JP2020117091A - Vehicle control device and vehicle - Google Patents

Abstract

To provide a vehicle control device and a vehicle capable of corresponding not only to a driver but also to all occupants, capable of changing automatic driving control when anxiety of the driver and occupants is predicted and detected with respect to a vehicle operation during automatic driving, and capable of improving convenience and commodity value of automatic driving control.SOLUTION: A vehicle control device 10 which allows a vehicle 12 to travel automatically includes a detection device which can detect a grip action of an occupant with respect to a fixed structure which is fixed above a seat surface of the occupant in the vehicle 12. In the case where a grip action is performed and the vehicle 12 is in a specific travel state, control is changed with respect to the vehicle 12.SELECTED DRAWING: Figure 3

Description

The present invention relates to a vehicle control device and a vehicle.

Patent Document 1 aims to provide an automatic driving control device that can further improve the convenience of automatic driving control by suppressing switching from automatic driving to manual driving when the driver feels anxious. I am trying.

In order to solve the problem, the automatic driving control device according to Patent Document 1 has a detection unit that detects a motion performed by a driver and a motion of the driver that is detected by the detection unit during the automatic driving. Satisfies the first operating condition, which is considered to be anxiety, or satisfies the second operating condition, which is considered to be a driver's greater anxiety for autonomous driving than the anxiety to be considered in the first operating condition If the driver determines that the operation of the driver satisfies the first operation condition, the controller notifies the driver of the control plan for automatic driving, and the driver determines that the driver's operation is the first operation. When it is determined that the operation condition 2 is satisfied, a notification unit is provided to suggest the driver to switch from automatic driving to manual driving.

JP, 2016-215793, A

However, the technique described in Patent Document 1 has a configuration in which only the driver is taken into consideration, and there is a problem that it is difficult to deal with a plurality of occupants. That is, there are problems in that it is necessary to deal with not only the driver but also all the occupants, and that the driver and the occupants have anxiety about the vehicle operation.

An object of the present invention is to provide a vehicle control device and a vehicle that can realize the following (1) and (2).
(1) Not only the driver but also all the occupants can respond, and when the driver's or occupant's anxiety about the vehicle operation during automatic driving is predicted and detected, the automatic driving control can be changed, and the automatic driving control can be performed. The convenience and product value of can be improved.
(2) By detecting the upper half of the body where the driver or the occupant is prone to wobbling with a fixed structure that can be fixed, it is possible to better understand the anxiety about vehicle operation.

A vehicle control device according to an aspect of the present invention is a vehicle control device for automatically running a vehicle, and is capable of detecting a gripping motion of an occupant with respect to a fixed structure fixed above a seat surface of the occupant in the vehicle. When the gripping operation is performed and the vehicle is in a specific traveling state, the control for the vehicle is changed.

A vehicle according to still another aspect of the present invention includes the vehicle control device as described above.

According to the present invention, it is possible to provide a vehicle control device and a vehicle that can realize the following (1) and (2).
(1) Not only the driver but also all the occupants can respond, and when the driver's or occupant's anxiety about the vehicle operation during automatic driving is predicted and detected, the automatic driving control can be changed, and the automatic driving control can be performed. The convenience and product value of can be improved.
(2) By detecting the upper half of the body where the driver or the occupant is prone to wobbling with a fixed structure that can be fixed, it is possible to better understand the anxiety about vehicle operation.

It is a top view which shows the inside of the vehicle by this embodiment typically. It is a side view which shows the inside of the vehicle by this embodiment typically. It is a block diagram showing the vehicle control device by this embodiment. FIG. 4A is a table 1 showing a breakdown of control change items and change durations for each specific scene, and FIG. 4B is a table 2 showing priority of boarding positions when a lane change is performed to the right. 4C is Table 3 showing the priority of the riding position when performing acceleration/deceleration for the preceding vehicle. It is a flow chart which shows an example of the 1st processing operation of the vehicle control device by this embodiment. It is a flow chart which shows an example of the 2nd processing operation of the vehicle control device by this embodiment. It is a flow chart which shows the example of the 3rd processing operation of the vehicle control device by this embodiment. It is a flow chart which shows the example of the 4th processing operation of the vehicle control device by this embodiment.

A vehicle control device and a vehicle according to the present invention will be described below in detail with reference to the accompanying drawings, with reference to preferred embodiments.

The vehicle control device 10 and the vehicle 12 according to the present embodiment will be described with reference to the drawings.

First, as shown in FIG. 1, the vehicle (own vehicle) 12 is fixed with various fixing structures. As the fixing structure, for example, four grab rails 14, four door grips 16, a door armrest 18, four seat belts 20, two seat grips 22, two headrests 24, four seats 26, etc. Have. Although the seat belt 20 has a flexible belt, since it is fixed to the seat frame by a retractor and a buckle (not shown), it is one of the fixing structures. Further, as shown in FIG. 2, the grab rail 14, the door grip 16, the door armrest 18, the seat grip 22, the headrest 24, etc. are fixed above the seat surface of the occupant.

As shown in FIG. 3, the grab rail 14, the door grip 16, the door armrest 18, the seat belt 20, the seat grip 22, the headrest 24, and the like have a first sensor 30a and a second sensor 30a that detect gripping and contact by an occupant, respectively. A sensor 30b, a third sensor 30c, a fourth sensor 30d, a fifth sensor 30e, a sixth sensor 30f and the like are provided, and the seat 26 detects a seventh sensor 30g for detecting the seating of an occupant and a leaning on the backrest. The eighth sensor 30h and the like are provided. Similarly, the various sensors described above include a sensor that detects pressure (such as a sheet-shaped pressure sensor), a sensor that detects a load, a sensor that detects sweating, and the like.

Further, an in-vehicle camera (such as a vehicle interior monitoring camera) that captures an expression of an occupant or an electromagnetic wave sensor may be provided in the vehicle.

Further, as shown in FIG. 3, the vehicle 12 further includes an external sensor 40, a vehicle body behavior sensor 42, a vehicle operation sensor 44, a communication unit 46, and an HMI (Human Machine Interface) 48. There is. The vehicle 12 further includes a drive device 50, a braking device 52, a steering device 54, a navigation device 56, and a positioning unit 58. The vehicle 12 is provided with components other than these components, but the description thereof is omitted here.

The outside world sensor 40 acquires outside world information, that is, surrounding information of the vehicle 12. The external sensor 40 includes a plurality of cameras (not shown) and a plurality of radars. The external sensor 40 further includes a plurality of LiDARs (Light Detection And Ranging, Laser Imaging Detection And Ranging) (not shown).

The information acquired by the camera, that is, the camera information is supplied from the camera to the vehicle control device 10. The camera information may be image pickup information or the like. The camera information, together with the radar information and the LiDAR information, constitutes the outside world information.

The radar emits the transmitted wave toward the outside of the vehicle 12, and receives the reflected wave that is reflected back by the detection object in the emitted transmitted wave. Examples of the transmitted wave include electromagnetic waves. Examples of electromagnetic waves include millimeter waves. Examples of the detected object include other vehicles including a preceding vehicle. The radar generates radar information (reflected wave signal) based on reflected waves and the like. The radar supplies the generated radar information to the vehicle control device 10. The radar is not limited to the millimeter wave radar. For example, a laser radar, an ultrasonic sensor or the like may be used as the radar.

The LiDAR continuously emits laser light in all directions of the vehicle 12, measures the three-dimensional position of the reflection point based on the reflected wave of the emitted laser light, and outputs information regarding the three-dimensional position, that is, three-dimensional information. To do. LiDAR supplies the three-dimensional information, that is, LiDAR information, to the vehicle control device 10.

The vehicle body behavior sensor 42 acquires information on the behavior of the vehicle 12, that is, vehicle body behavior information. The vehicle body behavior sensor 42 includes a vehicle speed sensor (not shown), a wheel speed sensor (not shown), an acceleration sensor (not shown), and a yaw rate sensor (not shown). The vehicle speed sensor detects the speed of the vehicle 12, that is, the vehicle speed. The vehicle speed sensor further detects the traveling direction of the vehicle 12. The wheel speed sensor detects the speed of a wheel (not shown), that is, the wheel speed. The acceleration sensor detects the acceleration of the vehicle 12. The acceleration includes longitudinal acceleration, lateral acceleration, and vertical acceleration. The acceleration in only some directions may be detected by the acceleration sensor. The yaw rate sensor detects the yaw rate of the vehicle 12.

The vehicle operation sensor 44 acquires information regarding a driving operation by a user (driver), that is, driving operation information. The vehicle operation sensor 44 includes an accelerator pedal sensor (not shown), a brake pedal sensor (not shown), a steering angle sensor (not shown), and a steering torque sensor (not shown). The accelerator pedal sensor detects an operation amount of an accelerator pedal (not shown). The brake pedal sensor detects an operation amount of a brake pedal (not shown). The steering angle sensor detects a steering angle of a steering wheel (not shown). The steering torque sensor detects the torque applied to the steering wheel.

The communication unit 46 performs wireless communication with an external device (not shown). The external device may include, for example, an external server (not shown). The communication unit 46 may or may not be removable from the vehicle 12. Examples of the communication unit 46 that can be attached to and detached from the vehicle 12 include a mobile phone and a smartphone.

The HMI 48 receives an operation input by a user (occupant) and provides various kinds of information to the user visually, audibly, or tactilely. The HMI 48 includes, for example, an automatic driving switch (driving assist switch) 60, a display (not shown), a contact sensor (not shown), a vehicle-mounted camera 62 (including the vehicle interior monitoring camera described above), and a speaker (not shown). And an operator (not shown).

The automatic operation switch 60 is for a user to instruct start and stop of automatic operation. The automatic operation switch 60 includes a start switch (not shown) and a stop switch (not shown). The start switch outputs a start signal to the vehicle control device 10 in response to a user operation. The stop switch outputs a stop signal to the vehicle control device 10 according to a user operation.

The display includes, for example, a liquid crystal panel and an organic EL panel. Here, the case where the display is a touch panel will be described as an example, but the display is not limited thereto.

The contact sensor is for detecting whether or not the user (driver) is touching the steering wheel. The signal output from the contact sensor is supplied to the vehicle control device 10. The vehicle control device 10 can determine whether the user is touching the steering wheel based on the signal supplied from the contact sensor.

The vehicle-mounted camera 62 images the inside of the vehicle 12, that is, the interior of the vehicle. The vehicle-mounted camera 62 may be provided, for example, on a dashboard (not shown) or on a ceiling (not shown). The vehicle-mounted camera 62 may be provided so as to capture an image of only the driver, or may be provided so as to capture each of the occupants. The vehicle-mounted camera 62 outputs information acquired by capturing an image inside the vehicle, that is, image information to the vehicle control device 10.

The speaker is for providing various information to the user by voice. The vehicle control device 10 outputs various notifications, warnings, and the like using a speaker.

The drive device (driving force control system) 50 has a drive ECU (not shown) and a drive source (not shown). The driving ECU controls the driving force (torque) of the vehicle 12 by controlling the driving source. Examples of the drive source include an engine and a drive motor. The drive ECU can control the braking force by controlling the drive source based on the user's operation on the accelerator pedal. Further, the drive ECU can control the driving force by controlling the drive source based on the command supplied from the vehicle control device 10. The driving force of the driving source is transmitted to wheels (not shown) via a transmission (not shown) or the like.

The braking device (braking force control system) 52 has a braking ECU (not shown) and a braking mechanism (not shown). The brake mechanism operates a brake member by a brake motor, a hydraulic mechanism, or the like. The braking ECU can control the braking force by controlling the brake mechanism based on the operation of the brake pedal by the user. Further, the braking ECU can control the braking force by controlling the brake mechanism based on the command supplied from the vehicle control device 10.

The steering device (steering system) 54 has a steering ECU (not shown), that is, an EPS (electric power steering system) ECU, and a steering motor (not shown). The steering ECU controls the direction of the wheels (steering wheels) by controlling the steering motor based on the user's operation on the steering wheel. Further, the steering ECU controls the direction of the wheels by controlling the steering motor based on the command supplied from the vehicle control device 10. The steering may be performed by changing the torque distribution or the braking force distribution to the left and right wheels.

The navigation device 56 has a GNSS (Global Navigation Satellite System) sensor (not shown). Further, the navigation device 56 has a calculation unit (not shown) and a storage unit (not shown). The GNSS sensor detects the current position of the vehicle 12. The arithmetic unit reads the map information corresponding to the current position detected by the GNSS sensor from the map database stored in the storage unit. The calculation unit uses the map information to determine a target route from the current position to the destination. The destination is input by the user via the HMI 48. As mentioned above, the display is a touch panel. The user inputs the destination by operating the touch panel. The navigation device 56 outputs the created target route to the vehicle control device 10. The vehicle control device 10 supplies the target route to the HMI 48. The HMI 48 displays the target route on the display.

The positioning unit 58 has a GNSS (not shown). The positioning unit 58 has an IMU (Inertial Measurement Unit, inertial measurement device) (not shown) and a map database (map DB) not shown. The positioning unit 58 specifies the position of the vehicle 12 by appropriately using the information obtained by the GNSS, the information obtained by the IMU, and the map information stored in the map database. The positioning unit 58 can supply the vehicle control device 10 with vehicle position information that is information indicating the position of the vehicle 12. In addition, the positioning unit 58 can supply map information to the vehicle control device 10.

Then, the vehicle control device 10 includes a calculation unit 70, a storage unit 72, and an input/output unit 74. The calculation unit 70 controls the entire vehicle control device 10. The arithmetic unit 70 is composed of, for example, a CPU (Central Processing Unit). The calculation unit 70 executes vehicle control by controlling each unit based on the program stored in the storage unit 72. The input/output unit 74 takes in signals and data from the outside of the vehicle control device 10 and inputs them to the calculation unit 70 and the storage unit 72, and outputs the signals and data output from the calculation unit 70 and the storage unit 72 to the outside. To do.

The calculation unit 70 includes an occupant detection unit 80, a specific traveling state detection unit 82, an occupant specific motion detection unit 84, a priority setting unit 86, a vehicle control change unit 88, and a detection target exclusion specification unit 90. ..

The occupant detection unit 80 detects which seat 26 the occupant is sitting on through the seventh sensor 30g, the eighth sensor 30h, the vehicle-mounted camera 62, and the like.

The specific traveling state detection unit 82 detects, for example, whether the vehicle 12 is in a preset specific traveling state, that is, whether the vehicle 12 encounters a specific scene. The specific scene refers to a scene in which the operation of the vehicle 12 is in a transitional state, for example, an acceleration/deceleration state, a turning state, a lane change state, a timing of gripping/non-grapping the steering wheel, a pressure change, or entering a curve. The timing of gripping the steering wheel with the steering wheel, the positional relationship with the surrounding vehicle, the speed difference, and the like are included. These states are included in the map information, the current position of the vehicle 12, information such as the positions of other vehicles in the surrounding area obtained through the communication unit 46, drive signals from the driving device 50, the braking device 52, and the steering device 54. It is detected based on. As the specific scene, for example, as shown in Table 1 of FIG. 4A, acceleration/deceleration suitable for a preceding vehicle, curve, lane change, merging/merging, acceleration/deceleration immediately after the start of automatic operation, and the like can be mentioned.

The occupant specific motion detection unit 84 detects the grip of the fixed structure by the occupant and the contact with the fixed structure. By this detection, it is possible to detect whether or not the occupant is concerned.

In this case, gripping of the fixed structure or contact with the fixed structure may be detected for all occupants, or when a plurality of occupants are detected, the priority setting unit 86 sets the passengers with a high priority set in advance. Even if the occupant at the position or the occupant position with a high priority set according to a specific scene is set, and the occupant at the occupant position with a high priority is detected as gripping the fixed structure or contact with the fixed structure, Good.

Here, the boarding position having a high priority set in advance refers to the rear seat of the driver's boarding position. Since the rear seat of the driver's riding position is the safest, if the passenger sitting in the rear seat grips the fixed structure or touches the fixed structure and feels anxious, everyone is anxious. It can be determined that

For example, as shown in Table 2 of FIG. 4B, the high priority boarding position set according to the specific scene is a right rear seat and a left rear seat, as shown in Table 2 of FIG. 4B. Seats, front right seats, front left seats.

Similarly, in the case of acceleration/deceleration for a vehicle traveling in front, as shown in Table 3 of FIG. 4C, the left front seat, the right front seat, the left rear seat, and the right rear seat are arranged in descending order of priority.

In this way, the priority of the occupant can be determined for each specific scene, and the anxious occupant can be detected in a short time.

The gripping of the fixed structure and the detection of contact with the fixed structure described above can be detected using a camera image, a pressure sensor, a perspiration sensor, an electromagnetic wave sensor, or the like. In addition, for example, the pulse rate of the occupant may be measured from the camera image of the occupant's face, and the health state of the occupant may be estimated by comparing with the standard pulse rate. Of course, medical information (medical history, etc.) for each occupant may be acquired, for example, via the communication unit 46 to improve the accuracy of estimating the health condition of each occupant.

In the camera image, for example, it was detected that the occupant was trembling downwards, the eyes of the occupant were gazing at one point, the occupant was looking around unsteadily, the occupant was looking at the speedometer, etc. Recognize that you are anxious. A pressure sensor, a load sensor, or the like recognizes that the pressure sensor or the load sensor is worried when a pressure or a load over a certain level is applied to the pressure sensor or the load sensor. In addition, in the pressure sensor and the load sensor, the correlation coefficient between the sensor waveforms from these sensors and the reference waveform measured beforehand (a plurality of typical waveforms when a person is anxious), The closer the correlation coefficient is to 1, the more anxious the passenger is determined. In addition, various methods can be used.

A perspiration sensor may be combined to increase the accuracy for detecting whether or not you are anxious. In addition, the passenger's emotions may be recognized based on the data detected by the electromagnetic wave sensor (http://newswitch.jp/p/6219 "A device that allows you to see a person's true emotions from a distance." "reference).

On the other hand, the vehicle control changing unit 88 changes the vehicle control for each of a plurality of preset scenes.

As shown in Table 1 of FIG. 4A, the vehicle control change items include, for example, an increase in inter-vehicle distance in acceleration/deceleration adapted to a preceding vehicle, and steering in curve, lane change, and merging. The decrease in the lateral movement speed and the decrease in vehicle speed. In addition, for acceleration/deceleration immediately after the start of automatic operation, for example, acceleration gain suppression control can be cited.

The change duration of vehicle control is, for example, the time when the vehicle is following the preceding vehicle when acceleration/deceleration is performed in accordance with the preceding vehicle. The time it takes to move. Further, in the acceleration/deceleration immediately after the start of the automatic operation, for example, the automatic operation is completed (completely matured) (for example, 30 minutes or 40 km). The vehicle control device 10 restores the change content of the vehicle control at the stage when the change duration time has elapsed.

Of course, the continuation of the change of the vehicle control may be performed only during the time of traveling the predetermined distance. When accelerating and decelerating according to the preceding vehicle, for example, continue until the distance following the preceding vehicle reaches a predetermined distance.For curves, lane changes, and merging, for example, the lateral movement of the vehicle reaches a predetermined distance. Can be done up to. The vehicle control device 10 may restore the change contents of the vehicle control at the stage when the vehicle has traveled the predetermined distance described above.

Further, the vehicle control change unit 88 increases the degree of change of the vehicle control described above if the health condition of the occupant detected by the occupant specific motion detection unit 84 is deteriorated. In this case, the degree of change in vehicle control may be increased according to the difference between the pulse rate of the occupant whose health condition is deteriorated and the standard pulse rate. As a medium for detecting a health condition from a camera image, in addition to the above-mentioned pulse rate, heart rate, respiration rate, heart rate variability and the like can be mentioned.

The detection target exclusion specifying unit 90 specifies an occupant to be excluded from the detection targets among the occupants. Specifically, when the vehicle 12 is not in the specific traveling state, the occupant who continues to grip the fixed structure or contact the fixed structure for a predetermined time or more or a predetermined distance or more is excluded from the detection target. As a result, the time for detecting an anxious occupant can be shortened, and the commercial value of the self-driving vehicle can be increased.

Next, some processing operations of the vehicle control device 10 according to the present embodiment will be described with reference to FIGS.

[First processing operation]
The first processing operation is a basic processing operation of the vehicle control device 10. First, in step S1 of FIG. 5, the occupant detection unit 80 determines which seat 26 the occupant 26 is seated through, for example, the pressure sensor of the seat 26 or the vehicle-mounted camera. Detects if is sitting.

In step S2, the specific traveling state detection unit 82 detects whether the host vehicle 12 is in a preset specific traveling state, that is, whether or not a specific scene is encountered.

If the host vehicle 12 encounters a specific scene, the process proceeds to step S3, and the occupant specific motion detection unit 84 detects a specific motion by the occupant, that is, a grip of the fixed structure or a contact with the fixed structure.

When the specific operation by the occupant is detected, the process proceeds to step S4, and the vehicle control changing unit 88 changes the vehicle control corresponding to each of the plurality of preset scenes as illustrated above (FIG. See Table 1 of 4A).

When the process in step S4 is completed, or when the specific motion by the occupant is not detected in step S3, or when it is determined in step S2 that the vehicle 12 does not encounter the specific scene, the predetermined operation is performed. After the lapse of the period, the processes from step S1 are repeated.

[Second processing operation]
The second processing operation is a processing operation including the priority setting processing in the first processing operation. First, in step S101 of FIG. 6, the priority setting unit 86 sets the priority set in advance as described above. A passenger at a high passenger position and a passenger position having a high priority set according to a specific scene are set.

In step S102, the occupant detection unit 80 detects whether the occupant is sitting at the high priority boarding position set by the priority setting unit 86 through the pressure sensor of the seat 26, the vehicle-mounted camera, or the like.

In step S103, the specific traveling state detection unit 82 detects whether the host vehicle 12 is in a preset specific traveling state, that is, whether or not a specific scene is encountered.

If the host vehicle 12 encounters a specific scene, the process proceeds to step S104, where the occupant specific motion detection unit 84 performs a specific motion by the occupant at the boarding position with high priority, that is, gripping of the fixed structure or contact with the fixed structure. To detect.

When the specific operation by the occupant is detected, the process proceeds to step S105, and the vehicle control changing unit 88 changes the vehicle control for each of the plurality of preset scenes as illustrated above (see FIG. See Table 1 of 4A).

When the process in step S105 is completed, or when the specific motion by the occupant is not detected in step S104, or when it is determined in step S103 that the vehicle 12 does not encounter the specific scene, the predetermined value is determined. After the lapse of the period, the processing from step S101 is repeated.

[Third processing operation]
The third processing operation is a processing operation in which the exclusion processing is included in the first processing operation. First, in step S201 of FIG. 7, the occupant detection unit 80 detects which one of the pressure sensors of the seat 26, the vehicle-mounted camera, or the like. It is detected whether an occupant is sitting on the seat 26.

In step S202, the specific traveling state detection unit 82 detects whether the host vehicle 12 is in a preset specific traveling state, that is, whether or not a specific scene is encountered.

When the host vehicle 12 has not encountered the specific scene, the process proceeds to step S203, and the detection target exclusion specifying unit 90 determines whether or not there is an occupant excluded from the detection target among the occupants. If it exists, the process proceeds to step S204, and an occupant to be excluded from the detection target is specified.

On the other hand, if the host vehicle 12 encounters the specific scene in step S202, the process proceeds to step S205, and the occupant specific motion detection unit 84 performs the specific motion for the occupants excluding the occupants excluded from the detection target. That is, the grip of the fixed structure and the contact with the fixed structure are detected.

When the specific operation by the occupant is detected, the process proceeds to step S206, and the vehicle control changing unit 88 changes the vehicle control for each of the plurality of preset scenes as illustrated above (see FIG. See Table 1 of 4A).

When the process in step S206 ends, or when the specific motion by the occupant is not detected in step S205, or the occupant to be excluded from the detection target is specified in step S204, or the detection target is detected in step S203. If it is determined that there is no occupant to be excluded, the processing from step S201 is repeated after the lapse of a predetermined period.

[Fourth processing operation]
The fourth processing operation is a processing operation including the priority setting processing in the third processing operation. First, in step S301 of FIG. 8, the priority setting unit 86 sets the priority set in advance as described above. A passenger at a high passenger position and a passenger position having a high priority set according to a specific scene are set.

In step S302, the occupant detection unit 80 detects whether the occupant is sitting at the high priority boarding position set by the priority setting unit 86 through the pressure sensor of the seat 26, the vehicle-mounted camera, or the like.

In step S303, the specific traveling state detection unit 82 detects whether the host vehicle 12 is in a preset specific traveling state, that is, whether the specific scene is encountered.

When the host vehicle 12 has not encountered the specific scene, the process proceeds to step S304, and the detection target exclusion specifying unit 90 determines whether or not there is an occupant excluded from the detection target among the occupants. If it exists, the process proceeds to step S305 and the occupant to be excluded from the detection target is specified.

On the other hand, if the own vehicle 12 encounters the specific scene in step S303, the process proceeds to step S306, and the occupant specific motion detection unit 84 performs the specific motion for the occupants other than the occupants excluded from the detection target. That is, the grip of the fixed structure and the contact with the fixed structure are detected.

When the specific motion by the occupant is detected, the process proceeds to step S307, and the vehicle control changing unit 88 changes the vehicle control for each of the plurality of preset scenes as illustrated above (see FIG. See Table 1 of 4A).

When the process in step S307 ends, or when the specific motion by the occupant is not detected in step S306, or when the occupant to be excluded from the detection target is specified in step S305, or the detection target is detected in step S304. If it is determined that there is no occupant to be excluded, the processes in and after step S301 are repeated after a predetermined period has elapsed.

[Invention Obtained from Embodiment]
The invention that can be understood from the above-described embodiment will be described below.

The present embodiment is a vehicle control device 10 for automatically traveling a vehicle 12, and is a detection device capable of detecting a gripping motion of an occupant with respect to a fixed structure fixed above the seat surface of the occupant in the vehicle 12 (first). The first sensor 30a to the eighth sensor 30h, etc.) are provided, and the control for the vehicle 12 is changed when the grip operation is performed and the vehicle 12 is in the specific traveling state.

As a result, the vehicle control is changed, for example, based on the situation of the grip operation (cling or the like) of the occupant with respect to the fixed structure in a specific scene. For example, when the occupant grips a fixed structure (clinging, etc.) in a running state of the vehicle 12 by automatic driving, it is assumed that there is an occupant who feels anxious about the driving state. It is possible to make the person as uncomfortable as possible. This can accommodate all passengers including drivers.

By changing (reflecting, etc.) the vehicle control in a specific scene, it is possible to accurately detect a person who is really afraid to grasp and reflect the control while preventing mistaken learning of a person who has a habit of normally grasping. Become. In addition, since the fixing structure is fixed above the seating surface of the occupant in the vehicle, it is possible to detect the driver's and occupant's upper body, which is prone to wobbling, by the fixing structure that can fix the driver's anxiety about vehicle operation. It is possible to grasp.

In the present embodiment, the detection device can detect the gripping motion of the occupant with respect to the plurality of fixed structures fixed to the vehicle 12.

There are fixing structures (eg grab rail 14, inner door handle (door grip 16 etc.)) that can fix the upper body of the driver and passengers who are prone to wobbling. By using these fixing devices, all passengers including the driver can be used. It is possible to further understand the anxiety about the vehicle operation.

In the present embodiment, the specific traveling state defines a plurality of traveling states and changes the vehicle control change parameter according to each traveling state.

For example, there are a plurality of specific traveling states as defined specific traveling states, and in accordance with the traveling states of the vehicle 12 in these specific traveling states, the vehicle is determined based on the situation of the grip operation (cling etc.) of the occupant with respect to the fixed structure. Change control.

That is, among the change parameters of the vehicle control set corresponding to the plurality of specific traveling states, the change parameter corresponding to the specific traveling state in which the occupant grips the fixed structure (cling or the like) is performed. As a result, it is possible to reflect the control appropriately and prevent the occupant from feeling anxious as much as possible.

In the present embodiment, the specific traveling state defines a plurality of traveling states, and changes the vehicle control change period according to each traveling state.

That is, the period in which the change in the vehicle control is reflected can be changed for each specific traveling state, and the appropriate control can be reflected. As a result, it is possible to prevent the occupant from feeling anxious as much as possible. Moreover, appropriate control can be reflected only in a necessary period.

In the present embodiment, the vehicle-mounted camera detects the operation performed by the occupant, and the vehicle-mounted camera detects the occupant's health condition. When the health condition deteriorates, the vehicle control change amount is increased.

Other parameters (camera image, health condition, etc.) are added to the situation of gripping action (cling etc.) with respect to the fixed structure of the occupant. For example, when the health condition is deteriorated, it is possible to make the target occupant as little as anxious by increasing the change in the control amount.

In the present embodiment, when a plurality of occupants are detected, the priority is determined based on the riding position of each occupant, and the vehicle control is changed based on the detection status of the occupant having a high priority.

By prioritizing the occupants according to the riding position, it is possible to make a determination based on the occupants having a high priority. As a result, the vehicle control can be changed at an early stage, and it becomes possible to prevent the target occupant from feeling as uneasy as possible.

In the present embodiment, when a plurality of occupants are detected, a vehicle position having a high priority is determined based on the specific traveling state, and vehicle control is changed based on the detection status of the vehicle occupant having a high priority. To do.

That is, the priority according to the riding position of the occupant is changed according to the specific traveling state. As a result, it is possible to make a determination to change the vehicle control based on the occupant in the riding position having a high priority for each traveling scene.

In the present embodiment, the vehicle control is changed, and the changed content of the vehicle control is restored when at least one of the predetermined traveling distance and the predetermined traveling time is satisfied after the change of the vehicle control.

That is, the changed content of the vehicle control is restored at the stage where the vehicle has traveled the predetermined traveling distance after the change of the vehicle control or when the predetermined traveling time has elapsed. That is, since the occupant becomes accustomed to the vehicle control by the automatic driving after the change after traveling a predetermined distance or after a lapse of a predetermined time, returning to the vehicle control before the change is effective in terms of driving efficiency.

In the present embodiment, an occupant whose gripping state with respect to the fixed structure has continued for a predetermined time or a predetermined distance or more in addition to the specific traveling state is excluded from detection targets.

A person who grips the grab rail 14 or the like even in a state other than the specific traveling state has a squeaky feeling and does not have a strong sense of anxiety even when gripping it. Therefore, by removing it from the detection target, the time for detecting an anxious occupant is shortened. Therefore, the commercial value of the self-driving car can be increased.

The vehicle 12 includes the vehicle control device 10 as described above.

[Modification]
The vehicle control changing unit 88 changes the vehicle control for each of the plurality of preset scenes described above, recommends changes in the inter-vehicle distance and the driving mode, and sets the automatic driving start initial stage (for example, when riding). (When starting), the vehicle control may be corrected to a safer side.

Further, when the duration of the automatic driving has passed a predetermined time, or when the traveling distance by the automatic driving reaches a predetermined distance, the vehicle control change based on the specific motion of the occupant in the specific scene as described above is gradually performed. Instead of returning to the normal driving mode, it may be recommended to take a break.

10... Vehicle control device 12... Vehicle 14... Grab rail 16... Door grip 18... Door armrest 20... Seat belt 22... Seat grip 24... Headrest 26... Seat 30a-30h... 1st sensor-8th sensor 60... Automatic driving switch 62... In-vehicle camera 70... Calculation part 72... Storage part 74... Input/output part 80... Occupant detection part 82... Specific traveling state detection part 84... Occupant specific action detection part 86... Priority setting part 88... Vehicle control change part 90... Detection target exclusion specification part

Claims (10)

A vehicle control device for automatically driving a vehicle,
In the vehicle, a detection device capable of detecting a gripping action of an occupant with respect to a fixed structure fixed above a seat surface of the occupant,
A vehicle control device that changes control of the vehicle when the grip operation is performed and the vehicle is in a specific traveling state. The vehicle control device according to claim 1,
The vehicle control device, wherein the detection device can detect a gripping motion of an occupant with respect to the plurality of fixing structures fixed to the vehicle. The vehicle control device according to claim 1 or 2,
The specific running state defines a plurality of running states,
A vehicle control device that changes a change parameter of the vehicle control according to each traveling state. The vehicle control device according to any one of claims 1 to 3,
The specific running state defines a plurality of running states,
A vehicle control device that changes a change period of the vehicle control according to each traveling state. The vehicle control device according to any one of claims 1 to 4,
While detecting the operation performed by the occupant with an in-vehicle camera,
The vehicle-mounted camera detects the health condition of the occupant,
A vehicle control device that increases a vehicle control change amount when the health condition is deteriorated. The vehicle control device according to any one of claims 1 to 5,
When multiple passengers are detected,
Based on the boarding position of each of the passengers, determine the priority,
A vehicle control device that changes the vehicle control based on a detection status of an occupant having a high priority. The vehicle control device according to any one of claims 1 to 5,
When multiple passengers are detected,
Based on the specific running state, determine the boarding position with high priority,
A vehicle control device that changes the vehicle control based on a detection status of an occupant at a boarding position with high priority. The vehicle control device according to any one of claims 1 to 7,
While changing the vehicle control,
A vehicle control device that restores the change contents of the vehicle control to an original condition when at least one of a predetermined traveling distance and a predetermined traveling time is satisfied after the change of the vehicle control. The vehicle control device according to any one of claims 1 to 8,
A vehicle control device that excludes from a detection target an occupant whose grip state with respect to the fixed structure continues for a predetermined time or a predetermined distance or more in a state other than the specific traveling state. A vehicle comprising the vehicle control device according to any one of claims 1 to 9.

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