WO2018211583A1 - Véhicule et programme de véhicule - Google Patents

Véhicule et programme de véhicule Download PDF

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Publication number
WO2018211583A1
WO2018211583A1 PCT/JP2017/018300 JP2017018300W WO2018211583A1 WO 2018211583 A1 WO2018211583 A1 WO 2018211583A1 JP 2017018300 W JP2017018300 W JP 2017018300W WO 2018211583 A1 WO2018211583 A1 WO 2018211583A1
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WO
WIPO (PCT)
Prior art keywords
destination
operation mode
driver
switching
unit
Prior art date
Application number
PCT/JP2017/018300
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English (en)
Japanese (ja)
Inventor
將洋 鈴木
佐古　曜一郎
Original Assignee
みこらった株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by みこらった株式会社 filed Critical みこらった株式会社
Priority to JP2017547185A priority Critical patent/JP6628441B2/ja
Priority to PCT/JP2017/018300 priority patent/WO2018211583A1/fr
Publication of WO2018211583A1 publication Critical patent/WO2018211583A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle

Definitions

  • the present invention relates to an automobile and an automobile program.
  • the switching from the manual operation mode to the automatic operation mode is not only performed by the driver performing a predetermined operation, but for example, Patent Document 1 (Japanese Patent Laid-Open No. 2015-118438) and Patent Document 2 ( As described in JP-A-2015-133050), a computer provided in the vehicle monitors a predetermined switching condition, and when it is detected that the switching condition is met, it is forcibly executed. It has also been proposed.
  • the vehicle is equipped with functions that recognize and detect right and left turn instructions by the driver and passengers, and detect right and left turn instructions through the operating means. It is conceivable to perform control according to voice instructions and instruction operations.
  • the present invention provides a vehicle that can more reliably reach a destination desired by a driver or a rider when the mode is switched from the manual operation mode to the automatic operation mode. Objective.
  • the invention of claim 1 In an automobile equipped with a manual operation mode for traveling based on a driving operation by a driver and an automatic operation mode for performing autonomous traveling, In the automatic driving mode, navigation means for automatic driving mode for supporting the autonomous driving to the destination, An activation means for activating navigation means for the automatic operation mode when the manual operation mode is switched to the automatic operation mode; Destination setting presence / absence determining means for determining whether or not a destination is set when the manual operation mode is switched to the automatic operation mode; When the destination setting presence / absence determining means determines that the destination has not been set, destination prompting means for prompting the driver or rider to input a destination setting; and Destination accepting means for accepting a destination setting input by the driver or the rider in response to the prompt by the destination prompting means; With The navigation means for the automatic driving mode generates information for supporting the autonomous driving to the destination received by the destination receiving means, and executes the autonomous driving support. provide.
  • the navigation means for the automatic operation mode when the manual operation mode is switched to the automatic operation mode, the navigation means for the automatic operation mode is activated by the activation means, and the destination is set by the destination setting presence / absence determining means. It is determined whether or not. Then, when the destination setting presence / absence determining means determines that the destination is not set, the destination prompting means prompts the driver or rider to input the destination setting, and the destination receiving means A destination setting input by a driver or a passenger is accepted. Then, the navigation means for the automatic driving mode generates information for supporting autonomous traveling to the destination received by the destination receiving means, and executes autonomous traveling support.
  • the destination set at the time of switching can be obtained without receiving an instruction from the driver or the rider by the navigation means for the automatic operation mode. Until it can run autonomously.
  • FIG. 1 is a block diagram illustrating a hardware configuration example of an electronic control circuit unit 10 of an automobile 1 according to an embodiment of the present invention.
  • the vehicle 1 of this embodiment is an example in the case of an electric vehicle.
  • the battery is not shown in FIG.
  • the automobile 1 of this embodiment has an automatic operation mode and a manual operation mode.
  • the manual operation mode is a mode in which the vehicle can travel according to the accelerator pedal operation, the brake pedal operation, the shift lever operation, and the steering operation (steering wheel operation) of the driver as in the case of a normal automobile.
  • the automatic driving mode even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever, and the steering operation, the vehicle 1 itself changes course while avoiding obstacles autonomously (automatically). This is a mode for autonomous driving.
  • the driver of the car 1 can switch the car 1 running in the manual driving mode to the automatic driving mode by, for example, a predetermined operation through the touch panel 112 to be described later, and while driving in the automatic driving mode.
  • the driver performs an accelerator pedal operation, a brake pedal operation, a shift lever operation or a steering operation, it is configured to automatically return to the manual operation mode.
  • the vehicle 1 of this embodiment is forcibly switched from the manual operation mode to the automatic operation mode, the vehicle 1 is in the above-described manual operation mode unless a predetermined release condition described later is satisfied. Even if the operation for returning is performed, the operation is invalidated, and the vehicle is controlled so as to maintain the traveling in the automatic operation mode.
  • the automatic operation mode in which the operation is invalidated even if the operation is returned to the manual operation mode after the forced switching.
  • the automatic operation mode is particularly referred to as a forced automatic operation mode
  • the automatic operation mode that is not the forced automatic operation mode is referred to as a normal automatic operation mode.
  • the electronic control circuit unit 10 has a motor drive control unit 102, a steering drive control unit 103, a manual / automatic operation through a system bus 100, with respect to a control unit 101 configured with a computer.
  • car navigation car navigation
  • a motor drive unit 131 is connected to the motor drive control unit 102.
  • a steering drive unit 132 is connected to the steering drive control unit 103.
  • a car navigation database 133 is connected to the car navigation function unit 113.
  • the image recognition unit 114 is connected to an image information storage unit 134 that stores image information of a comparison image for image recognition.
  • an automatic driving switching condition storage unit 135 is connected to the automatic driving switching condition determination unit 115.
  • the voice recognition unit 116 is connected to a voice information storage unit 136 that stores voice information of comparison voices for voice recognition.
  • a microphone 137 and a speaker 138 are connected to the voice input / output unit 122.
  • the motor drive control unit 102 controls the supply of a drive signal to the motor drive unit 131 of the automobile 1 configured by the electric vehicle of this embodiment, Travel speed control (including brake control and accelerator control), travel stop, etc. are controlled.
  • the steering drive control unit 103 controls supply of a drive control signal to the steering drive unit 132 of the vehicle 1 of this embodiment under the control of the control unit 101 to control the course change of the vehicle 1. To do.
  • the manual / automatic operation mode switching control unit 104 performs control for switching the operation mode of the automobile 1 to either the manual operation mode or the automatic operation mode in accordance with a selection operation input through the touch panel 112 and will be described later. As described above, in accordance with the determination result of the automatic driving switching condition determining unit 115, control is performed to switch the driving mode of the automobile 1 to any one of the manual driving mode, the automatic driving mode, and the forced automatic driving mode.
  • the manual driving operation detection unit 105 receives operation information of an accelerator pedal operation, a brake pedal operation, a shift lever operation, and a steering operation by a driver, and supplies the manual driving operation information to the manual / automatic driving mode switching control unit 104. To do.
  • the manual / automatic driving mode switching control unit 104 supplies the manual driving operation information from the manual driving operation detecting unit 105 to the motor driving control unit 102 and the steering driving control unit 103 when the automobile 1 is in the manual driving mode.
  • the motor drive unit 131 and the steering drive unit 132 are controlled according to the driver's pedal operation, shift lever operation, and steering operation (handle operation).
  • the manual / automatic operation mode switching control unit 104 when the automobile 1 is in the automatic operation mode (including the forced automatic operation mode), moves the radar group 106, the camera group 107, the sensor group 108, and the surrounding movement as described later.
  • the automatic driving operation information generated by the control unit 101 based on the output of the body grasping unit 109 is supplied to the motor drive control unit 102 and the steering drive control unit 103 so that the motor drive unit 131 and the steering drive unit 132 are automatically Drive control is performed based on driving operation information.
  • the manual / automatic driving mode switching control unit 104 receives the switching condition match determination result in the automatic driving switching condition determination unit 115, and the driver's or passenger's intention On the contrary, in other words, contrary to the selection setting of the driving mode by the driver or the rider, the control for automatically switching from the manual driving mode to the automatic driving mode is also performed.
  • the manual / automatic operation mode switching control unit 104 is operated by the driver while operating in the automatic operation mode, such as an accelerator pedal operation, a brake pedal operation, a shift lever operation, or a steering operation.
  • mode switching control is performed so that the driving mode of the automobile 1 is automatically returned to the manual driving mode based on the detection information of the manual driving operation.
  • the driving mode of the automobile 1 is the forced automatic driving mode
  • the driver performs the accelerator pedal operation, the brake pedal operation, the shift lever operation, or the steering operation except when a release condition described later is satisfied. Even so, the manual / automatic operation mode switching control unit 104 invalidates the manual operation information and maintains the forced automatic operation mode.
  • the radar group 106 is for measuring the distance to the person or object existing around the vehicle of the automobile 1 and is a laser radar (formally LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging)). And millimeter wave radar.
  • the laser radar is embedded, for example, near the ceiling or the bumper, and the millimeter wave radar is provided, for example, at the front and rear of the vehicle. Both laser radar and millimeter wave radar may be provided, or only one of them may be provided. Further, other radars such as a submillimeter wave radar and a microwave radar may be used.
  • a sonar (not shown) using sound waves or ultrasonic waves can be used for the same purpose as the radar.
  • the camera group 107 includes one to a plurality of cameras for photographing the inside of the car 1 and one to a plurality of cameras for photographing the outside of the car, such as the front, side, and rear.
  • a camera that captures the interior of a vehicle is attached to the rear-view mirror (rear-view mirror, rear-view mirror) installed between the driver's seat and front passenger seat, the upper part of the front window, etc.
  • a camera for photographing the work a camera for photographing the work of the passenger sitting in the passenger seat and the rear seat is included.
  • Cameras for photographing the periphery of the automobile 1 are attached to the left and right sides of the rearview mirror, for example, and two cameras (stereo cameras) that mainly photograph the left front and right front of the automobile 1, For example, a camera that is attached to a door mirror or fender mirror to photograph the left and right sides, a camera that photographs the back of the automobile 1, and an omnidirectional camera (360-degree camera) that is attached to the roof and photographs the surroundings at a wide angle or a fisheye camera , Etc.
  • the sensor group 108 detects whether a passenger is seated in a seat such as a driver seat or a passenger seat, an open / close detection sensor for detecting opening / closing of a door or a window of the automobile 1, a sensor for detecting seat belt wear, and the like.
  • a seating sensor for example, a weight sensor
  • a touch sensor for example, a capacitance sensor
  • a human sensor for example, an infrared sensor
  • a vibration sensor for detecting vibration of a vehicle or a tire for detecting vibration of a vehicle or a tire
  • a rotation speed sensor for detecting the rotation speed of a tire
  • a direction for detecting a direction A geomagnetic sensor, an acceleration sensor for detecting acceleration, a gyro sensor (gyroscope) for detecting angle and angular velocity, and the like are included.
  • the sensor group 108 includes sensors for detecting blinking of a right turn signal, a left turn signal (direction indicator), a hazard lamp (emergency blinking light), and lighting of a backlight, a brake light, and the like. Yes.
  • the sensor group 108 also includes a sensor that detects the traveling speed of the vehicle.
  • the sensor group 108 also includes a temperature sensor, a humidity sensor, a heat sensor, a smoke sensor, an exhalation sensor, a carbon monoxide sensor, a hydrogen sulfide sensor, and the like, which are helpful in determining the in-vehicle situation of the automobile 1.
  • the heat sensor and smoke sensor are for detecting the occurrence of a fire in the vehicle
  • the breath sensor is for detecting the driver's drinking
  • the carbon monoxide sensor and the hydrogen sulfide sensor are This is to detect that a gas toxic to the human body is generated in the vehicle.
  • the surrounding moving body grasping unit 109 grasps a moving body (including a person) around the own vehicle using the radar group 106, the sensor group 108, and the captured image of the camera group 107.
  • the surrounding moving body grasping unit 109 grasps surrounding obstacles and moving bodies by performing processing based on, for example, Bayesian theory.
  • the current position detector 110 receives radio waves from GPS satellites and detects the current position of the vehicle. Since the current position detection unit 110 has poor accuracy of the position detected by the radio wave from the GPS satellite, the current position detection unit 110 includes not only the information on the current position detected by the reception of the radio wave from the GPS satellite but also 1 to 1 included in the sensor group 108. Sensor output information from a plurality of sensors, output information from the radar group 106, captured images from one to a plurality of cameras included in the camera group 107 (in combination with a navigation function), and the like are used. Thus, the current position is detected and confirmed with higher accuracy.
  • the vehicle 1 uses the current position detection unit 110 and the surrounding moving body grasping unit 109 to obtain information such as position information acquired by receiving radio waves from the radar group 106, the camera group 107, the sensor group 108, and GPS satellites.
  • information such as position information acquired by receiving radio waves from the radar group 106, the camera group 107, the sensor group 108, and GPS satellites.
  • Various information that is, information corresponding to information obtained from human eyes and ears is processed by machine learning such as Bayesian theory or deep learning, and based on this, the control unit 101 changes the course of the vehicle It performs intelligent information processing (artificial intelligence) and control (artificial intelligence) such as obstacle avoidance to generate automatic driving operation information.
  • the display unit 111 includes, for example, an LCD (Liquid Crystal Display).
  • the touch panel 112 is provided by superposing a touch sensor capable of touch input with a finger, a touch pen, or the like on a display screen of the display unit 111 formed of an LCD.
  • a display image including software buttons (including keyboard character input buttons) is displayed on the display screen of the display unit 111 based on the control of the control unit 101.
  • the touch panel 112 detects a touch on a software button displayed on the display screen with a finger, a touch pen, or the like, the touch panel 112 transmits the touch to the control unit 101. Receiving this, the control unit 101 is configured to execute control processing corresponding to the software button.
  • the car navigation function unit 113 is a manual driving navigation function unit 200 that constitutes a navigation means for manual driving mode and an automatic driving mode that constitutes a navigation means for automatic driving mode. And a navigation function unit 300.
  • the manual driving navigation function unit 200 assists the driver to provide route guidance to the destination.
  • the navigation function part 300 for automatic driving supports the autonomous driving
  • the control unit 101 prompts the driver or the rider to input a destination setting when the host vehicle is activated, and inputs the destination setting input.
  • a destination setting is because it is not necessary to set the destination when the vehicle is switched to the automatic operation mode and shifted to autonomous driving.
  • not only the destination but also the waypoint need not be set when the mode is switched to the automatic operation mode and shifted to autonomous driving.
  • the manual driving navigation function unit 200 assists the driver to guide the route to the destination through the route via the waypoint, and the automatic driving navigation function
  • the unit 300 supports the autonomous traveling to the destination by the vehicle 1 itself through a route via the waypoint.
  • the manual operation navigation function unit 200 includes a setting reception unit 201, a route search unit 202, and a route guidance unit 203.
  • the route guidance unit 203 includes a map display unit 2031 and a voice guidance unit 2032.
  • the automatic driving navigation function unit 300 includes a setting reception unit 301, a route search unit 302, an automatic driving control information generation unit 303, a map display unit 304, a voice guidance unit 305, and a surrounding information provision unit 306. With.
  • the car navigation database 133 connected to the car navigation function unit 113 corresponds to the map database 1331 in which map data in Japan is stored and map data in this example.
  • the route search data is stored, and the route search database 1332 for the manual driving navigation function unit and the route search database 1333 for the automatic driving navigation function unit are stored.
  • the route search database is divided into the route search database 1332 for the manual driving navigation function unit and the route search database 1333 for the automatic driving navigation function unit. This is because manual driving can be performed at his / her own discretion, and thus the support can be minimized, whereas the autonomous driving by the automobile 1 needs to provide more detailed support.
  • the navigation function unit 200 for manual driving is activated based on the activation instruction operation through the touch panel 112 by the driver or the rider or the activation instruction by voice recognized by the voice recognition unit 116.
  • the automatic operation mode is switched to the manual operation mode, in response to an inquiry from the automobile 1, an activation instruction operation through the touch panel 112 or a voice activation instruction recognized by the voice recognition unit 116 is used. to start.
  • the setting reception unit 201 of the manual driving navigation function unit 200 gives priority to the expressway in addition to setting inputs such as a departure point, a destination, a waypoint (a waypoint to the destination, setting is optional), and the like.
  • Setting inputs such as a departure point, a destination, a waypoint (a waypoint to the destination, setting is optional), and the like.
  • Receives and stores priority setting inputs such as
  • the destination is set when the own vehicle is started, the set destination stored is set as the default destination. It goes without saying that this default destination can be changed or deleted.
  • the stored stopover is stored as a default stopover. You can also change or delete this default waypoint.
  • the route search unit 202 searches for a route using the route search database 1332 for the manual operation navigation function unit based on the setting input stored in the setting reception unit 201, and the route search result is displayed as a route guide unit. 203.
  • the map display unit 2031 displays A map image including the current location display of the host vehicle and the planned travel route display is displayed on the display screen of the unit 111, and the voice guidance unit 2032 emits a route guidance voice for supporting the driving operation of the driver through the speaker 138.
  • the route guidance unit 203 based on the route search result received from the route search unit 202, the map data of the map database 1331, and the current position data detected by the current position detection unit 110, the map display unit 2031 displays A map image including the current location display of the host vehicle and the planned travel route display is displayed on the display screen of the unit 111, and the voice guidance unit 2032 emits a route guidance voice for supporting the driving operation of the driver through the speaker 138.
  • the map display unit 2031 displays the vehicle position detected and confirmed by the current position detection unit 110 on the map that explicitly displays the route (route) to the destination on the display screen of the display unit 111. While displaying the superimposed image, the vehicle position (current position) on the map is moved as the vehicle moves.
  • the voice guidance unit 2032 performs voice guidance using synthesized voice at places where route guidance is necessary, such as intersections and branch points on the route (route) to the destination.
  • route guidance is necessary, such as intersections and branch points on the route (route) to the destination.
  • a guidance voice is emitted so that the driver can easily recognize the driving operation to be performed at the branch point.
  • the voice guidance unit 2032 emits guidance voices such as “turn right after 300 meters”, “turn right after 100 meters”, and “turn right here” according to the driving of the vehicle. With this voice guidance, the driver can recognize the intersection to be turned right and the position of the branch point, and can make a right turn driving operation.
  • the automatic operation navigation function unit 300 is automatically activated by the control of the control unit 101 when the manual operation mode is switched to the automatic operation mode. Accordingly, the automatic driving navigation function unit 300 always recognizes the activated current position as the departure place. For this reason, in the navigation function unit 300 for automatic driving, it is not necessary to input the setting of the departure place.
  • the setting reception unit 301 of the automatic driving navigation function unit 300 determines whether or not the destination has already been set. If the destination has not been set, the destination setting input is operated. To the driver or passenger, and the destination set and input is stored. Of course, the destination setting input can be selected and input, the driver or the rider can be prompted to select it, and the selected and input destination can be stored. In addition, it prompts the driver or the rider to enter or set a transit point (selection input from a plurality of candidates, including no transit point), and stores the transit point that has been set or selected.
  • the stored destination or waypoint may be adopted as it is, but in this embodiment, the user In view of this convenience, an inquiry is made as to whether or not to change the destination or waypoint, and if there is no change in the destination or waypoint, the stored destination or waypoint is adopted.
  • the setting reception unit 301 gives priority to a highway, a general road, or a distance. Accept and store priority setting inputs such as (prioritize the shortest route), prioritize time (prioritize the shorter arrival time), prioritize cost (prioritize the one that does not cost) .
  • the driver or the rider wants to go to sleep or to freely act as the autonomous driving navigation function unit 300 in the automatic driving mode, it is left to the autonomous driving by the automatic driving of the automobile 1.
  • Route guidance and map display are unnecessary.
  • some drivers and passengers may want to know the current position of the vehicle on a map or what kind of traveling to perform for the execution of the automatic driving navigation function unit 300 in the automatic driving mode.
  • the driver and the rider do not need the voice of route guidance, but when a specific point is reached, the driver or the passenger may want to know peripheral information such as tourist information or restaurant information at the point.
  • the manual operation operation detection unit 105 detects the manual operation operation, whether to switch to the manual operation mode immediately or, for example, the manual operation operation detection unit 105 performs manual operation. Even when an operation is detected, the mode is switched to the manual operation mode only when an explicit switching instruction operation through the touch panel 112 is detected or when an explicit switching instruction is received by the voice recognition unit 116. In some cases, it is desired to set the level of switching from the automatic operation mode to the manual operation mode.
  • the setting reception unit 301 of the automatic driving navigation function unit 300 is activated when the automatic driving navigation function unit 300 is activated in accordance with the switching from the manual driving mode to the automatic driving mode. Whether to request a map display during the execution of the above navigation, whether to request route guidance by synthetic voice, which will be described later, or a service for providing surrounding information, whether to register a point to request the provision of surrounding information, A setting input such as which of the above levels is to be switched to the manual operation mode is also accepted.
  • the setting reception unit 301 of the automatic driving navigation function unit 300 is similar to the setting reception unit 201 of the manual driving navigation function unit 200, such as destination, waypoint, highway priority, distance priority, time priority, and cost priority. It is also possible to accept and store setting inputs such as.
  • the route search unit 302 searches for a route using the route search database 1333 for the navigation function unit for automatic driving, and the route search result is used for automatic driving. This information is provided to the control information generation unit 303.
  • the automatic driving control information generation unit 303 Driving control instruction information that supports autonomous driving is generated. Based on this driving control instruction information, the control unit 101 controls the motor drive control unit 102 and the steering drive control unit 103 to execute autonomous driving.
  • the automatic driving control information generating unit 303 notifies the control unit 101 of information on the separation direction and the distance, and When the current position of the vehicle is on the route to the destination, the control unit 101 is notified of the change direction information along the route before the intersection or branching point on the route as the vehicle moves. To do.
  • the control unit 101 based on the driving control instruction information notified from the automatic driving control information generating unit 303, the current position confirmation result of the current position detecting unit 110 and the grasping result of the surrounding moving body grasping unit 109, For controlling the motor drive unit 131 through the motor drive control unit 102 and the steering drive unit 132 through the steering drive control unit 103 so that the vehicle moves along the route as instructed on the route. Generates automatic driving operation information. Therefore, the vehicle 1 moves to the destination even when the passenger is unmanned by the route guidance to the destination by the automatic driving navigation function unit 300 and the control unit 101 of the car navigation function unit 113 in the automatic driving mode. Can do.
  • the map display unit 304 is a processing function unit that performs map display processing during the execution of the automatic driving navigation function. Since the map display unit 304 does not need to provide assistance to the driver with the navigation function for automatic driving, in this embodiment, the display screen of the display unit 111 is divided in the vicinity of the intersection or branch point, A display for enlarging and guiding the vicinity of the branch point is omitted.
  • the map display unit 304 may perform the same map display processing as the map display unit 2031 of the route guidance unit 203 of the manual driving navigation function unit 200, and in that case, the manual driving navigation function unit
  • the map display unit 2031 of the route guidance unit 203 of 200 can also be used as the map display unit 304 of the navigation function unit 300 for automatic driving.
  • the map display unit 304 is activated when the setting reception unit 301 requests a map display during execution of the automatic driving navigation, and is activated, and the navigation execution by the above-described automatic driving navigation function unit 300 is performed.
  • the inside map display is executed and the map display is not requested, the non-operating state is entered.
  • the switch 307 in FIG. 2 is for explicitly indicating that the map display unit 304 can be switched between operation and non-operation according to a user setting, and is not actually provided.
  • the voice guidance unit 305 is a processing function unit that performs voice guidance processing using synthesized speech while the navigation for automatic driving is being executed. There is no need to provide assistance to the driver with the navigation function for automatic driving, so a polite voice guidance according to approaching the intersection or branching point such as "Turn right at 300 meters" or "It will be a branching point soon". In this embodiment, the voice guidance unit 305 performs a voice guidance process for notifying the driver and the rider of what action the vehicle takes at an intersection or a branch point.
  • the voice guidance unit 305 may provide the same voice guidance as the voice guidance unit 2032 of the navigation function unit 200 for manual driving. In that case, the voice guidance unit 2032 of the route guidance unit 203 of the navigation function unit 200 for manual driving can be used as the voice guidance unit 305 of the navigation function unit 300 for automatic driving.
  • the voice guidance unit 305 is also activated when the setting reception unit 301 requests voice guidance during execution of automatic driving navigation and is set in an operational state. Navigation execution by the automatic driving navigation function unit 300 is performed. When the voice guidance in the middle is executed and no voice guidance is requested, it becomes inactive.
  • the switch 308 in FIG. 2 is intended to explicitly indicate that the voice guidance unit 305 is switched between operation and non-operation according to a user setting, and is not actually provided.
  • the peripheral information providing unit 306 enters an operation state when the setting receiving unit 301 receives registration of a location that requests the provision of peripheral information.
  • the switch 309 in FIG. 2 is for explicitly indicating that the peripheral information providing unit 306 is switched between operation and non-operation according to a user setting, and is not actually provided.
  • the surrounding information providing unit 306 monitors the current position of the host vehicle detected by the current position detecting unit 110, and when the current position of the host vehicle is at or near a registered point, the car navigation database 133 is displayed. Information on the registered points stored in the map database, such as sightseeing information, surrounding scenery guidance information, restaurant information such as surrounding restaurants, etc. are read and displayed on the display screen of the display unit 111 Or a synthesized voice is notified through the speaker 138 through the voice input / output unit 122. In this case, in the case where the user can preliminarily register and set whether to request similar information as the peripheral information, only the peripheral information set and registered is set. Is provided.
  • the display screen of the display unit 111 displays icon buttons for searching around, When the rider presses down the icon button for searching for the vicinity, it is detected on the touch panel 112, and depending on the detection result, the manual driving navigation function unit 200 or the automatic driving navigation function being executed at that time is detected.
  • the unit 300 is configured to execute a peripheral search function centered on the current position where the peripheral search icon button is pressed and to provide a search result to a driver or a rider. Yes.
  • the navigation function unit 300 for automatic driving of the car navigation function unit 113 detects the current position detected by the current position detection unit 110.
  • a surrounding search is performed with respect to the attribute of the destination with the position as the center, and the facility or place as a result of the surrounding search is set as the destination.
  • the car navigation function unit 113 refers to the map information of the car navigation database 133 from the latitude / longitude information of the current position information detected by the current position detection unit 110, thereby It has a function to detect names, facility names, and addresses.
  • the voice guidance unit 2032 of the manual driving navigation function unit 200 of the car navigation function unit 113 and the voice guidance unit 305 of the automatic driving navigation function unit 300 include the location name and facility name of the detected current position, A function of transferring the name of the address to the synthesized speech generation unit 121 based on the control of the control unit 101 is also provided.
  • the image recognition unit 114 performs a matching process between a captured image from a camera that captures the inside of the vehicle in the camera group 107 and a camera that captures the outside of the vehicle, and image information stored in the image information storage unit 134.
  • An image recognition result is obtained for determining an in-vehicle situation such as a physical change of a driver or a rider, a driver's work such as sleeping, eating and drinking, smoking, looking away, aside, and a driver's footwear.
  • the image recognition unit 114 transfers the obtained recognition result to the in-vehicle situation determination unit 117.
  • the image recognition unit 114 recognizes a person standing on a pedestrian crossing or a crossing barrier of a railroad crossing from a captured image from a camera that captures the outside of the vehicle in the camera group 107, thereby detecting a railroad crossing barrier.
  • the image recognizing unit 114 also has a function of recognizing a road sign or a road sign from a captured image from a camera that captures the outside of the camera group 107.
  • the image information storage unit 134 connected to the image recognition unit 114 stores image information of a comparative image for image recognition.
  • a comparison image stored in the image information storage unit 134 for comparison with a captured image from a camera that captures the inside of the vehicle, an image of a person sitting in the seat, lack of human resources, front and back blindness, fainting state, Images of seizures of a spider, images of snoozing (a state in which a spider remains closed for a certain period of time, a cocked cock, etc.), images of people who are looking aside or looking aside, images of people who are eating and drinking Other than, images of food and drink (rice balls, sandwiches, lunch boxes, sweets, ice cream, water, tea, coffee, etc.) (helps detect food and drink), cigarettes (helps detect smoking) Images of footwear (footwear that may cause misoperation such as clogs, slippers, and high heels) and images of bare feet (state that does not wear footwear and may cause misoperation).
  • a comparison image stored in the image information storage unit 134 for comparison with a captured image from a camera that captures the outside of the vehicle, an image of a landscape that causes a look away or a side view (for example, an image of a superb view of autumn leaves, Images of famous places / historic sites, images of festival shrines, images of fireworks, images of renovations, etc.) and images of celebrities (for example, images of famous celebrities and athletes).
  • image data of road signs and road markings are registered and stored in advance as comparative images.
  • the image recognition unit 114 includes a captured image from one or more cameras that capture the front, side, rear, and the like outside the vehicle 1 in the camera group 107, and image data of road signs and road markings. By performing the matching process, road signs and road markings are extracted from the captured images of the one or more cameras.
  • the image recognition unit 114 transfers the recognition result based on the captured image from the camera that captures the outside of the vehicle to the own vehicle motion analysis detection unit 118.
  • the own vehicle motion analysis detection unit 118 detects movements such as start, stop, straight traveling, slow travel, right rotation, left rotation, and reverse movement of the own vehicle (automobile 1) from the captured image of the camera of the camera group 107. It detects movements such as moving to the left side of the road and straddling the center line of the driving lane.
  • the automatic operation switching condition discriminating unit 115 changes from the manual operation mode stored in the automatic operation switching condition storage unit 135, which will be described in detail later, to the automatic operation mode (including the normal automatic operation mode and the forced automatic operation mode). It is determined whether or not the in-vehicle situation of the vehicle or the behavior in the manual operation mode by the driver matches with any of the switching conditions to be switched, and when it is determined that they match, the manual operation mode is changed to the normal automatic operation mode or An instruction to switch to the forced automatic operation mode is sent to the manual / automatic operation mode switching control unit 104.
  • the voice recognition unit 116 performs a matching process between the voice information from the microphone 137 and the voice information stored in the voice information storage unit 136, so that the physical change of the driver or the rider or the driver And voice recognition results for determining in-vehicle conditions such as passenger's convenience and urine feeling.
  • the voice recognition unit 116 transfers the obtained recognition result to the in-vehicle situation determination unit 117.
  • a whisper, asthma, scream or “suffer”, “help”, “help” Voice information such as “I feel bad”, “Somehow”, “I feel sick”, “I ’m going to vomit”, “U”, “Gee”, or when the driver or rider has a stool or urine
  • the voice information of squeezed voices (words) such as “toilet”, “toilet”, “toilet”, “limit”, “leak” seems to be used for voice recognition by the voice recognition unit 116.
  • a child's cry, a falling sound from a child's seat, a pet's bark, and the like are registered and stored in advance.
  • the in-vehicle situation determination unit 117 includes an image recognition result from the image recognition unit 114, a voice recognition result from the voice recognition unit 116, and sensors from one or more sensors that contribute to the determination of the in-vehicle situation in the sensor group 108. From the output, the in-vehicle situation serving as a switching condition for switching from the manual operation mode to the automatic operation mode is determined. Then, the in-vehicle state determination unit 117 transfers the determination result of the in-vehicle state to the automatic driving switching condition determination unit 115.
  • the mobile phone function unit 119 is built in the automobile 1 in advance, and is registered as a subscriber and assigned a predetermined subscriber number. A driver or a rider of the automobile 1 can make a mobile phone call by so-called hands-free. Then, as will be described later, the control unit 101 of the automobile 1 stores the portable information when a report to the number 119 is stored as setting information related to the switching conditions stored in the automatic driving switching condition storage unit 135.
  • the telephone function unit 119 is provided with a function for making a 119 report.
  • the notification information in the 119th notification is composed of synthesized speech from the synthesized speech generating unit 121.
  • the mobile phone function unit 119 also has a mail function and an Internet connection function.
  • the clock unit 120 has a calendar function, provides the current date and time, and also has a timer function for measuring time from a predetermined timing based on the control of the control unit 101.
  • the synthesized voice generating unit 121 has a built-in memory for storing voice message data to be emitted to the outside, and also provides route guidance from the voice guidance unit 2032 and the voice guidance unit 304 of the car navigation function unit 113 and the surrounding information providing unit 306. It has a function to convert voice data, location name, facility name, and address of the current position into synthesized voice.
  • the voice message stored in the synthesized voice generation unit 121 is, for example, “switched to the normal automatic operation mode”, “switched to the forced automatic operation mode”, “to the manual operation mode” as described later.
  • Operation mode switching notification messages such as “Switched” and a notification message for prompting destination setting input when switching from the normal manual operation mode to the automatic operation mode or the forced automatic operation mode are prepared.
  • the microphone 137 and the speaker 138 are connected to the voice input / output unit 122.
  • the microphone 137 and the speaker 138 are used as a hand-free telephone handset using the mobile phone function unit 119.
  • the voice input / output unit 122 not only has a function of sending and receiving voice for hands-free calling using the mobile phone function unit 119, but also uses the microphone 137 to transmit in-vehicle audio information for determining in-vehicle conditions.
  • a function of collecting and supplying to the voice recognition unit 116 and a function of emitting from the speaker 138 the above-described operation mode switching notification message, a notification message for prompting destination setting input, and the like are also provided.
  • the first type of switching condition is defined as an in-vehicle situation in which, if the driver continues driving in the manual driving mode, there is a problem in ensuring safety. That is, when the in-vehicle situation of the automobile 1 becomes an in-vehicle situation that matches this switching condition, there is a danger or safety is not ensured.
  • This first type of switching condition is defined as a condition for switching to the automatic driving mode so as to achieve a driving state in which safe driving is maintained.
  • the second type of switching condition prevents driving that does not comply with traffic regulations such as “No overtaking”, “Right turn (left turn) prohibited”, “Limited speed”, “Signal compliance”, “Temporary stop at level crossing”, etc.
  • traffic regulations such as “No overtaking”, “Right turn (left turn) prohibited”, “Limited speed”, “Signal compliance”, “Temporary stop at level crossing”, etc.
  • traffic regulations such as “No overtaking”, “Right turn (left turn) prohibited”, “Limited speed”, “Signal compliance”, “Temporary stop at level crossing”, etc.
  • traffic regulations such as “No overtaking”, “Right turn (left turn) prohibited”, “Limited speed”, “Signal compliance”, “Temporary stop at level crossing”, etc.
  • the automatic operation switching condition storage unit 135 connected to the automatic operation switching condition determination unit 115 includes a first automatic operation switching condition table TBL1 for the first type switching condition, and a second type of switching condition table TBL1.
  • a second automatic operation switching condition table (forced automatic operation switching condition table) TBL2 for the switching conditions is stored.
  • the first automatic operation switching condition table TBL1 is changed from the manual operation mode to the normal automatic operation mode or the normal operation mode when the vehicle 1 is traveling in the manual operation mode.
  • Switching conditions for switching to forced automatic operation mode, control details when the switching conditions are met, destination information in normal automatic operation mode and forced automatic operation mode, release conditions for normal automatic operation mode and forced automatic operation mode Are stored in association with each other.
  • the control content when the switching condition is met depends on the automatic operation mode specification information on whether to switch to normal automatic operation mode or forced automatic operation mode when the switching condition is met, and the matching switching condition.
  • the vehicle 1 includes control contents to be performed in the automatic operation mode after switching (including the forced automatic operation mode).
  • the release condition is a condition for releasing the forced automatic operation mode and returning to the manual operation mode, or an operation condition for switching from the automatic operation mode to the manual operation mode.
  • the second automatic driving switching condition table TBL ⁇ b> 2 indicates that the driving mode of the car 1 is changed from the manual driving mode to the forced automatic driving mode while the car 1 is running in the manual driving mode.
  • the switching conditions for switching to, the operation details in the forced automatic operation mode, and the cancellation conditions for the forced automatic operation mode are stored in association with each other.
  • the first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 stored in the automatic driving switching condition storage unit 135 are written and stored in advance by the manufacturer or sales company of the automobile 1. .
  • the automatic operation switching condition storage unit 135 can be additionally stored. And it is comprised so that the user of the motor vehicle 1, ie, a driver
  • the first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 may be set and registered in advance by each automobile company, or standardized by the automobile industry, May be set by the Ministry of Land, Infrastructure, Transport and Tourism. In this case, the user cannot change or delete the stored contents.
  • the first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 are used from homepages such as automobile companies and the Ministry of Land, Infrastructure, Transport and Tourism using the function of connecting to the Internet provided in the mobile phone function unit 119.
  • the latest condition table may be updated.
  • the Ministry of Land, Infrastructure, Transport and Tourism is a Japanese government office, but it may be considered the same as the government office that controls the transportation and transportation of the country where the automobile 1 runs. For example, in the case of the United States, it is DOT (United States States Department of Transportation).
  • the first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 are related to traffic regulations, etc., in each country, even in the same country, the state (USA), the province (China), the prefecture ( Japan) and other regions.
  • the current position during traveling is detected by radio waves from the GPS satellite, the mobile phone function unit 119, and the like, and based on the country and region determined from the current position, the first automatic operation switching condition table TBL1 and the first Alternatively, the automatic operation switching condition table TBL2 may be switched.
  • the driver or the rider instead of automatically switching according to the country or region where the vehicle is traveling, the driver or the rider identifies the country or region where the vehicle is traveling, and the first corresponding to the country or region where the vehicle is traveling.
  • the automatic operation switching condition table TBL1 and the second automatic operation switching condition table TBL2 may be used.
  • the vehicle 1 When traveling in multiple countries is performed on a daily basis, such as in the EU (European Union), the vehicle 1 is subject to the first automatic driving switching condition in all countries where traveling is planned.
  • the table TBL1 and the second automatic driving switching condition table TBL2 may be stored in the automatic driving switching condition storage unit 135 in association with the identification information of all countries. This is the same not only in the country but also in the region.
  • the switching conditions are “change in health condition of driver or rider 1”, “change in health condition of driver or rider 2”, “sleeping of driver”, “driving” ”Poor physical condition such as car sickness or nausea of the driver or rider”, “convenience or urinary feeling of the driver or rider”, “overworked driving”, “running (including red light stop, temporary stop such as railroad crossings) "Drinking by the driver”, “Driving by the driver, driving aside", “Drinking or smoking by the driver”, “Deterioration of driving environment”, “Abnormal behavior of children and pets riding together”, “How to drive ⁇ Attitude '', ⁇ The driver is wearing footwear that interferes with driving or is not wearing footwear '', and conditions for ensuring safe driving by avoiding situations that are likely to cause accidents are exemplified ing.
  • designation of the automatic operation mode and forced automatic operation mode are “change in health condition of driver or rider 1”
  • change in health condition of driver or rider 2” such as car sickness or nausea of the driver
  • the switching conditions shown in FIGS. 3 to 5 are part of the contents of the first automatic operation switching condition table TBL1, and it goes without saying that various other predetermined switching conditions are registered.
  • the switching condition for “change in health condition of driver or rider 1” the driver or rider is registered with an emergency such as lack of personnel, lack of front and back, fainting, etc. ing.
  • the automatic driving switching condition discriminating unit 115 discriminates whether or not the switching condition for the “change in health condition of the driver or the rider 1” is met by using the determination result of the in-vehicle situation determining unit 117.
  • the in-vehicle situation determination unit 117 determines whether or not a driver or a passenger is in a state in which a physical abnormality such as a lack of personnel, an unforeseen loss, or a faint has occurred due to image recognition by the image recognition unit 114. To do.
  • the case of a driver will be described.
  • the driver is photographed by a camera in a group of cameras 107 mounted on the side of the rearview mirror 2 of the automobile 1.
  • the captured image of the driver is an image with a movement in which the driver opens his eyes, looks ahead and operates the steering wheel (handle).
  • the driver experiences a physical change and is in a state of lack of personnel, loss of anteroposteriorness, or fainting the driver's captured image is faced down without the driver's eyes closed and the face gazing forward (upward In some cases, the image becomes loose and does not move.
  • the in-vehicle situation determination unit 117 determines the abnormal state generated in the driver as described above from the recognition result from the image recognition unit 114 and transmits the determination to the automatic driving switching condition determination unit 115.
  • the image information storage unit 134 may store abundant medically characteristic and detailed comparative image information.
  • the automatic driving switching condition discriminating unit 115 receives the determination result of the in-vehicle situation, and collates the determination result with the stored content of the automatic driving switching condition storage unit 135 to obtain “the health condition of the driver or the rider”. It is determined that the switching condition for “abnormality 1” (see FIG. 3) is met.
  • the in-vehicle situation determination unit 117 includes the voice recognition unit 116 in addition to the image recognition result.
  • This recognition of the driver's or rider's health condition 1 is made by taking into account the recognition of whispering voices, whispering voices, and phlegm (in cases of cerebral overflow (brain hemorrhage), etc.) Like that. Thereby, the accuracy of the determination in the in-vehicle situation determination unit 117 can be improved.
  • the control content regarding the switching condition of this “change in the health condition of the driver or passenger 1” is switching to the forced automatic driving mode.
  • a hospital is designated as the destination (destination).
  • the designated hospital may be selected and designated in advance by a driver or the like, or may be selected and designated when switching to the automatic operation mode.
  • a specific hospital for example, a family hospital can be designated.
  • the hospital name, address, and telephone number of the family hospital are stored in the automatic operation switching condition storage unit 135.
  • the control unit 101 of the automobile 1 uses the mobile phone function unit 119 to call the hospital using the telephone number of the hospital, tells the characteristics of the vehicle, the name of the driver, etc., and takes the suddenly ill person. Let the hospital know.
  • a message for this purpose is stored in advance in the synthesized speech generator 121.
  • the hospital can be notified by email instead of by phone. Further, in order to accurately convey the medical condition of the suddenly ill person to doctors in the hospital, the image information and voice information of the suddenly ill person may be emailed as an attached file.
  • a destination attribute may be designated as a destination such as “emergency hospital or general hospital close to the current position”.
  • the car navigation function unit 113 searches for the corresponding hospital around the current position, The vicinity search result is the destination.
  • the control unit 101 of the automobile 1 uses the telephone number of the hospital to call the hospital by the mobile phone function unit 119 as described above. Make a phone call, tell the car's characteristics and driver's name, and inform the hospital that you will be taking a sudden illness. Further, as described above, notification can be made not only by telephone but also by a communication application such as mail or LINE. Further, the image information and voice information of the suddenly ill person may be mailed as an attached file.
  • the synthesized voice generating unit 121 instead of designating a specific destination or destination attribute as a destination, it is possible to select stopping at a road shoulder or the like and making a 119 notification.
  • the synthesized voice generating unit 121 generates the characteristics of the vehicle, the name of the driver, the occurrence of a sudden illness, the name of the current location, the address, etc. To include.
  • the motor vehicle 1 may make it equip the motor vehicle 1 with the medical information storage part (not shown) which incorporates various medical information (medical information) and a medical database (not shown).
  • medical information such as disease name, symptom, and coping method is clearly stored in the medical information storage unit for intracerebral hemorrhage, subarachnoid hemorrhage, cerebral infarction, myocardial infarction, angina pectoris, and other various diseases.
  • image information such as eye condition, facial expression, sweating, convulsions, etc., and voice information such as wrinkles, whispering, etc. peculiar to various diseases. Be able to grasp quickly and accurately.
  • image information stores not only still images but also moving images. Therefore, when an anomaly 1 occurs, it is possible to determine the control content, the countermeasure, and the destination of the automobile 1 based on the medical information stored in the medical information storage unit.
  • the car 1 selects an optimal traveling speed (for example, 30 km / h or less) that does not impose a burden on the suddenly ill person, or the car navigation function unit 113 stores the unevenness of the road in the car navigation database 133. It is also possible to provide information and the like from the car navigation function unit 113 to provide an optimal route that can travel smoothly without causing vibrations to the suddenly ill.
  • the medical information storage unit stores a medical history or medical history of a driver or a rider, a quicker and more appropriate response can be made when an anomaly 1 occurs.
  • the destination is the hospital with the specialist or the hospital with specialized equipment based on the type of disease.
  • the department is a neurosurgeon specialist or specialized equipment
  • the hospital is equipped with cardiovascular or cardiac specialists or specialized equipment.
  • the driver or rider is a pregnant woman and labor pains occur, it is not a state of personnel refusal, anteroposterior fainting, fainting, or illness, but it is a life-threatening emergency and conforms to Incident 1. .
  • the automobile 1 heads for the pregnant woman's family gynecology department, obstetrics department, or maternity hospital so that the pregnant woman can give birth safely.
  • the forced automatic driving mode cancellation condition corresponding to the switching condition of “change in health condition of driver or passenger 1” is set to “arrival at destination” or “arrival of ambulance”.
  • the in-vehicle situation determination unit 117 uses the image recognition result in the image recognition unit 114 and the voice recognition result in the voice recognition unit 116 to determine this “change 2 in the health condition of the driver or the rider”. To.
  • the control content for the switching condition of “change in the health condition of the driver or the rider 2” is to switch to the forced automatic driving mode, and the driver or the rider is awakened even if a physical change occurs.
  • the destination is inquired to the driver or the rider.
  • the driver or the like selects and designates “home (including address and location information)”, “hospital (including hospital name, address and location information)”, and “stop on the shoulder”. Alternatively, it may be selected and specified when switching to the automatic operation mode.
  • the release condition of the forced automatic driving mode corresponding to the switching condition of “change in health condition of driver or rider 2” is set to “arrival at destination”.
  • the control unit 101 When the switching condition of “change in health condition of driver or passenger 2” is met, based on the matching result of the automatic driving switching condition discriminating unit 115, the control unit 101, for example, the synthesized voice “is it all right?” A message is sent to ask about safety, and even if the destination is pre-registered in the automatic operation switching condition storage unit 135, an inquiry “Do you want to make the destination a registered place?” As will be described later. To change the destination (destination). This takes into account the case where the driver or the rider decides that he / she should go to the hospital from the degree of physical change even if “home” or “stop on the shoulder” is selected in the pre-registration. In this embodiment, when “stop on the shoulder” is registered in advance, it is stipulated that an inquiry “Do you want to call 119?” Is made.
  • destinations such as “Do you want to return home?”, “Do you want to go to the hospital?”, “Do you want to stop?” (Destination) inquiry message is generated by synthesized voice, and the driver or rider's reply such as “Yes”, “No” etc. is recognized by voice, and the destination is determined according to the recognition result To.
  • the control unit 101 when there is no pre-registration as a destination corresponding to the switching condition of “change in health condition of driver or rider 2”, and there is no response to the inquiry by synthetic voice, the control unit 101 Is determined to be in a dangerous state, and an emergency hospital or a general hospital close to the current position is searched by the peripheral search function of the car navigation function unit 113, and the searched hospital is headed to the hospital. In this case, if the hospital cannot be searched, the vehicle stops on the shoulder or the like, and 119 is notified.
  • the synthesized voice generator 121 In the case of 119 notification, as described above, the synthesized voice generator 121 generates the 119 notification by generating the characteristics of the vehicle, the name of the driver, the occurrence of a sudden illness, the name of the current location, the address, etc. Include in the content.
  • the forced automatic driving mode canceling condition corresponding to the switching condition of “driver or passenger health condition change 2” is “arrival at destination” or “arrival of ambulance”.
  • the in-vehicle situation determination unit 117 recognizes the state in which the eyelid remains closed for a certain period of time, the head cockle cockle, or the like by the image recognition of the camera 107a that captures the driver 3 in the image recognition unit 114. By recognizing, the driver's sleep state is determined.
  • the control content regarding the switching condition of the “driver's dozing” is to switch to the normal automatic driving mode, and to send a call voice (synthetic voice) or alarm sound or buzzer to wake up the driver. Is done. This is because it can be expected that the driver is awakened by the calling voice, the alarm sound, and the buzzer. Note that vibration may be applied to the seat instead of or in addition to the calling voice.
  • the destination (destination) for the switching condition of the “driver's sleep” is the set destination when the destination is set when the vehicle 1 starts to travel. However, if the user is not awakened by calling voice or vibration (can be judged from image recognition), a physical trouble or a mental trouble is expected instead of falling asleep.
  • the destination (destination) is an emergency hospital or general hospital close to the current position. Further, if the hospital is not found by the peripheral search, the vehicle stops on the shoulder or the like, and the 119th report including the predetermined notification items as described above is sent.
  • the cancellation condition of the normal automatic driving mode corresponding to the switching condition of the “driver's drowsiness” is “when the destination (destination) determined at the time of switching to the automatic driving mode is“ preset destination ”. In other cases such as a hospital, the destination is “arrived at the destination”.
  • the in-vehicle situation determination unit 117 performs the image recognition result of the photographed image of the driver or the rider in the image recognition unit 114, “bad feeling”, “drunk in the car”, “pauses”, “spit” From the speech recognition results of the speech recognition unit 116 such as “Yes”, “Uh”, “Gee”, etc., the situation of “bad physical condition such as driver sickness or nausea” is determined. .
  • the control content regarding the switching condition of the“ physical sickness such as driver's or passenger's sickness and nausea ” is to switch to the forced automatic driving mode.
  • the destination is the nearest PA (parking area) or SA (service area) if the current position is on the highway, and “stops on the shoulder” if the current position is a general road. . “Return to home” can be registered as a destination. Further, the condition for canceling the forced automatic driving mode corresponding to the switching condition of “the poor condition of the driver or the passenger such as car sickness and nausea” is assumed to be “arriving at the destination”.
  • the in-vehicle situation determination unit 117 determines whether the driver or the rider is striking through image recognition of the captured image of the driver or the rider in the image recognition unit 114, and “toilet”, “ From the speech recognition result in the speech recognition unit 116 of the utterance such as “Looks like”, the situation of “the driver's or the rider's convenience and urine” is determined.
  • the control content regarding the switching condition of the “driver's or rider's convenience or urine” is to switch to the forced automatic driving mode.
  • the destination is the nearest PA (parking area) or SA (service area) if the current location is on the expressway, and the nearest “convenience store” or “gas station” if the current location is a general road. It is said to be a place with toilets. The place where the toilet is located can be pre-registered by the attribute of the destination such as “convenience store” or “gas station”.
  • the condition for canceling the forced automatic driving mode corresponding to the switching condition of “the driver's or passenger's convenience or urine” is set to be “arriving at the destination”.
  • the switching condition in this case is one of three conditions.
  • the first condition is that a single driver continues to drive for a predetermined time or longer, for example, 2 hours or longer.
  • the second condition is that the total driving time per day for one driver is not less than a predetermined time, for example, not less than 5 hours.
  • the third condition is that the number of times of switching between the manual operation mode and the automatic operation mode of the day is a predetermined number of times or more, for example, 20 times or more while one driver is driving.
  • the situation in which any of the above three conditions is satisfied takes into consideration that the driver may overwork and may cause trouble in safe driving.
  • the overwork determination condition is not limited to the above three conditions, and the facial expression of the driver photographed with the camera of the camera group 107 is image-recognized to determine whether the driver is tired or not. You may measure a living body and determine the degree of overwork from the measured value.
  • the in-vehicle situation determination unit 117 determines whether one driver has continued driving for 2 hours or more continuously and whether the total driving time exceeds 5 hours based on time information from the clock unit 120. Then, it is determined that the in-vehicle situation of the switching condition of the first condition or the second condition has been reached. In addition, the in-vehicle situation determination unit 117 receives information on switching between the manual operation mode and the automatic operation mode from the manual / automatic operation mode switching control unit 104, and counts the number of times, thereby allowing one driver.
  • the control content regarding the switching condition of this “overworked driving” is the switching to the forced automatic driving mode.
  • a destination for the switching condition of the “overworked driving” when the destination is set when the vehicle 1 starts to travel, the destination is set, and the destination must be set in advance. For example, the destination is set by the driver or the rider in response to an inquiry when the mode is switched to the automatic driving mode.
  • the release condition of the forced automatic operation mode corresponding to this “overworked driving” switching condition is set to “arriving at the destination”.
  • the in-vehicle situation determination unit 117 determines the in-vehicle situation of “driving by the driver” from the detection result of the alcohol concentration contained in the expiration of the driver by the expiration sensor included in the sensor group 108.
  • the image recognition unit 114 recognizes an image when the driver is drinking a drink, and the bottle, bottle, or can of the drink that is being held or held is beer, sake, Recognizing whether the drink is an alcoholic drink such as wine, whiskey, cocktail, shochu, etc., the in-vehicle situation determination unit 117 that receives the recognition result determines the in-vehicle situation of “driver's drinking”. .
  • the control content regarding the switching condition of the “driver's drinking” is the switching to the forced automatic driving mode.
  • a destination for the switching condition of “driving by the driver” if the vehicle 1 is running (when the red light is stopped, including a temporary stop such as a railroad crossing), the destination is set at the start of running. In this case, the destination is set, and if the destination is not set in advance, the destination is set by the driver or the passenger in response to an inquiry when switching to the automatic driving mode.
  • the cancellation condition of the forced automatic driving mode corresponding to the switching condition of “driver's drinking” is “arrival at the destination” or “disappearance of the switching condition”.
  • the disappearance of the switching condition is when the alcohol concentration of the driver's exhalation at the exhalation sensor becomes a predetermined value or less, or after the elapse of time, for example, 8 hours after returning from the drinking state to the normal state.
  • the switching condition “driver's looking away / sideways” will be described.
  • the switching condition is that the driver's look-ahead or side-view continues for a predetermined time or longer, for example, 1 minute or longer.
  • the in-vehicle situation determination unit 117 determines whether the driver is looking aside or looking aside from the continuation of the driver for about 1 minute and the direction of the line of sight based on the image recognition result of the driver's captured image by the camera. Try to determine the situation. By considering the continuation of the state of the driver for more than 1 minute and the direction of the line of sight, it is possible to make a distinction from the point of the left-right confirmation for driving safety.
  • the in-vehicle situation determination unit 117 detects the location of a famous place / historic site / superb view (including autumn leaves) by the vicinity search function of the car navigation function unit 113, and performs the above-described image recognition based on the above-described image recognition. In addition to the detection of the above, it is possible to determine the in-vehicle situation of “driver's looking away and aside”. In addition, the in-vehicle situation determination unit 117 accesses the Internet through the mobile phone function unit 119, searches for information on events around the current position, and detects detection results of events such as festivals, fireworks, and new store opening sales.
  • the image recognition unit 114 adds the detection results of the above-mentioned famous celebrities, athletes, and recently-talked-about persons to the above-mentioned detection of the state of the heart by the above-mentioned image recognition. It is possible to determine the in-vehicle situation of “seeing away, seeing”.
  • the control content regarding the switching condition of “driver's looking away and aside” is switching to the forced automatic driving mode. Then, as a destination for the switching condition of “driver's look-aside and side-view”, when a destination is set at the start of driving of the automobile 1, the destination is set, and the destination is set in advance. If not set, the destination set by the driver or the rider in response to an inquiry when the mode is switched to the automatic driving mode is set.
  • the driver is asked whether to stop by a synthesized voice message, and if the answer is affirmative, the destination, such as the sights / historic sites detected in the surrounding search, the event venue detected in the Internet search, etc. are presented as the destination. Then, the driver may be allowed to determine whether or not the landmark / historic site is the destination. Or you may make it stop on a road shoulder etc. for a viewing.
  • the release condition of the forced automatic driving mode corresponding to the switching condition of “driver's looking away and aside” is “arrival at destination” or “disappearance of switching condition”.
  • the disappearance of the switching condition is made after a predetermined time, for example, 5 minutes elapses after the state of “driver's looking away, aside” disappears.
  • it may be a predetermined distance, for example, 500 meters or more away from the place where the “driver's looking aside or sidewalk” occurs.
  • the switching condition “driver's eating and drinking or smoking” is that eating or drinking or smoking by the driver continues for a predetermined time or longer, for example, 3 minutes or longer.
  • the vehicle interior state determination unit 117 determines a state in which the driver is eating or drinking or smoking based on the image recognition result of the driver's captured image by the camera, and the state is 3 minutes or more based on the time information of the clock unit 120.
  • the in-vehicle situation of “driver's eating, drinking or smoking” is determined depending on whether or not it has continued. Eating, drinking and smoking in a short period of less than 3 minutes by the driver are considered to be acceptable for manual driving.
  • the image recognizing unit 114 recognizes rice balls, sandwiches, lunch boxes, sweets, ice cream, water, tea, coffee, etc. included in the driver's captured image by the camera, so that the driver's eating and drinking If the driver has a cigarette in his hand, the driver's smoking status can be recognized.
  • the switching condition of “driver's eating and drinking or smoking” an intention display from the driver that automatic driving may be accepted when the switching condition is met is accepted.
  • the switching condition is valid only when the positive intention display is set.
  • the control content regarding the switching condition of “driver's eating, drinking or smoking” is switching to the forced automatic driving mode. Then, as a destination for the switching condition of “driver's eating and drinking or smoking”, when the destination is set when the automobile 1 starts to travel, the destination is set, and the destination is set in advance. If not set, the destination set by the driver or the rider in response to an inquiry when the mode is switched to the automatic driving mode is set.
  • the cancellation condition of the forced automatic driving mode corresponding to the switching condition of “driver's eating, drinking or smoking” is “end of eating or drinking or smoking”, that is, “disappearance of switching condition”.
  • the switching condition “deterioration of ambient environment during operation” is that the surrounding environment during driving is a backlight, a dusk (sunset) state, bad weather (rain, snow, etc.), and the driver is difficult to see the surroundings.
  • the in-vehicle situation determination unit 117 determines the in-vehicle situation of “deterioration of the surrounding environment during driving” based on a photographed image from a camera that images the outside, a sensor detection output of a temperature sensor, and a humidity sensor.
  • the in-vehicle situation determination unit 117 uses the result of voice recognition by the voice recognition unit 116 that the driver shouts out loud, such as “difficult to see” and “difficult to drive”. The deterioration of the surrounding environment ”may be determined.
  • the control content for the switching condition of “deterioration of ambient environment during driving” is switching to the forced automatic driving mode.
  • the normal automatic operation mode may be used instead of the forced automatic operation mode.
  • the destination set for the switching condition of “deterioration of ambient environment during driving” is the destination set at the start of traveling of the automobile 1.
  • the cancellation condition of the forced automatic operation mode corresponding to the switching condition of “deterioration of the surrounding environment during driving” is “disappearance of the switching condition” such as an improvement of the surrounding environment during driving.
  • the in-vehicle situation determination unit 117 includes an image recognition result of a captured image from a camera that captures a driver (driver's seat) and a passenger, and the above-mentioned child cry, falling sound as a voice recognition result in the voice recognition unit 116, From the pet bark, the “switching behavior of the child, pet” in the above switching condition is determined.
  • the control content regarding the switching condition of “children and pets” is switching to the forced automatic driving mode.
  • a destination for the switching condition of “children and pets” if the destination is set when the car 1 starts to travel, the destination is set and the destination is set in advance. If not, the destination set by the driver or the rider in response to an inquiry when the mode is switched to the automatic driving mode.
  • the condition for canceling the forced automatic driving mode corresponding to the switching condition of “children and pets” is that the state of the child or pet returns to normal (the child or pet may be close to the driver or away from the driver's seat. It is assumed that the switching condition disappears.
  • the switching condition “one-handed operation and free-running operation by the driver” will be described.
  • the state of the one-handed driving by the driver continues for a predetermined time or longer, for example, 2 minutes or longer, or the state of the hands-free driving by the driver continues for a predetermined time or longer, for example, 10 seconds or longer.
  • the in-vehicle situation determination unit 117 determines a state in which the driver is driving one hand or releasing it based on the image recognition result of the driver's captured image by the camera, and the state is 2 based on the time information of the clock unit 120.
  • the in-vehicle situation of “one-handed driving by the driver, free-running driving” is determined depending on whether or not it has continued for more than a minute or more than 10 seconds.
  • the control content regarding the switching condition of “one-handed driving and free-running driving by the driver” is switching to the forced automatic driving mode.
  • the driver emits a voice message from the speaker 138, such as “One-handed driving or hand-off driving is dangerous, so it has been switched to the automatic driving mode”, or an alarm sound or buzzer. To alert the driver.
  • the destination set for the switching condition of “one-hand driving by the driver, hand-off driving” is the destination set when the vehicle 1 starts to travel.
  • the forced automatic operation mode release condition corresponding to the switching condition of “one-handed driving and free-running by the driver” is that the driver stops single-handed driving and free-running driving, and the driver's driving posture is correct. It is said to be when.
  • the switching condition “driver's footwear is inappropriate” will be explained.
  • the driver's footwear is unsuitable for driving, for example, clogs, slippers, high heels, etc.
  • the case is a switching condition.
  • the in-vehicle situation determination unit 117 determines whether the footwear is inappropriate such as clogs, slippers, high heels, or inappropriate such as bare feet, based on the image recognition result of the footwear (or feet) in the photographed image of the driver by the camera. It is determined whether or not
  • the control content for the switching condition of “unsuitable driver's footwear” is to switch to the forced automatic driving mode.
  • a synthetic voice message is displayed to the driver saying "Shoes are inappropriate for driving, so please replace them” or "Please wear shoes because barefoot is inappropriate for driving.” To warn of changing or wearing footwear.
  • the destination As a destination for the switching condition of “inappropriate driver's footwear”, when the destination is set when the vehicle 1 starts to travel, the destination is set, and the destination is set in advance. If it is not set to, the destination set by the driver or the rider in response to the inquiry when the mode is switched to the automatic driving mode.
  • the condition for canceling the forced automatic driving mode corresponding to the switching condition of “Inappropriate driver's footwear” is that the switching condition disappears when the driver exchanges or wears the appropriate footwear. It is said.
  • the storage contents of the automatic operation switching condition storage unit 135 described above are to store each of the switching condition, the content of forced automatic operation after switching, and the release condition as a corresponding processing program.
  • the user describes the switching conditions, the cancellation conditions and the control contents in the forced automatic driving mode as described above.
  • the electronic control circuit unit 10 of the automobile 1 has a processing function for automatically generating a corresponding processing program and storing it in the automatic driving switching condition storage unit 135.
  • the switching conditions are “passing prohibition”, “right turn (left turn prohibition) prohibition”, “speed limit”, “signal compliance”, “pause at the crossing”, “mobile terminal during travel”
  • Conditions for preventing non-compliance with traffic laws such as “use of”, “ignoring suspension at pedestrian crossings”, “interfering driving”, “dangerous driving, reckless driving”, “rapid accelerator, sudden braking, sudden Examples of conditions for ensuring safe driving while avoiding a state that easily causes an accident such as a “handle” are illustrated.
  • the content of travel control in the forced automatic driving mode after switching and the canceling condition of the forced automatic driving mode are determined.
  • the switching conditions shown in FIGS. 3 to 7 are a part of the contents stored in the automatic driving switching condition storage unit 135, and various other switching conditions that are set in advance to comply with traffic regulations. Needless to say, various switching conditions that are predetermined in order to maintain safe driving are registered. Further, as described above, the switching condition, the control content in the forced automatic operation mode after switching and the normal automatic operation mode, and the release condition may be registered and switched for each country or region.
  • the release condition It may be unnecessary to set the destination (destination) during the period until the forced automatic operation mode is canceled after the above is satisfied.
  • the forced automatic driving mode is continued to autonomously travel to the destination. In this case, it is necessary to set a destination (destination). If the location is set, it will be the set destination, and if the destination has not been set in advance, it will be set by the driver or rider in response to an inquiry when switching to automatic driving mode It is considered a destination.
  • the overtaking prohibition section of (Condition 1) is shown in FIG. 8A from the captured images of one or a plurality of cameras in front and side of the own vehicle in the camera group 107 in the image recognition unit 114. It can be detected by recognizing a road sign and recognizing a yellow line from an image of a camera that captures a road surface in the camera group 107.
  • the activation of the right turn signal in (Condition 2) can be detected from the output of the sensors included in the sensor group 108 as described above.
  • the change of course by operating the steering wheel so as to cross the yellow line means that the manual driving operation detecting unit 105 has detected the right steering wheel operation, and the own vehicle motion analysis detecting unit 118 has detected the camera of the camera group 107. This can be determined by analyzing the image and detecting that the vehicle is traveling across the yellow line.
  • the absence of a store having a parking space such as a right turn road ahead or a convenience store in the right direction can be detected from the captured image of the camera of the camera group 107.
  • (Condition 3) it is possible to detect whether the vehicle ahead is running or stopped using the captured image of the camera of the camera group 107 and the radar group 106. That is, (Condition 3) can be detected by referring to the surrounding moving body grasping result of the surrounding moving body grasping unit 109.
  • the content of the travel control in the forced automatic operation mode after the switching with respect to the switching condition about the “prohibition of overtaking” is “running while maintaining the driving lane”.
  • the condition for canceling the forced automatic operation mode is “detection of a road sign at the end of the overtaking prohibited section” or “disappearance of a yellow line as a road marking”.
  • condition element detection means used for detecting the condition element for monitoring whether or not the switching condition for overtaking prohibition is met
  • the camera group 107, the sensor group 108, the manual driving operation are used.
  • the detection unit 105, the surrounding moving body grasping unit 109, the image recognition unit 114, and the own vehicle movement analysis detection unit 118 are used.
  • the cancellation condition when the forced automatic operation mode is entered by meeting the switching condition for this overtaking prohibition is the end of the overtaking prohibited section and the disappearance of the yellow line, so when switching to the forced automatic operation mode, the destination (Destination) may need to be set. Therefore, when the forced automatic operation mode is set by meeting the switching condition for the overtaking prohibition, when the destination is set when the vehicle 1 starts to travel, the destination is set as the destination. If the ground is not set in advance, the destination is set by the driver or the rider in response to an inquiry when the mode is switched to the forced automatic driving mode.
  • the driving control content in the forced automatic driving mode after switching with respect to the switching condition about the “no right turn” is “traveling by selecting a specified traveling direction”. Further, the condition for canceling the forced automatic operation mode is detection of “passing right turn prohibited point”.
  • activation of the right turn signal in (Condition 5) can be detected from the output of the sensors included in the sensor group 108 as described above. Further, it is possible to determine that the course is changed by operating the steering wheel so as to turn right, by detecting the right steering operation in the manual driving operation detection unit 105.
  • the condition element detection means in this case, the camera group 107, the sensor group 108, the manual driving operation detection unit 105, and the image recognition unit 114 are used. Since the condition for canceling the forced automatic operation mode after switching for the switching condition for “prohibit right turn” is passing through a prohibited sign point or a prohibited sign point, it is not necessary to set a destination (destination).
  • the driving control content in the forced automatic driving mode after switching according to the switching condition for this “pedestrian crossing” is “after stopping temporarily, confirm that there is no crossing and start”. Further, the forced automatic driving mode release condition is detection of “passing a pedestrian crossing”. It should be noted that human sensors included in the sensor group 108 may be used together for detection of a person. Furthermore, even for people, elderly people, infants and schoolchildren, people with physical disabilities, people with pets, etc., especially when driving safely, it is desirable to detect and selectively respond with more advanced image recognition. May be.
  • condition element detection means the camera group 107, the sensor group 108, and the image recognition unit 114 are used. Since the forced automatic operation mode cancellation condition after switching for the switching condition for the “pedestrian crossing” is passage of a pedestrian crossing, setting of a destination (destination) is unnecessary.
  • the content of the running control in the forced automatic operation mode after the switching for the switching condition for the “crossing” is “After a temporary stop, confirm safety and start”.
  • the safety confirmation in this case is detection that the circuit breaker is not down.
  • the condition for canceling the forced automatic operation mode is detection of “passing a level crossing”.
  • condition element detection means the camera group 107 and the image recognition unit 114 are used. Since the condition for canceling the forced automatic operation mode after switching with respect to the switching condition for this “crossing” is passing of the crossing, it is not necessary to set a destination (destination).
  • the traveling speed of the vehicle detected by the speed detection sensor of the sensor group 108 is a speed at which a serious danger is felt, for example, if it is a general road, it exceeds the speed limit by 30 km / h or more. If it is a road, the case where it is detected that it is 40 km / h over the speed limit is determined.
  • release conditions of forced automatic operation mode are made after predetermined time, for example, 30 minutes, including a punitive meaning.
  • This predetermined time may be lengthened depending on the degree of speed over from the switching condition. For example, assuming that the predetermined time exactly corresponding to the switching condition is 30 minutes, every time 1 km / h is exceeded, 30 minutes is added. In this case, when 5 km / h is exceeded, the release condition is after 3 hours.
  • the condition element detection means the speed sensor of the sensor group 108 is used.
  • the clock unit 120 is used to measure the elapsed time after switching to the forced automatic operation.
  • the condition for canceling the forced automatic operation mode after switching for the switching condition for the “speed limit” is after the elapse of a predetermined time such as 30 minutes. Therefore, the vehicle passes through an intersection or a branch point during the predetermined time. Since it is assumed that the destination is to be set, it may be necessary to set the destination (destination). Therefore, when the forced automatic operation mode is set by meeting the switching condition for the “limit speed”, if the destination is set when the vehicle 1 starts to travel, the destination is set. If the destination is not set in advance, the destination is set by the driver or the rider in response to the inquiry when the mode is switched to the forced automatic driving mode.
  • the “restricted speed” is determined by the image recognition unit 114 from road images or roads related to the “restricted speed” from images captured by one or a plurality of cameras in front of or on the side of the vehicle in the camera group 107. It can be detected by recognizing the sign.
  • the switching condition shown in FIG. 7 That is, for example, as a switching condition for “signal compliance”, (Condition 10) From the captured image of the camera of the camera group 107, in the own vehicle motion analysis detection unit 118, the traffic light indicates a red signal, but it is ignored that the vehicle has traveled without stopping for a predetermined number of times. As described above, for example, the case of detecting three times or more is determined.
  • the switching condition may be when the vehicle travels ignoring the red light even once.
  • red Signal ignorance was the switching condition.
  • the driving control contents in the forced automatic operation mode after switching according to the switching condition for this “signal compliance” include the punitive meaning for intentional signal disregarding, and the vehicle will run only in the forced automatic driving mode on the day. It was possible. Therefore, the forced automatic operation mode is released on the next day after intentionally ignoring the signal. Therefore, when the forced automatic operation mode is set by meeting the switching condition for the “signal compliance”, if the destination is set when the vehicle 1 starts to travel, it is set as the set destination. If the destination is not set in advance, the destination is set by the driver or the rider in response to the inquiry when the mode is switched to the forced automatic driving mode.
  • condition element detection means the camera group 107 and the own vehicle motion analysis detection unit 118 are used.
  • the clock unit 120 is used to detect the end of the current day (start of the next day).
  • the driving control contents in forced automatic operation mode after switching for the switching condition for this “interfering driving” include the punitive meaning for disturbing driving, and on the day it is possible to drive only in forced automatic driving mode. . Accordingly, the condition for canceling the forced automatic operation mode is the day after the disturbing operation. Therefore, when the forced automatic operation mode is set by meeting the switching condition for the “interfering operation”, if the destination is set when the vehicle 1 starts to travel, it is set as the set destination. If the destination is not set in advance, the destination is set by the driver or the rider in response to the inquiry when the mode is switched to the forced automatic driving mode.
  • condition element detection means the radar group 106, the camera group 107, the sensor group 108, and the own vehicle motion analysis detection unit 118 are used.
  • the clock unit 120 is used to detect the end of the day.
  • the driving control contents in the forced automatic driving mode after switching according to the switching conditions for this “dangerous driving, reckless driving” include the punitive meaning for dangerous driving and reckless driving, and on the day the forced automatic driving mode It was possible to run only on. Therefore, the forced automatic driving mode is canceled on the next day after dangerous driving or reckless driving. Therefore, when the forced automatic driving mode is set by meeting the switching conditions for the “dangerous driving and reckless driving”, if the destination is set when the vehicle 1 starts running, the set purpose is set. If the destination is not set in advance, the destination is set by the driver or the rider in response to an inquiry when the mode is switched to the forced automatic driving mode.
  • condition element detection means in this case, the manual driving operation detection unit 105, the camera group 107, and the own vehicle motion analysis detection unit 118 are used. However, in order to detect the release condition, the clock unit 120 is used to detect the end of the day.
  • the driving control details in the forced automatic driving mode after switching according to the switching conditions for this "sudden accelerator, sudden braking, and sudden steering wheel” include punitive meaning for dangerous driving, and forced automatic driving on the day It was allowed to run only in the mode. Accordingly, the forced automatic operation mode is released on the next day. Accordingly, when the forced automatic operation mode is set by meeting the switching conditions for the “sudden accelerator, sudden brake, and sudden handle”, if the destination is set when the vehicle 1 starts running, the setting is made. If the destination is not set in advance, the destination is set by the driver or the rider in response to an inquiry when the mode is switched to the forced automatic driving mode.
  • condition element detection means in this case, the manual driving operation detection unit 105, the camera group 107, and the own vehicle motion analysis detection unit 118 are used. However, in order to detect the release condition, the clock unit 120 is used to detect the end of the day.
  • the driving control content in forced automatic driving mode after switching according to the switching conditions for this "use of mobile device” includes punitive meaning for dangerous driving, and only in forced automatic driving mode during use It was possible to run. Therefore, the forced automatic operation mode is released when the use is stopped or terminated.
  • the image recognition unit 114 analyzes captured image information from a camera that captures a driver in the camera group 107, and in this example, in particular, a mobile device, in this example, a smartphone or a mobile phone terminal is used. It is detected whether or not the action taken is performed, and the detection result is supplied to the automatic operation switching condition determination unit 115.
  • the voice recognition unit 116 automatically detects an incoming call notification notified by a smartphone or a mobile phone terminal from the voice signal collected by the microphone 137, for example, a detection result of a ringtone, a ringing melody, or a detection result of a driver's call voice.
  • the operation switching condition determination unit 115 is notified.
  • the vibration sensor included in the sensor group 108 detects vibrations of vibration notified by the smartphone or the mobile phone terminal, and notifies the detection result to the automatic driving switching condition determination unit 115.
  • the automatic driving switching condition determination unit 115 monitors the detection results and detection results from the image recognition unit 114, the voice recognition unit 116, and the sensor group 108 while the vehicle is traveling, and the driver can Whether you are talking on the phone, sending an email, or performing access operations over the Internet, whether you are gazing at the display screen of your mobile device, Determine whether you are gazing at the display screen or moving your finger violently on a game machine, and if you determine that you are violating those laws, switch from automatic driving mode to forced automatic driving mode To.
  • the automatic driving switching condition determination unit 115 determines the cancellation condition based on the recognition result from the image recognition unit 114 and the voice recognition unit 115, whether or not the use of the mobile terminal by the driver is stopped or terminated, or From the output of the own vehicle motion detection unit 118, it is determined whether or not the own vehicle has stopped on the road shoulder or the like.
  • the contents stored in the automatic operation switching condition storage unit 135 described above are such that the switching conditions, the control contents after switching, the forced automatic driving contents, the destination setting, and the release conditions are stored as corresponding processing programs. To do. For each of the switching conditions set later by the user, the contents of forced automatic operation after switching, and the cancellation conditions, the user describes the switching conditions, the cancellation conditions and the control contents in the forced automatic driving mode as described above.
  • the electronic control circuit unit 10 of the automobile 1 has a processing function for automatically generating a corresponding processing program and storing it in the automatic driving switching condition storage unit 135.
  • the electronic control circuit unit 10 of the automobile 1 is configured. Of the blocks shown in FIG. 1, the motor drive control unit 102, the steering drive control unit 103, and the manual / automatic operation mode switching control unit 104. , Surrounding moving body grasping unit 109, current position detection unit 110, car navigation function unit 113, image recognition unit 114, forced automatic driving mode switching processing unit 115, own vehicle motion analysis detection unit 118, own vehicle motion analysis detection unit 118, synthesis The processing functions of the voice generation unit 121 and the voice input / output unit 122 can be realized by the control unit 101 as software processing.
  • FIG. 9 is a flowchart for explaining an operation example when the electronic control circuit unit 10 of the automobile 1 according to this embodiment is started.
  • the control unit 101 monitors whether or not the own vehicle has been activated (step S1). When it is determined that the own vehicle has been activated, the control unit 101 displays the driver and the driver through the display screen of the display unit 111 and by voice through the speaker 138. A message prompting the passenger to input the destination setting is sent (step S2). At this time, the display screen of the display unit 111 can select “No destination is set here”. This is because some users enjoy driving in the manual operation mode without setting a destination.
  • control unit 101 determines whether or not a destination setting input from the driver or rider in response to the message in step S2 has been received (step S3), and when it is determined that the destination setting input has been received.
  • the received destination is stored (step S4).
  • step S5 determines whether “do not set destination” is selected (step S5), and “does not set the destination”. "" Is not selected, the process returns to step S3, and the processes after step S3 are repeated. If it is determined in step S5 that “Destination is not set” is selected, the control unit 101 ends this processing routine as it is.
  • the stored destination becomes the default value of the destination in the manual driving navigation function unit 200, and the automatic driving navigation function unit 300 is stored. Will be treated as a preset destination.
  • FIGS. 10 to 17 are flowcharts for explaining an example of operation mode switching processing operation after the activation of the electronic control circuit unit 10 of the automobile 1 of this embodiment.
  • the manual operation mode is initially set. And after starting, before starting the driving
  • the operation mode immediately after startup of the automobile 1 may be selected and set by the user (driver or rider) in either the manual operation mode or the normal automatic operation mode. Of course, it can be selected and set in advance for each user. In this case, when the automobile 1 is started, the user is photographed by the camera group 107 and the user is recognized by the image recognition unit 114, so that the operation mode selected and set by the user in advance can be used. Further, the operation mode when the operation of the automobile 1 is finished and the power is turned off is stored, and when the automobile 1 is activated next time, the stored operation mode immediately before is stored. Good.
  • the control unit 101 determines whether or not the driver or the rider has performed an operation for switching from the manual operation mode to the normal automatic operation mode (step S101). ).
  • the switching operation from the manual operation mode to the normal automatic operation mode includes the start of traveling immediately after the automobile 1 is started and the traveling in the manual operation mode. The operation includes both cases.
  • step S101 When it is determined in this step S101 that there is an operation for switching to the normal automatic driving mode, the control unit 101 activates the function of the automatic driving navigation function unit 300 of the car navigation function unit 113 (step S102). If the operation mode immediately after the start is set to the normal automatic operation mode, or if the operation mode immediately before the operation mode immediately after the start is the normal automatic operation mode, without performing step S101, This step S102 is executed.
  • step S102 the control unit 101 determines whether or not the function of the manual driving navigation function unit 200 was operating before switching (step S103).
  • step S103 the control unit 101 changes the destination set in the function of the manual driving navigation function unit 200.
  • An inquiry message as to whether or not is sent to the driver or the rider through the display image on the display screen of the display unit 111 and by synthesized speech through the speaker 138 (step S104).
  • step S104 determines whether or not the driver or the passenger has answered that the destination is to be changed through the touch panel 112 or the voice recognition unit 116. A determination is made (step S105).
  • step S105 determines whether or not the driver or the passenger has answered that the destination is to be changed through the touch panel 112 or the voice recognition unit 116.
  • step S105 determines whether or not the driver or the passenger has answered that the destination is to be changed through the touch panel 112 or the voice recognition unit 116.
  • step S105 determines whether or not the driver or the passenger has answered that the destination is to be changed through the touch panel 112 or the voice recognition unit 116.
  • step S105 determines whether or not the driver or the passenger has answered that the destination is to be changed through the touch panel 112 or the voice recognition unit 116.
  • step S105 determines whether or not the driver or the passenger has answered that the destination is to be changed through the touch panel 112 or the voice recognition unit 116.
  • step S105 determines whether or not the driver or the passenger has answered that the
  • step S103 determines whether there is a destination stored at the time of activation.
  • step S111 determines whether there is a destination stored at the time of activation.
  • step S111 inputs a destination setting through a display image on the display screen of the display unit 111 or by a synthesized voice through the speaker 138. Is sent to the driver or the rider (step S112).
  • control part 101 receives the setting input of the destination after the change through the touch panel 112 or the speech recognition part 116 from a driver
  • step S111 If it is determined in step S111 that there is a destination stored at the time of startup, the control unit 101 changes the destination through the display image on the display screen of the display unit 111 or the synthesized voice through the speaker 138.
  • An inquiry message about whether or not is sent to the driver or the rider (step S114).
  • the control unit 101 determines whether or not the driver or the passenger has answered that the destination is to be changed through the touch panel 112 or the voice recognition unit 116. It discriminate
  • step S115 If it is determined in step S115 that an answer to change the destination has been made, the control unit 101 shifts the process to step S112 in FIG. 11 to prompt the user to input a destination setting, and then step S113. Then, the destination setting input after the change is accepted, and then the process proceeds to step S106 in FIG. 10 and the route search for the automatic operation mode is executed by the function of the route search unit 302. Further, when it is determined in step S105 in FIG. 10 that an answer to change the destination has been made, the control unit 101 shifts the processing to step S112 in FIG. 11 and performs the processing after step S112 described above. .
  • control unit 101 After step S106 in FIG. 10, the control unit 101 generates control information for automatic driving based on the route search result in step S106, and starts execution of navigation for automatic driving in the normal automatic driving mode ( Step S107).
  • the display unit 111 displays whether the control unit 101 displays a map for automatic driving navigation, requests voice guidance, or registers a point for requesting provision of surrounding information to the driver or passenger.
  • the driver or the passenger is inquired through the display image of the display screen or by the synthesized voice through the speaker 138 (step S108).
  • the control part 101 receives the setting input with respect to the inquiry of step S108 (step S109).
  • control unit 101 switches the level of switching from the normal automatic operation mode to the manual operation mode for the driver or the rider through the display image on the display screen of the display unit 111 and the synthesized voice through the speaker 138. Prompts the user to enter the selection setting (step S121 in FIG. 12). And the control part 101 receives the selection setting of the switching level from normal automatic operation mode to manual operation mode (step S122), and performs the navigation for automatic driving
  • control unit 101 determines whether or not a switching operation that matches the switching level to the manual operation mode selected and set in step S122 is performed (step S123). When it is determined that the switching operation is not performed, It is determined whether or not the vehicle has arrived at the destination based on whether or not the current position detected by the current position detection unit 110 is the destination (step S124). When it is determined in step S124 that the vehicle has not arrived at the destination, the control unit 101 continues navigation for automatic driving (step S125), and then returns the process to step S123. repeat.
  • step S124 determines whether or not the vehicle has arrived at the destination.
  • step S126 determines whether or not the operation is stopped by turning off the power.
  • step S130 The navigation for automatic driving is terminated (step S130), and this processing routine is terminated.
  • step S126 When it is determined in step S126 that the operation is not stopped, the control unit 101 notifies the driver or the rider through the display image of the display screen of the display unit 111 and the synthesized voice through the speaker 138. On the other hand, a message for prompting input of a new destination setting is sent (step S127). Then, the control unit 101 determines whether or not the destination setting input has been accepted by the prompt at step S127 (step S128). When it is determined that the destination has been accepted, the process proceeds to step S112 in FIG. The process after step S112 is executed.
  • step S128 determines whether or not a switching operation that matches the switching level to the manual operation mode has been performed. If it is determined that the process has not been performed, the process returns to step S126, and the processes after step S126 are repeated.
  • step S123 When it is determined in step S123 that a switching operation that matches the switching level to the manual operation mode has been performed, or when it is determined in step S129 that a switching operation that matches the switching level to the manual operation mode has been performed,
  • the control unit 101 executes switching to the manual operation mode (step S131 in FIG. 13). At this time, the driver or the rider may be notified of the switching to the manual operation mode through a display image on the display screen of the display unit 111 or a synthesized voice through the speaker 138.
  • control unit 101 inquires of the driver or the rider whether or not to start the manual driving navigation through the display image on the display screen of the display unit 111 and the synthesized voice through the speaker 138. (Step S132). And the control part 101 discriminate
  • step S133 when it is determined in step S133 that an answer to start navigation for manual driving has been received, the control unit 101 performs automatic driving through a display image on the display screen of the display unit 111 or by synthesized speech through the speaker 138.
  • An inquiry message is sent to the driver or the passenger as to whether or not to change the destination set during execution of the navigation (step S134).
  • the control unit 101 determines whether or not the driver or the rider has answered that the destination is changed through the touch panel 112 or the voice recognition unit 116. (Step S135). When it is determined in step S135 that the answer indicating that the destination is not changed is made, the control unit 101 determines the destination by the function of the route search unit 202 of the manual driving navigation function unit 200. In this case, the route search for the manual operation mode is performed and the function of the manual operation navigation function unit 200 is executed (step S136).
  • control unit 101 uses the display image on the display screen of the display unit 111 and the synthesized voice through the speaker 138 to determine the destination.
  • a message for prompting the setting input is sent to the driver or the rider (step S137).
  • control part 101 receives the setting input of the destination after the change through the touch panel 112 or the voice recognition part 116 from a driver or a rider (step S138). Thereafter, the control unit 101 uses the function of the route search unit 302 to perform a route search for the automatic driving mode by using the received destination as a new destination, and based on the search result, the control information generation unit 303 for the automatic driving is executed. By the function, the control information for automatic driving is generated, and the navigation for automatic driving is executed (step S139).
  • the setting accepting unit 201 of the manual driving navigation function unit 200 accepts setting inputs other than the destination as described above. Items are accepted.
  • step S136 or step S139 the control unit 101 determines whether or not the destination has arrived based on whether or not the current position detected by the current position detection unit 110 is the destination (step in FIG. 14). S141).
  • step S141 When it is determined in step S141 that the vehicle has arrived at the destination, the control unit 101 ends the navigation for manual operation (step S142), and then determines whether or not the operation is stopped by turning off the power. (Step S143) When it is determined that the operation has been stopped, this processing routine is terminated. When it is determined in step S143 that the operation is not stopped, the control unit 101 returns the process to step S101 in FIG. 10 and repeats the processes after step S101.
  • step S141 If it is determined in step S141 that the vehicle has not arrived at the destination, the control unit 101 continues the manual driving navigation (step S144). Then, the control unit 101 determines whether or not the switching operation from the manual driving mode to the automatic driving mode has been performed by the driver or the rider (step S145). It returns to step S102 and repeats the process after step S102 mentioned above.
  • step S145 When it is determined in step S145 that the switching operation from the manual operation mode to the normal automatic operation mode has not been performed, the control unit 101 matches the switching condition stored in the automatic operation switching condition storage unit 135. Whether or not is detected is determined (step S146).
  • step S146 If it is determined in step S146 that a state that matches the switching condition stored in the automatic driving switching condition storage unit 135 has been detected, the control unit 101 proceeds to step S152 in FIG. Accordingly, the mode is switched to the normal automatic operation mode or the forced automatic operation mode. If it is determined in step S146 that a state that matches the switching condition stored in the automatic driving switching condition storage unit 135 has not been detected, the process returns to S141.
  • step S101 in FIG. 10 When it is determined in step S101 in FIG. 10 that there is no switching operation to the normal automatic driving mode, the control unit 101 detects a state that matches the switching condition stored in the automatic driving switching condition storage unit 135. (Step S151 in FIG. 15). When it is determined in step S151 that a state that matches the switching condition stored in the automatic driving switching condition storage unit 135 is detected, the control unit 101 advances the process to step S152 and sets the matching switching condition. Accordingly, the mode is switched to the normal automatic operation mode or the forced automatic operation mode.
  • step S151 If it is determined in step S151 that a state that matches the switching condition stored in the automatic driving switching condition storage unit 135 has not been detected, a request for using the manual driving navigation in the manual driving mode is issued to the driver or the rider. It is determined whether or not it has been received from the person (step S161 in FIG. 16).
  • step S161 When it is determined in step S161 that the use request for the manual driving navigation in the manual driving mode is not received from the driver or the rider, the control unit 101 returns the process to step S101 in FIG. The subsequent processing is repeated.
  • step S161 When it is determined in step S161 that the manual driving navigation use request in the manual driving mode is received from the driver or the rider, the control unit 101 uses the function of the setting receiving unit 201 of the manual driving navigation function unit 200. A setting input of necessary input items is accepted (step S162). At this time, if there is a destination stored when the automobile 1 is started, the stored destination is set as a default value in the navigation function unit 200 for manual operation. The driver or the rider may leave the destination as the stored destination or change it.
  • step S162 the control unit 101 performs a route search by the function of the route search unit 202 of the manual driving navigation function unit 200, and executes the manual driving navigation according to the route search result. (Step S163). Then, after step S163, the control unit 101 shifts the processing to step S141 in FIG. 14, and executes the processing after step S141.
  • step S152 in FIG. 15 the control unit 101 refers to the stored content of the automatic operation switching condition storage unit 135, and in the normal automatic operation mode or the forced automatic operation mode according to the matched switching condition, It is determined whether the destination setting is unnecessary (step S153).
  • step S153 When it is determined in step S153 that the normal automatic operation mode or the forced automatic operation mode according to the matched switching condition is not a switching condition that does not require setting of the destination but a switching condition that requires setting of the destination.
  • the control unit 101 refers to the stored contents of the automatic driving switching condition storage unit 135 to determine whether or not the destination is determined in accordance with the matched switching condition (step S154).
  • step S154 When it is determined in step S154 that the destination corresponding to the matched switching condition is not determined, the control unit 101 determines whether or not the destination stored when the automobile 1 is activated exists (see FIG. 17 step S171).
  • step S171 When it is determined in step S171 that the destination stored at the time of starting the automobile 1 exists, the control unit 101 uses the display image on the display screen of the display unit 111 and the synthesized voice through the speaker 138 to The driver or the passenger is inquired whether to change the ground (step S172).
  • control unit 101 determines whether or not to change the destination by the driver or the rider in response to this inquiry (step S173). If it is determined in step S173 that an answer indicating that the destination is not to be changed is received, the control unit 101 sets the destination as the destination stored at the time of activation by the function of the route search unit 302 for the automatic operation mode. A route search is executed (step S174).
  • step S171 when it is determined in step S171 that the destination stored at the time of starting the automobile 1 does not exist, or when it is determined in step S173 that an answer to change the destination is received, the control unit 101 A message that prompts the driver to input the destination setting is sent to the driver or the rider through the display image on the display screen of the display unit 111 or by the synthesized voice through the speaker 138 (step S175).
  • control part 101 receives the setting input of the destination after the change through the touch panel 112 or the voice recognition part 116 from a driver or a rider (step S176). Thereafter, the control unit 101 uses the function of the route search unit 302 to perform route search for the automatic operation mode with the received destination as a new destination (step S177).
  • control part 101 produces
  • step S154 the control unit 101 determines that the information on the determined destination is not the destination itself but the hospital. It is determined whether or not the destination attribute is such as (step S155).
  • step S155 when the information on the determined destination is the destination attribute, the control unit 101 accesses the Internet through the mobile phone function unit 119 and performs a peripheral search using the destination attribute ( In step S156, the destination is determined from the vicinity search result (step S157). The determination of the destination in step S157 may be performed upon selection by the driver or the rider, or may be performed only by the automobile 1 itself.
  • step S157 the control unit 101 shifts the processing to step S177 in FIG. 17, and executes the processing after step S177. Also, in step S155, when the information on the determined destination is not the destination attribute but the destination itself, the control unit 101 shifts the process to step S177 in FIG. The process after S177 is executed.
  • step S178 the control unit 101 registers a point for requesting the driver or the passenger to display a map in the navigation for automatic driving, request voice guidance, or provide surrounding information.
  • the driver or the passenger is inquired through the display image on the display screen of the display unit 111 or the synthesized voice through the speaker 138 (step S181 in FIG. 18). And the control part 101 receives the setting input with respect to the inquiry of step S181 (step S182).
  • step S182 the control unit 101 refers to the contents stored in the automatic operation switching condition storage unit 135 and has reached a state that matches the release condition set corresponding to the matched switching condition. It is determined whether or not (step S183) and the release condition is met.
  • step S183 When it is determined in step S183 that the release condition is met, the control unit 101 informs the driver or the rider that the normal automatic driving mode or the forced automatic driving mode that has been forcibly switched has ended. Is notified through the display image on the display screen of the display unit 111 and by synthesized speech through the speaker 138 (step S184).
  • control unit 101 sets the own vehicle to the manual operation mode for the driver or the rider through the display image on the display screen of the display unit 111 and the synthesized voice through the speaker 138.
  • An inquiry is made as to whether to set the automatic operation mode (step S185), and it is determined which operation mode is selected for the inquiry (step S186).
  • step S186 the control part 101 transfers a process to step S131 of FIG. 13, and performs the process after this step S131.
  • step S186 the control unit 101 shifts the process to step S102 in FIG. 10 and executes the processes after step S102.
  • step S153 in FIG. 15 When it is determined in step S153 in FIG. 15 that the normal automatic operation mode or the forced automatic operation mode according to the matched switching condition is a switching condition that does not require setting of the destination, the control unit 101 performs processing. The process proceeds to step S183 in FIG. 18, and the processes after step S183 are repeated.
  • the manual operation mode is forcibly switched to the normal automatic operation mode or the forced automatic operation mode, and the automatic operation navigation function is activated.
  • the vehicle is driven toward a preset destination or a destination set by the driver or rider, so that the safety and convenience of the driver or rider are improved and the traffic regulations are complied with. Since it is possible to do so, the safety
  • the automobile 1 according to the above-described embodiment can autonomously run even if there is no driver. For this reason, when a rider (passenger) is riding in the automobile 1 in addition to the driver, the driver drives the automobile 1 in the manual operation mode and then travels at a predetermined point A. Even after getting off, a passenger (passenger) other than the driver can move to another point B without getting off.
  • the automobile 1 when the driver is driving, since it was in the manual driving mode, the automobile 1 is from the manual driving mode to the normal automatic driving mode from the point A where the driver got off to the point B. It will be switched to to autonomously run. Then, in consideration of such a situation, the automobile 1 performs a processing operation so that it can autonomously travel in the automatic driving mode from the point A to the point B where the driver got off.
  • FIG. 19 is a flowchart for explaining an example of a processing operation performed by the automobile 1 in addition to the processing operation as in the above-described embodiment when the above situation is taken into consideration.
  • the hardware configuration of the automobile 1 may be the same as that shown in FIG.
  • control unit 101 determines whether or not the own vehicle is in the manual operation mode (step S201). When it is determined in step S201 that the manual operation mode is not set, the control unit 101 determines whether or not the manual operation mode has been switched (step S202) and determines that the manual operation mode has not been switched. Sometimes, the process returns to step S201, and the processes after step S201 are repeated.
  • step S201 When it is determined in step S201 that the vehicle is in the manual operation mode, or when it is determined in step S202 that the vehicle has been switched to the manual operation mode, the control unit 101 determines whether or not the own vehicle has stopped (step S203). When it is determined that the vehicle is not stopped, the process returns to step S201, and the processes after step S201 are repeated.
  • step S203 determines whether or not the driver has got off while maintaining the driving state of the own vehicle (step S204). If it is determined that it is not, the process returns to step S201, and the processes after step S201 are repeated.
  • step S203 When it is determined in step S203 that the driver has left the vehicle while maintaining the driving state of the vehicle, it is determined whether or not there is another passenger (passenger) in the vehicle (step S205). When it is determined in step S205 that there is no other passenger, the control unit 101 determines whether or not the driver has re-ridden (step S206), and determines that the driver has not re-ridden. Sometimes step S206 is repeated to wait for the driver to get on again.
  • step S206 When it is determined in step S206 that the driver has re-boarded, the control unit 101 returns the process to step S201 and repeats the processes after step S201.
  • step S205 When it is determined in step S205 that there is another passenger, the control unit 101 executes a driver getting-off post-processing described below (step S207).
  • FIG. 20 is a flowchart for explaining a first example of the process after getting off the driver in step S207.
  • This first example is based on the premise that a passenger other than the driver understands the subsequent action of the driver who got off the vehicle. For example, when the driver gets off, he tells other passengers to “get back right away” or “wait for about 5 minutes” to get on again, “I get off here. Goodbye” or “I will not return.” It is assumed that the passenger will not re-ride.
  • the control unit 101 sends an inquiry message about the behavior of the driver after getting off to other passengers through the display screen of the display unit 111 or Then, it is transmitted by voice through the speaker 138 (step S211). Then, the control unit 101 determines whether or not an instruction (an instruction through the touch panel or an instruction recognized by the voice recognition unit 116) from another passenger for the inquiry message has been received (step S212). When it is determined that it has not been received, the processing in step S212 is repeated to wait for receiving an instruction.
  • step S212 determines whether or not the instruction is an instruction to wait for the driver to re-board (step S213).
  • the control unit 101 determines whether or not the driver has re-boarded (step S214). When it is determined that the vehicle has not been boarded, this step S214 is repeated to wait for the driver to board again.
  • step S214 When it is determined in step S214 that the driver has re-boarded, the control unit 101 shifts the processing to step S101 in FIG. 10 described above, and executes the processing after step S101 described above.
  • step S213 when it is determined in step S213 that the received instruction is not an instruction to wait for the driver to re-board, the control unit 101 determines whether or not it is a travel start instruction (step S215). When it is determined in step S215 that the received instruction is not a driving start instruction, the control unit 101 determines whether the received instruction is a driving stop instruction (step S216). Is returned to step S215, and when it is determined that the instruction is to stop driving, the driving of the host vehicle is stopped (step S217), and this processing routine is ended.
  • step S215 When it is determined in step S215 that the instruction is a start start instruction, the control unit 101 switches from the manual operation mode to the normal automatic operation mode to start autonomous traveling (step S218), and then the above-described FIG. The process proceeds to step S102, and the processes after step S102 are executed.
  • FIG. 21 is a flowchart for explaining a second example of the process after getting off the driver in step S207.
  • This second example is based on the premise that the driver inputs an instruction to the automobile 1 through, for example, the touch panel 112 or inputs a voice through the microphone 137 before getting off the vehicle.
  • the car 1 has three instructions on the display screen of the display unit 111, which are “re-ride”, “start running after getting off”, and “driving stop” as behaviors scheduled by the driver to get off.
  • the item is displayed and the driver selects and inputs from the indicated items.
  • the motor vehicle 1 performs the driver
  • destination setting input can also be performed. However, there is no need to input the destination setting.
  • the control unit 101 analyzes and determines what the instruction selected by the driver before getting off the vehicle is (step S221). And the control part 101 discriminate
  • step S223 When it is determined in step S223 that the driver has re-boarded, the control unit 101 shifts the process to step S101 in FIG. 10 described above, and executes the processes after step S101 described above.
  • step S222 When it is determined in step S222 that the determined instruction is not a “re-ride” instruction from the driver, the control unit 101 determines whether or not the determined instruction is a “start running after getting off” instruction (step S222). S224). When it is determined in step S224 that the instruction is not “start running after getting off”, the control unit 101 confirms that the determined instruction is “stop driving” and stops driving the vehicle (step S225). ). Then, this processing routine ends.
  • step S224 When it is determined in step S224 that the determined instruction is the “start running after getting off” instruction, the control unit 101 switches from the manual operation mode to the normal automatic operation mode to start autonomous driving (step S224). Thereafter, it is determined whether or not the destination is set (step S227). When it is determined in this step S227 that the destination is set, the control unit 101 rewrites the stored destination at the time of activation to the set destination (step S228).
  • step S227 When it is determined in step S227 that the destination is not set, and after step S228, the control unit 101 proceeds to step S102 in FIG. Execute the process.
  • the vehicle 1 changes from the manual operation mode to the normal automatic operation mode.
  • the automatic driving navigation is activated, and autonomous driving can be performed without any trouble toward the destination set and input by the driver who gets off the vehicle or a passenger other than the driver.
  • the driver or the passenger is inquired whether or not to change the destination of the storage unit, and when it is answered that the destination is not changed.
  • the destination of the storage unit is used for the route search of the navigation for automatic driving.
  • the destination of the storage unit is not inquired about whether to change the destination.
  • the route of the navigation for automatic driving may be searched using the destination, and the inquiry to the driver or the passenger about the destination at the time of switching to the automatic driving mode may be omitted.
  • the setting, storage, and change of the destination are mainly described.
  • the waypoint to the destination can be similarly set, stored, and changed.
  • the driver or the rider is selected according to the destination through the display screen of the display unit 111 or by sound through the speaker 138.
  • a message prompting for setting or selection of a waypoint is sent.
  • the display screen of the display unit 111 can select “No waypoint is set here”. This is because there is a user who goes to the destination in the manual operation mode without determining the waypoint.
  • the various databases and the various storage units are configured to be mounted on the own vehicle.
  • the present invention is not limited to this and may be on the cloud.
  • the camera group 107 is not limited to being mounted on its own vehicle, and a vehicle obtains images from surveillance cameras installed on traffic lights, street lights, etc. via communication, or obtains images from cameras of other vehicles via inter-vehicle communication. Or you may.
  • the radar group 106 and the sensor group 108 are not limited to being mounted on the own vehicle, and it is possible to obtain radar information and various sensor information by communication from an external system such as an ITS spot or from another vehicle.
  • the automobile of the above-described embodiment is an electric car
  • the present invention can be applied to a gasoline car, a hybrid car, a fuel cell car, and other driving cars.
  • the present invention is not limited to ordinary cars and light cars, but also trucks, buses, taxis, police cars, ambulances, fire trucks, training cars, tractors, dump trucks, excavators, forklifts, single cars, motorcycles, automatic Even a tricycle is applicable.
  • the present invention can also be applied to amphibious vehicles and amphibious vehicles (flying vehicles).

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un véhicule possédant à la fois un mode de conduite manuelle dans lequel le véhicule se déplace sur la base d'une opération de conduite du conducteur, et un mode de conduite automatique dans lequel le véhicule se déplace de façon autonome, le véhicule pouvant atteindre de façon plus fiable une destination souhaitée par le conducteur ou le passager, même si le véhicule est commuté du mode de conduite manuelle vers le mode de conduite automatique. Ce véhicule est pourvu d'un moyen de navigation pour le mode de conduite automatisé, ledit moyen de navigation facilitant le déplacement de façon autonome vers une destination. Lorsque le véhicule a été commuté du mode de conduite manuelle au mode de conduite automatique, le véhicule active le moyen de navigation pour le mode de conduite automatique et détermine si une destination a été définie ou non, s'il est déterminé qu'aucune destination n'a été définie, le véhicule invite le conducteur ou le passager à entrer une entrée pour définir une destination et, en réponse, reçoit une entrée pour définir une destination. Le moyen de navigation pour le mode de conduite automatisé génère des informations pour faciliter le déplacement autonome vers une destination reçue par un moyen de réception de destination, de façon à effectuer une assistance en déplacement autonome.
PCT/JP2017/018300 2017-05-16 2017-05-16 Véhicule et programme de véhicule WO2018211583A1 (fr)

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CN110673605B (zh) * 2019-09-20 2023-03-10 深圳市元征科技股份有限公司 车辆控制方法及设备
CN111341133A (zh) * 2020-02-19 2020-06-26 广州小马智行科技有限公司 自动驾驶车辆的控制方法及装置、存储介质、处理器
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JP7381819B2 (ja) 2020-06-09 2023-11-16 日本システムバンク株式会社 自動リレーバレーパーキング
WO2023008992A1 (fr) * 2021-07-30 2023-02-02 Maxis Broadband Sdn. Bhd. Procédés, systèmes et dispositifs permettant de gérer le fonctionnement, l'activité et la sécurité d'un véhicule d'utilisateur

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