阅读说明：本技术 自动驾驶控制系统 (Automatic driving control system ) 是由 菅野崇 于 2021-03-04 设计创作，主要内容包括：一种自动驾驶控制系统,直到车辆变为能够执行自动驾驶的状态为止使驾驶员有效地把持方向盘。自动驾驶控制系统(100)具有：方向盘压力传感器(29),检测驾驶员对方向盘的把持状态；方向盘振动装置(44),使方向盘振动；以及ECU(10),构成为根据由驾驶员发出的自动驾驶请求进行使车辆(1)自动驾驶的控制,并且进行对方向盘振动装置(44)的控制。ECU(10)在由驾驶员发出了自动驾驶请求时车辆(1)不是能够执行自动驾驶的状态的情况下,在由方向盘压力传感器(29)检测出驾驶员想要放开方向盘的情况下,控制方向盘振动装置(44)以使方向盘振动。(An automatic driving control system enables a driver to effectively hold a steering wheel until a vehicle becomes a state in which automatic driving can be performed. An automatic driving control system (100) is provided with: a steering wheel pressure sensor (29) that detects the state of the driver's grip on the steering wheel; a steering wheel vibration device (44) for vibrating the steering wheel; and an ECU (10) configured to perform control for automatically driving the vehicle (1) in accordance with an automatic driving request issued by a driver, and to perform control for the steering wheel vibration device (44). When the vehicle (1) is not in a state in which automated driving is possible when an automated driving request is issued by a driver, the ECU (10) controls a steering wheel vibrating device (44) to vibrate the steering wheel when a steering wheel pressure sensor (29) detects that the driver wants to release the steering wheel.)

1. An automatic driving control system for a vehicle, comprising:

a steering wheel sensor that detects a state of a driver holding a steering wheel;

a steering wheel vibrating device that vibrates the steering wheel; and

a controller that performs control for automatically driving the vehicle in accordance with an automatic driving request issued by a driver, and performs control of the steering wheel vibration device,

the controller is configured to control the steering wheel vibrating device to vibrate the steering wheel when the steering wheel sensor detects that the driver intends to release the steering wheel when the vehicle is not in a state in which the automated driving is executable when the automated driving request is issued by the driver.

2. The autopilot control system of claim 1,

the controller is configured to allow automatic driving of the vehicle when the vehicle is not in a state in which automatic driving is executable while the driver is holding the steering wheel, in a case in which the vehicle is in a state in which automatic driving is executable when the driver issues the automatic driving request.

3. The autopilot control system of claim 2,

the controller is configured to start automatic driving of the vehicle when the driver releases the steering wheel without operating an accelerator pedal and a brake pedal of the vehicle after the automatic driving of the vehicle is permitted.

4. The autopilot control system of claim 1,

the steering wheel sensor detects pressure applied to the steering wheel by the driver,

the controller is configured to determine that the driver wants to release the steering wheel when the pressure detected by the steering wheel sensor is less than a predetermined value.

5. The autopilot control system of claim 2,

the steering wheel sensor detects pressure applied to the steering wheel by the driver,

the controller is configured to determine that the driver wants to release the steering wheel when the pressure detected by the steering wheel sensor is less than a predetermined value.

6. The autopilot control system of claim 3,

the steering wheel sensor detects pressure applied to the steering wheel by the driver,

the controller is configured to determine that the driver wants to release the steering wheel when the pressure detected by the steering wheel sensor is less than a predetermined value.

7. The automatic driving control system according to any one of claims 1 to 6,

the controller is configured to determine that the vehicle is not in a state in which automated driving can be executed when the vehicle is not in a state in which a route to be traveled by automated driving can be generated and/or when a situation around the vehicle is not a situation in which automated driving can be safely started.

8. The automatic driving control system according to any one of claims 1 to 6,

and a switch for the driver to operate to issue the automatic driving request.

9. The autopilot control system of claim 7 wherein,

and a switch for the driver to operate to issue the automatic driving request.

10. An automatic driving control system for a vehicle, comprising:

a steering wheel vibrating device that vibrates a steering wheel; and

a controller that performs control for automatically driving the vehicle in accordance with an automatic driving request issued by a driver, and performs control of the steering wheel vibration device,

the controller is configured to control the steering wheel vibrating device to vibrate the steering wheel during a period from when the driver issues the automatic driving request to when the vehicle is in a state in which automatic driving can be executed.

Technical Field

The present invention relates to an automatic driving control system that performs control for automatically driving a vehicle.

Background

Conventionally, there has been proposed a technique for switching between manual driving by a driver and automatic driving in which a vehicle is automatically driven. For example, patent document 1 discloses: when switching from automatic driving to manual driving, if the driver is in a state of not holding the steering wheel (hands off), a warning sound is emitted. Patent document 2 discloses: after the driver operates the switch for automatic driving, the intention of completing the preparation for automatic driving is notified, and then automatic driving is started when the driver removes the hands from the steering wheel or removes the feet from the accelerator pedal.

Patent document 1: japanese patent laid-open publication No. 2019-6280

Patent document 2: U.S. Pat. No. 8352110 publication

Disclosure of Invention

Problems to be solved by the invention

Basically, when the driver makes an automatic driving request by, for example, a switch operation or the like, automatic driving is performed when the vehicle is in a state in which automatic driving can be performed, while automatic driving is not performed when the vehicle is not in a state in which automatic driving can be performed. In other words, the execution of the automated driving is awaited until the vehicle becomes a state in which the automated driving can be executed. On the other hand, the driver releases the steering wheel (hereinafter also simply referred to as "steering wheel") after making an automatic driving request, that is, removes the hand from the steering wheel. In this case, if the driver releases the steering wheel immediately after issuing the automatic driving request, the vehicle may lose control. That is, as described above, if the vehicle is not in a state in which the automated driving can be performed, the execution of the automated driving is on standby, and therefore, if the driver releases the steering wheel during the standby period (during which manual driving is set), the vehicle may lose control. Based on such a situation, it can be said that it is desirable to cause the driver to hold the steering wheel well until the automated driving is performed, that is, until the vehicle becomes a state in which the automated driving can be performed.

To cope with the above-described problems, the following method is considered: when switching from automatic driving to manual driving, if the driver wants to release the steering wheel, a warning sound is generated to make the driver grip the steering wheel (see, for example, patent document 1). However, it is considered that the warning sound is insufficient for the driver to reliably hold the steering wheel. That is, if a warning sound is generated, it is considered that the driver cannot instantaneously take appropriate measures due to the reason for the driver to think about the warning sound, that is, cannot quickly hold the steering wheel. On the other hand, when the driver does not know the automated driving, the driver may release the vehicle without holding the steering wheel even if the warning sound is generated.

The present invention has been made to solve the above-described problems, and an object thereof is to provide an automated driving control system that enables a driver to effectively grip a steering wheel until a vehicle becomes in a state in which automated driving can be performed.

Means for solving the problems

In order to achieve the above object, the present invention provides an automatic driving control system for a vehicle, comprising: a steering wheel sensor that detects a state of a driver holding a steering wheel; a steering wheel vibrating device that vibrates a steering wheel; and a controller configured to perform control for automatically driving the vehicle in accordance with an automatic driving request issued by a driver and control the steering wheel vibrating device, wherein the controller is configured to control the steering wheel vibrating device to vibrate the steering wheel when the driver has detected that the driver wants to release the steering wheel in a case where the vehicle is not in a state in which the automatic driving is executable when the automatic driving request is issued by the driver.

According to the present invention thus configured, the controller vibrates the steering wheel (steering wheel) when the driver wants to release the steering wheel during a period when the vehicle is not in a state in which the automated driving is executable, that is, until the vehicle becomes in a state in which the automated driving is executable, at the time of the automated driving request. That is, in the present invention, the controller vibrates the steering wheel to cause the driver to grip the steering wheel, using the characteristics of the driver such that the driver performs a reflective motion such as instantaneously gripping the steering wheel when the steering wheel vibrates. This enables the driver to effectively grip the steering wheel until the vehicle enters a state in which the automatic driving can be performed, in other words, enables the driver to effectively be prevented from releasing the steering wheel. Therefore, according to the present invention, safety can be appropriately ensured when shifting to autonomous driving.

In the present invention, it is preferable that the controller is configured to permit the automatic driving of the vehicle when the vehicle is not in a state in which the automatic driving is executable while the driver holds the steering wheel, in a case in which the vehicle is not in a state in which the automatic driving is executable when the driver makes the automatic driving request.

According to the present invention thus constituted, the controller uses the grip of the steering wheel by the driver as the permission condition for the automated driving, and therefore the driver can more reliably grip the steering wheel until the vehicle becomes a state in which the automated driving can be performed.

In the present invention, it is preferable that the controller is configured to start the automatic driving of the vehicle when the driver releases the steering wheel in a state where the accelerator pedal and the brake pedal of the vehicle are not operated after the automatic driving of the vehicle is permitted.

According to the present invention thus configured, it is possible to appropriately start automated driving at a timing when the driver is ready to shift to automated driving.

In the present invention, it is preferable that the steering wheel sensor detects a pressure applied to the steering wheel by the driver, and the controller is configured to determine that the driver intends to release the steering wheel when the pressure detected by the steering wheel sensor is smaller than a predetermined value.

According to the present invention thus configured, it is possible to accurately determine that the driver has released the steering wheel.

In the present invention, it is preferable that the controller is configured to determine that the vehicle is not in a state in which a route to be traveled by the automatic driving can be generated and/or that the situation around the vehicle is not a situation in which the automatic driving can be safely started.

According to the present invention thus configured, it is possible to accurately determine whether or not the vehicle is in a state in which automatic driving can be performed.

In the present invention, in a preferred example, a switch may be further provided for the driver to operate to issue an automatic driving request.

In another aspect, the present invention provides an automatic driving control system for a vehicle, including: a steering wheel vibrating device that vibrates a steering wheel; and a controller configured to perform control for automatically driving the vehicle in accordance with an automatic driving request issued by a driver and control the steering wheel vibration device, wherein the controller is configured to control the steering wheel vibration device to vibrate the steering wheel during a period from when the automatic driving request is issued by the driver to when the vehicle becomes in a state in which the automatic driving can be performed.

With the present invention thus constituted, the driver can effectively grip the steering wheel until the vehicle is in a state in which autonomous driving can be performed, and safety can be appropriately ensured when transitioning to autonomous driving.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the automated driving control system of the present invention, it is possible to enable the driver to effectively grip the steering wheel until the vehicle becomes a state in which automated driving can be performed.

Drawings

Fig. 1 is a block diagram showing a schematic configuration of an automatic driving control system according to an embodiment of the present invention.

Fig. 2 is an explanatory diagram of a basic concept regarding switching of the driving mode in the embodiment of the present invention.

Fig. 3 is a flowchart showing a process of switching to the first automatic driving mode according to the embodiment of the present invention.

Fig. 4 is a flowchart showing a process of switching to the first automatic driving mode according to a modification of the embodiment of the present invention.

Description of the reference numerals

1: a vehicle;

10：ECU；

21; a camera;

22: a radar;

26: a steering angle sensor;

27: an accelerator sensor;

28: a brake sensor;

29: a steering wheel pressure sensor;

32: a first autopilot mode switch;

33: a second autopilot mode switch;

41: an engine control system;

42: a brake control system;

43: a steering wheel control system;

44: a steering wheel vibrating device;

100: automatic driving control system

Detailed Description

An automatic driving control system according to an embodiment of the present invention will be described below with reference to the drawings.

[ System Structure ]

First, the configuration of an automatic driving control system according to an embodiment of the present invention will be described with reference to fig. 1. Fig. 1 is a block diagram showing a schematic configuration of an automatic driving control system according to an embodiment of the present invention.

The automated driving control system 100 is configured to automate a vehicle (hereinafter, appropriately referred to as "own vehicle") 1. In one example, the automated driving control system 100 is configured to set a travel route for traveling the vehicle 1 on a travel path, and to perform automated driving control so that the vehicle 1 travels along the travel route. As shown in fig. 1, the automatic drive Control system 100 includes an ECU (Electronic Control Unit) 10, a plurality of sensors, and a plurality of Control systems.

Specifically, the plurality of sensor groups include a camera 21, a radar 22, a vehicle speed sensor 23 for detecting the behavior of the vehicle 1, a driving operation by a passenger, an acceleration sensor 24, a yaw rate sensor 25, a steering angle sensor 26, an accelerator sensor 27, a brake sensor 28, and a steering wheel pressure sensor 29. Also included among the plurality of sensor classes are a positioning system 30 for detecting the position of the vehicle 1, a navigation system 31, a first autonomous driving mode switch 32, and a second autonomous driving mode switch 33. The plurality of control systems include an engine control system 41, a brake control system 42, a steering wheel control system 43, and a steering wheel vibration device 44.

As other sensors, a peripheral sonar for measuring the distance and position of a peripheral structure with respect to the vehicle 1, a corner radar for measuring the proximity of the peripheral structure at 4 corners of the vehicle 1, and an interior camera for photographing the interior of the vehicle 1 may be included.

The ECU 10 executes various calculations based on signals received from a plurality of sensors and transmits control signals for appropriately operating the engine system, the brake system, and the steering wheel system to the engine control system 41, the brake control system 42, and the steering wheel control system 43, respectively. The ECU 10 is constituted by a computer including 1 or more processors (typically, CPUs), memories (such as ROMs and RAMs) storing various programs, an input/output device, and the like. The ECU 10 corresponds to an example of the "controller" in the present invention.

The camera 21 photographs the surroundings of the vehicle 1 and outputs image data. The ECU 10 specifies the object (for example, a preceding vehicle (front vehicle), a following vehicle (rear vehicle), a parked vehicle, a pedestrian, a traveling road, a dividing line (lane line, white line, yellow line), a traffic signal, a traffic sign, a stop line, an intersection, an obstacle, etc.) based on the image data received from the camera 21. The ECU 10 may acquire information of the object from the outside through a traffic infrastructure, inter-vehicle communication, or the like. Thereby, the type, relative position, moving direction, and the like of the object are specified.

The radar 22 measures the position and speed of an object (particularly, a preceding vehicle, a following vehicle, a parked vehicle, a pedestrian, a falling object on a traveling road, and the like). As the radar 22, for example, a millimeter wave radar can be used. The radar 22 transmits a radio wave in the forward direction of the vehicle 1, and receives a reflected wave generated by reflecting the transmitted wave from an object. Then, the radar 22 measures the distance (for example, the inter-vehicle distance) between the vehicle 1 and the object and the relative speed of the object with respect to the vehicle 1 based on the transmission wave and the reception wave. In the present embodiment, a laser radar, an ultrasonic sensor, or the like may be used instead of the radar 22 to measure the distance to the target object and the relative speed. Further, the position and speed measuring device may be configured using a plurality of sensors.

Further, the ECU 10 sets a travel path for traveling the vehicle 1 in the automated driving (particularly, the first automated driving mode) based on the travel path information and the obstacle information acquired by the camera 21 and the radar 22 described above. Here, the travel path information includes, for example, information on restriction information (speed limit or the like) of a travel path defined in a shape (straight line, curve curvature) of the travel path, a width of the travel path, the number of lanes, a lane width, a sign or the like, an intersection, a crosswalk, and the like. The obstacle information includes information on the presence or absence of an obstacle (e.g., an object that may be an obstacle during the travel of the vehicle 1, such as a preceding vehicle, a following vehicle, a parked vehicle, or a pedestrian), the direction of movement of the obstacle, the speed of movement of the obstacle, and the like on the travel path of the vehicle 1.

The vehicle speed sensor 23 detects the absolute speed of the vehicle 1. The acceleration sensor 24 detects the acceleration of the vehicle 1. The acceleration includes an acceleration in the front-rear direction and an acceleration in the lateral direction (that is, a lateral acceleration). Further, the acceleration includes not only the rate of change in the velocity in the direction in which the velocity increases but also the rate of change in the velocity in the direction in which the velocity decreases (that is, the deceleration).

The yaw rate sensor 25 detects the yaw rate of the vehicle 1. The steering angle sensor 26 detects a rotation angle (steering angle) of a steering wheel of the vehicle 1. The ECU 10 can acquire the yaw angle of the vehicle 1 by performing a predetermined calculation based on the absolute speed detected by the vehicle speed sensor 23 and the steering angle detected by the steering angle sensor 26. The accelerator sensor 27 detects an operation of an accelerator pedal by a driver, specifically, a depression amount (accelerator opening degree) of the pedal. The brake sensor 28 detects the operation of the brake pedal by the driver, specifically, the depression amount of the brake pedal. The steering wheel pressure sensor 29 is a pressure sensor that detects a pressure applied to the steering wheel by the driver (hereinafter referred to as "steering wheel pressure" as appropriate). The steering wheel pressure sensor 29 corresponds to an example of the "steering wheel sensor" in the present invention.

The positioning system 30 is a GPS system and/or a gyro system, and detects the position of the vehicle 1 (current vehicle position information). The navigation system 31 stores map information therein, and can provide the map information to the ECU 10. The ECU 10 determines roads, intersections, traffic signals, buildings, and the like that exist around the vehicle 1 (particularly, the direction of travel) based on the map information and the current vehicle position information. The map information may also be stored in the ECU 10. The navigation system 31 is also used to acquire the travel path information described above.

In the present embodiment, when the vehicle 1 is automatically driven, 2 automatic driving modes (the first automatic driving mode and the second automatic driving mode) having different automation rates can be selectively applied to the vehicle 1. The first automatic driving mode is a driving mode in which an accelerator operation, a brake operation, and a steering wheel operation of the vehicle 1 are performed in an automatic manner. The second automatic driving mode is a driving mode having a lower automation rate than the first automatic driving mode, and is a driving mode in which the steering wheel of the vehicle 1 is manually operated and the accelerator operation and the brake operation of the vehicle 1 are automatically performed. For example, the second automatic driving mode is a driving mode in which the vehicle 1 travels while maintaining a predetermined vehicle speed (vehicle speed set by the driver) and/or the vehicle 1 automatically controls the speed of the vehicle 1 so as to follow the preceding vehicle while maintaining an inter-vehicle distance equal to or greater than a predetermined distance. This second automatic driving mode corresponds to so-called cruise control (auto cruise). On the other hand, the first automatic driving mode is typically a driving mode in which the vehicle 1 is subjected to driving control (running control) so that the vehicle 1 runs along a running path set on a running path. For example, the first automated driving mode is a driving mode that can implement a function of automatically maintaining the vehicle 1 in a lane or automatically changing the lane, in addition to the function implemented by the second automated driving mode described above.

The first automated driving mode switch 32 is a switch for setting the first automated driving mode for the vehicle 1, and the second automated driving mode switch 33 is a switch for setting the second automated driving mode for the vehicle 1. These first automatic driving mode switch 32 and second automatic driving mode switch 33 are button switches (push switches) provided in a steering wheel, a center console, and the like, a touch panel provided in a display unit provided in a vehicle interior (in this case, a driver touches the touch panel to select a driving mode), and the like. In addition, the driving mode may be selected by the voice of the driver, and in this case, the processing device (or the ECU 10) that analyzes the voice input from the microphone may function as a switch.

The engine control system 41 controls the engine of the vehicle 1. The engine control system 41 is a component capable of adjusting the output (driving force) of the engine, and includes, for example, an ignition plug, a fuel injection valve, a throttle valve, a variable valve mechanism that changes the opening/closing timing of intake and exhaust valves, and the like. When the vehicle 1 needs to be accelerated or decelerated, the ECU 10 sends a control signal to the engine control system 41 to change the engine output.

The brake control system 42 controls a brake device of the vehicle 1. The brake control system 42 is a component capable of adjusting the braking force of the brake device, and includes, for example, a hydraulic pump, a valve unit, and the like. The ECU 10 sends a control signal to the brake control system 42 to generate a braking force in the event that the vehicle 1 needs to be decelerated.

The steering wheel control system 43 controls the steering wheel device of the vehicle 1. The steering wheel control system 43 is a component capable of adjusting the steering angle of the vehicle 1, and includes, for example, an electric motor of an electric power steering system. When the direction of travel of the vehicle 1 needs to be changed, the ECU 10 sends a control signal to the steering wheel control system 43 to change the steering direction.

The steering wheel vibration device 44 is a device configured to vibrate a steering wheel (steering wheel). For example, the steering wheel vibration device 44 includes a vibration motor or the like built in the steering wheel. The steering wheel vibration device 44 operates to vibrate the steering wheel when a control signal is transmitted from the ECU 10.

[ switching of drive modes ]

Next, a basic concept of switching of the driving mode in the embodiment of the present invention will be described with reference to fig. 2. As shown in fig. 2, in the present embodiment, the ECU 10 has, as the driving mode, a manual driving mode in which the driver performs manual driving, a first automatic driving mode in which the accelerator operation, the brake operation, and the steering wheel operation of the vehicle 1 are performed automatically, and a second automatic driving mode in which the steering wheel operation of the vehicle 1 is performed manually and the accelerator operation and the brake operation of the vehicle 1 are performed automatically.

First, switching from the manual driving mode to the first automatic driving mode as indicated by arrow a in fig. 2 will be described. First, the ECU 10 determines whether the vehicle 1 is in a state in which the first automated driving mode can be executed when the first automated driving mode switch 32 is operated to be on by the driver in the manual driving mode. The ECU 10 determines that the vehicle 1 is in the state in which the first automated driving mode can be executed when the vehicle 1 is in the state in which a route (travel route) to be traveled by the first automated driving mode can be generated and/or when the situation around the vehicle 1 is a situation in which the first automated driving mode can be safely started. When information (traveling path information and obstacle information) necessary for generating a traveling path can be acquired, the ECU 10 determines that the traveling path can be generated. For example, when the camera 21 or the radar 22 is in a bad condition and accurate information on a lane, an object, or the like cannot be acquired, the ECU 10 determines that the travel route can not be generated. On the other hand, the ECU 10 determines that the situation around the vehicle 1 is not a situation in which the first automatic driving mode can be safely started, for example, when the vehicle 1 is traveling on a curve, when an intersection or a crosswalk exists in front of the vehicle 1, or when a preceding vehicle exists near the vehicle 1.

In addition, the ECU 10 may vibrate the steering wheel by the steering wheel vibration device 44 so that the driver grips the steering wheel during the period (or a part of the period) in which it is determined whether the vehicle 1 is in a state in which the first automated driving mode can be executed.

Next, when it is determined that the vehicle 1 is in a state in which the first automated driving mode can be executed, the ECU 10 allows switching from the manual driving mode to the first automated driving mode (in other words, in the ECU 10, the driving mode set for the vehicle 1 is shifted to the first automated driving mode). At this time, the ECU 10 starts calculation of the travel route used in the first autonomous driving mode, and the like. The ECU 10 notifies the driver that the first automatic driving mode can be executed by performing a predetermined display (display on a liquid crystal panel, lighting of a lamp, or the like) and a predetermined sound output while allowing the switching to the first automatic driving mode in this way. Next, the ECU 10 starts the first automated driving mode if the steering wheel is released by the driver in a state where the accelerator pedal and the brake pedal are not operated by the driver after the switching to the first automated driving mode is permitted. In this case, the ECU 10 determines the presence or absence of the operation of the accelerator pedal and the brake pedal based on the signals from the respective sensors of the accelerator sensor 27 and the brake sensor 28, and determines the grip/release of the steering wheel based on the signal from the steering wheel pressure sensor 29. In particular, the ECU 10 determines that the steering wheel is released when the pressure (steering wheel pressure) detected by the steering wheel pressure sensor 29 is less than a predetermined value, and determines that the steering wheel is gripped when the steering wheel pressure is equal to or greater than the predetermined value.

Next, switching from the first automated driving mode to the second automated driving mode as indicated by arrow B in fig. 2 will be described. First, the ECU 10 determines whether the vehicle 1 is in a state in which the second automated driving mode can be executed when the second automated driving mode switch 33 is operated to be on by the driver in the first automated driving mode. The ECU 10 basically determines whether the vehicle 1 is in a state in which the second automated driving mode can be executed, using the same conditions as those listed for the above-described switching from the manual driving mode to the first automated driving mode. For example, the ECU 10 determines that the vehicle 1 is not in the state in which the second automatic driving mode can be executed when there is a problem in the camera 21 or the radar 22 and accurate information on a lane, an object, or the like cannot be acquired, when the vehicle 1 is traveling on a curved road, when there is an intersection or a crosswalk in front of the vehicle 1, or when there is a preceding vehicle in the vicinity of the vehicle 1.

In one example, when it is determined that the vehicle 1 is in a state in which the second automated driving mode can be executed as described above, the ECU 10 immediately cancels the first automated driving mode and shifts to the second automated driving mode. In another example, the ECU 10 cancels the first automated driving mode and shifts to the second automated driving mode when the steering wheel is held or operated by the driver after determining that the vehicle 1 is in a state in which the second automated driving mode can be executed. That is, the ECU 10 does not shift to the second automated driving mode until the steering wheel is gripped or operated by the driver. In this example, the ECU 10 determines the grip of the steering wheel based on a signal from the steering wheel pressure sensor 29, or determines the operation of the steering wheel based on a signal from the steering angle sensor 26. Specifically, the ECU 10 determines that the steering wheel is gripped when the pressure detected by the steering wheel pressure sensor 29 is equal to or greater than a predetermined value, and determines that the steering wheel is operated when the amount of change in the steering angle detected by the steering angle sensor 26 is equal to or greater than a predetermined value.

Next, switching from the first automatic driving mode to the manual driving mode as indicated by arrow C in fig. 2 will be described. In one example, the ECU 10 cancels the first automated driving mode and shifts to the manual driving mode when the first automated driving mode switch 32 is turned off by the driver in the first automated driving mode. In other examples, the ECU 10 cancels the first automated driving mode and shifts to the manual driving mode when the steering wheel is held by the driver and the accelerator pedal or the brake pedal is operated by the driver in the first automated driving mode. Further, the method of determining the operations of the steering wheel, the accelerator pedal, and the brake pedal is as described above. In another example, when the brake pedal is operated by the driver in the first automated driving mode, the ECU 10 cancels the first automated driving mode and shifts to the manual driving mode. In this example, the ECU 10 may cancel only a part of the control of the first automated driving mode, that is, may continue the first automated driving mode and execute only a part of the control of the first automated driving mode, instead of completely canceling the first automated driving mode and shifting to the manual driving mode.

Next, switching from the second automatic driving mode to the manual driving mode as indicated by arrow D in fig. 2 will be described. In one example, the ECU 10 cancels the second automated driving mode and shifts to the manual driving mode when the second automated driving mode switch 33 is turned off by the driver in the second automated driving mode. In other examples, the ECU 10 cancels the second automated driving mode and shifts to the manual driving mode when the brake pedal is operated by the driver in the second automated driving mode.

[ Contents of control ]

Next, specific control contents according to the embodiment of the present invention will be described with reference to fig. 3. Fig. 3 is a flowchart showing a process of switching to the first automatic driving mode according to the embodiment of the present invention. The processes related to this flowchart are repeatedly executed by the ECU 10 at predetermined cycles. Note that this processing is started in a state where the driving mode is set to the manual driving mode or the second automatic driving mode.

First, in step S1, the ECU 10 acquires various information from a plurality of sensors shown in fig. 1. In particular, the ECU 10 acquires information corresponding to the respective output signals from at least the camera 21, the radar 22, the steering angle sensor 26, the accelerator sensor 27, the brake sensor 28, the steering wheel pressure sensor 29, the first automatic driving mode switch 32, and the second automatic driving mode switch 33.

Next, in step S2, the ECU 10 determines whether the first automated driving mode switch 32 is operated on by the driver. If the first automated driving mode switch 32 is turned on (step S2: yes), the ECU 10 proceeds to step S3, and if the first automated driving mode switch 32 is not turned on (step S2: no), the process relating to the flowchart shown in fig. 3 is ended.

Next, in step S3, the ECU 10 determines whether or not the pressure (steering wheel pressure) detected by the steering wheel pressure sensor 29 is equal to or greater than a predetermined value. Here, the ECU 10 determines whether the driver holds the steering wheel, in other words, whether the driver wants to release the steering wheel. Therefore, a value that can accurately determine release/grip of the steering wheel is applied to the predetermined value for determining the steering wheel pressure in step S3. In the case where the result of step S3 is that the steering wheel pressure is less than the prescribed value (step S3: no), that is, in the case where the driver wants to let go of the steering wheel, the ECU 10 proceeds to step S5.

In step S5, the ECU 10 controls the steering wheel vibrating device 44 to vibrate the steering wheel. The driver has a characteristic of performing a reflective operation such that the driver instantaneously grips the steering wheel when the steering wheel vibrates. In the present embodiment, such characteristics are used to vibrate the steering wheel in order to allow the driver to effectively grip the steering wheel. When step S5 ends, the ECU 10 returns to step S3 to determine the steering wheel pressure again. In this way, the ECU 10 continues the vibration of the steering wheel until the steering wheel pressure becomes equal to or higher than the predetermined value, that is, until the driver grips the steering wheel.

On the other hand, if the result of the determination at step S3 is that the steering wheel pressure is equal to or greater than the predetermined value (step S3: "YES"), that is, if the driver is gripping the steering wheel, the ECU 10 proceeds to step S4. In step S4, the ECU 10 determines whether the vehicle 1 is in a state in which the first automated driving can be executed. As described above, when the vehicle 1 is in a state in which a route (travel route) to be traveled by the first automatic driving can be generated and/or when the situation around the vehicle 1 is a situation in which the first automatic driving can be safely started, the ECU 10 determines that the vehicle 1 is in a state in which the first automatic driving can be executed (step S4: yes). In this case, the ECU 10 proceeds to step S6. In contrast, when the vehicle 1 is not in the state in which the first autonomous driving can be executed (step S4: NO), the process returns to step S3. In this case, the ECU 10 monitors the steering wheel pressure (in which the steering wheel is vibrated when the steering wheel pressure is less than a prescribed value), and stands by until the vehicle 1 becomes a state in which the first automated driving can be executed.

Next, in step S6, the ECU 10 allows switching from the manual drive mode to the first automated drive mode (in other words, in the ECU 10, the drive mode set for the vehicle 1 is shifted to the first automated drive mode). At this time, the ECU 10 starts calculation of the travel route used in the first autonomous driving mode, and the like. Then, the ECU 10 proceeds to step S7, and performs predetermined display (display on a liquid crystal panel, lamp lighting, or the like) and predetermined sound output to notify the driver that the first automated driving can be executed.

Next, in step S8, the ECU 10 determines whether the accelerator pedal and the brake pedal are operated based on signals from each of the accelerator sensor 27 and the brake sensor 28. If the accelerator pedal and the brake pedal are not operated (step S8: yes), the ECU 10 proceeds to step S9, and if the accelerator pedal and the brake pedal are operated (step S8: no), the process returns to step S8, and the determination is performed again.

Next, in step S9, the ECU 10 determines whether the pressure (steering wheel pressure) detected by the steering wheel pressure sensor 29 is less than a predetermined value, that is, whether the driver releases the steering wheel. As a result, if the steering wheel pressure is less than the predetermined value (yes in step S9), that is, if the driver releases the steering wheel, the ECU 10 proceeds to step S10 to start execution of the first automated driving. On the other hand, when the steering wheel pressure is equal to or higher than the predetermined value (step S9: "NO"), that is, when the driver is still holding the steering wheel, the ECU 10 returns to step S8 to make the determination again. That is, the ECU 10 waits for the first automated driving to be executed until the driver releases the steering wheel without operating the accelerator pedal or the brake pedal.

[ action and Effect ]

Next, the operation and effect of the automatic driving control system according to the embodiment of the present invention will be described.

According to the present embodiment, when switching to the first automated driving mode, the ECU 10 vibrates the steering wheel when the driver wants to release the steering wheel while the vehicle 1 is not in the state in which the first automated driving can be performed, that is, until the vehicle 1 becomes the state in which the first automated driving can be performed. That is, in the present embodiment, the ECU 10 vibrates the steering wheel to cause the driver to grip the steering wheel, using the characteristics of the driver such that the driver performs a reflective motion such as instantaneously gripping the steering wheel when the steering wheel vibrates. This enables the driver to effectively grip the steering wheel, in other words, effectively suppresses the driver from releasing the steering wheel, until the vehicle 1 is in a state in which the first automated driving can be executed. Therefore, according to the present embodiment, safety at the time of transition to the first autonomous driving can be appropriately ensured.

Further, according to the present embodiment, since the ECU 10 permits the first automated driving when the vehicle 1 becomes a state in which the first automated driving can be performed with the driver gripping the steering wheel, the driver can more reliably grip the steering wheel until the vehicle 1 becomes a state in which the first automated driving can be performed.

Further, according to the present embodiment, the ECU 10 starts the first automated driving when the driver releases the steering wheel in a state where the accelerator pedal and the brake pedal of the vehicle 1 are not operated after the first automated driving is permitted. Thus, the first automated driving can be appropriately started at the timing when the driver is ready to shift to the first automated driving.

Further, according to the present embodiment, the ECU 10 determines that the driver wants to release the steering wheel when the pressure detected by the steering wheel pressure sensor 29 is less than the predetermined value. This makes it possible to accurately determine that the driver has released the steering wheel.

Further, according to the present embodiment, the ECU 10 determines that the vehicle 1 is not in the state in which the first automated driving can be executed when the vehicle 1 is not in the state in which the route to be traveled by the first automated driving can be generated and/or when the situation around the vehicle 1 is not the situation in which the first automated driving can be safely started. This makes it possible to accurately determine whether or not the vehicle 1 is in a state in which the first autonomous driving can be executed.

[ modified examples ]

In the above-described embodiment, when switching to the first automated driving mode, the ECU 10 vibrates the steering wheel when the driver wants to release the steering wheel while the vehicle 1 is not in a state in which the first automated driving is executable. That is, in this embodiment, the ECU 10 does not vibrate the steering wheel when the driver is holding the steering wheel. In the modification, the ECU 10 may vibrate the steering wheel all the time while the vehicle 1 is not in the state in which the first autonomous driving is executable when switching to the first autonomous driving mode. That is, in this modification, the ECU 10 may vibrate the steering wheel regardless of the state of the steering wheel being gripped (gripped or released) by the driver, that is, even if the driver grips the steering wheel.

Fig. 4 is a flowchart showing a process of switching to the first automatic driving mode according to a modification of the embodiment of the present invention. The processes related to this flowchart are also repeatedly executed by the ECU 10 at predetermined cycles. Note that the same contents as those in fig. 3 are appropriately omitted.

Steps S21, S22, and S25 to S29 in fig. 4 are the same as steps S1, S2, and S6 to S10 in fig. 3, respectively, and therefore, their description is omitted. Here, only steps S23 and S24 will be described. When the first autopilot mode switch 32 is set to on (step S22: yes), the ECU 10 controls the steering wheel vibrating device 44 to vibrate the steering wheel in step S23. That is, the ECU 10 vibrates the steering wheel in order to allow the driver to effectively grip the steering wheel, using the characteristics of the driver as described above. Then, the ECU 10 proceeds to step S24 to determine whether the vehicle 1 is in a state in which the first automated driving can be executed. As a result, if the vehicle 1 is in the state in which the first automated driving can be performed (step S24: yes), the ECU 10 proceeds to step S25, and if the vehicle 1 is not in the state in which the first automated driving can be performed (step S24: no), the process returns to step S23. In the latter case, the ECU 10 continues to vibrate the steering wheel until the vehicle 1 becomes a state in which the first automated driving can be executed.

With such a modification, the driver can be caused to effectively grip the steering wheel until the vehicle 1 becomes a state in which the first automated driving can be performed, in other words, the driver can be effectively prevented from releasing the steering wheel.

In the above-described embodiment, the example in which the present invention is applied to the vehicle 1 having the engine as the drive source (see fig. 1) is described, but the present invention can also be applied to a vehicle (electric vehicle, hybrid vehicle) having an electric motor as the drive source. In the above-described embodiment, the braking force is applied to the vehicle 1 by the brake device (brake control system 42), but in another example, the braking force may be applied to the vehicle by regeneration of the electric motor.