CN-121989986-A - Judgment device and judgment method

Abstract

The present disclosure provides a determination device and a determination method for improving a technique of automatically controlling running of a vehicle. The determination device (20) is provided with a control unit (23), and the control unit (23) executes a process of requesting a first transition from the automatic driving mode to the temporary setting manual driving mode when a design requirement for enabling automatic driving is not satisfied in the process of driving the vehicle (10) in the automatic driving mode, wherein the vehicle has the automatic driving mode and the temporary setting manual driving mode which is selectable by the temporary setting manual driving device (50) connected to the control unit.

Inventors

• MORIIZUMI KIYOTAKA

Assignees

• 丰田自动车株式会社

Dates

Publication Date

20260508

Application Date

20251103

Priority Date

20241106

Claims (20)

1. 1. A judging device, wherein, The control unit is provided with a control unit which performs the following processing: The method includes acquiring data measured by a sensor provided in a vehicle having an automated driving mode and a temporary manual driving mode that is selectable by a temporary manual driving device connected thereto, and requesting a first transition from the automated driving mode to the temporary manual driving mode when a design requirement for enabling automated driving is not satisfied while the vehicle is traveling in the automated driving mode based on the data.
2. 2. The judging device according to claim 1, wherein, The sensor is a sensor for monitoring the environment around the vehicle that is running by autonomous driving, including a camera, a three-dimensional laser radar, a millimeter wave sensor, an acceleration sensor, and a global positioning system sensor, and a sensor for diagnosing a failure mode of the vehicle.
3. 3. A judging device, wherein, The control unit is provided with a control unit which performs the following processing: In a process of running a vehicle having an automatic driving running mode and a temporary setting manual driving running mode which is set to a selectable state by being connected with a temporary setting manual driving device in the automatic driving running mode, when a design requirement for enabling the automatic driving running becomes unsatisfied, a first transition is requested as a transition from the automatic driving running mode to the temporary setting manual driving running mode.
4. 4. The judging device according to claim 3, wherein, The temporary setting manual driving traveling mode is a control mode in which the vehicle is manually driven by manually operating the temporary setting manual driving device temporarily provided on the vehicle in accordance with the request.
5. 5. The judging device according to claim 3, wherein, The control unit requests a second transition as a transition from the automatic driving travel mode to the remote driving travel mode when it is determined that the transition from the automatic driving travel mode to the remote driving travel mode is possible.
6. 6. The judging device according to claim 5, wherein, The remote driving travel mode is a control mode in which the vehicle is manually driven by remote operation from a remote driving device capable of communicating with the vehicle.
7. 7. The judging device according to claim 3, wherein, The control section determines a main cause for which the design requirement becomes unsatisfied, The main cause is a main cause of any party among the main cause of the own vehicle, the main cause of other vehicles, and the main cause of the environment, The main causes of the own vehicle include a first failure in which the vehicle cannot travel by itself and a second failure in which the vehicle cannot travel by itself, The other vehicles are mainly because the traffic of the vehicles is restricted by parking vehicles, accident vehicles, or emergency vehicles occupying the road on which the vehicles travel, The environmental main causes include a case where the passage of the vehicle is restricted due to the state of the road surface of the traveling road or weather conditions, and a case where the communication connection between the vehicle and a remote driving apparatus cannot be established.
8. 8. The judging device according to claim 7, wherein, The control unit requests traction movement of the vehicle when the main cause is determined to be the first failure among the main causes of the vehicle.
9. 9. The judging device according to claim 7, wherein, The control unit requests a second transition from the automated driving mode to a remote driving mode when the vehicle is capable of autonomous driving, a communication connection between the vehicle and the remote driving device is possible, and a predetermined condition is satisfied, if the main cause is determined to be the second failure among the main causes of the vehicle.
10. 10. The judging device according to claim 9, wherein, The control unit requests the first conversion when the predetermined condition is not satisfied.
11. 11. The judging device according to claim 7, wherein, The control unit requests the first switch when the communication connection between the vehicle and the remote driving device cannot be established in the case where the main cause is determined to be the second failure among the main causes of the host vehicle.
12. 12. The judging device according to claim 7, wherein, The control unit requests a second transition as a transition from the automated driving mode to a remote driving mode when the vehicle is capable of self-traveling, a communication connection between the vehicle and the remote driving device is established, and a predetermined condition is satisfied, if the factor is determined to be the factor of the other vehicle.
13. 13. The judging device according to claim 12, wherein, The control unit requests the first conversion when the predetermined condition is not satisfied.
14. 14. The judging device according to claim 7, wherein, The control unit requests the first switch when the communication connection between the vehicle and the remote driving device cannot be established if the main cause is determined to be the main cause of the other vehicle.
15. 15. The judging device according to claim 7, wherein, The control unit requests a second transition as a transition from the automated driving mode to a remote driving mode when the vehicle is able to perform self-traveling, a communication connection between the vehicle and the remote driving device is able to be established, and a predetermined condition is satisfied, if the main cause is determined to be the environmental main cause.
16. 16. The judging device according to claim 15, wherein, The control unit requests the first conversion when the predetermined condition is not satisfied.
17. 17. The judging device according to claim 7, wherein, The control unit requests the first conversion when the communication connection between the vehicle and the remote driving apparatus cannot be established if the main cause is determined to be the environmental main cause.
18. 18. A judging method, wherein, The following processing is performed by the judgment means, namely: In a process of running a vehicle having an automatic driving running mode and a temporary setting manual driving running mode which is set to a selectable state by being connected with a temporary setting manual driving device in the automatic driving running mode, when a design requirement for enabling the automatic driving running becomes unsatisfied, a first transition is requested as a transition from the automatic driving running mode to the temporary setting manual driving running mode.
19. 19. The judgment method of claim 18, wherein, The temporary setting manual driving traveling mode is a control mode in which the vehicle is manually driven by manually operating the temporary setting manual driving device temporarily provided on the vehicle in accordance with the request.
20. 20. The judgment method of claim 18, wherein, The following processing is performed by the judging means, namely: When it is determined that the transition from the automatic driving travel mode to the remote driving travel mode is possible, a second transition is requested as a transition from the automatic driving travel mode to the remote driving travel mode.

Description

Judgment device and judgment method Technical Field The present disclosure relates to a judgment device and a judgment method. Background Conventionally, a technique for automatically controlling the running of a vehicle is known. For example, patent document 1 discloses a vehicle having two driving modes, that is, an automatic driving mode in which the running of the vehicle is automatically controlled and a manual driving mode in which the running of the vehicle is controlled in accordance with the operation of an operator who rides on the vehicle, and having a mechanical operation unit for performing the running control of the vehicle by the operation of the operator in the manual driving mode. Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2022-96813 Disclosure of Invention Problems to be solved by the invention However, when automatic driving becomes common, there is a possibility that the vehicle does not have a mechanical operation portion for performing manual driving. In this case, too, it is necessary to smoothly perform the fail-safe. Therefore, there is room for improvement in the technology of automatically controlling the running of the vehicle. The present disclosure, which has been made in view of the above circumstances, has an object to improve a technique for automatically controlling the running of a vehicle. Means for solving the problems The determination device according to one embodiment of the present disclosure includes a control unit that acquires data measured by a sensor provided in a vehicle having an automated driving mode and a temporary manual driving mode that is selectable by a temporary manual driving device connected thereto, and requests a first transition as a transition from the automated driving mode to the temporary manual driving mode when a design requirement for enabling automated driving is not satisfied during traveling of the vehicle in the automated driving mode based on the data. The determination device according to one embodiment of the present disclosure includes a control unit that executes a process of requesting a first transition as a transition from the automated driving traveling mode to the temporary setting manual driving traveling mode when a design requirement for enabling automated driving traveling becomes unsatisfied in traveling in the automated driving traveling mode of a vehicle having the automated driving traveling mode and the temporary setting manual driving traveling mode that is selectable by the temporary setting manual driving device being connected thereto. In the determination method according to one embodiment of the present disclosure, a process is performed by a determination device that requests a first transition as a transition from the automated driving traveling mode to the temporary setting manual driving traveling mode when a design requirement for enabling automated driving traveling becomes unsatisfied in traveling in the automated driving traveling mode of a vehicle having the automated driving traveling mode and the temporary setting manual driving traveling mode that is made selectable by being connected with the temporary setting manual driving device. Effects of the invention According to one embodiment of the present disclosure, a technique of controlling running of a vehicle is improved. Drawings Fig. 1 is a block diagram showing an outline configuration example of a system according to an embodiment of the present disclosure. Fig. 2 is a flowchart showing an example of the operation of the determination device. Fig. 3 is a table showing a conversion example of the driving travel pattern for each of the main causes of not satisfying the design requirement. Detailed Description Hereinafter, embodiments of the present disclosure will be described. (Summary of the embodiments) An outline of a system 1 according to an embodiment of the present disclosure will be described with reference to fig. 1. The system 1 includes a vehicle 10, a determination device 20 mounted on the vehicle 10, a server 30 and a remote driving device 40 provided in the operation management center 3, and a temporary manual driving device 50 temporarily provided in the vehicle 10. The vehicle 10, the determination device 20, the server 30, and the remote driving device 40 are communicably connected to a network 2 including, for example, the internet and a mobile communication network. The vehicle 10 is, for example, an automobile having an autopilot function of Lv4 (Level 4). The automobile is, but not limited to, a gasoline automobile, BEV (Battery ELECTRIC VEHICLE: electric vehicle), HEV (Hybrid ELECTRIC VEHICLE: hybrid vehicle), PHEV (Plug-in Hybrid ELECTRIC VEHICLE: plug-in Hybrid vehicle), or FCEV (Fuel CELL ELECTRIC VEHICLE: fuel cell electric vehicle), etc. The number of vehicles 10 included in the system 1 may be arbitrarily determined. The vehicle 10 can communicate with the determin