Vehicle control system, vehicle control method, and storage medium

Patent metadata

Field	Value
Publication number	US-11273826-B2
Application number	US-201716478872-A
Country	US
Kind code	B2
Filing date	Jan 23, 2017
Priority date	Jan 23, 2017
Publication date	Mar 15, 2022
Grant date	Mar 15, 2022

Abstract

A vehicle control system including: a driving operator on which an operation used for manual driving is performed by a vehicle occupant; an output device that outputs information; an automated driving controller that executes automated driving automatically controlling at least one of acceleration/deceleration and steering of a vehicle; and a switching controller that causes the output device to output request information for requesting an operation on the driving operator when automated driving using the automated driving controller ends and is switched to manual driving and sets a control gain for the operation performed on the driving operator to be lower in at least a predetermined period after causing the output device to output the request information to than in a period other than the predetermined period.

First claim

What is claim is:

1. A vehicle control system comprising:
a driving operator on which an operation used for manual driving is performed by a vehicle occupant;
an output device configured to output information; and
a processor configured to:
execute automated driving automatically controlling at least one of acceleration/deceleration and steering of a vehicle; and
cause the output device to output request information for requesting an operation on the driving operator when automated driving ends and is switched to manual driving and sets a control gain for the operation performed on the driving operator to be lower in at least a predetermined period after causing the output device to output the request information than in a period other than the predetermined period,
wherein the processor is further configured to set the control gain in the predetermined period to be the same as the control gain in a period other than the predetermined period when the automated driving ends according to a specific reason according to a situation of outside of the vehicle and is switched to the manual driving.

2. The vehicle control system according to claim 1 ,
wherein the processor is configured to change an output form of the request information from the output device based on a cause that is a reason for ending automated driving and switching over to the manual driving and change a degree of lowering the control gain in the predetermined period based on the cause or the output form of the request information.

3. The vehicle control system according to claim 1 ,
wherein the processor is further configured to, after causing the output device to output the request information, gradually increase the control gain for the operation performed on the driving operator in accordance with elapse of time.

4. The vehicle control system according to claim 1 , wherein the processor is further configured to detect a state of a vehicle occupant,
wherein the processor is configured to set the predetermined period to be variable based on the state of the vehicle occupant.

5. The vehicle control system according to claim 1 ,
wherein the processor is further configured to decreases the control amount corresponding to an operation on the driving operator by decreasing the control gain in the predetermined period, and
wherein a part or all of devices of control targets of the vehicle control system operate based on the basis of the control amount decreased by the processor.

6. A vehicle control system comprising:
a driving operator on which an operation used for manual driving is performed by a vehicle occupant;
an output device configured to output information; and
a processor configured to:
execute automated driving automatically controlling at least one of acceleration/deceleration and steering of a vehicle; and
cause the output device to output request information for requesting an operation on the driving operator when automated driving ends and is switched to manual driving and sets a control gain for the operation performed on the driving operator to be lower in at least a predetermined period after causing the output device to output the request information than in a period other than the predetermined period,
wherein the processor is further configured to, in the predetermined period, set the control gain in a case in which an operation amount on the driving operator is equal to or smaller than a predetermined operation amount to be lower than a control gain in a case in which the operation amount on the driving operator exceeds the predetermined operation amount.

7. A vehicle control system comprising:
a driving operator on which an operation used for manual driving is performed by a vehicle occupant;
an output device configured to output information; and
a processor configured to:
execute automated driving automatically controlling at least one of acceleration/deceleration and steering of a vehicle; and
cause the output device to output request information for requesting an operation on the driving operator when automated driving ends and is switched to manual driving and sets a control gain for the operation performed on the driving operator to be lower in at least a predetermined period after causing the output device to output the request information than in a period other than the predetermined period,
wherein the processor is further configured to set the control gain relating to braking in the predetermined period to be the same as a control gain relating to braking in a period other than the predetermined period.

8. A vehicle control method using a control computer of a vehicle including a driving operator on which an operation used for manual driving is performed by a vehicle occupant and an output device that outputs information, the vehicle control method comprising:
executing automated driving automatically controlling at least one of acceleration/deceleration and steering of the vehicle;
causing the output device to output request information for requesting an operation on the driving operator when the automated driving ends and is switched to the manual driving and setting a control gain for the operation performed on the driving operator to be lower in a predetermined period after causing the output device to output at least the request information than in a period other than the predetermined period,
wherein setting the control gain comprises setting the control gain in the predetermined period to be the same as the control gain in a period other than the predetermined period when the automated driving ends according to a specific reason according to a situation of outside of the vehicle and is switched to the manual driving.

9. A computer-readable non-transitory storage medium storing a vehicle control program, the vehicle control program causing a control processor of a vehicle including a driving operator on which an operation used for manual driving is performed by a vehicle occupant and an output device that outputs information to perform:
executing automated driving automatically controlling at least one of acceleration/deceleration and steering of the vehicle; and
causing the output device to output request information for requesting an operation on the driving operator when the automated driving ends and is switched to the manual driving and setting a control gain for the operation performed on the driving operator to be lower in at least a predetermined period after causing the output device to output the request information than in a period other than the predetermined period,
wherein setting the control gain comprises setting the control gain in the predetermined period to be the same as the control gain in a period other than the predetermined period when the automated driving ends according to a specific reason according to a situation of outside of the vehicle and is switched to the manual driving.

Assignees

• Honda Motor Co Ltd

Inventors

• Iwasa Tatsuya

Classifications

• B60W2050/146

  Display means · CPC title

• B60W10/20

  including control of steering systems · CPC title

• G01C21/3407

  specially adapted for specific applications · CPC title

• B60W60/0053

  from vehicle to occupant · CPC title

• B60W10/04 Primary

  including control of propulsion units · CPC title