JP6971490B2 - Automotive and automotive programs - Google Patents

Description

The present invention relates to automobiles and automotive programs.

In recent years, the development of automobiles equipped with an automatic driving mode in which the driver can autonomously drive without manual driving is progressing. In the future, it is expected that fully autonomous vehicles that do not require manual driving operations by the driver will appear, but for the time being, manual driving modes by the driver and manual driving operations by the driver will be required. It is considered that the automobile is equipped with an automatic driving mode in which the automobile itself performs autonomous driving without any problem, and both modes are switched and used.

In this case, the switching from the manual operation mode to the automatic operation mode is not only performed by the driver performing a predetermined operation, but also, for example, Patent Document 1 (Japanese Patent Laid-Open No. 2015-118438) and Patent Document 2 (Japanese Patent Laid-Open No. 2015-118438). As described in Japanese Patent Application Laid-Open No. 2015-13350), a computer provided with a predetermined switching condition is monitored by a computer, and when it is detected that the switching condition is met, the driving is forcibly executed. It has also been proposed.

Japanese Unexamined Patent Publication No. 2015-118438 Japanese Unexamined Patent Publication No. 2015-13350

After the driver drives the car in the manual driving mode, even after the driver gets off at a predetermined point, passengers other than the driver (passengers) may want to move to another point without getting off. be.

At this time, since the automobile is in the manual driving mode, there is no problem if any one of the passengers can be the driver, but there may be no person who can be the driver.

In view of the above problems, the present invention allows a passenger to move to another point even after the driver has disembarked at a predetermined point after the tumbler has driven the vehicle in the manual driving mode. The purpose is to provide a car that has been made.

In order to solve the above problems, the invention of claim 1 is
In a vehicle having a manual driving mode in which driving is performed based on a driving operation by the driver and an automatic driving mode in which autonomous driving is performed.
The driver disembarkation detection means for detecting that the driver has disembarked from the own vehicle in the manual operation mode, and the driver disembarkation detection means.
When the driver disembarkation detecting means detects that the driver has disembarked from the own vehicle in the manual driving mode, it is determined whether or not there is a passenger other than the disembarked driver. The first discrimination means and
When it is determined that the passenger is present in the first discriminating means, a first inquiry means for inquiring instructions to the passenger,
An instruction receiving means for receiving an instruction from the passenger in response to the inquiry by the first inquiry means, and an instruction receiving means.
The instruction accepted by the instruction accepting means comprises second determining means for determining whether or not the travel start instruction from the passenger,
In the second determination means, traveling the instruction accepted by the accepting unit instruction, when it is determined that it is the travel start instruction, starts traveling switch to the automatic operation mode the vehicle from the manual operation mode As a starting point,
Provide a vehicle characterized by being equipped with.

In the invention of the above-described configuration, when the passenger gives an instruction to start driving after the driver gets off the vehicle in the manual driving mode, the vehicle switches from the manual driving mode to the automatic driving mode to drive. Therefore, the passenger can move to another point even after the driver gets off.

According to the vehicle according to the present invention, when the passenger gives an instruction to start driving after the driver gets off the vehicle in the manual driving mode, the vehicle switches from the manual driving mode to the automatic driving mode and travels. The person can move to another point even after the driver gets off the vehicle.

It is a block diagram which shows the structural example of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a functional block diagram for demonstrating the structural example of the main part of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure for demonstrating an example of the switching condition stored in the storage part included in the electronic control circuit part included in the embodiment of the automobile by this invention. It is a figure for demonstrating an example of the switching condition stored in the storage part included in the electronic control circuit part included in the embodiment of the automobile by this invention. It is a figure for demonstrating an example of the switching condition stored in the storage part included in the electronic control circuit part included in the embodiment of the automobile by this invention. It is a figure for demonstrating an example of the switching condition stored in the storage part included in the electronic control circuit part included in the embodiment of the automobile by this invention. It is a figure for demonstrating an example of the switching condition stored in the storage part included in the electronic control circuit part included in the embodiment of the automobile by this invention. It is a figure for demonstrating an example of the switching condition stored in the storage part included in the electronic control circuit part included in the embodiment of the automobile by this invention. It is a figure which shows the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the other embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the other embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the example of the processing operation of the electronic control circuit part provided with the other embodiment of the automobile by this invention.

FIG. 1 is a block diagram showing a hardware configuration example of the electronic control circuit unit 10 of the automobile 1 according to the embodiment of the present invention. The automobile 1 of this embodiment is an example in the case of an electric vehicle. However, the battery is not shown in FIG.

Further, the automobile 1 of this embodiment includes an automatic driving mode and a manual driving mode. The manual operation mode is a mode in which the driver can drive according to the accelerator pedal operation, the brake pedal operation, the shift lever operation, and the steering operation (steering wheel operation), as in a normal automobile. Further, in the automatic driving mode, even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever, or the steering operation, the vehicle 1 itself autonomously (automatically) avoids obstacles while changing the course. It is a mode for autonomous driving.

In the normal state, the driver of the automobile 1 can switch the automobile 1 running in the manual driving mode to the automatic driving mode by a predetermined operation through, for example, the touch panel 112 described later, and while driving in the automatic driving mode. When the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering, the driver automatically returns to the manual operation mode. However, as will be described later, when the automobile 1 of this embodiment is forcibly switched from the manual driving mode to the automatic driving mode, the vehicle 1 is switched to the above-mentioned manual driving mode only after satisfying the predetermined cancellation conditions described later. Even if the return operation is performed, the operation is invalidated and the vehicle is controlled to maintain the running in the automatic driving mode.

In order to distinguish from the normal automatic operation mode that the user selects and sets through the touch panel 112 or the like, the automatic operation mode in which the operation is invalid even if the operation is returned to the manual operation mode after this forced switching is performed. In this specification, in particular, it is referred to as a forced automatic operation mode, and an automatic operation mode that is not a forced automatic operation mode is referred to as a normal automatic operation mode.

As shown in FIG. 1, the electronic control circuit unit 10 has a motor drive control unit 102, a steering drive control unit 103, and manual / automatic with respect to a control unit 101 configured on which a computer is mounted, through a system bus 100. Operation mode switching control unit 104, manual operation operation detection unit 105, radar group 106, camera group 107, sensor group 108, surrounding moving object grasping unit 109, current position detection unit 110, display unit 111, touch panel 112, car navigation (hereinafter (Abbreviated as car navigation system) Function unit 113, image recognition unit 114, automatic driving switching condition determination unit 115, voice recognition unit 116, vehicle interior condition determination unit 117, vehicle motion analysis detection unit 118, mobile phone function unit 119, clock unit. The 120, the synthetic voice generation unit 121, and the voice input / output unit 122 are connected to each other.

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. Further, a car navigation database 133 is connected to the car navigation function unit 113. Further, an image information storage unit 134 for storing image information of a comparative image for image recognition is connected to the image recognition unit 114. Further, an automatic operation switching condition storage unit 135 is connected to the automatic operation switching condition determination unit 115. Further, a voice information storage unit 136 for storing voice information of comparative voice for voice recognition is connected to the voice recognition unit 116. A microphone 137 and a speaker 138 are connected to the audio input / output unit 122.

Under the control of the control unit 101, the motor drive control unit 102 controls the supply of the drive signal to the motor drive unit 131 of the vehicle 1 composed of the electric vehicle of this embodiment, and starts traveling of the vehicle 1. Control the running speed control (including brake control and accelerator control), running stop, etc.

The steering drive control unit 103 controls the supply of the 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. do.

The manual / automatic driving mode switching control unit 104 controls to switch the driving mode of the automobile 1 to either the manual driving mode or the automatic driving mode according to the selection operation input through the touch panel 112, and will be described later. As described above, the operation mode of the automobile 1 is controlled to be switched between the manual operation mode, the automatic operation mode, and the forced automatic operation mode according to the determination result of the automatic operation switching condition determination unit 115.

The manual operation detection unit 105 receives operation information of the accelerator pedal operation, the brake pedal operation, the shift lever operation, and the steering operation by the driver, and supplies the manual operation operation information to the manual / automatic operation mode switching control unit 104. do.

When the automobile 1 is in the manual driving mode, 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 drive control unit 102 and the steering drive control unit 103. , 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 (steering wheel operation).

Further, when the vehicle 1 is in the automatic driving mode (including the forced automatic driving mode), the manual / automatic driving mode switching control unit 104 moves the radar group 106, the camera group 107, the sensor group 108, and the surroundings 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, and the motor drive unit 131 and the steering drive unit 132 are automatically driven. Drive control is performed based on driving operation information.

Then, in this embodiment, as described above, the manual / automatic operation mode switching control unit 104 receives the matching determination result of the switching condition by the automatic operation switching condition determination unit 115, and the intention of the driver or the passenger. On the contrary, that is, contrary to the selection setting of the driving mode by the driver or the passenger, the control for forcibly switching from the manual driving mode to the automatic driving mode is also performed.

In the normal automatic driving mode, which is not the forced automatic driving mode, the manual / automatic driving mode switching control unit 104 allows the driver to operate the accelerator pedal, the brake pedal, the shift lever, or the steering wheel while driving in the automatic driving mode. When (steering wheel operation) is performed, mode switching control is performed so as to automatically return the driving mode of the automobile 1 to the manual driving mode based on the detection information of the manual driving operation.

However, when the driving mode of the automobile 1 is the forced automatic driving mode, in principle, the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering unless the release condition described later is satisfied. However, the manual / automatic operation mode switching control unit 104 invalidates the manual operation operation information and maintains the forced automatic operation mode.

The radar group 106 is for measuring the distance to people and objects 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. Laser radars are embedded, for example near the ceiling and bumpers, and millimeter-wave radars are installed, for example, at the front and rear of the vehicle. It may have both a laser radar and a millimeter wave radar, or it may have only one. Further, other radars such as a submillimeter wave radar and a microwave radar may be used. Further, sound wave or ultrasonic sonar (not shown) can be used for the same purpose as radar.

The camera group 107 includes one or more cameras for photographing the inside of the vehicle 1 and one or a plurality of cameras for photographing the surroundings outside the vehicle such as the front, side, and rear of the vehicle 1. The camera that shoots the inside of the car is attached to the rear-view mirror (rear-view mirror, room mirror) installed between the driver's seat and the passenger seat, the upper part of the front window, etc., and the person (driver) sitting in the driver's seat. In addition to cameras that capture actions, it also includes cameras for capturing the actions of passengers sitting in the passenger seat and rear-view seats. Further, the cameras for photographing the surroundings of the automobile 1 are attached to, for example, the left side and the right side of the rear-view mirror, and two cameras (stereo cameras) mainly for photographing the left front and the right front of the automobile 1 and the automobile 1 For example, a camera attached to a door mirror or a fender mirror to shoot the left and right sides, a camera to shoot the rear of the car 1, and an omnidirectional camera (360 degree camera) or a fisheye camera to shoot the surroundings at a wide angle attached to the roof. , Etc. are included.

The sensor group 108 detects an open / close detection sensor that detects the opening / closing of the door or the opening / closing of the window of the automobile 1, a sensor for detecting the wearing of the seat belt, and the detection that the passenger is seated in a seat such as the driver's seat or the passenger's seat. In addition to a seating sensor (for example, a weight sensor), a touch sensor that detects when a person touches the handle of the driver's seat (for example, a capacitance sensor), and a human sensor (for example, an infrared sensor) that detects a person near the outside of the vehicle. Includes various sensors for acquiring information that assists in automatic driving. Various sensors for acquiring auxiliary information for automatic driving include, for example, a vibration sensor for detecting the vibration of a vehicle or a tire, a rotation speed sensor for detecting the rotation speed of a tire, and a rotation speed sensor for detecting an orientation. It includes geomagnetic sensors, acceleration sensors for detecting acceleration, gyro sensors (gyroscopes) for detecting angles and angular velocities, and the like. Further, in this embodiment, the sensor group 108 also includes a sensor that detects 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, or the like. There is. Further, in this embodiment, the sensor group 108 also includes a sensor for detecting the traveling speed of the own vehicle.

Further, in this embodiment, the sensor group 108 also includes a temperature sensor, a humidity sensor, a heat sensor, a smoke sensor, an exhaled breath sensor, a carbon monoxide sensor, a hydrogen sulfide sensor, and the like, which are useful for determining the vehicle interior condition of the automobile 1. Is included in. The heat sensor and smoke sensor are for detecting the occurrence of a fire in the vehicle, the exhalation sensor is for detecting the driver's drinking, and the carbon monoxide sensor and the hydrogen sulfide sensor are. , It is for detecting that gas toxic to the human body is generated in the car.

The surrounding moving object grasping unit 109 uses the captured images of the radar group 106, the sensor group 108, and the camera group 107 to grasp the moving objects (including a person) around the own vehicle. The surrounding moving object grasping unit 109 grasps surrounding obstacles and moving objects by performing processing based on, for example, Bayesian theory.

The current position detection unit 110 receives radio waves from GPS satellites and detects the current position of the own vehicle. Since the current position detection unit 110 has poor accuracy of the position detected by the radio wave from the GPS satellite, not only the information of the current position detected by the reception of the radio wave from the GPS satellite but also the 1 to 1 included in the sensor group 108. Sensor output information from a plurality of sensors, output information of the radar group 106, images captured from one or more cameras included in the camera group 107 (combined with the navigation function), etc. are also used, and based on, for example, Bayesian theory. By performing the processing, the current position with higher accuracy is detected and confirmed.

In the automatic driving mode, the vehicle 1 has a radar group 106, a camera group 107, a sensor group 108, position information acquired by receiving radio waves from a GPS satellite, and the like in the current position detection unit 110 and the surrounding moving object grasping unit 109. Various information, that is, information corresponding to information obtained from human eyes and ears, is processed by machine learning such as Bayesian theory and deep learning, and based on this, the control unit 101 changes the course of the own vehicle and changes the course. It performs intelligent information processing (artificial intelligence) and control (artificial intelligence) such as avoiding obstacles to generate automatic driving operation information.

The display unit 111 includes, for example, an LCD (Liquid Crystal Display). The touch panel 112 is arranged by superimposing a touch sensor capable of touch input by a finger, a touch pen, or the like on the display screen of the display unit 111 made of an LCD. On the display screen of the display unit 111, a display image including software buttons (including a button for inputting characters on the keyboard) is displayed based on the control of the control unit 101. Then, when the touch panel 112 detects a touch by a finger, a touch pen, or the like on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101. In response to this, the control unit 101 is configured to execute the control process corresponding to the software button.

In this embodiment, the car navigation function unit 113 includes a manual driving navigation function unit 200 that constitutes a navigation means for a manual driving mode and an automatic driving unit that constitutes a navigation means for an automatic driving mode, as shown in FIG. It is equipped with a navigation function unit 300. The navigation function unit 200 for manual driving supports the driver to provide route guidance to the destination. Further, the navigation function unit 300 for automatic driving supports autonomous driving to the destination by the automobile 1 itself.

In this embodiment, as will be described later, the control unit 101 prompts the driver or the passenger to input the setting of the destination when the own vehicle is started, and the setting input of the destination is input. If so, remember it. This is so that the destination does not have to be set when the autonomous driving mode is switched to the automatic driving mode. Further, if necessary, it may be prompted to input the setting of the waypoint, and if there is a setting input of the waypoint, it may be stored. In this case, it is possible to eliminate the need to set not only the destination but also the waypoint when the automatic driving mode is switched to and the autonomous driving is started. When a waypoint is set, the manual driving navigation function unit 200 assists the driver in providing route guidance to the destination on the route via the waypoint, and automatically drives the navigation function. The unit 300 supports autonomous driving to the destination by the vehicle 1 itself on the route via the waypoint.

As shown in FIG. 2, 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. Further, 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 peripheral information providing unit 306. And prepare.

As the car navigation database 133 connected to the car navigation function unit 113, as shown in FIG. 2, in this example, the map database 1331 in which the map data of Japan is stored and the map data correspond to the map data. It stores route search data, and stores a route search database 1332 for a manual operation navigation function unit and a route search database 1333 for an automatic operation navigation function unit.

In this embodiment, the driver divides the route search database into a route search database 1332 for the manual driving navigation function unit and a route search database 1333 for the automatic driving navigation function unit. This is because the manual driving can be performed at one's own discretion, so that the support is minimal, whereas in the autonomous driving by the automobile 1, it is necessary to provide more detailed support.

In this embodiment, the manual driving navigation function unit 200 is activated based on an activation instruction operation through the touch panel 112 by the driver or the occupant or a voice activation instruction recognized by the voice recognition unit 116. As will be described later, when the automatic driving mode is switched to the manual driving mode, in response to an inquiry from the automobile 1, a start instruction operation through the touch panel 112 and a voice start instruction recognized by the voice recognition unit 116 are used. to start.

Then, the setting reception unit 201 of the navigation function unit 200 for manual driving gives priority to the expressway in addition to inputting settings such as a departure point, a destination, and a waypoint (a waypoint to the destination. The setting is optional). , Priority is given to general roads, distance is prioritized (shortest route is prioritized), time is prioritized (shortest arrival time is prioritized), or cost is prioritized (priority is given to those that do not cost). Accepts and stores priority setting inputs such as "ka". If the destination is set when the vehicle is started, the stored destination that is set is set as the default destination. It goes without saying that this default destination can be changed or deleted. Of course, if a stopover is set in addition to the destination when the vehicle is started, the stored stopover is set as the 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 obtained from the route guidance unit. Provided to 203.

In the route guidance unit 203, the map display unit 2031 displays 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. A map image including the current location display and the planned movement route display of the own vehicle is displayed on the display screen of the unit 111, and the voice guidance unit 2032 emits a route guidance voice for assisting the driver's driving operation through the speaker 138. To do so.

That is, the map display unit 2031 displays the position of the own vehicle detected and confirmed by the current position detection unit 110 on the map that explicitly displays the route to the destination on the display screen of the display unit 111. In addition to displaying the superimposed image, the vehicle position (current position) on the map is moved as the vehicle moves.

Further, the voice guidance unit 2032 provides voice guidance by synthetic voice at a place where route guidance is required, such as an intersection or a branch point on the route to the destination. In this case, for example, when the current position of the own vehicle approaches a branch point where a right turn should be made, or when the position before the branch point is, for example, 300 meters before, 100 meters before, or 50 meters before. In addition, a guidance voice is emitted so that the driver can easily recognize the driving operation to be performed at the branch point. For example, the voice guidance unit 2032 emits guidance voices such as "Turn right 300 meters ahead", "Turn right 100 meters ahead", and "Turn right here" as the vehicle travels. By this voice guidance, the driver can surely recognize the intersection and the branch point position where the right turn should be made, and can perform the right turn driving operation.

In this embodiment, the automatic driving navigation function unit 300 is automatically activated by the control of the control unit 101 when the manual driving mode is switched to the automatic driving mode. Therefore, the navigation function unit 300 for automatic driving always recognizes the activated current position as the starting point. Therefore, in the navigation function unit 300 for automatic driving, it is not necessary to input the setting of the departure place.

In this embodiment, the setting reception unit 301 of the navigation function unit 300 for automatic driving determines whether or not the destination has already been set, and if the destination has not been set, the setting input of the destination is operated. Encourage people and passengers to memorize the destinations that have been set and entered. Of course, the destination setting input may be selectively input, the driver or the passenger may be prompted to select the destination, and the selected destination may be memorized. Further, the driver or the passenger is urged to input the setting or selection of the waypoint (selection input from a plurality of candidates, including no waypoint), and the setting input or the selection input is stored. If the destination or waypoint is set when the vehicle is started, the stored destination or waypoint may be adopted as it is, but in this embodiment, the user For the convenience of, inquire whether to change the destination or waypoint, and if there is no change in the destination or waypoint, the memorized destination or waypoint will be adopted.

In addition to inputting settings such as a destination and a waypoint (a waypoint to the destination. The setting is optional), the setting reception unit 301 gives priority to a highway, a general road, or a distance. Accepts and stores priority setting inputs such as (priority is given to the shortest route), time is prioritized (priority is given to the one with the shorter arrival time), and priority is given to the cost (priority is given to the one with no cost (cost)). ..

By the way, when the driver or the passenger wants to completely leave the execution of the navigation function unit 300 for automatic driving in the automatic driving mode to the autonomous driving by the automatic driving of the automobile 1, he / she falls asleep or behaves freely. , Route guidance and map display are unnecessary. In addition, depending on the driver or passenger, there are cases where he / she wants to know the current position of his / her vehicle on a map or what kind of driving he / she wants to perform when executing the navigation function unit 300 for automatic driving in the automatic driving mode. .. In addition, although the driver and the passenger do not need the voice of the route guidance, when the point is reached, the driver or the passenger may want to know the surrounding information such as tourist information and restaurant information of the point.

Further, regarding the switching from the automatic operation mode to the manual operation mode, if the manual operation detection unit 105 detects the manual operation operation, the manual operation mode is immediately switched to, or, for example, the manual operation detection unit 105 performs manual operation. Even if the operation is detected, the manual operation mode is switched only when the explicit switching instruction operation through the touch panel 112 is detected or the voice recognition unit 116 detects that the explicit switching instruction is received by voice. You may also want to set the level of switching from the automatic operation mode to the manual operation mode, such as.

In consideration of the above, when 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 association with the switching from the manual operation mode to the automatic operation mode, the setting reception unit 301 Whether or not to request the map display during the above navigation, whether or not to request the route guidance by synthetic voice and the service for providing peripheral information, which will be described later, and whether or not to register the point where the provision of peripheral information is requested. It also accepts setting inputs such as which of the above levels the switching level to the manual operation mode should be. The setting reception unit 301 of the automatic driving navigation function unit 300 has the same as the setting reception unit 201 of the manual driving navigation function unit 200, the destination, the waypoint, the expressway priority, the distance priority, the time priority, and the cost priority. You may accept and memorize the setting input such as.

The route search unit 302 searches for a route using the route search database 1333 for the navigation function unit for automatic operation based on the setting input stored in the setting reception unit 301, and the route search result is used for automatic operation. It is provided to the control information generation unit 303.

The autonomous driving control information generation unit 303 of the own vehicle is based on the route search result received from the route search unit 302, the map data of the map database 1331, and the current position data detected by the current position detection unit 110. Generates driving control instruction information that supports autonomous driving. The control unit 101 controls the motor drive control unit 102 and the steering drive control unit 103 based on the operation control instruction information to execute autonomous driving.

In this case, when the current position of the own vehicle is far from the route to the destination, the automatic driving control information generation unit 303 notifies the control unit 101 of the information on the separation direction and the distance, and also informs the own vehicle. When the current position of the vehicle is on the route to the destination, the control unit 101 is notified of the change instruction information of the course direction along the route in front of the intersection or the branch point on the route as the vehicle moves. To do. The control unit 101 is based on the operation control instruction information notified from the automatic operation control information generation unit 303, the current position confirmation result of the current position detection unit 110, and the grasp result of the surrounding moving body grasping unit 109. To control the motor drive unit 131 through the motor drive control unit 102 and to control the steering drive unit 132 through the steering drive control unit 103 so that the own vehicle moves along the route as instructed. 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 be done.

The map display unit 304 is a processing function unit that performs map display processing while the navigation function for automatic driving is being executed. Since the map display unit 304 does not need to support the driver in 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 the branch point to divide the display screen of the intersection or the branch point. The display that magnifies and guides 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 operation navigation function unit 200. In that case, the manual operation navigation function unit may be used. The map display unit 2031 of the route guidance unit 203 of the 200 can also be used as the map display unit 304 of the navigation function unit 300 for automatic driving.

This map display unit 304 is activated when the setting reception unit 301 requests a map display during automatic driving navigation execution, and is in an operating state. The navigation execution by the above-mentioned automatic driving navigation function unit 300 When the map display inside is executed and the map display is not requested, the operation state is set. The switch 307 of FIG. 2 is for explicitly indicating that the map display unit 304 can be switched between operation and non-operation according to the user's setting, and is not actually provided.

The voice guidance unit 305 is a processing function unit that performs voice guidance processing by synthetic voice during execution of navigation for automatic driving. Since the navigation function for autonomous driving does not require assistance to the driver, careful voice guidance according to the approach to the intersection or branch point such as "Turn right after 300 meters" or "It will be a branch point soon". Is unnecessary, and in this embodiment, the voice guidance unit 305 performs voice guidance processing for notifying the driver and the passenger of what kind of action the own vehicle will take at an intersection or a branch point. Of course, the voice guidance unit 305 may provide the same voice guidance as the voice guidance unit 2032 of the manual operation navigation function unit 200. In that case, the voice guidance unit 2032 of the route guidance unit 203 of the manual driving navigation function unit 200 can also be used as the voice guidance unit 305 of the automatic driving navigation function unit 300.

This voice guidance unit 305 is also activated when the setting reception unit 301 requests voice guidance during automatic driving navigation execution, and is in an operating state. When the voice guidance inside is executed and the voice guidance is not requested, the operation state is set to non-operation. The switch 308 in FIG. 2 is for explicitly indicating that the voice guidance unit 305 can be switched between operation and non-operation according to the user's setting, and is not actually provided.

The peripheral information providing unit 306 is in the operating state when the setting receiving unit 301 accepts the registration of the point requesting the provision of peripheral information. The switch 309 in FIG. 2 is for explicitly indicating that the peripheral information providing unit 306 can be switched between operation and non-operation according to the user's setting, and is not actually provided.

The peripheral information providing unit 306 monitors the current position of the own vehicle detected by the current position detecting unit 110, and when the current position of the own vehicle becomes at or near the registered point, the car navigation database 133. Information about the registered points stored in the map database of the above, for example, tourist information, guidance information of surrounding scenery, restaurant information such as restaurants in the vicinity, etc. are read out and displayed on the display screen of the display unit 111. Or, through the voice input / output unit 122 and through the speaker 138, the synthetic voice is notified. In this case, if the setting reception unit 301 allows the user to register and set in advance whether to request the same information as peripheral information, only the registered peripheral information is set. Is provided.

While the navigation functions of the navigation function unit 200 for manual driving and the navigation function unit 300 for automatic driving are being executed, an icon button for peripheral search is displayed on the display screen of the display unit 111, and the driver or the driver or When the passenger presses the icon button for peripheral search, it is detected by the touch panel 112, and depending on the detection result, the manual driving navigation function unit 200 or the automatic driving navigation function executed at that time is executed. The unit 300 is configured to execute a peripheral search function centered on the current position where the icon button for peripheral search is pressed and to provide the search result to the driver or the passenger. There is.

As will be described later, the destination when the manual operation mode is switched to the automatic operation mode (or the forced automatic operation mode) is not the name or location information of the destination, but the attribute of the destination, for example, "hospital". When the "gas station" and "convenience store (hereinafter abbreviated as convenience store)" are registered, the automatic driving navigation function unit 300 of the car navigation function unit 113 is currently detected by the current position detection unit 110. A peripheral search is performed for the attributes of the destination centering on the location, and the facility or location as a result of the peripheral search is set as the destination.

Further, in this embodiment, 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 locating the current position. It has a function to detect names, facility names, and addresses. Then, as will be described later, the voice guidance unit 2032 of the manual operation 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 have detected the location name and facility name of the current position. It also has a function of transferring the name of the address to the synthetic voice generation unit 121 based on the control of the control unit 101.

The image recognition unit 114 performs matching processing between the captured image from the camera that captures the inside of the vehicle or the camera that captures the outside of the vehicle in the camera group 107 and the image information stored in the image information storage unit 134. Obtains image recognition results for determining the inside of the vehicle, such as physical abnormalities of the driver and the passenger, the driver's behavior such as falling asleep, eating and drinking, smoking, looking away, and looking aside, and the driver's footwear. The image recognition unit 114 transfers the obtained recognition result to the vehicle interior condition determination unit 117.

Further, the image recognition unit 114 recognizes a person standing on a pedestrian crossing or the like from an image captured by a camera that photographs the outside of the vehicle in the camera group 107, or recognizes a railroad crossing breaker or the like to perform a railroad crossing. The image recognition unit 114 also has a function of recognizing a road sign or a road sign from an image captured by a camera that captures the outside of the vehicle in the camera group 107.

Further, the image information storage unit 134 connected to the image recognition unit 114 stores the image information of the comparative image for image recognition. As the comparative image stored in the image information storage unit 134, for comparison with the image taken from the camera taking a picture of the inside of the car, an image of the person sitting in the seat in a state of unawareness, anxiety, and fainting. Images of tantrum attacks, images of dozing (eyes closed for a certain period of time, head cocks, etc.), images of people looking away or looking aside, images of people eating and drinking , Other food and drink objects (rice balls, sandwiches, lunch boxes, sweets, ice cream, water, tea, coffee, etc.) (helps detect food and drink), tobacco (helps detect smoking) Includes images of footwear (footwear, slippers, high heels, and other footwear that can lead to mishandling) and barefoot (no footwear, which can lead to misdriving).

Further, as the comparison image stored in the image information storage unit 134, an image of a landscape that causes looking away or looking aside (for example, an image of a superb view of autumn leaves, etc.) for comparison with an image taken from a camera that shoots the outside of the vehicle. Includes images of famous places and historic sites, images of festival gods, images of fireworks, images of new store openings, images of celebrities (for example, images of famous entertainers and athletes), and so on.

Further, in the image information storage unit 134, image data of a road sign and a road sign are registered and stored in advance as a comparative image. The image recognition unit 114 includes images taken from one or more cameras that photograph the front, side, rear, etc. of the outside of the vehicle 1 in the camera group 107, and image data of road signs and road signs. By performing the matching process, road signs and road signs are extracted from the images taken by the one or more cameras.

Then, 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 running, driving, right rotation, left rotation, and backward rotation of the own vehicle (vehicle 1) from the images captured by the cameras of the camera group 107. Detects movements such as moving to the left side of the road or straddling the center line of the driving lane.

The automatic operation switching condition determination unit 115 changes from the manual operation mode stored in the automatic operation switching condition storage unit 135, which details the storage contents 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 conditions inside the vehicle and the behavior of the driver in the manual driving mode match any of the switching conditions to be switched, and when it is determined that they match, the manual driving mode is changed to the normal automatic driving mode or The 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 matching processing between the voice information from the microphone 137 and the voice information stored in the voice information storage unit 136, thereby causing physical changes in the driver or passenger, and the driver. Obtain voice recognition results for determining the in-vehicle conditions such as the passenger's intention to defecate and urine. The voice recognition unit 116 transfers the obtained recognition result to the vehicle interior condition determination unit 117.

The voice information storage unit 136 connected to the voice recognition unit 116 has a roar, asthma, scream, or "painful", "help", "help", which is emitted when a driver or a passenger has a physical abnormality. Voice information such as "I feel sick", "Somehow", "I'm sick", "I'm about to vomit", "Uh", "Gee", and when the driver or passenger has a desire to defecate or urinate. The voice information of tight voices (words) such as "toilet", "dressing room", "hand wash", "limit", and "leakage" emitted from the voice recognition unit 116 is used for voice recognition by the voice recognition unit 116. It is stored for comparison. Further, the voice information storage unit 136 also pre-registers and stores a child's crying sound, a falling sound from a child's seat, a pet's bark, and the like.

The vehicle interior condition 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 a plurality of sensors that contribute to the determination of the vehicle interior condition in the sensor group 108. From the output, the in-vehicle condition that is the switching condition for switching from the manual operation mode to the automatic operation mode is determined. Then, the vehicle interior condition determination unit 117 transfers the determination result of the vehicle interior condition to the automatic driving switching condition determination unit 115.

In this example, 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. The driver or passenger 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 carries the mobile phone when the call to 119 is stored as the setting information related to the switching condition stored in the automatic operation switching condition storage unit 135. It has a function to make a 119 call through the telephone function unit 119. The report information in the 119 call is composed of the synthetic voice from the synthetic voice generation unit 121. In addition, 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 a current date and time, and also has a timer function for measuring a time from a predetermined timing point in time based on the control of the control unit 101.

The synthetic voice generation 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 voice guidance unit 304 of the car navigation function unit 113, and the peripheral information providing unit 306. It has a function to convert voice data, place name, facility name, and address of the current position into synthetic voice. The voice messages stored by the synthetic voice generator 121 include, for example, "switched to normal automatic operation mode", "switched to forced automatic operation mode", and "manual operation mode", as described later. A notification message for switching the operation mode such as "Switched." And a notification message for prompting the input of the destination setting when switching from the normal manual operation mode to the automatic operation mode or the forced automatic operation mode are prepared.

As described above, the microphone 137 is connected to the audio input / output unit 122, and the speaker 138 is connected to the audio input / output unit 122. These microphones 137 and speakers 138 are used as hands-free communication transmitters / receivers using the mobile phone function unit 119. Further, the voice input / output unit 122 not only has a function of transmitting / receiving voice for hands-free calling using the mobile phone function unit 119, but also transmits voice information in the vehicle for determining the in-vehicle condition with the microphone 137. It also has a function of collecting sound and supplying it to the voice recognition unit 116, and a function of emitting a sound from the speaker 138, such as the above-mentioned operation mode switching notification message and a notification message prompting the destination setting input.

[Example of storage contents of automatic operation switching condition storage unit 135]
In this embodiment, two types of switching conditions are defined. That is, the first type of switching condition is defined as an in-vehicle condition in which if the driver continues driving in the manual driving mode, the safety is hindered. That is, when the in-vehicle condition of the automobile 1 becomes the in-vehicle condition that meets this switching condition, there is a danger or the safety is not guaranteed. Therefore, from the manual driving mode to the normal normal automatic driving mode or compulsory driving mode. The first type of switching condition is defined as a condition for switching to the automatic driving mode so as to maintain a safe driving state.

In addition, the second type of switching condition prevents driving that does not comply with traffic regulations such as "No overtaking", "No right turn (left turn)", "Speed limit", "Signal compliance", "Pause at railroad crossing". Avoid conditions that are likely to cause accidents such as "ignoring pauses at pedestrian crossings", "jamming driving", "dangerous driving, reckless driving", "sudden accelerator, sudden braking, sudden steering" , It is a condition to ensure safe driving. Then, with respect to this second type of switching condition, the forced automatic driving mode can be switched to the forced automatic driving mode instead of switching from the manual driving mode to the normal automatic driving mode, including a disciplinary meaning.

In the automatic operation switching condition storage unit 135 connected to the automatic operation switching condition determination unit 115, in this embodiment, the first automatic operation switching condition table TBL1 for the first type switching condition and the second type of automatic operation switching condition table TBL1 The second automatic operation switching condition table (forced automatic operation switching condition table) TBL2 regarding the switching condition is stored.

As the first automatic driving switching condition table TBL1, as illustrated in FIGS. 3 to 5, while the automobile 1 is traveling in the manual driving mode, the driving mode of the automobile 1 is changed from the manual driving mode to the normal automatic driving mode. Switching conditions for switching to the forced automatic operation mode, control contents when the switching conditions are met, destination information in the normal automatic operation mode and forced automatic operation mode, and cancellation conditions for the normal automatic operation mode and forced automatic operation mode. Is associated with and stored.

The control content when the switching condition is met depends on the specified information of the automatic operation mode whether to switch to the normal automatic operation mode or the forced automatic operation mode when the switching condition is met, and the matching switching condition. The vehicle 1 includes the control content to be performed in the automatic driving mode (including the forced automatic driving mode) after switching.

Further, the release condition is a condition in which the forced automatic operation mode may be canceled and returned to the manual operation mode, or an operation condition for switching from the automatic operation mode to the manual operation mode.

Further, as illustrated in FIGS. 6 and 7, the second automatic driving switching condition table TBL2 changes the driving mode of the vehicle 1 from the manual driving mode to the forced automatic driving mode while the vehicle 1 is traveling in the manual driving mode. The switching condition for switching to, the operation content in the forced automatic operation mode, and the cancellation condition in 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 manufacturing company or the sales company of the automobile 1. ..

Further, the information regarding the switching condition of the first automatic driving switching condition table TBL1 is additionally written after the fact by a predetermined operation through the touch panel 112 by the user of the automobile 1, that is, the driver or the passenger. , It is also possible to additionally store in the automatic operation switching condition storage unit 135. Then, the user of the automobile 1, that is, the driver, is configured to be able to select whether or not to use some of the switching conditions of the first automatic driving switching condition table TBL1.

Further, 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 may be standardized by the automobile industry, or may be standardized. It may be determined by the Ministry of Land, Infrastructure, Transport and Tourism. In this case, the user cannot change or erase the stored contents. The first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 can be used from the homepages of automobile companies, the Ministry of Land, Infrastructure, Transport and Tourism, etc. by using the connection function to the Internet provided in the mobile phone function unit 119. The latest condition table may be updated. Although the Ministry of Land, Infrastructure, Transport and Tourism is a Japanese government agency, it can be considered to be the same as the government agency that controls the traffic and transportation of the country in which the automobile 1 travels. For example, in the case of the United States, it is DOT (United States Department of Transportation).

Of course, the first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 are used for each country and even in the same country, such as states (US), provinces (China), and prefectures (China). It may differ depending on the region such as Japan). In this case, the first automatic operation switching condition table TBL1 and the first automatic operation switching condition table TBL1 and the first are based on the country or region determined from the current position of the vehicle detected by the radio wave from the GPS satellite or the mobile phone function unit 119. It is also possible to switch the automatic operation switching condition table TBL2 of 2. In addition, instead of automatically switching according to the country or region where the vehicle is being driven, the driver or passenger identifies the country or region where the vehicle is being driven, and the first is according to the country or region where the vehicle is being driven. The automatic operation switching condition table TBL1 and the second automatic operation switching condition table TBL2 may be used.

When driving in multiple countries is carried out on a daily basis, such as in the EU (European Union), the automobile 1 is the first automatic driving switching condition in all the countries where driving is planned. The table TBL1 and the second automatic operation switching condition table TBL2 may be stored in the automatic operation switching condition storage unit 135 in association with the identification information of all countries. This applies not only to countries but also to regions.

3 to 5 are examples of the first automatic operation switching condition table TBL1 in this embodiment. In the examples of FIGS. 3 to 5, the switching conditions are "change in the health condition of the driver or the occupant 1", "change in the health condition of the driver or the occupant 2", "sleeping of the driver", and "driving". "Person or passenger's sickness, nausea, etc.", "Driver or passenger's urge to defecate or urinate", "Overworked driving", "Driving (including temporary stop at red light, crossing, etc.)" "Driving by the driver", "Looking away by the driver, driving aside", "Eating and drinking or smoking by the driver", "Deterioration of the driving environment", "Abnormal behavior of children and pets on board", "How to drive the driver" Conditions for ensuring safe driving by avoiding accident-prone conditions such as ", posture" and "the driver is wearing or not wearing footwear that interferes with driving" are exemplified. ing. Then, corresponding to each switching condition, the designation of the automatic operation mode and the forced automatic operation mode after the switching, the control content, the destination, and the cancellation condition of the automatic operation mode are defined.

Needless to say, the switching conditions shown in FIGS. 3 to 5 are part of the contents of the first automatic operation switching condition table TBL1, and various other predetermined switching conditions are registered.

As shown in FIG. 3, for example, as a switching condition for "change in the health condition of the driver or the passenger 1", an emergency situation such as unconsciousness of personnel, unconsciousness, fainting, etc. is registered for the driver or the passenger. ing. The automatic driving switching condition determination unit 115 determines whether or not the switching condition for this "change in the health condition of the driver or the occupant 1" is satisfied by using the determination result of the in-vehicle condition determination unit 117. The in-vehicle condition determination unit 117 determines whether or not the driver or the occupant is in a state where physical abnormalities such as personnel unconsciousness, front-back unconsciousness, and fainting have occurred by image recognition by the image recognition unit 114. do.

For example, the case of a driver will be described. For example, the driver is photographed by a camera in a group of cameras 107 mounted next to the rear-view mirror 2 of the automobile 1. When there is no physical change in the driver, the captured image of the driver is a moving image in which the driver opens his eyes, gazes ahead, and operates the steering wheel (steering wheel). On the other hand, when a physical change occurs in the driver and the driver becomes unconscious, unconscious, or fainted, the captured image of the driver is that the driver closes his eyes and his face faces downward (upward) without looking forward. In some cases), the image becomes loose and does not move. The vehicle interior condition determination unit 117 determines the abnormal state that has occurred in the driver as described above from the recognition result from the image recognition unit 114, and transmits it to the automatic driving switching condition determination unit 115. In addition, in order to perform more precise medical image recognition, the image information storage unit 134 may store abundantly medically characteristic and precise comparative image information.

The automatic driving switching condition determination unit 115 receives the determination result of the in-vehicle condition, and by collating the determination result with the stored content of the automatic driving switching condition storage unit 135, "the health condition of the driver or the occupant". It is determined that the switching condition for "Abnormality 1" (see FIG. 3) is satisfied.

In the above example, the determination is made based only on the image recognition result of the image recognition unit 114, but in this embodiment, the vehicle interior condition determination unit 117 has the voice recognition unit 116 in addition to the image recognition result. This "change in the health condition of the driver or passenger 1" is judged by taking into account the fact that the voice recognition in the above recognizes howling, moaning, and groin (in the case of cerebral bleeding (cerebral bleeding)). To do so. As a result, the accuracy of the determination in the vehicle interior condition determination unit 117 can be improved.

The control content for the switching condition of this "change in the health condition of the driver or the passenger 1" is to switch to the forced automatic driving mode. A hospital is designated as the destination (destination). The designated hospital may be selected and specified in advance by the driver or the like, or may be selected and specified when switching to the automatic operation mode.

That is, a specific hospital, for example, a family hospital can be designated. In that case, 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 telephone number of this hospital to call the hospital by the mobile phone function unit 119, tells the characteristics of the own vehicle, the name of the driver, etc., and takes the suddenly ill person. Notify the hospital of this. The message for this purpose is stored in advance in the synthetic voice generation unit 121. It is also possible to notify the hospital by e-mail instead of by telephone. Further, in order to accurately inform the doctors of the hospital of the medical condition of the suddenly ill person, the image information and the audio information of the suddenly ill person may be sent by e-mail as an attached file.

It is also possible to memorize the destination attribute such as "emergency hospital or general hospital near the current position" instead of a specific hospital. The destination attribute may be specified as the destination, such as "emergency hospital or general hospital near the current position". When the destination attribute is specified as the destination, such as "emergency hospital or general hospital near the current position", the car navigation function unit 113 searches the surrounding area for the corresponding hospital around the current position, as described later. The destination is the search result around it.

In that case, if the telephone number of the hospital can be obtained, the control unit 101 of the automobile 1 uses the telephone number of this hospital to the hospital by the mobile phone function unit 119, as described above. Make a phone call, tell them the characteristics of your car, the driver's name, etc., and notify the hospital that you will be taking a suddenly ill person. Further, as described above, the notification can be made not only by telephone but also by a communication application such as e-mail or LINE. Further, the image information and the audio information of the suddenly ill person may be emailed as an attached file.

Further, in this embodiment, instead of designating a specific destination or destination attribute as a destination, it is possible to select to stop at a road shoulder or the like and call 119. In the case of this 119 call, the characteristics of the own vehicle, the driver's name, the occurrence of a sudden illness, the location name of the current location, the address, etc. are generated from the synthetic voice generator 121, and the 119 call content is recorded. Make sure to include it.

The automobile 1 may be provided with a medical information storage unit (not shown) containing various medical information (medical information) and a medical database (not shown). In that case, the medical information storage unit clearly stores medical information such as disease names, symptoms, and coping methods for intracerebral hemorrhage, subarachnoid hemorrhage, cerebral infarction, myocardial infarction, angina, and various other diseases. As for symptoms, image information such as eye condition, facial expression, sweating, and convulsions, which are peculiar to various diseases, and voice information such as groaning and moaning are memorized, and various diseases are treated as initial symptoms by image recognition and voice recognition. To be able to grasp quickly and accurately. Of course, not only still images but also moving images are stored as image information. Therefore, when the incident 1 occurs, the control content, the coping method, and the destination of the automobile 1 can be determined based on the medical information stored in the medical information storage unit.

That is, whether it is appropriate for the automobile 1 to move to the hospital when the accident 1 occurs, or whether it is appropriate to stop on the shoulder of the road without moving, call 119, and wait for the arrival of the ambulance. to decide. When it is appropriate to move to the hospital, the car 1 selects the optimum running speed (for example, 30 km / h or less) that does not impose a load on the suddenly ill person, or the car navigation function unit 113 has the unevenness of the road in the car navigation database 133. It is also possible to provide information and the like so that the car navigation function unit 113 provides the optimum route for smooth running without giving vibration to the suddenly ill person as much as possible. Further, if the medical information storage unit stores the driver's or passenger's pre-existing medical history and medical history, it is possible to respond more quickly and appropriately when the incident 1 occurs.

Of course, when a disease is identified, the destination is a hospital with a specialist or a hospital with specialized equipment based on the type of disease. For example, in the case of intracerebral hemorrhage, subarachnoid hemorrhage, and cerebral infarction, the destination is a hospital equipped with a specialist in brain surgery and specialized equipment, and in the case of myocardial infarction and angina, a specialist in cardiovascular and cardiac specialists and specialized equipment.

If the driver or passenger is a pregnant woman and labor pains occur, it is not a state of unconsciousness, unconsciousness, fainting, etc., and it is not a disease, but it is a life-threatening emergency and is equivalent to Incident 1. .. In this case, the automobile 1 heads to the obstetrics and gynecology department, obstetrics department, or maternity hospital of the pregnant woman so that the pregnant woman can give birth safely. If your obstetrics and gynecology department, obstetrics department, or maternity hospital is far from your current location and there is a possibility that you will not be able to give birth in time, search for an obstetrics and gynecology department, obstetrics department, or maternity hospital near your current location using the peripheral search function of the car navigation function unit 113. Then, go to the obstetrics and gynecology department, obstetrics department, or maternity hospital that you can search for. The same applies when a pregnant woman ruptures water, and the destination is the family or the nearest obstetrics and gynecology department, obstetrics department, or maternity hospital.

The condition for canceling the forced automatic driving mode corresponding to the switching condition of "change in the health condition of the driver or the passenger 1" is "arrival at the destination" or "arrival of the ambulance".

Next, as the switching condition for "change in the health condition of the driver or the passenger 2" in FIG. 3, the driver or the passenger has not reached the state of unconsciousness, unconsciousness, fainting, etc. Physical abnormalities that make manual driving difficult due to convulsions, asthma attacks, vomiting, etc. are registered. The vehicle interior condition determination unit 117 uses the image recognition result of the image recognition unit 114 and the voice recognition result of the voice recognition unit 116 to determine this "change in the health condition of the driver or the occupant 2". To.

The control content for the switching condition of this "change in the health condition of the driver or the passenger 2" is to switch to the forced automatic driving mode, and the driver or the passenger is awakened even if a physical change occurs. In this embodiment, the inquiries about the destination are made to the driver or the passenger. Then, as the destination, the driver or the like selects and specifies in advance "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. Further, the condition for canceling the forced automatic driving mode corresponding to the switching condition for the "change in the health condition of the driver or the passenger 2" is the time when "arriving at the destination".

When the switching condition of this "change in the health condition of the driver or the occupant 2" is met, the control unit 101 may make a synthetic voice such as "Is it okay?" Based on the matching result of the automatic driving switching condition determination unit 115. A message is sent to ask for safety, and even when the destination is pre-registered in the automatic operation switching condition storage unit 135, an inquiry asking "Do you want to make the destination the registered location?" To be able to change the destination (destination). This considers the case where the driver or passenger decides that he / she should go to the hospital based on the degree of physical abnormality even if "home" or "stop on the shoulder" is selected in the pre-registration. In this embodiment, when "stop on the shoulder or the like" is pre-registered, it is stipulated that an inquiry "Do you want to call 119?" Is made.

If the destination is not pre-registered, as will be described later, when switching to the automatic driving mode, the destination such as "Would you like to return home?", "Would you like to go to the hospital?", "Would you like to stop?" (Destination) inquiry message is generated by synthetic voice, and the driver's or passenger's reply such as "Yes" or "No" to each message is voice-recognized, and the destination is determined according to the recognition result. To.

Further, in this embodiment, when there is no pre-registration as a destination corresponding to the switching condition of "change in the health condition of the driver or the passenger 2" and there is no response to the inquiry by the synthetic voice, the control unit 101 Determines that it is in a dangerous state, searches for an emergency hospital or a general hospital near the current position by the peripheral search function of the car navigation function unit 113, and heads to the hospital with the searched hospital as the destination. In this case, if the hospital cannot be searched, the hospital will stop at the shoulder or the like and call 119. In the 119 call, as described above, the characteristics of the own vehicle, the driver's name, the occurrence of a sudden illness, the location name of the current position, the address, etc. are generated from the synthetic voice generator 121, and the 119 call is made. Be included in the content.

The condition for canceling the forced automatic driving mode corresponding to the switching condition of "change in the health condition of the driver or the passenger 2" is "arrival at the destination" or "arrival of the ambulance".

In addition, even when the incident 2 occurs, the control content, the coping method, and the destination of the automobile 1 are determined based on the medical information stored in the medical information storage unit (not shown) as in the above-mentioned incident 1. Of course you can do it.

Next, the switching condition "driver's doze" will be described. In this case, the vehicle interior condition determination unit 117 determines that the eyelids remain closed for a certain period of time or longer, or that the head is cocked by image recognition of the captured image of the camera 107a that captures the driver 3 by the image recognition unit 114. By recognizing it, the driver's dozing situation is determined.

The control content for the switching condition of this "driver's doze" is to switch to the normal automatic driving mode, and also to send a call voice (synthetic voice) to awaken the driver, an alarm sound, or a buzzer. Will be done. This is because it can be expected that the driver will return to the awake state by the call sound, the alarm sound, and the buzzer. In addition, instead of or in addition to the call voice or the like, vibration may be applied to the seat.

If the destination is set at the start of traveling of the automobile 1, the destination (destination) for the switching condition of the "driver's doze" is the set destination. However, if the patient is not awakened by the call voice or vibration (which can be judged from the image recognition), physical trouble or mental trouble is expected instead of falling asleep, so the search is performed by the peripheral search function of the car navigation function unit 113. The destination (destination) is an emergency hospital or general hospital that is close to the current location. Furthermore, if the hospital cannot be found by the peripheral search, the hospital will stop on the shoulder of the road and make a 119 call including the above-mentioned predetermined notification items.

The condition for canceling the normal automatic driving mode corresponding to the switching condition for "driver's doze" is "preset destination" when the destination (destination) determined at the time of switching to the automatic driving mode is "preset destination". It is said to be "manual driving operation", and in other cases such as a hospital, it is said to be "arriving at the destination".

Next, the switching condition "impaired physical condition such as motion sickness and nausea of the driver or passenger" will be described. In this case, the vehicle interior condition determination unit 117 determines the image recognition result of the image taken by the driver or the occupant by the image recognition unit 114, and "feels uncomfortable", "drunk", "sick", and "vomits". From the voice recognition results of the voice recognition unit 116 such as "Yes", "Uh", and "Gee", the situation of "Driver or passenger's sickness, nausea, etc." is determined. ..

The control content for the switching condition of "impaired physical condition such as motion sickness and nausea of the driver or the passenger" is to switch to the forced automatic driving mode. And, as the destination, if the current position is on the highway, it is the nearest PA (parking area) or SA (service area), and if the current position is a general road, it is said to "stop near the shoulder". .. You can also register "Return to home" as a destination. In addition, the condition for canceling the forced automatic driving mode corresponding to the switching condition for "impaired physical condition such as motion sickness and nausea of the driver or passenger" is considered to be when "arriving at the destination".

Next, the switching condition "driver or passenger's intention to defecate or urinate" will be described. In this case, the in-vehicle condition determination unit 117 determines the state in which the driver or the occupant is groping by image recognition of the photographed image of the driver or the occupant by the image recognition unit 114, and also determines the "toilet" and "toilet". The situation of "the driver's or passenger's intention to defecate or urinate" is determined from the voice recognition result of the voice recognition unit 116 such as "Let's leak".

The control content regarding the switching condition of the "driver or passenger's intention to defecate or urinate" is to switch to the forced automatic driving mode. If the current location is on a highway, the destination is the nearest PA (parking area) or SA (service area), and if the current location is a general road, the nearest "convenience store" or "gas station". It is said that there is a toilet such as ". The place where this toilet is located can be pre-registered according to the attributes of the destination such as "convenience store" or "gas station". Further, the condition for canceling the forced automatic driving mode corresponding to the switching condition for the "driver or passenger's intention to defecate or urinate" is the time when "arriving at the destination".

Next, the switching condition "overworked operation" will be described. The switching condition in this case is one of three types of conditions. The first condition is that one driver continuously operates for a predetermined time or more, for example, two hours or more. The second condition is that the total daily driving time for one driver is a predetermined time or more, for example, 5 hours or more. The third condition is that the number of times of switching between the manual operation mode and the automatic operation mode in one day is a predetermined number or more, for example, 20 times or more while one driver is driving. NS. The situation in which any of the above three conditions is satisfied takes into consideration that the driver may be hindered in safe driving due to overwork. The conditions for determining overwork are not limited to the above-mentioned three conditions, and the facial expression of the driver taken by the camera of the camera group 107 is image-recognized to determine whether or not the facial expression is tired, or the driver's facial expression. A biometric measurement may be performed and the degree of overwork may be determined from the measured value.

The vehicle interior condition determination unit 117 determines whether one driver has continued to drive for 2 hours or more continuously and whether the total driving time has exceeded 5 hours based on the time information from the clock unit 120. , It is determined that the in-vehicle condition of the first condition or the switching condition of the second condition has been reached. Further, the in-vehicle condition 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, so that one driver. By determining that the number of times of switching between the manual operation mode and the automatic operation mode in one day is 20 times or more while the vehicle is driving, the in-vehicle condition of the switching condition of the third condition can be obtained. Judge that it has become.

The control content for the switching condition of this "overworked operation" is to switch to the forced automatic operation mode. If the destination is set at the start of traveling of the automobile 1, the destination for the switching condition of this "overworked driving" is the set destination, and the destination must be set in advance. For example, the destination is set by the driver or the passenger in response to an inquiry when the automatic driving mode is switched to. The condition for canceling the forced automatic driving mode corresponding to the switching condition for "overworked driving" is the time when "arriving at the destination".

Next, the switching condition "driving of the driver" will be described. In this case, the vehicle interior condition determination unit 117 determines the vehicle interior condition of "driver's drinking" from the detection result of the alcohol concentration contained in the driver's breath by the breath sensor included in the sensor group 108. Further, in the vehicle of the automobile 1, the image recognition unit 114 recognizes the image of the driver drinking the beverage, and the bottle, bottle, or can of the beverage being drunk or held is beer, sake, or the like. Recognize whether it is an alcoholic beverage such as wine, whiskey, cocktail, or shochu, and the in-vehicle condition determination unit 117 that receives the recognition result determines the in-vehicle condition of "driver's drinking". ..

The control content for the switching condition of this "driver's drinking" is to switch to the forced automatic driving mode. If the vehicle 1 is running (including a red light stop and a temporary stop such as a railroad crossing), the destination is set at the start of the run as the destination for the switching condition of the "driver's drinking". In that case, it is set as the set destination, and if the destination is not set in advance, it is set as the destination set by the driver or the passenger in response to the inquiry when the automatic driving mode is switched to. NS. If the automobile 1 is stopped in a parking lot, a garage, or the like, it may be set to "do not start" or may be set as the destination set at the start of traveling. The condition for canceling the forced automatic driving mode corresponding to the switching condition for "driving the driver" is "arrival at the destination" or "disappearance of the switching condition". The switching condition disappears when the alcohol concentration of the driver's exhaled breath on the exhaled breath sensor becomes a predetermined value or less, or after a time when the drinking state returns to the normal state, for example, after 8 hours have elapsed.

Next, the switching condition "driver's looking away / sideways" will be described. In this embodiment, the switching condition is that the driver looks away or looks aside for a predetermined time or longer, for example, 1 minute or longer. Based on the image recognition result of the image taken by the driver by the camera, the vehicle interior condition determination unit 117 keeps the driver in a sloppy state for one minute or more, and from the direction of the line of sight, the inside of the vehicle looking away from the driver and looking aside. Try to judge the situation. By considering the continuation of the driver's wandering state for one minute or more and the direction of the line of sight, it is possible to make a distinction from the wandering by checking the left and right for safety while driving.

The following are possible situations in which looking away or looking aside is likely to occur.
・ Places of famous places, historic sites, and superb views (including autumn leaves). In such places, the driver also wants to see the landscapes and landscapes, and inadvertently looks away or aside, and there is a risk that safety cannot be ensured in the manual operation mode.
・ Extraordinary events such as festival mikoshi, fireworks, new store opening sale, etc. Such an event also makes the driver want to see it, and he or she may inadvertently look away or look aside, and it may not be possible to ensure safety in the manual operation mode.
-Celebrities, such as celebrities, athletes, and recently talked-about people. Such celebrities also want the driver to look at them, and they may look away or look aside, making it impossible to ensure safety in the manual driving mode.

In consideration of the above situations, the vehicle interior condition determination unit 117 detects the location of famous places, historic sites, and superb views (including autumn leaves) by the peripheral search function of the car navigation function unit 113, and the state of wandering by the above image recognition. In addition to the detection of, it is possible to determine the in-vehicle condition of "looking away from the driver, looking aside". In addition, the in-vehicle condition determination unit 117 accesses the Internet through the mobile phone function unit 119, searches for information on events around the current location, and detects the detection results of events such as the above-mentioned festivals, fireworks, and new store opening sales. In addition to the above-mentioned image recognition detection of the sloppy state, it is possible to determine the in-vehicle condition of "looking away from the driver, looking aside". Further, by storing the image information of a famous entertainer, an athlete, or a person who has recently been talked about in the image information storage unit 134, the image information taken from the camera that photographs the outside of the automobile 1 and the image information thereof are stored. Based on the image information of the person, the image recognition unit 114 can detect the above-mentioned famous entertainers, athletes, and recently-talked-about people, in addition to the above-mentioned image recognition to detect the state of wandering. It is possible to judge the in-vehicle condition of "looking away, looking aside".

The control content for the switching condition of this "driver's looking away, looking aside" is to switch to the forced automatic driving mode. Then, as the destination for the switching condition of "driver's looking away, looking aside", if the destination is set at the start of traveling of the vehicle 1, it is set as the set destination, and the destination is set in advance. If it is not set, the destination is set by the driver or the passenger in response to an inquiry when the mode is switched to the automatic driving mode.

Inquire the driver whether to stop by by synthetic voice message, and if the answer is affirmative, present the famous place / historic site detected by the peripheral search, the event venue detected by the Internet search, etc. as the destination. However, the driver may be asked to decide whether or not the famous place / historic site is the destination. Alternatively, the vehicle may be stopped on the shoulder of the road for viewing.

The condition for canceling the forced automatic driving mode corresponding to the switching condition of "looking away from the driver, looking aside" is "arriving at the destination" or "disappearing the switching condition". The switching condition disappears after a predetermined time, for example, 5 minutes has passed from the state of "looking away from the driver, looking aside" disappears. Alternatively, it may be a predetermined distance, for example, 500 meters or more away from the place where the "driver's looking away, looking aside" occurs.

Next, the switching condition "driver's eating and drinking or smoking" will be described. In this embodiment, the switching condition is that the driver eats and drinks or smokes for a predetermined time or longer, for example, 3 minutes or longer. The vehicle interior condition determination unit 117 determines the state in which the driver is eating, drinking or smoking based on the image recognition result of the image taken by the driver by the camera, and the state is 3 minutes or more based on the time information of the clock unit 120. The in-vehicle condition of "driver's eating, drinking or smoking" is judged depending on whether or not the vehicle continues. Eating, drinking and smoking in a short time of less than 3 minutes by the driver is considered to be acceptable to the extent of hindrance to manual driving.

In this case, the image recognition unit 114 recognizes the rice balls, sandwiches, lunch boxes, sweets, ice cream, water, tea, coffee, etc. contained in the image taken by the driver by the camera, thereby eating and drinking the driver. And if the driver has a cigarette in his hand, he can recognize the driver's smoking status. However, in this embodiment, regarding the switching condition of this "driver's eating and drinking or smoking", when the switching condition is met, the driver's manifestation of intention that automatic driving may be performed is accepted. This switching condition is valid only when the positive manifestation of intention is set.

The control content for the switching condition of the "driver's eating and drinking or smoking" is to switch to the forced automatic driving mode. If a destination is set at the start of driving of the vehicle 1, the destination for the switching condition of "driver's eating and drinking or smoking" is set to the set destination, and the destination is set in advance. If it is not set, the destination is set by the driver or the passenger 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 "driver's eating / drinking or smoking" switching condition is "end of eating / drinking or smoking", that is, "disappearance of the switching condition".

Next, the switching condition "deterioration of the surrounding environment during operation" will be described. In this embodiment, the switching condition is that the surrounding environment during driving is backlit, dusk (sunset), or bad weather (rain, snow, etc.), making it difficult for the driver to see the surroundings. The vehicle interior condition determination unit 117 determines the vehicle interior condition of this "deterioration of the surrounding environment during driving" based on the captured image from the camera for photographing the outside and the sensor detection output of the temperature sensor and the humidity sensor. In addition, the vehicle interior condition determination unit 117 also uses the result of voice recognition by the voice recognition unit 116 that the driver shouted "difficult to see", "difficult to drive", etc., and this "during driving". The deterioration of the surrounding environment may be determined.

The control content for the switching condition of this "deterioration of the surrounding environment during operation" is to switch to the forced automatic operation mode. It should be noted that the normal automatic operation mode may be used instead of the forced automatic operation mode. The destination for the switching condition of "deterioration of the surrounding environment during driving" is the destination set at the start of traveling of the automobile 1.

The condition for canceling 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 the improvement of the surrounding environment during driving.

Next, the switching condition "behavior of children and pets" will be described. In this embodiment, when a child or baby performs dangerous behavior in the car, for example, falling out of the seat or suddenly crying, the driver becomes anxious and turns around in that direction. Consider that safety may not be ensured in the manual operation mode. The same applies to pet behavior, such as excretion behavior and bark. The same applies when a child or pet is close to the driver or in the driver's seat because the driver cannot concentrate on driving. Needless to say, it is even more dangerous if there is no driver in the driver's seat and only children and pets. Therefore, in this embodiment, these "behaviors of children and pets" are set as switching conditions.

The vehicle interior condition determination unit 117 includes the image recognition result of the image taken from the camera that captures the driver (driver's seat) and the passenger, and the above-mentioned child's crying and falling sound as the voice recognition result by the voice recognition unit 116. From the bark of the pet, the "behavior of the child or pet" of the above switching condition is determined.

The control content for the switching condition of this "behavior of children and pets" is to switch to the forced automatic driving mode. Then, as the destination for the switching condition of this "behavior of children and pets", if the destination is set at the start of traveling of the automobile 1, it is set as the set destination, and the destination is set in advance. If not, the destination is set by the driver or the passenger in response to the inquiry when the automatic driving mode is switched to.

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 move closer to the driver or away from the driver's seat). Included) and other "disappearance of switching conditions".

Next, the switching condition "one-handed driving by the driver, letting go driving" will be described. In this embodiment, the state of one-handed operation by the driver continues for a predetermined time or more, for example, 2 minutes or more, or the state of letting go of the driver continues for a predetermined time or more, for example, 10 seconds or more. , It is a switching condition. The vehicle interior condition determination unit 117 determines the state in which the driver is driving with one hand or letting go based on the image recognition result of the image taken by the driver by the camera, and the state is 2 based on the time information of the clock unit 120. The in-vehicle condition of "one-handed driving by the driver, letting go driving" is determined based on whether or not the vehicle has continued for more than a minute or for more than 10 seconds.

The control content for the switching condition of "one-handed driving and letting go driving by the driver" is to switch to the forced automatic driving mode. At this time, a voice message such as "One-handed driving or letting go driving is dangerous, so we switched to the automatic driving mode", or an alarm sound or buzzer is emitted from the speaker 138 to the driver. To call attention to the driver.

The destination for the switching condition of "one-handed driving and letting go driving by the driver" is the destination set at the start of traveling of the automobile 1. In addition, the condition for canceling the forced automatic driving mode corresponding to the switching condition of "one-handed driving and letting go driving by the driver" is that the driver stops one-handed driving and letting go driving and "the driver's driving posture is correct". When it becomes ".

Next, the switching condition "inappropriate footwear of the driver" will be described. In this embodiment, the driver's footwear is unsuitable for driving, for example, clogs, slippers, high heels, or other footwear that may be misleading, or barefoot without footwear. The case is the switching condition.

The vehicle interior condition determination unit 117 determines whether the footwear is inappropriate such as clogs, slippers, high heels, or is inappropriate such as barefoot, based on the image recognition result of the footwear (or foot) in the image taken by the driver by the camera. Judge whether it is in a good state.

The control content for the switching condition of "inappropriate footwear of the driver" is to switch to the forced automatic driving mode. At this time, a synthetic voice message to the driver, "Footwear is inappropriate for driving, please replace the footwear" or "Barefoot is inappropriate for driving, please wear shoes". To warn you of changing or wearing footwear.

If the destination is set at the start of driving of the vehicle 1, the destination for the switching condition of "inappropriate footwear of the driver" is set to the set destination, and the destination is set in advance. If it is not set to, the destination is set by the driver or the passenger in response to the inquiry when the automatic driving mode is switched to. In addition, the condition for canceling the forced automatic driving mode corresponding to the switching condition of "driver's footwear is inappropriate" is when the driver replaces or wears the footwear with an appropriate one and the switching condition disappears. It is said that.

The storage contents of the automatic operation switching condition storage unit 135 described above are intended to store each of the switching condition, the forced automatic operation content after switching, and the cancellation condition as the corresponding processing program. For each of the switching condition, the forced automatic operation content after switching, and the cancellation condition set by the user later, the user describes the switching condition, the cancellation condition, and the control content in the forced automatic operation mode as described above. Therefore, the electronic control circuit unit 10 of the automobile 1 is provided with a processing function for automatically generating a corresponding processing program and storing it in the automatic operation switching condition storage unit 135.

Next, an example of the second automatic operation switching condition table TBL2 will be described with reference to FIGS. 6 and 7.

In the examples of FIGS. 6 and 7, the switching conditions are "no overtaking", "no right turn (left turn)", "speed limit", "signal compliance", "pause at a railroad crossing", and "driving mobile terminal". Conditions for preventing driving that does not comply with traffic regulations such as "use of", "ignoring pauses at pedestrian crossings", "jamming driving", "dangerous driving, reckless driving", "sudden accelerator, sudden braking, sudden" Conditions for ensuring safe driving by avoiding accident-prone conditions such as "railroad crossings" are illustrated. Then, the running control content in the forced automatic operation mode after switching and the release condition of the forced automatic operation mode are defined corresponding to each switching condition.

The switching conditions shown in FIGS. 3 to 7 are a part of the stored contents of the automatic operation switching condition storage unit 135, and other various switching conditions predetermined in order to comply with the traffic regulations. , And / or, it goes without saying that various predetermined switching conditions are registered in order to maintain safe driving. Further, as described above, the switching condition, the control content in the forced automatic operation mode or the normal automatic operation mode after switching, and the cancellation condition may be registered and switched for each country or region.

When switching from the manual operation mode to the forced automatic operation mode according to the second automatic operation switching condition table TBL2, as described later, after switching to the forced automatic operation mode in accordance with the switching conditions, the release condition It may not be necessary to set the destination (destination) during the period until the forced automatic operation mode is canceled with satisfaction. Of course, there are cases where the forced automatic driving mode is continued to drive autonomously to the destination. In that case, it is necessary to set the destination (destination). If the land is set, it will be the set destination, and if the destination is not set in advance, it will be set by the driver or passenger in response to an inquiry when switching to the automatic driving mode. It is said to be the destination.

As shown in FIG. 6, for example, in order not to violate the "overtaking prohibition", the switching condition for the "overtaking prohibition" is as follows.
(Condition 1) In the overtaking prohibited section indicated by the overtaking prohibited road sign or the yellow line section indicated by the overtaking prohibited road sign.
(Condition 2) It is stipulated that it is detected that the right turn signal is activated even though there is no right turn, or that the steering wheel is operated so as to cross the yellow line to change the course.
(Condition 3) However, in this case, there is a vehicle running in front of the own vehicle, and the stopped vehicle is parked or stopped on the left side, or an obstacle exists on the left side of the lane. If it is, it is not a switching condition.

The overtaking prohibited section of the above (condition 1) is shown in FIG. 8 (A) from the images captured by one or more cameras in front of or to the side of the own vehicle in the camera group 107 in the image recognition unit 114. It can be detected by recognizing the road sign and recognizing the yellow line from the image of the camera that captures the road surface in the camera group 107.

Further, the activation of the right turn signal in (Condition 2) can be detected from the output of the sensor included in the sensor group 108 as described above. In addition, the fact that the steering wheel was operated so as to straddle the yellow line and the course was changed was that the right steering wheel operation was detected by the manual driving operation detection unit 105 and that the vehicle motion analysis detection unit 118 detected the camera of the camera group 107. By analyzing the image, it is possible to make a judgment by detecting that the vehicle is traveling so as to straddle the yellow line. It can be detected from the captured image of the camera of the camera group 107 that there is no store or the like having a parking space such as a right turn road or a convenience store in the right direction in the front.

Further, regarding (Condition 3), it is possible to detect whether the vehicle in front is running or stopped by using the image captured by the camera of the camera group 107 and the radar group 106. That is, (Condition 3) can be detected by referring to the result of grasping the surrounding moving body of the surrounding moving body grasping unit 109.

Then, the driving control content in the forced automatic driving mode after switching with respect to the switching condition for this "passing prohibition" is "driving while maintaining the traveling lane". The condition for canceling the forced automatic driving mode is "detection of a road sign at the end of an overtaking prohibited section" or "disappearance of a yellow line as a road marking".

As can be seen from the above explanation, the camera group 107, the sensor group 108, and the manual operation operation are used as the condition element detecting means for detecting the condition element for monitoring whether or not the switching condition for the overtaking prohibition is satisfied. The detection unit 105, the surrounding moving object grasping unit 109, the image recognition unit 114, and the own vehicle motion analysis detection unit 118 are used.

The release condition when the forced automatic driving mode is set by satisfying the switching condition for this overtaking prohibition is the end of the overtaking prohibited section and the disappearance of the yellow line. It may be necessary to set (destination). Therefore, when the forced automatic driving mode is set by satisfying the switching condition for the overtaking prohibition, if the destination is set at the start of traveling of the automobile 1, the set destination is set and the purpose is set. If the destination is not set in advance, it will be the destination set by the driver or passenger in response to the inquiry when the forced automatic driving mode is switched to.

Next, for example, as a switching condition for "no right turn",
(Condition 4) When a right turn is prohibited by a road sign (regulatory sign) or a road marking (not shown) that prohibits traveling outside the designated direction as shown in FIGS. 8 (B), (C), and (D). ,
(Condition 5) It is stipulated that it is detected that the lighting of the right turn signal is activated, or that an attempt is made to change the course by operating the steering wheel so as to turn right.

Then, the driving control content in the forced automatic driving mode after switching with respect to the switching condition for this "right turn prohibition" is "driving by selecting a designated traveling direction". In addition, the condition for canceling the forced automatic driving mode is the detection of "passing the right turn prohibited point".

(Condition 4) prohibits turning right from the images captured by one or more cameras in front of or to the side of the own vehicle in the camera group 107 in the image recognition unit 114, FIGS. It can be detected by recognizing the road sign shown in (D).

Further, the activation of the right turn signal in (Condition 5) can be detected from the output of the sensor included in the sensor group 108 as described above. Further, it can be determined that the steering wheel is operated so as to turn right to change the course by detecting the right steering wheel operation by the manual operation detection unit 105.

Therefore, as the condition element detecting means in this case, the camera group 107, the sensor group 108, the manual operation operation detecting unit 105, and the image recognition unit 114 are used. Since the condition for canceling the forced automatic driving mode after switching for the switching condition for "prohibition of turning right" is the passage of the prohibited sign point or the prohibited sign point, it is not necessary to set the destination (destination).

Also, for example, as a switching condition for "pedestrian crossing",
(Condition 6) When the image recognition unit 114 detects a road sign (instruction sign) or a road sign on a pedestrian crossing from the camera image of the camera group 107.
(Condition 7) When the image recognition unit 114 detects a person who is trying to cross a pedestrian crossing or a person who is crossing from the camera image of the camera group 107.
Is stipulated.

Then, the driving control content in the forced automatic driving mode after switching the switching condition for this "pedestrian crossing" is "after a temporary stop, confirm that there is no crossing person and start". In addition, the condition for canceling the forced automatic driving mode is the detection of "passing a pedestrian crossing". The motion sensor included in the sensor group 108 may also be used for detecting a person. Furthermore, even for people, when crossing the elderly, infants and school children, people with disabilities, people with pets, etc., it is desirable to drive safely, so it is detected by more advanced image recognition and selectively responds. You may.

In this case, the camera group 107, the sensor group 108, and the image recognition unit 114 are used as the condition element detecting means. Since the condition for canceling the forced automatic driving mode after switching the switching condition for this "pedestrian crossing" is passing through the pedestrian crossing, it is not necessary to set the destination (destination).

Next, for example, as a switching condition for a "railroad crossing",
(Condition 8) When a road sign (warning sign) with a railroad crossing is detected by the image recognition unit 114 from the camera image of the camera group 107, or when the image recognition unit 114 detects an actual railroad crossing from the image captured by the camera. The case of recognition is stipulated.

Then, the driving control content in the forced automatic operation mode after the switching of the switching condition for this "railroad crossing" is "after a temporary stop, confirm the safety, and start". The safety confirmation in this case is the detection that the barrier is not down. In addition, the condition for canceling the forced automatic operation mode is the detection of "passing a railroad crossing".

In this case, the camera group 107 and the image recognition unit 114 are used as the condition element detection means. Since the condition for canceling the forced automatic operation mode after switching the switching condition for this "railroad crossing" is the passage of the railroad crossing, it is not necessary to set the destination (destination).

Next, for example, as a switching condition for "speed limit",
(Condition 9) The traveling speed of the own vehicle detected by the speed detection sensor of the sensor group 108 is a speed that makes us feel a serious danger, for example, if it is a general road, it exceeds the speed limit by 30 km / h or more, and is high speed. If it is a road, it is defined that it is detected that the speed exceeds the speed limit by 40 km / h.

Then, the running control content in the forced automatic operation mode after switching the switching condition for this "speed limit" is "running below the speed limit". Further, the condition for canceling the forced automatic operation mode is, including a disciplinary meaning, after a predetermined time, for example, 30 minutes has elapsed. This predetermined time may be lengthened depending on the degree of speed overrun from the switching condition. For example, assuming that the predetermined time exactly for the switching condition is 30 minutes, 30 minutes are added every time the time exceeds 1 km / h. In this case, if it exceeds 5 km / h, the release condition becomes after 3 hours have passed.

In this case, the speed sensor of the sensor group 108 is used as the condition element detecting means. However, in order to detect the release condition, the clock unit 120 is used to measure the elapsed time after switching to the forced automatic operation. Since the condition for canceling the forced automatic operation mode after switching the switching condition for this "speed limit" is after a predetermined time such as 30 minutes has elapsed, the vehicle passes through an intersection or a branch point during the predetermined time. It may be necessary to set the destination (destination). Therefore, when the forced automatic driving mode is set by satisfying the switching condition for this "speed limit", if the destination is set at the start of traveling of the automobile 1, the set destination is set. If the destination is not set in advance, the destination is set by the driver or the passenger in response to an inquiry when the forced automatic driving mode is switched to.

Regarding this "speed limit", in the image recognition unit 114, road signs and roads related to the "speed limit" are obtained from images captured by one or more cameras in front of or to the side of the own vehicle in the camera group 107. It can be detected by recognizing the sign.

Next, an example of the switching condition shown in FIG. 7 will be described. 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, the traffic light is showing a red light in the own vehicle motion analysis detection unit 118, but the traffic light is ignored and the vehicle runs without stopping a predetermined number of times. As described above, for example, the case where the detection is performed three times or more is defined.

Here, the case of traveling while ignoring the red light even once may be set as a switching condition, but in this embodiment, in consideration of the fact that the driver inadvertently overlooks the signal, the red light is red three times or more. Ignoring the signal was the switching condition.

The content of the driving control in the forced automatic driving mode after switching regarding the switching condition for this "signal compliance" has a disciplinary meaning for intentionally ignoring the signal, and the driving is performed only in the forced automatic driving mode on the day. It was possible. Therefore, the condition for canceling the forced automatic operation mode is the day after the intentional signal is ignored. Therefore, when the forced automatic driving mode is set by satisfying the switching condition for this "signal compliance", if the destination is set at the start of traveling of the automobile 1, it is regarded as the set destination. If the destination is not set in advance, the destination is set by the driver or the passenger in response to an inquiry when the forced automatic driving mode is switched to.

In this case, the camera group 107 and the own vehicle motion analysis detection unit 118 are used as the condition element detection means. However, in order to detect the release condition, the clock unit 120 is used to detect the end of the day (beginning of the next day).

Next, for example, as a switching condition for "jamming operation",
From the analysis result of the own vehicle motion analysis detection unit 118 of the image captured by the camera of the camera group 107 and the grasp result of the surrounding moving body grasping unit 109,
(Condition 11) Entering immediately before another vehicle in motion, (Condition 12) Remarkably approaching a passing person or vehicle, or (Condition 13) Tailgating, fanning, forcible interruption,
Is detected more than a predetermined number of times, for example, three times or more. In this case, it is not limited to the case where the same condition 11 to the condition 13 is detected three or more times, but it may be the case where any one of the conditions 11 to 13 is detected three times or more in total.

The content of the driving control in the forced automatic driving mode after switching regarding the switching condition for this "jamming driving" has a disciplinary meaning for the disturbing driving, and it is possible to drive only in the forced automatic driving mode on the day. .. Therefore, the condition for canceling the forced automatic operation mode is the day after the disturbing operation is performed. Therefore, when the forced automatic driving mode is set by satisfying the switching condition for this "jamming driving", if the destination is set at the start of traveling of the automobile 1, it is regarded as the set destination. If the destination is not set in advance, the destination is set by the driver or the passenger in response to an inquiry when the forced automatic driving mode is switched to.

In this case, the radar group 106, the camera group 107, the sensor group 108, and the own vehicle motion analysis detection unit 118 are used as the condition element detection means. However, in order to detect the release condition, the clock unit 120 is used to detect the end of the day.

Next, for example, as a switching condition for "dangerous driving, reckless driving",
From the analysis result of the own vehicle motion analysis detection unit 118 of the image captured by the camera of the camera group 107 and the detection result of the manual driving operation by the manual driving operation detection unit 105,
(Condition 14) A case where drifting or spin turn is detected more than a predetermined number of times, for example, twice or more is defined.

The driving control content in the forced automatic driving mode after switching about the switching condition for this "dangerous driving, reckless driving" has a disciplinary meaning for dangerous driving and reckless driving, and the forced automatic driving mode on the day It was possible to drive only at. Therefore, the condition for canceling the forced automatic driving mode is the day after dangerous driving or reckless driving. Therefore, when the forced automatic driving mode is set by satisfying the switching condition for this "dangerous driving, reckless driving", if the destination is set at the start of driving of the automobile 1, the set purpose. If the destination is not set in advance, the destination is set by the driver or the passenger in response to an inquiry when the forced automatic driving mode is switched to.

In this case, as the condition element detecting means, the manual driving operation detecting unit 105, the camera group 107, and the own vehicle motion analysis detecting 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.

Next, for example, as a switching condition for "sudden accelerator, sudden braking, sudden steering wheel",
From the analysis result of the own vehicle motion analysis detection unit 118 of the image captured by the camera of the camera group 107 and the detection result of the manual driving operation by the manual driving operation detection unit 105,
(Condition 15) It is defined that a sudden accelerator, a sudden brake, or a sudden steering wheel is detected a predetermined number of times or more, for example, five times or more. In this case, not only when the same thing is detected three or more times among sudden accelerator, sudden brake, and sudden steering wheel, but also when any one of sudden accelerator, sudden braking, and sudden steering wheel is detected three times or more in total. May be good.

The driving control content in the forced automatic driving mode after switching the switching conditions for this "sudden accelerator, sudden braking, sudden steering wheel" has a disciplinary meaning for dangerous driving, and forced automatic driving on the day It is possible to drive only in the mode. Therefore, the condition for canceling the forced automatic operation mode is the next day. Therefore, when the forced automatic driving mode is set by satisfying the switching conditions for this "sudden accelerator, sudden braking, sudden steering wheel", if the destination is set at the start of driving of the automobile 1, the setting is set. If the destination is not set in advance, the destination is set by the driver or the passenger in response to an inquiry when the forced automatic driving mode is switched to.

In this case, as the condition element detecting means, the manual driving operation detecting unit 105, the camera group 107, and the own vehicle motion analysis detecting 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.

Next, as a switching condition for "using a mobile terminal while driving",
From the image recognition result of the image captured by the camera of the camera group 107 and the recognition result of the voice recognition unit 116,
(Condition 16) It is defined that the driver detects the use of a smartphone, tablet terminal, mobile phone terminal, portable game machine, etc., or gaze at the display screen while driving.

The driving control content in the forced automatic driving mode after switching regarding the switching condition for this "use of mobile terminal" has a disciplinary meaning for dangerous driving, and only in the forced automatic driving mode during use. It was made possible to drive. Therefore, the condition for canceling the forced automatic operation mode is when the use is stopped or terminated.

In this case, the image recognition unit 114 analyzes the captured image information from the camera that captures the 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. It detects whether or not the action taken in the above is performed, and supplies the detection result to the automatic operation switching condition determination unit 115. Further, the voice recognition unit 116 automatically detects an incoming call notification, for example, a ringtone, an incoming call melody, or a driver's call voice, which is notified by a smartphone or a mobile phone terminal from the voice signal picked up by the microphone 137. Notify the operation switching condition determination unit 115. Further, the vibration sensor included in the sensor group 108 detects the vibration of the vibration notified by the smartphone or the mobile phone terminal, and notifies the automatic operation switching condition determination unit 115 of the detection result.

The automatic driving switching condition determination unit 115 monitors the detection results and detection results from the above-mentioned image recognition unit 114, voice recognition unit 116, and sensor group 108 while the own vehicle is running, and the driver can use a smartphone or a mobile phone. Whether you are talking on the phone, sending mail, accessing via the Internet, or watching the display screen of your mobile phone, or your mobile phone Determine if you are watching the display screen or moving your finger violently on the game machine, and if you determine that you are operating in violation of those regulations, switch from automatic driving mode to forced automatic driving mode To.

Further, the automatic operation switching condition determination unit 115 determines the release condition based on the recognition results from the image recognition unit 114 and the voice recognition unit 115, depending on whether or not the driver has stopped or terminated the use of the mobile terminal, or. From the output of the vehicle motion detection unit 118, it is determined whether or not the vehicle has stopped on the shoulder or the like.

The storage contents of the automatic operation switching condition storage unit 135 described above are stored as corresponding processing programs for each of the switching condition, the control content after switching, the forced automatic operation content, the destination setting, and the cancellation condition. It is something to do. For each of the switching condition, the forced automatic operation content after switching, and the cancellation condition set by the user later, the user describes the switching condition, the cancellation condition, and the control content in the forced automatic operation mode as described above. Therefore, the electronic control circuit unit 10 of the automobile 1 is provided with a processing function for automatically generating a corresponding processing program and storing it in the automatic operation switching condition storage unit 135.

As described above, the electronic control circuit unit 10 of the automobile 1 is configured, but among 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, vehicle movement analysis detection unit 118, vehicle movement analysis detection unit 118, synthesis Each processing function of the voice generation unit 121 and the voice input / output unit 122 can be realized by the control unit 101 as software processing.

[Operation example of the electronic control circuit unit 10 of the automobile 1 of the embodiment]
Next, a processing operation example of the electronic control circuit unit 10 of the automobile 1 of this embodiment will be described. In the operation of the electronic control circuit unit 10 described below, the control unit 101 includes a motor drive control unit 102, a steering drive control unit 103, a manual / automatic operation mode switching control unit 104, a surrounding moving body grasping unit 109, and present. Position detection unit 110, car navigation function unit 113, image recognition unit 114, automatic driving switching condition determination unit 115, voice recognition unit 116, vehicle motion analysis detection unit 118, vehicle motion analysis detection unit 118, mobile phone function unit 119, A case where each processing function of the synthetic voice generation unit 121 and the voice input / output unit 122 is realized as software processing will be described. Therefore, the processing of each step of the flowchart described below will be described as being executed by the control unit 101.

<Operation example of the electronic control circuit unit 10 at startup>
FIG. 9 is a flowchart for explaining an operation example at the time of starting the electronic control circuit unit 10 of the automobile 1 of this embodiment.

The control unit 101 monitors whether or not the own vehicle has been started (step S1), and when it determines that the own vehicle has been started, the control unit 101 transmits the display screen of the display unit 111 and the voice through the speaker 138 to the driver or the like. A message prompting the passenger to input the setting of the destination is sent (step S2). On the display screen of the display unit 111 at this time, "the destination is not set here" can be selected. This is because some users enjoy driving in the manual operation mode without setting a destination.

Next, when the control unit 101 determines whether or not the destination setting input from the driver or the passenger corresponding to the message in step S2 has been accepted (step S3), and determines that the destination setting input has been accepted. , The received destination is memorized (step S4).

When it is determined in step S3 that the destination setting input is not accepted, the control unit 101 determines whether or not "do not set the destination" is selected (step S5), and "does not set the destination". When it is determined that "" is not selected, the process is returned to step S3, and the processes after this step S3 are repeated. Further, when it is determined in step S5 that "do not set a destination" is selected, the control unit 101 ends this processing routine as it is.

As described above, when the destination is set and stored at the time of startup, the stored destination becomes the default value of the destination in the manual operation navigation function unit 200, and the automatic operation navigation function unit 300 becomes. Will be treated as a preset destination.

<Example of driving mode switching processing operation in the automobile 1 of the embodiment>
10 to 17 are flowcharts for explaining an operation example of the operation mode switching process after the start of the electronic control circuit unit 10 of the automobile 1 of the embodiment.

Immediately after the automobile 1 of this embodiment is started, the manual operation mode is initially set. Then, after the vehicle is started and before the vehicle 1 is started to drive, the driver or the passenger performs a switching operation to the normal automatic driving mode, so that the vehicle 1 is switched to the normal automatic driving mode and the vehicle 1 is started to drive. Is made to be possible. Further, after starting, the vehicle is switched to the normal automatic driving mode by switching to the normal automatic driving mode by the driver or the passenger after starting the driving in the manual driving mode. In addition, after starting, after starting running in the manual driving mode, while running in the manual driving mode, the above-mentioned switching conditions are monitored, and when the switching conditions are met, the normal automatic driving mode or the forced automatic driving mode is set. It can be switched.

The driving mode immediately after the start of the automobile 1 may be selected and set by the user (driver, passenger, etc.) as either a manual driving mode or a normal automatic driving mode. Of course, it can be selected and set in advance for each user. In this case, when the vehicle 1 is started, the camera group 107 takes a picture of the user, and the image recognition unit 114 recognizes the user, so that the user can use the operation mode selected and set in advance. Further, even if the driving mode when the driving of the automobile 1 is finished and the power is turned off is stored, and then the driving mode immediately before the stored driving mode is set when the automobile 1 is started. good.

In this embodiment, as shown in FIG. 10, first, the control unit 101 determines whether or not the driver or the occupant has performed the operation of switching from the manual operation mode state to the normal automatic operation mode (step S101). ). As described above, the operation of switching from the manual driving mode to the normal automatic driving mode may be performed before the start of driving immediately after the vehicle 1 is started or during driving in the manual driving mode. The operation includes any of the cases.

When it is determined in step S101 that the operation for switching to the normal automatic driving mode has been performed, 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 startup is set to the normal automatic operation mode, or if the operation mode immediately before the operation mode immediately after startup is the normal automatic operation mode, step S101 is not performed. This step S102 is executed.

Following step S102, the control unit 101 determines whether or not the function of the manual operation navigation function unit 200 was in operation before switching (step S103). Then, when it is determined in step S103 that the function of the manual operation navigation function unit 200 is in operation, the control unit 101 changes the destination set in the function of the manual operation navigation function unit 200. An inquiry message as to whether or not the vehicle is used is transmitted to the driver or the passenger through the display image on the display screen of the display unit 111 and by the synthetic voice through the speaker 138 (step S104).

Next, whether or not the control unit 101 responds to the inquiry message in step S104 to the effect that the driver or the passenger changes the destination through the touch panel 112 or the voice recognition unit 116. Determination (step S105). Then, when it is determined in step S105 that the answer that the destination is not changed is determined, the control unit 101 uses the destination set in the function of the manual operation navigation function unit 200 for automatic operation. The function of the route search unit 302 of the navigation function unit 300 executes the route search (step S106).

When it is determined in step S103 that the function of the manual operation navigation function unit 200 is not in operation, the control unit 101 determines whether or not there is a destination stored at the time of activation (step S111 in FIG. 11). When it is determined in step S111 that there is no destination stored at the time of startup, the control unit 101 inputs the setting of the destination through the display image of the display screen of the display unit 111 and by the synthetic voice through the speaker 138. Is sent to the driver or the passenger (step S112).

Then, the control unit 101 receives the setting input of the changed destination from the driver or the passenger through the touch panel 112 or the voice recognition unit 116 (step S113). After that, the control unit 101 shifts the process to step S106 of FIG. 10, and executes the route search for the automatic operation mode by the function of the route search unit 302.

When it is determined in step S111 that there is a destination stored at startup, does the control unit 101 change the destination through the display image of the display screen of the display unit 111 or by the synthetic voice through the speaker 138? A message asking whether or not to use is sent to the driver or the passenger (step S114).

Next, whether or not the control unit 101 responds to the inquiry message in step S114 to the effect that the driver or the passenger changes the destination through the touch panel 112 or the voice recognition unit 116. Determination (step S115). Then, when it is determined in step S115 that the answer that the destination is not changed is determined, the control unit 101 shifts the processing to step S106 of FIG. 10, and the function of the route search unit 302 is used for the automatic operation mode. Perform a route search.

Further, when it is determined in step S115 that the answer to change the destination is given, the control unit 101 shifts the process to step S112 of FIG. 11 to prompt the input of the destination setting, and then step S113. Accepts the changed destination setting input in, and then shifts the process to step S106 in FIG. 10, and executes the route search for the automatic operation mode by the function of the route search unit 302. Further, when it is determined in step S105 of FIG. 10 that the answer to change the destination is given, the control unit 101 shifts the processing to step S112 of FIG. 11 and performs the processing after step S112 described above. ..

Following 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 executing the navigation for automatic driving in the normal automatic driving mode (. Step S107).

Next, the control unit 101 tells the driver or the passenger whether to display a map in the automatic driving navigation system, request voice guidance, or register a point requesting the provision of peripheral information. The driver or the passenger is inquired through the display image of the display screen of the above and by the synthetic voice through the speaker 138 (step S108). Then, the control unit 101 accepts the setting input for the inquiry in step S108 (step S109).

Next, the control unit 101 switches from the normal automatic driving mode to the manual driving mode for the driver or the occupant through the display image of the display screen of the display unit 111 and the synthetic voice through the speaker 138. Prompts for input of the selection setting of (step S121 in FIG. 12). Then, the control unit 101 accepts the selection setting of the switching level from the normal automatic driving mode to the manual driving mode (step S122), and executes the automatic driving navigation.

Next, the control unit 101 determines whether or not a switching operation matching the switching level to the manual operation mode selected and set in step S122 has been performed (step S123), and when it is determined that the switching operation has not been performed, the control unit 101 determines. Whether or not the current position has arrived at the destination is determined 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 the navigation for automatic driving (step S125), then returns the process to step S123, and processes after this step S123. repeat.

When it is determined in step S124 that the vehicle has arrived at the destination, the control unit 101 determines whether or not the operation has been stopped due to the power being turned off (step S126), and when it is determined that the operation has been stopped, the control unit 101 determines that the operation has been stopped. The navigation for automatic operation is terminated (step S130), and this processing routine is terminated.

Further, when it is determined in step S126 that the operation has not been stopped, the control unit 101 informs the driver or the passenger through the display image of the display screen of the display unit 111 and the synthetic voice through the speaker 138. In response to this, a message prompting the input of setting a new destination is sent (step S127). Then, the control unit 101 determines whether or not the destination setting input has been accepted (step S128) by the prompting by step S127, and when it is determined that the destination setting input has been accepted, the process shifts to step S112 of FIG. The processing after step S112 is executed.

When it is determined in step S128 that the destination setting input is not accepted, the control unit 101 determines whether or not a switching operation matching the switching level to the manual operation mode has been performed (step S129), and the switching operation. When it is determined that the process is not performed, the process is returned to step S126, and the process after this step S126 is repeated.

Then, when it is determined in step S123 that a switching operation matching the switching level to the manual operation mode has been performed, or when it is determined in step S129 that a switching operation matching 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 occupant may be notified that the manual operation mode has been switched to through the display image on the display screen of the display unit 111 or by the synthetic voice through the speaker 138.

Next, the control unit 101 inquires to the driver or the passenger whether or not to start the navigation for manual driving through the display image of the display screen of the display unit 111 and the synthetic voice through the speaker 138. (Step S132). Then, when the control unit 101 determines whether or not the response to the inquiry in step S132 has been received to start the manual driving navigation (step S133), and determines the answer that the manual driving navigation is not started. , The process is returned to step S101 in FIG. 10, and the processes after this step S101 are repeated.

Further, when it is determined in step S133 that the response to start the manual operation navigation is received, the control unit 101 automatically operates the vehicle through the display image of the display screen of the display unit 111 and by the synthetic voice through the speaker 138. An inquiry message as to whether or not to change the destination set during the execution of the navigation system is sent to the driver or the passenger (step S134).

Next, the control unit 101 determines whether or not the driver or the passenger responds to the inquiry message in step S133 to change the destination through the touch panel 112 or the voice recognition unit 116. (Step S135). Then, when it is determined in step S135 that the answer that the destination is not changed is determined, the control unit 101 uses the function of the route search unit 202 of the manual operation navigation function unit 200 to set the destination for automatic driving navigation. The route search for the manual operation mode is performed with the destination as it is at the time of, and the function of the navigation function unit 200 for manual operation is executed (step S136).

Further, when it is determined in step S135 that the answer to change the destination is given, the control unit 101 determines that the destination is changed through the display image of the display screen of the display unit 111 and by the synthesized voice through the speaker 138. A message prompting the setting input is sent to the driver or the passenger (step S137).

Then, the control unit 101 receives the setting input of the changed destination from the driver or the passenger through the touch panel 112 or the voice recognition unit 116 (step S138). After that, the control unit 101 executes a route search for the automatic operation mode by the function of the route search unit 302 with the received destination as a new destination, and based on the search result, the automatic operation control information generation unit 303 By the function, the control information for automatic driving is generated, and the navigation for automatic driving is executed (step S139).

In either case of changing the destination or not changing the destination, the setting reception unit 201 of the navigation function unit 200 for manual operation can accept the setting input other than the destination as described above. Items are accepted.

Following step S136 or step S139, the control unit 101 determines whether or not the current position detected by the current position detection unit 110 has arrived at the destination depending on whether or not the current position is the destination (step 14 in FIG. 14). S141).

When it is determined in step S141 that the vehicle has arrived at the destination, the control unit 101 determines whether or not the operation has been stopped by terminating the manual operation navigation (step S142) and then turning off the power or the like. (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 has not been stopped, the control unit 101 returns the process to step S101 in FIG. 10 and repeats the processes after this step S101.

Further, when it is determined in step S141 that the vehicle has not arrived at the destination, the control unit 101 continues the manual operation 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 passenger (step S145), and when it is determined that the switching operation has been performed, the process is performed in FIG. The process returns to step S102, and the processes after step S102 described above are repeated.

Further, 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 is in a state of matching the switching condition stored in the automatic operation switching condition storage unit 135. Is determined (step S146).

When it is determined in step S146 that a state matching the switching condition stored in the automatic operation switching condition storage unit 135 is detected, the control unit 101 advances the process to step S152 of FIG. 15 and sets the matching switching condition. Depending on the situation, the mode is switched to the normal automatic operation mode or the forced automatic operation mode. When it is determined in step S146 that a state matching the switching condition stored in the automatic operation switching condition storage unit 135 has not been detected, the process is returned to S141.

Further, when it is determined in step S101 of FIG. 10 that there is no switching operation to the normal automatic operation mode, the control unit 101 detects a state that matches the switching condition stored in the automatic operation switching condition storage unit 135. Whether or not it is determined (step S151 in FIG. 15). Then, when it is determined in step S151 that a state that matches the switching condition stored in the automatic operation switching condition storage unit 135 is detected, the control unit 101 advances the process to step S152 and sets the matching switching condition. Depending on the situation, the mode is switched to the normal automatic operation mode or the forced automatic operation mode.

Further, when it is determined in step S151 that the state matching the switching condition stored in the automatic driving switching condition storage unit 135 has not been detected, the driver or the rider requests to use the manual driving navigation in the manual driving mode. It is determined whether or not the person has received it (step S161 in FIG. 16).

When it is determined in step S161 that the request for using the manual driving navigation in the manual driving mode has not been received from the driver or the occupant, the control unit 101 returns the process to step S101 of FIG. 10, and this step S101. The subsequent processing is repeated.

Further, when it is determined in step S161 that the request for using the manual driving navigation in the manual driving mode has been received from the driver or the occupant, the control unit 101 uses the function of the setting receiving unit 201 of the manual driving navigation function unit 200. , Accepts setting input of necessary input items (step S162). At this time, if there is a destination stored at the time of starting the automobile 1, the stored destination is set as the default value in the manual driving navigation function unit 200. The driver or passenger may leave the destination as this memorized destination or may change it.

After step S162, the control unit 101 executes the route search by the function of the route search unit 202 of the manual operation navigation function unit 200, and executes the manual operation navigation according to the route search result. (Step S163). Then, after this step S163, the control unit 101 shifts the process to step S141 of FIG. 14 and executes the processes after this step S141.

Then, after step S152 in FIG. 15, the control unit 101 refers to the storage contents 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 matching switching condition, It is determined whether or not the destination setting is unnecessary (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 the setting of the destination but a switching condition that requires the setting of the destination. , The control unit 101 refers to the storage contents of the automatic operation switching condition storage unit 135, and determines whether or not the destination is determined corresponding to the matched switching conditions (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 at the time of starting the automobile 1 exists (FIG. FIG. Step S171 of 17).

When it is determined in step S171 that the destination stored at the time of starting the automobile 1 exists, the control unit 101 aims through the display image of the display screen of the display unit 111 and by the synthetic voice through the speaker 138. Ask the driver or passenger whether to change the ground (step S172).

Next, the control unit 101 determines the answer to this inquiry by the driver or the passenger whether or not to change the destination (step S173). When it is determined in step S173 that the answer that the destination is not 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. The route search is executed (step S174).

Further, when it is determined in step S171 that the destination stored at the time of starting the automobile 1 does not exist, and when it is determined in step S173 that the answer to change the destination is received, the control unit 101 determines. A message prompting the setting input of the destination is sent to the driver or the occupant through the display image of the display screen of the display unit 111 and by the synthetic voice through the speaker 138 (step S175).

Then, the control unit 101 receives the setting input of the changed destination from the driver or the passenger through the touch panel 112 or the voice recognition unit 116 (step S176). After that, the control unit 101 executes the route search for the automatic operation mode by the function of the route search unit 302 with the received destination as a new destination (step S177).

Then, the control unit 101 generates control information for automatic driving based on the route search result in step S174 or step S177, and executes the navigation for automatic driving (step S178).

Then, when it is determined in step S154 of FIG. 15 that the destination corresponding to the matched switching condition is determined, the control unit 101 determines that the information of the determined destination is not the destination itself but the hospital. It is determined whether or not it is a destination attribute such as (step S155). When the information of the specified destination in step S155 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 (). Step S156), the destination is determined from the peripheral search results (step S157). The determination of the destination in step S157 may be performed after being selected by the driver or the passenger, or may be performed only by the automobile 1 itself.

Following this step S157, the control unit 101 shifts the process to step S177 in FIG. 17 and executes the processes after this step S177. Further, even when the information of the destination defined in step S155 is not the destination attribute but the destination person, the control unit 101 shifts the process to step S177 of FIG. 17, and this step. The processing after S177 is executed.

Next, after step S178, the control unit 101 registers the point at which the driver or the passenger is requested to display a map in the automatic driving navigation system, request voice guidance, or request the provision of peripheral information. The driver or the passenger is inquired about whether or not to do so through the display image on the display screen of the display unit 111 and by the synthetic voice through the speaker 138 (step S181 in FIG. 18). Then, the control unit 101 accepts the setting input for the inquiry in step S181 (step S182).

Then, after step S182, the control unit 101 refers to the stored contents of the automatic operation switching condition storage unit 135, and is in a state of satisfying the release condition determined corresponding to the matched switching condition. It is determined whether or not (step S183), and it waits for the release condition to be met.

Then, when it is determined in step S183 that the release condition is satisfied, the control unit 101 indicates that the forcibly switched normal automatic operation mode or forced automatic operation mode has ended, to the effect that the driver or the passenger has finished. Is notified through the display image of the display screen of the display unit 111 and by the synthetic voice through the speaker 138 (step S184).

Next, the control unit 101 puts the own vehicle into the manual driving mode for the driver or the occupant through the display image of the display screen of the display unit 111 and by the synthetic voice through the speaker 138. An inquiry is made as to whether to switch to the automatic operation mode (step S185), and which operation mode is selected in response to the inquiry is determined (step S186).

Then, when it is determined in step S186 that the manual operation mode has been selected, the control unit 101 shifts the process to step S131 of FIG. 13 and executes the processes after this step S131. Further, when it is determined in step S186 that the normal automatic operation mode is selected, the control unit 101 shifts the process to step S102 in FIG. 10 and executes the processes after this step S102.

Then, when it is determined in step S153 of FIG. 15 that the switching condition does not require the setting of the destination in the normal automatic operation mode or the forced automatic operation mode according to the matched switching condition, the control unit 101 performs processing. The process proceeds to step S183 of FIG. 18, and the processing after this step S183 is repeated.

[Effect of embodiment]
According to the automobile 1 of the embodiment described above, when the manual driving mode is switched to the automatic driving mode, the automatic driving navigation is always activated and the destination of the driving is set. Therefore, the automobile 1 can autonomously drive in the automatic driving mode to the destination desired by the driver or the passenger.

Further, in the above-described embodiment, when the driver or the passenger gets on the vehicle 1 and starts the vehicle 1, the driver or the passenger is prompted to input the setting of the destination in advance, and when the destination is set, the destination is set. Is memorized, and when the manual operation mode is switched to the automatic operation mode, the automatic operation navigation with the memorized destination as the destination can be executed. Therefore, when switching from the manual driving mode to the automatic driving mode, the driver or the passenger can enjoy the advantage of the function of the automatic driving navigation in the automatic driving mode without setting the destination. Play.

Further, in the above-described embodiment, when a predetermined switching condition is met, 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. As a result, the vehicle is driven toward a preset destination or a destination set by the driver or passenger, which improves the safety and convenience of the driver or passenger and complies with traffic regulations. Since it is possible to do so, the safety for a person other than the driver or the passenger who uses the automobile 1 is also improved.

[Other embodiments or modifications]
In the above-described embodiment, manual driving is performed when the driver switches from the manual driving mode to the normal automatic driving mode and when the automobile monitors the switching condition and detects that the switching condition is met. The case of switching from the mode to the normal automatic operation mode or the forced automatic operation mode has been described.

However, in the automobile 1 of the above-described embodiment, the automobile 1 itself can autonomously drive without a driver. Therefore, when a passenger (passenger) is in the vehicle 1 in addition to the driver, the driver drives the vehicle 1 in the manual driving mode and then drives the vehicle 1 at a predetermined point A. Even after getting off, passengers other than the driver (passengers) can move to another point B without getting off.

In such a case, since the driver was in the manual driving mode when driving, the vehicle 1 is in the manual driving mode to the normal automatic driving mode from the point A where the driver gets off to the point B. It will be switched to to drive autonomously. Then, in consideration of such a situation, the automobile 1 is set to perform a processing operation so that the driver can autonomously drive from the point A to the point B where the driver gets off in the automatic driving mode.

FIG. 19 is a flowchart for explaining an example of a processing operation to be performed by the automobile 1 in addition to the processing operation as in the above-described embodiment when the above situations are taken into consideration. The hardware configuration of the automobile 1 is the same as that shown in FIG.

That is, the control unit 101 determines whether or not the own vehicle is in the manual driving mode (step S201). When it was determined in step S201 that the state was not in the manual operation mode, the control unit 101 determined whether or not the mode was switched to the manual operation mode (step S202), and determined that the mode was not switched to the manual operation mode. Occasionally, the process is returned to step S201, and the processes after this step S201 are repeated.

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 mode 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 own vehicle is not stopped, the process is returned to step S201, and the processes after this step S201 are repeated.

When it is determined in step S203 that the own vehicle has stopped, the control unit 101 determines whether or not the driver has disembarked while maintaining the driving state of the own vehicle (step S204), and the driver disembarks. When it is determined that the process is not performed, the process is returned to step S201, and the process after this step S201 is repeated.

When it is determined in step S203 that the driver has disembarked while maintaining the driving state of the own vehicle, it is determined whether or not there is another passenger (passenger) in the own vehicle (step S205). When it was determined in step S205 that no other passenger was present, the control unit 101 determined whether or not the driver had re-boarded (step S206), and determined that the driver had not re-boarded. Occasionally, this step S206 is repeated to wait for the driver to re-board.

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 process after this step S201. Then, when it is determined in step S205 that another passenger is present, the control unit 101 executes the driver disembarkation post-processing described below (step S207).

FIG. 20 is a flowchart for explaining a first example of the driver disembarkation post-processing in step S207. This first example assumes that a passenger other than the driver understands the subsequent actions of the driver who disembarked. For example, when the driver gets off, he tells other passengers to re-board, saying "I'll be back soon" or "Wait for about 5 minutes", or "I'll get off here. Goodbye" or "Already." I'm assuming that I will not return, "and telling me not to re-ride.

That is, in this first example, as shown in FIG. 20, the control unit 101 sends an inquiry message to other passengers about the behavior of the driver after getting off, through the display screen of the display unit 111, or. , Is transmitted by voice through the speaker 138 (step S211). Then, the control unit 101 determines whether or not an instruction (instruction through the touch panel or an instruction recognized by the voice recognition unit 116) from another passenger for this inquiry message has been received (step S212), and issues an instruction. When it is determined that the instruction is not accepted, the process of step S212 is repeated to wait for the instruction to be accepted.

When it is determined in step S212 that an instruction from another passenger has been received, the control unit 101 determines whether or not the instruction is an instruction waiting for the driver to re-board (step S213). When it is determined in step S213 that the received instruction is an instruction waiting for the driver to re-board, the control unit 101 determines whether or not the driver has re-boarded (step S214), and the driver re-boards. When it is determined that the vehicle is not on board, this step S214 is repeated to wait for the driver to re-ride on the vehicle.

When it is determined in step S214 that the driver has re-boarded, the control unit 101 shifts the process to step S101 of FIG. 10 described above, and executes the process after step S101 described above.

Then, when it is determined in step S213 that the received instruction is not an instruction for the driver to wait for re-boarding, the control unit 101 determines whether or not the instruction is a driving start instruction (step S215). In step S215, when it is determined that the instruction is not a travel start instruction, the control unit 101 determines whether or not the received instruction is a drive stop instruction (step S216), and when it is determined that the instruction is not a drive stop instruction, processing is performed. Is returned to step S215, and when it is determined that the drive stop instruction is given, the driving of the own vehicle is stopped (step S217), and this processing routine is terminated.

Then, when it is determined in step S215 that the start instruction is given, the control unit 101 switches from the manual operation mode to the normal automatic operation mode to start autonomous driving (step S218), and then, FIG. 10 described above. The process proceeds to step S102 of the above step S102, and the processes after this step S102 are executed.

FIG. 21 is a flowchart for explaining a second example of the driver's disembarkation post-processing 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 an instruction by voice through the microphone 137 before getting off the vehicle. For example, in the vehicle 1, the display screen of the display unit 111 has three instructions, "re-boarding", "starting driving after disembarking", and "driving stop", as the behavior planned by the driver who disembarks. Items are displayed so that the driver can select and input from the instruction items. Then, the automobile 1 performs post-processing after getting off the driver according to the selection input. In this example, when the instruction of "start running after getting off" is selected, the setting input of the destination can also be performed. However, it is configured so that it is not necessary to input the setting of this destination.

That is, in this second example, as shown in FIG. 21, the control unit 101 analyzes and determines what the instruction selected by the driver before disembarking is (step S221). Then, the control unit 101 determines whether or not the determined instruction is a driver's re-boarding instruction (step S222). When it is determined that the determined instruction in step S222 is the driver's "re-ride" instruction, the control unit 101 determines whether or not the driver has re-boarded (step S223), and the driver re-boards. When it is determined that the vehicle is not on board, this step S223 is repeated to wait for the driver to re-ride on the vehicle.

When it is determined in step S223 that the driver has re-boarded, the control unit 101 shifts the process to step S101 of FIG. 10 described above, and executes the process after step S101 described above.

When it is determined in step S222 that the determined instruction is not the driver's "re-ride" instruction, the control unit 101 determines whether or not the determined instruction is a "start of driving after getting off" instruction (step). 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 "drive stop" and stops driving the own vehicle (step S225). ). Then, this processing routine is terminated.

Further, when it is determined in step S224 that the instruction determined is the "start driving after getting off" instruction, the control unit 101 switches from the manual driving mode to the normal automatic driving mode and starts autonomous driving (step). S226), and then it is determined whether or not the destination is set (step S227). When it is determined in step S227 that the destination has been set, the control unit 101 rewrites the stored destination at startup to the set destination (step S228).

Then, when it is determined in step S227 that the destination has not been set, and after step S228, the control unit 101 shifts to step S102 in FIG. 10 described above, and after this step S102. Try to execute the process.

As described above, according to the examples of FIGS. 19 to 21, even when the driver gets off the vehicle 1 from the state of driving the vehicle 1 in the manual driving mode, the vehicle 1 is changed from the manual driving mode to the normal automatic driving mode. At the same time as switching to, the automatic driving navigation system is activated, and the driver can autonomously drive toward the destination set and input by the driver who got off the vehicle or a passenger other than the driver.

In the above-described embodiment described above, since the vehicle has a manual driving mode and an automatic driving mode, it is assumed that the navigation system is not operating in the manual driving mode. By setting the location in advance, it is possible to save the trouble of setting the destination later. However, in the case of a car that has only an automatic driving mode, when it is started, it will be in the automatic driving mode. There is no need to set and remember the destination at startup.

In the above-described embodiment, even if the destination set at the time of activation is stored, the driver or the passenger is inquired as to whether or not to change the destination of the storage unit, and 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, but when the destination is stored in the storage unit, the storage unit does not inquire whether to change or not. The route search of the navigation for automatic driving may be performed using the destination, and the inquiry to the driver or the passenger about the destination when switching to the automatic driving mode may be omitted.

In the above-described embodiment, the setting, storage, and change of the destination are mainly described, but in addition to the destination, the waypoint to the destination can be set, stored, and changed in the same manner. For example, when it is determined in step S1 that the own vehicle has been activated, in step S2, the driver or the occupant responds to the destination through the display screen of the display unit 111 and the voice through the speaker 138. Sends a message prompting you to enter the setting or selection of the waypoint. On the display screen of the display unit 111 at this time, "do not set a waypoint here" can be selected. This is because some users go to their destination in manual operation mode without determining a waypoint.

Further, in the self-driving car of the above-described embodiment, various databases and various storage units are configured to be mounted on the own vehicle, but the present invention is not limited to this, and it is of course possible that the vehicle may be on the cloud. As for the camera group 107, not only the one mounted on the own vehicle, but also the automobile obtains the image from the surveillance camera installed in the traffic light, the street light, etc. by communication, and the image from the camera of another vehicle is obtained by vehicle-to-vehicle communication. You may do it. Similarly, for the radar group 106 and the sensor group 108, radar information and various sensor information can be obtained by communication from an external system such as an ITS spot or another vehicle, not limited to being mounted on the own vehicle.

Further, although the vehicle of the above-described embodiment is an electric vehicle, the present invention can be applied to a gasoline vehicle, a hybrid vehicle, a fuel cell vehicle, or another drive type vehicle.

Furthermore, the present invention is not limited to ordinary vehicles and light vehicles, but also trucks, buses, taxis, police cars, ambulances, fire engines, training vehicles, tractors, dump trucks, excavators, forklifts, single-person vehicles, motorcycles, and automatic vehicles. It can be applied even to a three-wheeled vehicle. Of course, the present invention is also applicable to amphibious vehicles and flying vehicles (flying vehicles).

1 ... Automobile, 10 ... Electronic control circuit unit, 101 ... Control unit, 104 ... Manual / automatic operation mode switching control unit, 111 ... Display unit, 113 ... Car navigation function unit, 115 ... Automatic operation switching condition determination unit, 121 ... Synthesis Voice generator 133 ... Car navigation database, 135 ... Automatic operation switching condition storage unit

Claims (24)

In a vehicle having a manual driving mode in which driving is performed based on a driving operation by the driver and an automatic driving mode in which autonomous driving is performed.
The driver disembarkation detection means for detecting that the driver has disembarked from the own vehicle in the manual operation mode, and the driver disembarkation detection means.
When the driver disembarkation detecting means detects that the driver has disembarked from the own vehicle in the manual driving mode, it is determined whether or not there is a passenger other than the disembarked driver. The first discrimination means and
When it is determined that the passenger is present in the first discriminating means, a first inquiry means for inquiring instructions to the passenger,
An instruction receiving means for receiving an instruction from the passenger in response to the inquiry by the first inquiry means, and an instruction receiving means.
The instruction accepted by the instruction accepting means comprises second determining means for determining whether or not the travel start instruction from the passenger,
In the second determination means, traveling the instruction accepted by the accepting unit instruction, when it is determined that it is the travel start instruction, starts traveling switch to the automatic operation mode the vehicle from the manual operation mode As a starting point,
A car characterized by being equipped with. The vehicle according to claim 1, wherein when the first determination means determines that the passenger does not exist, the vehicle waits for the driver to board the vehicle. As an instruction from the passenger in accordance with the interrogation by prior Symbol first inquiry means, when receiving an instruction to re-ride the driver, according to claim 1, characterized in that waiting for the re-ride of the driver Or the automobile according to claim 2. The inquiry by the first inquiry means is made by a display message on a display screen or a sound emission message from a speaker , and an instruction from the passenger in response to the inquiry is an instruction input from a touch panel or an instruction from a microphone. The automobile according to claim 3 , wherein the vehicle is made by voice input using voice recognition. The vehicle according to any one of claims 1 to 4 , wherein the driver disembarkation detecting means detects that the driver has disembarked while the own vehicle is maintained in a driving state. .. The vehicle according to claim 5 , wherein when the second determination means determines that the traveling start instruction has not been received, the driving of the own vehicle is stopped. In the automatic driving mode, a navigation means for the automatic driving mode for supporting the autonomous driving to the destination is provided.
Claims 1 to claim 1, wherein when the own vehicle is switched from the manual driving mode to the automatic driving mode and the driving is started by the traveling starting means, the navigation means for the automatic driving is activated. The vehicle according to any one of 6. When the destination, or the destination and the waypoint, are preset, the destination, or the destination and the waypoint in the navigation means for the automatic driving mode, is the preset destination. Or, the automobile according to claim 7 , characterized in that it is a destination and a stopover. When the preset destination, or the destination and the waypoint are set by the attribute, the navigation means for the automatic driving mode performs a peripheral search for the attribute, and the navigation means thereof performs a peripheral search. The vehicle according to claim 8 , wherein the result of the peripheral search is a destination, or a destination and a waypoint. When the navigation means for the automatic operation mode is activated, a map display during execution of the navigation function is requested, a route guidance by synthetic voice or a service for providing peripheral information is requested, or a peripheral information is provided. The vehicle according to any one of claims 7 to 9 , wherein the requested point is registered, or at least one of the setting input receiving means is provided. In the manual operation mode, the navigation means for the manual operation mode, which is activated in response to an activation instruction by the driver or the passenger and assists the driver in driving operation to the destination, is provided.
A third determination means for determining whether or not the navigation means for the manual operation mode was in operation when the manual operation mode was switched to the automatic operation mode.
When the third discriminating means determines that the navigation means for the manual operation mode is in operation, the destination, or the destination and the route in the navigation means for the manual operation mode that was in operation. The vehicle according to any one of claims 7 to 10 , wherein the ground is controlled to be used as a destination in the navigation means for the activated automatic driving mode, or as a destination and a waypoint. .. The activated navigation means for the automatic driving mode searches for the route for the automatic driving mode for the destination or the destination and the waypoint, and supports the autonomous driving to the destination. The automobile according to claim 11 , wherein the vehicle is characterized by the above. When the third discriminating means determines that the navigation means for the manual operation mode is in operation, the destination, or the destination and the route in the navigation means for the manual operation mode that was in operation. Equipped with a second means of inquiry to inquire whether to change the land,
The purpose of the navigation means for the manual operation mode that was in operation when the response to the inquiry by the second inquiry means was received that the destination, or the destination and the waypoint were not changed. earth or destination and stopover claim 11 or claim and controls to the destination, or the destination and stopover of the start navigation unit of the automatic operation mode 12, Cars listed in. When the third discriminating means determines that the navigation means for the manual operation mode is in operation, the destination, or the destination and the route in the navigation means for the manual operation mode that was in operation. Equipped with a second means of inquiry to inquire whether to change the land,
When receiving a reply that the destination, or the destination and the waypoint will be changed in response to the inquiry by the second inquiry means, the change of the destination, the destination and the waypoint by the passenger is accepted. , claim and controls as received destination or the destination and stopover the activated destination in a navigation device of the automatic operation mode, or the destination and stopover to 11 The vehicle according to any one of claims 13. When it is determined by the third determination means that the navigation means for the manual operation mode is in operation, the navigation means for the automatic operation mode is activated, and the navigation means for the manual operation mode is used. Switch to the navigation means for the automatic driving mode
The automobile according to claim 11 or 12. When it is determined by the third determination means that the navigation means for the manual operation mode is not in operation, the navigation means for the automatic operation mode is activated.
The automobile according to any one of claims 11 to 15. A first storage means for prompting input of a destination, a destination, and a waypoint at the time of starting the own vehicle and storing the destination, the destination, and the waypoint entered in response to the prompting.
Whether or not the destination, or the destination and the waypoint are stored in the first storage means when the third determination means determines that the navigation means for the manual operation mode is not in operation. And the fourth discriminating means for discriminating
Equipped with
When it is determined in the fourth determination means that the destination, or the destination and the waypoint are stored in the first storage means, the stored destination, or the destination and the waypoint are described as described above. The vehicle according to any one of claims 11 to 16 , wherein the vehicle is controlled to be used as a destination, or a destination and a waypoint in the activated navigation means for the automatic driving mode. When it is determined in the fourth determination means that the destination, or the destination and the waypoint are stored in the first storage means, the destination or purpose stored in the first storage means. Equipped with a fifth inquiring means for inquiring whether to change to a destination different from the place and waypoint, or to the destination and waypoint.
In response to the inquiry by the fifth inquiry means, the destination stored in the first storage means, or a destination different from the destination and the waypoint, or the destination and the waypoint are not changed. When the answer is received, the destination or the destination and the waypoint stored in the first storage means are changed to the destination or the destination and the waypoint in the activated navigation means for the automatic operation mode. The vehicle according to claim 17 , wherein the vehicle is controlled so as to be ground. When it is determined in the fourth determination means that the destination, or the destination and the waypoint are stored in the first storage means, the destination or purpose stored in the first storage means. Equipped with a fifth inquiring means for inquiring whether to change to a destination different from the place and waypoint, or to the destination and waypoint.
When receiving a reply to the inquiry by the fifth inquiry means that the destination is changed to the memorized destination or a destination different from the destination and the waypoint, or the destination and the waypoint, the purpose is Accepting a change of location and controlling the accepted destination, or destination and waypoint, to be the destination, or destination and waypoint in the activated navigation means for the automatic driving mode. The vehicle according to claim 17 or claim 18 as a feature. The automobile according to any one of claims 17 to 19 , wherein the first storage means is on the cloud. The method according to any one of claims 1 to 20 , wherein the automatic driving mode includes a forced automatic driving mode in which the autonomous driving is performed by disabling or making the switching operation to the manual driving mode invalid or impossible. car. In the manual operation mode, a navigation means for the manual operation mode, which is activated in response to an activation instruction by the driver or the passenger and supports the driving operation by the driver to the destination, and a navigation means for the manual operation mode.
In the automatic driving mode, a navigation means for the automatic driving mode for supporting the autonomous driving to the destination, and
Equipped with
When the navigation means for the manual operation mode is in operation when the manual operation mode is switched to the automatic operation mode, the navigation means for the automatic operation mode is activated for the manual operation mode. Switch from the navigation means of the above to the navigation means for the automatic operation mode.
The automobile according to any one of claims 1 to 21, characterized in that. When the navigation means for the manual operation mode is in operation when the manual operation mode is switched to the automatic operation mode, the destination in the navigation means for the manual operation mode that was in operation, Or inquire whether to change the destination and waypoint
22. The automobile according to claim 22. A computer provided in a car equipped with a manual driving mode in which driving is performed based on a driving operation by the driver and an automatic driving mode in which autonomous driving is performed.
A driver disembarkation detecting means for detecting that a driver has disembarked from the own vehicle in the manual driving mode.
When the driver disembarkation detecting means detects that the driver has disembarked from the own vehicle in the manual driving mode, it is determined whether or not there is a passenger other than the disembarked driver. First discrimination means,
Wherein when it is determined that the passenger is present in the first discriminating means, the first inquiry means for inquiring instructions to the passenger,
An instruction receiving means for receiving an instruction from the passenger in response to the inquiry by the first inquiry means,
The indication instruction received by the receiving means, second determining means for determining whether or not the travel start instruction from the passenger,
In the second determination means, traveling the instruction accepted by the accepting unit instruction, when it is determined that it is the travel start instruction, starts traveling switch to the automatic operation mode the vehicle from the manual operation mode Getting started,
A program for automobiles to be executed as.

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