Control method and control device of automatic driving vehicle

Patent metadata

Field	Value
Publication number	US-10606264-B2
Application number	US-201616323744-A
Country	US
Kind code	B2
Filing date	Aug 8, 2016
Priority date	Aug 8, 2016
Publication date	Mar 31, 2020
Grant date	Mar 31, 2020

Abstract

Provided is a control method of an automatic driving vehicle switchable between manual driving in which the vehicle is made to travel depending on an operation of an occupant and automatic driving in which driving characteristics in automatic travel are set and the vehicle is made to automatically travel based on the driving characteristics. Manual driving characteristics in the manual driving by the occupant are learned and, when switching from the manual driving to the automatic driving is performed, the automatic driving is performed with the manual driving characteristics maintained for a preset manual characteristic maintaining time. As a result, uneasiness of the occupant can be suppressed.

First claim

The invention claimed is:

1. A control method of an automatic driving vehicle switchable between manual driving in which the vehicle is made to travel depending on an operation of an occupant and automatic driving in which driving characteristics in automatic travel are set and the vehicle is made to automatically travel based on the driving characteristics, comprising:
when performing switching from the manual driving to the automatic driving, performing for a preset manual characteristic maintaining time the automatic driving while maintaining manual driving characteristics which are driving characteristics in the manual driving.

2. The control method of the automatic driving vehicle according to claim 1 , further comprising:
detecting a physical amount in the automatic driving; and
setting the manual characteristic maintaining time based on the physical amount.

3. The control method of the automatic driving vehicle according to claim 2 , further comprising:
detecting vehicle speed as the physical amount; and
setting the manual characteristic maintaining time such that the higher the vehicle speed is, the longer the manual characteristic maintaining time is.

4. The control method of the automatic driving vehicle according to claim 2 , further comprising:
detecting a road width as the physical amount; and
setting the manual characteristic maintaining time such that the smaller the road width is, the longer the manual characteristic maintaining time is.

5. The control method of the automatic driving vehicle according to claim 2 , further comprising:
detecting an inter-vehicle distance as the physical amount; and
setting the manual characteristic maintaining time such that the shorter the inter-vehicle distance is, the longer the manual characteristic maintaining time is.

6. The control method of the automatic driving vehicle according to claim 2 , further comprising:
detecting whether there is another vehicle in an adjacent lane as the physical amount; and
when there is the another vehicle, setting the manual characteristic maintaining time longer.

7. The control method of the automatic driving vehicle according to claim 1 , further comprising:
after performing the automatic driving while maintaining the driving characteristics in the manual driving, performing the automatic driving based on automatic driving characteristics different from the manual driving characteristics.

8. The control method of the automatic driving vehicle according to claim 7 , further comprising causing the driving characteristics to gradually transition from the manual driving characteristics to the automatic driving characteristics.

9. The control method of the automatic driving vehicle according to claim 7 , wherein the automatic driving characteristics are modified such that an increase amount of uneasiness of the occupant in a certain time is less than or equal to a preset first threshold wherein the increase amount of the uneasiness of the occupant is based on a predetermined relationship between an occupant's comfort level and changing parameters of each automatic driving characteristic.

10. The control method of the automatic driving vehicle according to claim 1 , further comprising:
detecting uneasiness of the occupant in the automatic driving; and
setting the manual characteristic maintaining time based on the uneasiness.

11. The control method of the automatic driving vehicle according to claim 7 , further comprising:
detecting vehicle speed; and
performing transition from the manual driving characteristics to the automatic driving characteristics such that the lower the vehicle speed is, the longer the time taken for a speed increase is.

12. The control method of the automatic driving vehicle according to claim 7 , further comprising:
detecting a road width, and
performing transition from the manual driving characteristics to the automatic driving characteristics such that the smaller the road width is, the longer the time taken for a speed increase is.

13. The control method of the automatic driving vehicle according to claim 7 , further comprising:
detecting an inter-vehicle distance; and
performing transition from the manual driving characteristics to the automatic driving characteristics such that the shorter the inter-vehicle distance is, the longer the time taken to approach a preceding vehicle is.

14. The control method of the automatic driving vehicle according to claim 7 , further comprising:
detecting whether there is another vehicle in an adjacent lane; and
performing transition from the manual driving characteristics to the automatic driving characteristics such that, when there is another vehicle in the adjacent lane, time taken to approach a preceding vehicle is longer.

15. The control method of the automatic driving vehicle according to claim 7 , wherein the automatic driving characteristics are modified such that a decrease amount of uneasiness of the occupant in a certain time is more than or equal to a preset second threshold, wherein the decrease amount of the uneasiness of the occupant is based on a predetermined relationship between an occupant's comfort level and changing parameters of each automatic driving characteristic.

16. The control method of the automatic driving vehicle according to claim 7 , further comprising:
detecting vehicle speed; and
performing transition from the manual driving characteristics to the automatic driving characteristics such that the higher the vehicle speed is, the shorter the time taken for a speed reduction is.

17. The control method of the automatic driving vehicle according to claim 7 , further comprising:
detecting a road width; and
performing transition from the manual driving characteristics to the automatic driving characteristics such that the larger the road width is, the shorter the time taken for a speed reduction is.

18. The control method of the automatic driving vehicle according to claim 7 , further comprising:
detecting an inter-vehicle distance; and
performing transition from the manual driving characteristics to the automatic driving characteristics such that the longer the inter-vehicle distance is, the shorter the time taken to move away from a preceding vehicle is.

19. The control method of the automatic driving vehicle according to claim 7 , further comprising:
detecting whether there is another vehicle in an adjacent lane; and
performing transition from the manual driving characteristics to the automatic driving characteristics such that, when there is no vehicle in the adjacent lane, time taken to move away from a preceding vehicle is set shorter.

20. The control method of the automatic driving vehicle according to claim 7 , further comprising:
determining whether the vehicle has stopped in the switching from the manual driving to the automatic driving; and
when determining that the vehicle has stopped, performing transition from the manual driving characteristics to the automatic driving characteristics.

21. A control device of an automatic driving vehicle switchable between manual driving in which the vehicle is made to travel depending on an operation of an occupant and automatic driving in which driving characteristics in automatic travel are set and the vehicle is made to automatically travel based on the driving characteristics, comprising: a configuration which performs the automatic driving while maintaining manual driving characteristics for a preset manual characteristic

Assignees

• Nissan Motor

Inventors

• Jang Hwaseon
• Sunda Takashi
• Hiramatsu Machiko

Classifications

• B60W60/0051 Primary

  from occupants to vehicle · CPC title

• B60W60/0013

  specially adapted for occupant comfort · CPC title

• B60W10/184

  with wheel brakes · CPC title

• B60W2720/10

  Longitudinal speed · CPC title

• B60K2310/264

  changing distance, e.g. reducing the distance for overtaking · CPC title