Vehicle control apparatus and vehicle control method

• US 9,703,289 B2
• Filed: 07/31/2015
• Issued: 07/11/2017
• Est. Priority Date: 08/01/2014
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sato, Jun, Iwasaki, Masahiro
• Primary Examiner(s): Kiswanto, Nicholas
• Assistant Examiner(s): TAVERAS, KENNY ABEL
• Application Number:
  US14/815,180
• Publication Number:
  US 20160033964A1
• Time in Patent Office: 711 Days
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60W 2040/0818 Inactivity or incapacity of driver
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 2540/225 Direction of gaze
• CPC Class Codes: B60W 2540/229 Attention level, e.g. attentive to driving, reading or sleeping
• CPC Class Codes: B60W 2540/26 Incapacity
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B60W 60/0057 Estimation of the time available or required for the handover
• CPC Class Codes: B60W 60/0059 Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A vehicle control apparatus that switches an operating condition of a vehicle to a manual operation when the vehicle reaches a preset initial switch position while an automatic operation is underway includes: a driver condition determination unit configured to determine whether or not a driver is in a manual operation acceptance condition; an evacuation space identification unit configured to identify an evacuation space provided on a path of the vehicle before the initial switch position on the basis of map information; and a switch position setting unit configured to set a switch position in which the operating condition of the vehicle is to be switched from the automatic operation to the manual operation, in a position between the vehicle and the evacuation space when the driver is not in the manual operation acceptance condition.

Claims

1. A vehicle control apparatus that switches an operating condition of a vehicle between an automatic operation and a manual operation, and switches the operating condition of the vehicle to the manual operation when the vehicle reaches a preset initial switch position while the automatic operation is underway, the vehicle control apparatus comprising:

a timing determination unit configured to determine whether or not a preset condition determination timing has arrived on the basis of a distance between the vehicle and the initial switch position on a path of the vehicle when the operating condition of the vehicle corresponds to the automatic operation;

a driver condition identification unit configured to identify at least one of a degree of awakeness and a degree of concentration associated with a driver of the vehicle;

a driver condition determination unit configured to determine whether or not the driver is capable of manually driving the vehicle on the basis of at least one of the degree of awakeness and the degree of concentration, when the timing determination unit determines that the condition determination timing has arrived;

an evacuation space identification unit configured to identify an evacuation space provided on the path of the vehicle before the initial switch position on the basis of map information; and

a switch position setting unit configured to set a switch position in which the operating condition of the vehicle is to be switched from the automatic operation to the manual operation, in a position between the vehicle and the evacuation space on the path of the vehicle when the driver condition determination unit determines that the driver is not in the manual operation acceptance condition; and

a vehicle control unit configured to evacuate the vehicle to the evacuation space automatically when;

the vehicle reaches a position located at a predetermined distance from the preset initial switch position, and

the driver condition determination unit determines that the driver is not capable of manually driving the vehicle.

2. The vehicle control apparatus according to claim 1, wherein the vehicle control unit is further configured to determine whether or not the vehicle has reached the switch position on the basis of the map information, and switches the operating condition of the vehicle from the automatic operation to the manual operation after determining that the vehicle has reached the switch position.

3. The vehicle control apparatus according to claim 1, further comprising:

a driving operation detection unit configured to detect a driving operation performed on the vehicle by the driver;

a notification issuance unit configured to issue a notification to prompt the driver to start a driving operation before the vehicle reaches the switch position when the switch position has been set by the switch position setting unit;

a driving operation determination unit configured to determine whether or not the driving operation performed by the driver is an inappropriate driving operation on the basis of a detection result from the driving operation detection unit after the notification issuance unit issues the notification to prompt the driver to start the driving operation but before the vehicle reaches the switch position; and

wherein the vehicle control unit is further configured to evacuate the vehicle automatically to the evacuation space when the driving operation determination unit determines that the driving operation is an inappropriate driving operation.

4. The vehicle control apparatus according claim 1, further comprising a driving skill identification unit configured to identify a level of driving skill of the driver by comparing a driving operation history of the driver to a model driving operation,

wherein the switch position setting unit is configured to set the switch position in a position within a region having a road shape that corresponds to the level of driving skill of the driver, identified by the driving skill identification unit.

5. The vehicle control apparatus according to claim 1, further comprising an unusable condition determination unit configured to determine whether or not the evacuation space is in an unusable condition on the basis of road environment information obtained by road-to-vehicle communication or vehicle-to-vehicle communication,

wherein the switch position setting unit is configured to set the switch position in a position between the vehicle and the evacuation space determined by the unusable condition determination unit not to be in the unusable condition.

6. A vehicle control method for a vehicle in which an operating condition is switched between an automatic operation and a manual operation, and the operating condition is switched to the manual operation when the vehicle reaches a preset initial switch position while the automatic operation is underway, the vehicle control method comprising:

determining whether or not a preset condition determination timing has arrived on the basis of a distance between the vehicle and the initial switch position on a path of the vehicle when the operating condition of the vehicle corresponds to the automatic operation;

identifying at least one of a degree of awakeness and a degree of concentration associated with a driver of the vehicle;

determining whether or not the driver is capable of manually driving the vehicle on the basis of at least one of the degree of awakeness and the degree of concentration, when the condition determination timing is determined to have arrived;

identifying an evacuation space provided on the path of the vehicle before the initial switch position on the basis of map information; and

setting a switch position in which the operating condition of the vehicle is to be switched from the automatic operation to the manual operation, in a position between the vehicle and the evacuation space on the path of the vehicle when the driver is determined not to be in the manual operation acceptance condition; and

evacuating the vehicle to the evacuation space automatically when the vehicle reaches a position located at a predetermined distance from the preset initial switch position, and it is determined that the driver is not capable of manually driving the vehicle.

7. The vehicle control method according to claim 6, further comprising:

determining whether or not the vehicle has reached the switch position on the basis of the map information; and

switching the operating condition of the vehicle from the automatic operation to the manual operation after determining that the vehicle has reached the switch position.