operator's change operation on the display screen 11 (FIG. 25 (a)) being displayed.
When "SET" is selected, the process proceeds to step S198, and when "RETURN" is selected, the process returns to step S192.

Step S198: The display screen 16 (FIG. 27 (b)) including the map image, the mark indicating the current position, and the route guidance route to the set destination is displayed on the display, and step S199 (FIG. Go to 33).

Next, in FIG. 33, step S199
Step S202: When "search" is selected, the process proceeds to step S203, when "destination setting" is selected, the process proceeds to step S192 (FIG. 32), and when a predetermined transmission key is operated, the vehicle proceeds to step S200. 1
By communicating with the navigation control unit 2 of 00, the destination setting data is transmitted together with the date of setting (or the date of the transmission timing), and the process returns to step S181.

Step S204, Step S205: When any symbol is selected on the displayed search list display screen (FIG. 29), various service information previously associated with the map information in accordance with the selected symbol is displayed. A search is performed, and a display screen showing the result is displayed, for example, as shown in FIG. 30 (in this case, the location of the restaurant).
It returns to step S181.

<Road map information distribution center 200 (terminal 3
FIG. 34 is a flowchart showing a road map information distribution process performed by the road map information distribution center 200 when performing communication with the terminal 300. ID input on the display screen 4 (FIG. 21B) in the control processing
The information is transmitted by the navigation control unit 2 (FIG. 3).
It is started in response to the step S184).

In the figure, steps S211 to S214: It is determined whether the received ID information matches the information of the contractor already registered in the database, and the authentication is performed by referring to the contents of the contract. If the user cannot receive the information, information for displaying a screen indicating the reason is transmitted to the user, and if the user can distribute map information or the like, an authentication completion signal is transmitted.

Step S215: Since the authentication is completed,
The distribution of the navigation program and the road map information is started, and the process returns to step S211.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an entire system of a vehicle control device according to an embodiment.

FIG. 2 is a flowchart illustrating a platooning control process performed by a vehicle control unit 1 according to the embodiment.

FIG. 3 is a flowchart illustrating a platooning control process performed by a vehicle control unit 1 according to the embodiment.

FIG. 4 is a flowchart showing a row running control process performed by a vehicle control unit 1 according to the embodiment.

FIG. 5 is a flowchart illustrating a wakefulness determination process performed by a wakefulness determination unit 3 in the present embodiment.

FIG. 6 is a seat attitude control unit 4 according to the embodiment.
6 is a flowchart showing a seat back attitude control process performed by the vehicle.

FIG. 7 is a diagram showing a seat structure of a driver's seat to be controlled by a seat attitude control unit 4;

FIG. 8 is a block diagram illustrating an overall configuration of a communication navigation system according to the present embodiment.

FIG. 9 is a road map information distribution center 2 in the embodiment.
It is a flowchart which shows the distribution contract process of road map information performed by 00 (server computer 202).

FIG. 10 is a flowchart showing a road map information distribution contract process performed by the vehicle 100 (navigation control unit 2) or the terminal 300 in the embodiment.

FIG. 11 is a diagram showing a screen displayed on a purchase contract terminal in a road map information distribution contract process.

FIG. 12 is a diagram showing a screen displayed on a purchase contract terminal in a distribution contract process of road map information.

FIG. 13 is a flowchart illustrating a navigation control process performed by the vehicle 100 (navigation control unit 2) in the present embodiment.

FIG. 14 is a flowchart illustrating a navigation control process performed by the vehicle 100 (navigation control unit 2) in the present embodiment.

FIG. 15 is a flowchart illustrating a navigation control process performed by the vehicle 100 (navigation control unit 2) in the present embodiment.

FIG. 16 is a flowchart illustrating a navigation control process performed by the vehicle 100 (navigation control unit 2) in the present embodiment.

FIG. 17 is a flowchart illustrating a navigation control process performed by the vehicle 100 (navigation control unit 2) in the present embodiment.

FIG. 18 is a flowchart illustrating a navigation control process performed by the vehicle 100 (navigation control unit 2) in the present embodiment.

FIG. 19 is a flowchart showing a road map information distribution process performed by a road map information distribution center 200 when communication with the navigation control unit 2 is performed.

FIG. 20 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 21 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 22 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 23 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 24 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 25 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 26 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 27 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 28 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 29 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 30 is a diagram showing a screen displayed by the navigation control unit 2 in the navigation control processing.

FIG. 31 is a flowchart illustrating a navigation control process of the terminal 300 according to the present embodiment.

FIG. 32 is a flowchart illustrating a navigation control process of the terminal 300 according to the present embodiment.

FIG. 33 is a flowchart illustrating a navigation control process of the terminal 300 according to the present embodiment.

FIG. 34 is a flowchart showing a road map information distribution process performed by the road map information distribution center 200 when communicating with the terminal 300.

[Explanation of symbols]

 1: vehicle control unit, 2: navigation control unit, 3: arousal level determination unit, 4: seat attitude control unit, 11: platoon consolidation switch, 12: platoon release switch, 13: road-to-vehicle communication device, 14: distance sensor, 15: inter-vehicle communication device, 16: lane marker sensor, 17: vehicle speed sensor, 18: actuator for acceleration / deceleration control, 19: actuator for steering system control, 20: display for platooning, 21: photographing device, 22: wireless communication , 23: GPS sensor, 24: Navigation main switch, 25: Navigation function selection switch, 26: Execution instruction switch, 27: Cancel switch, 28: Map scroll switch, 29: Map information storage module, 30: TV antenna, 31 : Navigation display, 32: Reclining angle sensor, 33: Reclining angle adjusting mechanism, 34: Reclining angle adjusting switch, 35: Remote control terminal, 100: Vehicle, 200: Road map information distribution center, 201: Host computer, 202: Server computer, 203, 204: communication device, 300: information terminal,

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60R 21/02 B60R 21/02 E G08G 1/16 G08G 1/16 F (72) Inventor Koichi Kojima Hiroshima Prefecture 3-1, Fuchi-cho, Aki-gun Machida Co., Ltd. F-term (reference) 3D037 FA05 3D044 AA25 AB01 AC00 AC56 AD00 AD04 AE21 5H180 AA01 BB04 BB13 FF05 FF22 FF27 FF32 LL14 LL20

Claims (3)

[Claims] In a predetermined service section in which a platooning can be performed, the own vehicle runs while forming a platoon with the preceding vehicle and / or the following vehicle and a communication device on a road facility side while communicating with the vehicle. A control device for a vehicle that performs control such that the own vehicle is running in platoon, and when it is determined that the vehicle is running in platoon, A control device for a vehicle, comprising: a prohibition unit that prohibits the inclination angle of the seat back from being greater than a predetermined angle. 2. In a predetermined service section where platooning is possible, the vehicle runs while forming a platoon with those vehicles while communicating with a vehicle in front and / or a rear vehicle and a communication device on the road facility side. A control device for a vehicle that controls whether the vehicle is traveling in platoon, a regulating device that regulates information display or input operation during traveling, A control device for a vehicle, comprising: a regulation easing means for easing a regulation operation by the regulation means when it is determined that the vehicle is traveling in platoon. 3. In a predetermined service section where platooning is possible, the vehicle runs while forming a platoon with those vehicles while communicating with a vehicle in front of and / or behind the vehicle and a communication device on the road facility side. A control device for a vehicle that controls the vehicle so that the driver can switch between a platoon driving mode for performing platoon driving and a manual driving mode by a driver's driving operation, and the driver in the manual driving mode. Awakening degree detecting means for detecting the degree of awakening, and prohibiting means for prohibiting the switching operation to the platoon running mode when the arousal degree detected by the awakening degree detecting means is lower than a predetermined level. Vehicle control device.