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CN-113661110-B - Steering adapter device

CN113661110BCN 113661110 BCN113661110 BCN 113661110BCN-113661110-B

Abstract

The invention provides a driving takeover device. The acquisition unit (S140) acquires the current operation amount, which is the operation amount for the specified operation object. The calculation unit (S130) calculates a required operation amount, which is an operation amount of a specified operation object required for generating a takeover control amount. When executing control by the autopilot, the takeover unit (S170-S180) executes takeover from autopilot to manual drive by stopping the control by the autopilot when the current operation amount acquired by the acquisition unit is within a takeover allowable range set according to the required operation amount calculated by the calculation unit and the takeover operation unit is operated.

Inventors

  • MIKI HIROMU

Assignees

  • 株式会社电装

Dates

Publication Date
20260512
Application Date
20200316
Priority Date
20190322

Claims (4)

  1. 1. A driving takeover device is provided with: An autopilot unit configured to generate a control amount required for autopilot of the vehicle and to execute control of the autopilot; A takeover operation unit that is operated by the driver at a timing when takeover from automatic driving based on control by the automatic driving unit to manual driving by the driver of the vehicle is performed; A takeover determination unit that notifies a driver of the vehicle of a request to take over from automatic driving to manual driving; A calculation unit configured to calculate a required operation amount of an operation target required for generating the takeover control amount, using the control amount required for the automatic driving as the takeover control amount; An acquisition unit configured to acquire a current operation amount of the operation target operated by the driver; A takeover unit configured to execute a takeover from automated driving to manual driving by stopping control by the automated driving unit when the takeover operation unit is operated while the automated driving control by the automated driving unit is being executed and when the current operation amount acquired by the acquisition unit is within a takeover allowable range set based on the required operation amount calculated by the calculation unit; a guide part configured to guide the driver to operate the operation object so that the current operation amount becomes a value within the allowable range of the takeover, and A resistance applying section configured to generate resistance against the operation when the operation object is operated, The guide portion changes the resistance force generated by the resistance force applying portion before and after the required operation amount.
  2. 2. The driving takeover device according to claim 1, wherein, The guide unit notifies the operation target of an operation for presenting a direction in which a difference between the current operation amount and the required operation amount is reduced.
  3. 3. The driving takeover device according to claim 1 or 2, wherein, The operation object includes at least one of a brake pedal and an accelerator pedal.
  4. 4. The driving takeover device according to claim 1 or 2, further comprising: a request notification unit that notifies the driver of a request to take over from automatic driving to manual driving when the automatic driving unit determines that an end condition for ending automatic driving is satisfied, and And a retraction execution unit that causes the automatic driving unit to perform retraction travel for stopping the vehicle at a location where safety is sought, when the takeover operation unit is not operated even if a preset permission time has elapsed after the notification by the request notification unit.

Description

Steering adapter device Cross-reference to related applications this international application claims priority based on japanese patent application nos. 2019-055029 to the japanese patent office at 3-22 in 2019, the entire contents of which are incorporated by reference into this international application. Technical Field The present disclosure relates to a technique of controlling takeover from automatic driving to manual driving. Background In the automatic driving level 3, when the automatic driving section ends, or when it is difficult for the automatic driving vehicle to continue automatic driving due to a trouble or the like, it is necessary to take over driving by the driver. At this time, it is necessary for the driver to take over driving in a state where an appropriate driving operation is performed so that the behavior of the vehicle does not change sharply before and after taking over. For example, when the driver is caused to take over driving by applying a brake to the front vehicle that is decelerating, it is necessary for the driver to take over the vehicle while performing an appropriate braking operation. In addition, when driving on an uphill road by automated driving, if the driver is caused to take over driving, it is necessary for the driver to take over while performing an appropriate acceleration operation. In response to this, patent document 1 describes a technique of acquiring brake information at the time of automatic driving and instructing a driver to step on a required brake amount at the time of taking over based on the acquired information. Patent document 1 Japanese patent application laid-open No. 2017-207885 However, as a result of detailed studies by the inventors, the following problems have been found in the prior art described in patent document 1. That is, in the related art, only the required amount of the braking operation is presented to the driver, and takeover is performed regardless of whether the driver performs the braking operation by the required amount. Therefore, there is a possibility that the vehicle-to-vehicle distance from the preceding vehicle or the following vehicle is shortened due to unexpected acceleration or deceleration immediately after the take-over, and the difficulty in driving after the take-over increases. Disclosure of Invention In one aspect of the present disclosure, techniques may be provided to improve safety when taking over from automatic driving to manual driving. One embodiment of the present disclosure is a driving takeover device including an autopilot unit, a takeover operation unit, an acquisition unit, a calculation unit, and a takeover unit. The autopilot unit executes control during autopilot of the vehicle. The takeover operation section is operated by the driver at timing of executing takeover from automatic driving based on control of the automatic driving section to manual driving of the driver of the vehicle. The acquisition unit acquires a current operation amount, which is an operation amount for a specified operation object, by using, as the specified control amount, a control amount specified in advance among control amounts required for driving control of the vehicle and by using, as the specified operation object, an operation object operated by a driver to generate the specified control amount at the time of manual driving. The calculation unit calculates a required operation amount, which is an operation amount of a specified operation target required to generate the takeover control amount, using the specified control amount generated by the autopilot unit as the takeover control amount. When the control based on the automatic driving portion is executed, the takeover portion stops the control based on the automatic driving portion in a case where the current operation amount acquired by the acquisition portion is within the takeover permission range set according to the required operation amount calculated by the calculation portion and the takeover operation portion is operated. Thereby, takeover from automatic driving to manual driving is performed. According to such a structure, since the takeover of the driving is performed in a state where the current operation amount and the required operation amount are sufficiently brought close, it is possible to suppress occurrence of unexpected acceleration or deceleration at the time of takeover. As a result, it is possible to suppress an emergency approach to the front vehicle or the rear vehicle after the take-over of the drive, and the like, and to suppress an increase in the difficulty of manual driving. Drawings Fig. 1 is a block diagram showing the structure of a steering takeover device according to a first embodiment. Fig. 2 is a flowchart of the driving takeover process in the first embodiment. Fig. 3 is an explanatory diagram showing an example of the operation status display. Fig. 4 is a block diagram showing the structure of a steering takeover devic