DE-112016003496-B4 - Driver assistance device, driver assistance system and driver assistance procedure

DE112016003496B4DE 112016003496 B4DE112016003496 B4DE 112016003496B4DE-112016003496-B4

Abstract

Driver assistance device (10), comprising: an image output unit which outputs to a display unit (31) an image which contains its own vehicle object, which represents its own vehicle (1), and another vehicle object, which represents another vehicle in front of its own vehicle object; an operating signal input unit that receives an operation from a user to change a positional relationship between its own vehicle object and the other vehicle object in the image displayed on the display unit (31), when a receive mode of the driving assistance device (10) is set to a receive enable mode in which an operation from the user can be received; and a command output unit which issues a command to an automatic driving control unit (21) which controls the automatic driving, instructing the vehicle to overtake the other vehicle when the positional relationship between the own vehicle object and the other vehicle object is changed by the user's operation of the control signal input unit (32) such that the own vehicle object is placed in front of the other vehicle object, whereby the receive mode is switched from receive enable mode to receive block mode in which a user operation cannot be received when the command is determined and an initial time has elapsed since the receipt of the user's control signal.

Inventors

Kazushige Yamada
Osamu YAMAJI
Azusa Gojyo
Satoshi Kajita
Toshiaki Mori
Makoto Okada

Assignees

PANASONIC AUTOMOTIVE SYSTEMS CO., LTD.

Dates

Publication Date: 20260513
Application Date: 20160719
Priority Date: 20150731

Claims (8)

Driving assistance device (10), comprising: an image output unit that outputs to a display unit (31) an image containing a vehicle object representing a vehicle (1) and another vehicle object representing another vehicle in front of the vehicle object; an input control signal unit that receives an operation from a user to change a positional relationship between the vehicle object and the other vehicle object in the image displayed on the display unit (31), when a receive mode of the driving assistance device (10) is set to a receive enable mode in which an operation from the user can be received; and a command output unit that issues a command to an automatic driving control unit (21) that controls the automatic driving, instructing the vehicle to overtake the other vehicle when the positional relationship between the own vehicle object and the other vehicle object is changed by the user's operation of the control signal input unit (32) such that the own vehicle object is placed in front of the other vehicle object, whereby the receive mode is switched from receive enable mode to receive block mode in which a user operation cannot be received when the command is determined and an initial time has elapsed since the receipt of the user's control signal.
Driver assistance device (10) according to Claim 1 , wherein, when the control signal input unit (32) receives an operation from the user to move its own vehicle object in the image displayed on the display unit (31) to a position in front of the other vehicle object, an operation from the user to move the other vehicle object to a position behind its own vehicle object, or an operation from the user to exchange its own vehicle object and the other vehicle object, the command output unit issues a command to the automatic driving control unit (21) to instruct the vehicle to overtake the other vehicle.
Driver assistance device (10) according to Claim 1 , wherein the image output unit (14) outputs an image containing the vehicle's own object and a multitude of other vehicle objects representing a multitude of other vehicles in front of the vehicle's own object, and when the control signal input unit (32) receives an operation from the user to change a positional relationship between the vehicle's own object and the multitude of other vehicle objects in the image displayed on the display unit (31), the command output unit issues a command to the automatic vehicle control unit (21) to instruct the vehicle's own vehicle to overtake the multitude of other vehicles.
Driving assistance procedure, comprising: a step of outputting to a display unit (31) an image containing a vehicle object representing a vehicle and another vehicle object representing a vehicle in front of the vehicle object; a step of receiving an operation from a user to change a positional relationship between the vehicle object and the other vehicle object in the image displayed on the display unit (31), when a receive mode of the driving assistance device (10) is set to a receive enable mode in which an operation by the user can be received; and a step of issuing to an automatic driving control unit (21) that controls automatic driving, a command to instruct the own vehicle to overtake the other vehicle when the positional relationship between the own vehicle object and the other vehicle object is changed by the user's operation such that the vehicle object is placed in front of the other vehicle object, whereby the receive mode is changed from the receive enable mode to a receive block mode in which an actuation from the user cannot be received when the command is determined and an initial time has elapsed after the user's operating signal has been received.
A driver assistance system comprising: a display device (30) that displays an image; and a driver assistance device (10) that outputs the image to the display device (30), the driver assistance device (10) comprising: an image output unit that outputs to the display device (30) an image containing its own vehicle object, representing its own vehicle, and another vehicle object, representing another vehicle in front of its own vehicle object; an operating signal input unit (14) that receives an operation from a user to change a positional relationship between the vehicle object and the other vehicle object in the image displayed on the display device (30), when a receive mode of the driver assistance device (10) is set to a receive enable mode in which an operation by the user can be received; and a command output unit (14) that issues a command to an automatic driving control unit (20) that controls the automatic driving, instructing the own vehicle to overtake the other vehicle when the positional relationship between the vehicle object and the other vehicle object is changed by the user's operation of the control signal input unit (14) such that the vehicle object is placed in front of the other vehicle object, whereby the receive mode is switched from receive enable mode to receive block mode in which an operation by the user cannot be received when the command is determined and an initial time has elapsed since the receipt of the user's control signal.
Driver assistance device according to Claim 1 , wherein the receive mode is changed from the receive lock mode to the receive enable mode when (i) a second time has elapsed since the time the receive mode is changed from the receive enable mode to the receive lock mode, (ii) a notification indicating the completion of control in accordance with the command is received by the automatic driving control unit (21), or (iii) it is determined from the behavior of the vehicle that control in accordance with the command has been completed.
Driver assistance procedures according to Claim 4 , wherein the receive mode is changed from the receive lock mode to the receive enable mode when (i) a second time has elapsed since the time the receive mode is changed from the receive enable mode to the receive lock mode, (ii) a notification indicating the completion of control in accordance with the command is received by the automatic driving control unit (21), or (iii) it is determined from the behavior of the vehicle that control in accordance with the command has been completed.
Driver assistance system according to Claim 5 , wherein the receive mode is changed from the receive lock mode to the receive enable mode when (i) a second time has elapsed from the time the receive mode is changed from the receive enable mode to the receive lock mode, (ii) a notification indicating the completion of control in accordance with the command is received by the automatic driving control unit (21), or (iii) it is determined that control in accordance with the command has been completed based on the behavior of the vehicle.

Description

Field of invention The present disclosure relates to a technology that supports a driver's instruction to a vehicle during automated driving. Description of the state of the art In recent years, developments in automated driving have progressed significantly. Automation levels for automated driving, established in 2013 by the National Highway Traffic Safety Administration (NHTSA), are divided into: no automation (Level 0), automation of certain functions (Level 1), automation of complex functions (Level 2), semi-automated driving (Level 3), and fully automated driving (Level 4). Level 1 is a driver assistance system that automatically performs one of the following actions: accelerating, decelerating, and steering. Level 2 is a driver assistance system that automatically coordinates two or more of these actions. In all cases, a driver must be involved in driving. Automation Level 4 is a fully automated driving system that automatically performs all operations of accelerating, decelerating, and steering, and therefore a driver is not involved in driving. Automation level 3 is a semi-fully automatic driving system that automatically performs all operations of acceleration, deceleration and steering, but driving operation is carried out by a driver when necessary. One form of automated driving is defined as a system in which the driver does not operate any existing driving controls, such as steering, accelerator pedal, or the like, but instead instructs a vehicle to perform a specific driving maneuver, such as changing lanes, overtaking, following another vehicle, or similar actions, by issuing a command. This type of system requires a user interface that minimizes the risk of accidental input. Patent specification 2 discloses an interface for inputting driving maneuvers into a control system for at least semi-autonomous control of a motor vehicle, comprising a touch-sensitive panel with a recording unit for recording a temporal sequence of touches, an analysis unit for categorizing the recorded sequences according to predefined pattern categories, and a command unit for outputting driving commands assigned to the pattern categories to the control system. Patent specification 3 discloses a method for assisting a driver of a motor vehicle during a driving maneuver, in which, in a first step, the environment of the motor vehicle is detected and a two-dimensional representation of the environment of the motor vehicle is displayed, in a second step a desired end position of the vehicle is entered by the driver, wherein the end position is marked in the two-dimensional representation, and in a final step a trajectory to reach the end position is determined and instructions are issued to the driver to follow the trajectory or an automatic driving maneuver is carried out in which the vehicle is maneuvered along the trajectory to the end position. Patent specification 4 discloses an assistance system for supporting the driver in controlling a motor vehicle, comprising sensors for acquiring measurements relating to the driving situation, a processing unit for determining parameters of a driving situation and control parameters of an assistance control system from the acquired measurements, an output unit for displaying the determined parameters of the driving situation, and an input unit for acquiring additional inputs for correcting and/or supplementing the determined parameters of the driving situation and/or the control parameters of the assistance control system displayed by the output unit. This design enables the driver to conveniently correct interpretations and control actions of the assistance system. Patent specification 5 discloses a method for navigating an autonomously driving vehicle using a graphic projection display, the method comprising: monitoring an autonomous driving system; determining a navigation intention of the autonomously driving vehicle based on the monitored autonomous driving system; determining a navigation state graph representing a future navigation maneuver that the autonomously driving vehicle will perform autonomously based on the navigation intention; dynamically aligning a location of the navigation state graph on the graphic projection display according to a driving scene of the autonomously driving vehicle; and displaying the navigation state graph on the graphic projection display; monitoring a user input specified on a section of the graphic projection display corresponding to a location where the navigation state graph is displayed; operating the navigation state graph based on the monitored user input; initiating a user-defined navigation command according to the operated navigation state graph, which changes the future navigation maneuver; Defining a navigation command graphic that meets the user's defined criteria represents the navigation command; dynamically aligns the location of the navigation command graphic on the graphic projection display according to a driving scen