WO2020202432A1 - Driving control device and driving control method - Google Patents

Driving control device and driving control method Download PDF

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Publication number
WO2020202432A1
WO2020202432A1 PCT/JP2019/014451 JP2019014451W WO2020202432A1 WO 2020202432 A1 WO2020202432 A1 WO 2020202432A1 JP 2019014451 W JP2019014451 W JP 2019014451W WO 2020202432 A1 WO2020202432 A1 WO 2020202432A1
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WO
WIPO (PCT)
Prior art keywords
occupant
route
unit
vehicle
driver
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Application number
PCT/JP2019/014451
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French (fr)
Japanese (ja)
Inventor
公二 村西
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2021511801A priority Critical patent/JP7134339B2/en
Priority to PCT/JP2019/014451 priority patent/WO2020202432A1/en
Publication of WO2020202432A1 publication Critical patent/WO2020202432A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a vehicle driving control device and a driving control method.
  • the present invention has been made to solve the above problems, and an object of the present invention is to shorten the arrival time to the destination even when the occupant cannot manually drive the vehicle.
  • the driving control device presents to the occupants of the vehicle a route search unit that searches for a route from the departure point to the destination of the vehicle and calculates the automatic driving level of the searched route, and the route and the automatic driving level. It is provided with a route guide unit.
  • the route from the starting point to the destination and the automatic driving level are presented to the occupant, so that the occupant who cannot drive manually can select a route that does not require manual driving. It is possible to shorten the arrival time at the destination as compared with the case where the vehicle is stopped until it recovers to the state where it can be manually operated.
  • FIG. It is a block diagram which shows the structural example of the operation control apparatus which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the operation example of the operation control apparatus which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the structural example of the operation control apparatus which concerns on Embodiment 2.
  • FIG. 1 is a block diagram showing a configuration example of the operation control device 10 according to the first embodiment.
  • the vehicle 1 is provided with a position information acquisition unit 3, a map storage unit 4, a vehicle control unit 5, a display unit 6, a voice output unit 7, an input unit 8, and a driving control device 10 that constitute a driving control system.
  • the driving control device 10 searches for the route of the vehicle 1 and presents it to the occupant of the vehicle 1.
  • the operation control device 10 is connected to a position information acquisition unit 3, a map storage unit 4, a vehicle control unit 5, a display unit 6, a voice output unit 7, and an input unit 8.
  • the position information acquisition unit 3 receives radio waves from a GPS (Global Positioning System) satellite and positions the vehicle 1 using the received radio waves.
  • the position information acquisition unit 3 outputs the position information indicating the position of the vehicle 1 to the route search unit 11.
  • the map storage unit 4 stores map information.
  • the map information is used for route search by the route search unit 11.
  • each road in the map information is composed of a node such as an intersection and a link which is a section connecting the nodes.
  • each road in the map information is classified into a road that cannot be automatically driven and a road that can be automatically driven.
  • roads on which automatic driving is not possible are classified as, for example, automatic driving level 3 (conditional driving automation) or lower among automatic driving levels 0 to 5 defined by SAE (SAE (Sociacy of Automation Engineers)). It shall be a road.
  • roads capable of automatic driving are classified into, for example, automatic driving level 4 (advanced driving automation) and automatic driving level 5 (complete driving automation) among the automatic driving levels 0 to 5 defined by SAE. It shall be a road.
  • automatic driving level 4 or higher the driving operation by the occupant is not required, whereas at the automatic driving level 3 or lower, the driving operation by the occupant may be required. Therefore, at automatic driving level 3 or lower, it is necessary to have an occupant in the driver's seat who has a driver's license and can drive manually.
  • the map storage unit 4 may be provided in the vehicle 1, or may be provided in an external server or the like.
  • the route search unit 11 may acquire map information from the map storage unit 4 such as the external server via a communication device (not shown).
  • the vehicle control unit 5 controls the vehicle 1 so that the vehicle 1 autonomously travels along the route set by the route guidance unit 12.
  • the vehicle control unit 5 switches to manual driving by the occupant when the driving operation by the occupant is required at the automatic driving level 3.
  • the display unit 6 is a display that displays information from the route guidance unit 12.
  • the voice output unit 7 is a speaker that outputs information from the route guidance unit 12 by voice.
  • the input unit 8 receives the operation of the occupant and outputs the received operation content as operation information to the route search unit 11 and the route guidance unit 12.
  • the input unit 8 is composed of a touch panel, a controller, or the like.
  • the touch panel may be integrally configured with the display which is the display unit 6.
  • the operation control device 10 includes a route search unit 11 and a route guidance unit 12.
  • the route search unit 11 searches for a route from the departure point to the destination of the vehicle 1 and calculates the automatic driving level of the searched route.
  • the route guidance unit 12 presents the route searched by the route search unit 11 and the automatic driving level calculated by the route search unit 11 to the occupants of the vehicle 1.
  • FIG. 2 is a flowchart showing an operation example of the operation control device 10 according to the first embodiment.
  • step ST1 the route search unit 11 receives the operation information indicating the departure point and the destination set by the occupant from the input unit 8.
  • the departure place may be the current position acquired by the position information acquisition unit 3.
  • the route search unit 11 searches for a plurality of candidate routes from the departure point to the destination using the map information of the map storage unit 4.
  • the route search unit 11 may search for a candidate route from the departure place to the destination through the waypoint.
  • the route search unit 11 also calculates the ratio of each automatic operation level to the candidate routes for each candidate route. That is, the candidate routes searched by the route search unit 11 are a candidate route composed of only automatic driving level 3 or lower, a candidate route consisting of only automatic driving level 4 or higher, automatic driving level 3 or lower, and automatic driving level 4 or higher. It can be a candidate route composed of and.
  • the route search unit 11 may estimate the estimated time of arrival of the vehicle 1 at the switching point where the automatic driving level is switched in the candidate route. Further, the route search unit 11 searches for any candidate route, such as a candidate route having a short traveling time, a candidate route having a short traveling distance, or a candidate route traveling preferentially on a toll road, according to the setting of the occupant. Good. The route search unit 11 outputs the combination of the candidate route and the automatic operation level to the route guidance unit 12.
  • the route search unit 11 is before the switching point at which the automatic driving level 4 or higher is switched to the automatic driving level 3 or lower for the candidate route composed of the automatic driving level 3 or lower and the automatic driving level 4 or higher, and the vehicle 1 A place where parking is possible may be set as a stopover.
  • the vehicle control unit 5 can stop the vehicle 1 and replace the driver with another occupant. ..
  • the route guidance unit 12 presents the combination of the candidate route received from the route search unit 11 and the automatic driving level to the occupant of the vehicle 1.
  • the method of presentation is at least one of display using the display unit 6 and audio output using the audio output unit 7.
  • the route guidance unit 12 generates an image showing each candidate route searched by the route search unit 11 and the automatic operation level included in each candidate route, and displays the generated image on the display unit 6.
  • the route guidance unit 12 may present, for example, the candidate route and the automatic driving level in a list format, or may present them in a state of being superimposed on the map.
  • the occupant performs an operation of selecting a desired candidate route from the plurality of candidate routes displayed on the display unit 6 on the input unit 8.
  • the occupant can select a candidate route of automatic driving level 4 or higher that does not require manual driving from among the plurality of candidate routes displayed on the display unit 6. Can be selected.
  • the input unit 8 outputs operation information indicating the candidate route selected by the occupant to the route guidance unit 12.
  • the route guidance unit 12 sets the candidate route selected by the occupant as the route on which the vehicle 1 travels, and outputs the information of the set route to the vehicle control unit 5.
  • the vehicle control unit 5 controls the vehicle 1 so that the vehicle 1 autonomously travels along this route.
  • the route guidance unit 12 switches between automatic driving and manual driving according to the automatic driving level at the current position of the vehicle 1.
  • the operation control device 10 includes a route search unit 11 and a route guidance unit 12.
  • the route search unit 11 searches for a route from the departure point to the destination of the vehicle 1 and calculates the automatic driving level of the searched route.
  • the route guidance unit 12 presents the route and the automatic driving level to the occupants of the vehicle 1.
  • FIG. 3 is a block diagram showing a configuration example of the operation control device 10 according to the second embodiment.
  • the operation control device 10 according to the second embodiment has an occupant information acquisition unit 13, an occupant state determination unit 14, and a driver determination unit 15 added to the operation control device 10 of the first embodiment shown in FIG. It is a configured configuration.
  • the vehicle 1 is provided with the occupant monitoring unit 2.
  • the same or corresponding parts as those in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted.
  • the occupant monitoring unit 2 monitors at least one of the facial expressions, eye conditions such as the degree of hyperemia or eye opening, pulse, exhalation, or blood alcohol concentration of each occupant in the vehicle 1, and the monitoring result. Is output to the occupant information acquisition unit 13 as occupant information.
  • the occupant monitoring unit 2 includes, for example, a DMS (Driver Monitoring System) that monitors the driver's condition using a camera and various sensors, or an OMS (Occupant Monitoring System) that monitors the occupant's condition using a camera and various sensors. It is composed of.
  • the occupants include not only the driver seated in the driver's seat but also the passengers.
  • the occupant shall refer to a person who has a driver's license.
  • the driving control device 10 may determine in any way whether or not the occupant has a driver's license.
  • the occupant monitoring unit 2 may store occupant information such as facial expressions of each occupant in a normal state, that is, in a state of being able to manually drive, as normal occupant information. Further, the occupant monitoring unit 2 may acquire the normal occupant information from the mobile terminal when the normal occupant information is registered in the mobile terminal such as a smartphone.
  • the occupant information acquisition unit 13 acquires occupant information indicating the current state of each occupant in the vehicle 1 from the occupant monitoring unit 2 and outputs the occupant information to the occupant status determination unit 14. Further, the occupant information acquisition unit 13 acquires the normal occupant information of each occupant on the vehicle 1 from the occupant monitoring unit 2 and outputs the occupant information together with the occupant information indicating the current state to the occupant status determination unit 14. You may.
  • the occupant status determination unit 14 determines whether or not each occupant can manually drive using the occupant information from the occupant information acquisition unit 13.
  • the occupant status determination unit 14 estimates the time until manual driving becomes possible for each of the occupants who cannot be manually operated (hereinafter referred to as "estimated recovery time"), and determines whether or not manual driving is possible and the expected recovery.
  • the time is output to the route guidance unit 12 and the driver determination unit 15.
  • the occupant condition determination unit 14 shall determine the health condition of the occupant using at least one of the facial expression, eye condition, pulse, exhalation, or blood alcohol concentration contained in the occupant information. Health status shall include both physical and mental health, such as poor physical condition, drowsiness, fatigue, and drunkenness.
  • the occupant state determination unit 14 determines for each occupant whether or not the vehicle is in a healthy state capable of manual driving based on the occupant information indicating the current state. As the method for determining the health condition by the occupant condition determination unit 14, a well-known technique may be used, and thus the description thereof will be omitted. In addition, the occupant state determination unit 14 may determine whether or not the vehicle is in a healthy state capable of manual driving by comparing the occupant information indicating the current state with the normal occupant information.
  • the occupant state determination unit 14 estimates the estimated recovery time until the occupant who is determined not to be in a manually driving healthy state recovers to a manually driving healthy state by using the occupant information. For example, the occupant condition determination unit 14 predicts recovery by using a calculation formula that predicts a temporal change in the blood alcohol concentration for an occupant who has determined that the occupant is not in a healthy condition capable of manual operation due to the high blood alcohol concentration. Estimate the time. At that time, the occupant state determination unit 14 may correct the above calculation formula by using occupant information such as facial expressions other than the blood alcohol concentration.
  • the occupant state determination unit 14 recovers the occupant who is determined to be feeling tired or drowsy based on the degree of redness or eye opening by using a calculation formula for predicting a temporal change in fatigue or drowsiness. Estimate the estimated time.
  • the method for estimating the estimated recovery time is not limited to the above example.
  • the occupant condition determination unit 14 estimates the estimated recovery time of all occupants who are determined not to be in a manually operable health condition. It is preferable to do so. In the following, it is assumed that the occupant condition determination unit 14 estimates the estimated recovery time of all occupants who are determined not to be in a healthy condition capable of manual driving.
  • the driver determination unit 15 determines an occupant to be assigned to the driver from among the occupants on the vehicle 1 based on the determination result of the occupant state determination unit 14, and transmits the determined occupant information to the route guidance unit 12. Output. For example, the driver determination unit 15 assigns one or more occupants who are determined to be capable of manual driving from the occupants on the vehicle 1 to the driver. Further, for example, when there are a plurality of occupants who are determined to be able to drive manually, and when it is determined that the occupants currently seated in the driver's seat are capable of manual driving, the driver determination unit 15 is currently in the driver's seat. Priority is given to the seated occupants. Further, for example, the driver determination unit 15 may determine the optimum driver at each time in consideration of the difference in the estimated recovery time of each occupant.
  • the driver determination unit 15 may store the experience value for each occupant and calculate the priority of the occupant to be assigned to the driver using the stored experience value.
  • the experience value is the skill of the occupant in manual driving, the frequency of drowsiness during automatic driving, or the driving experience of a straight road or a meandering road.
  • the experience value may be stored in an external server or the like instead of the driver determination unit 15.
  • the driver determination unit 15 may acquire the experience value of the occupant from the server outside the vehicle or the like via a communication device (not shown). For example, the driver determination unit 15 gives higher priority to occupants with higher skills. Further, for example, the driver determination unit 15 lowers the priority of the occupant who frequently causes drowsiness.
  • the route guidance unit 12 sets priorities for a plurality of candidate routes searched by the route search unit 11 based on the determination result of the occupant status determination unit 14 and the estimated recovery time, and starts from the candidate route having the highest priority. In turn, the candidate route and the automatic driving level are presented to the occupants.
  • the route guidance unit 12 may present the occupant with a candidate route having a high ratio of automatic driving level 3 or less.
  • the route guidance unit 12 sets a high priority for the candidate route consisting only of the automatic driving level 4 or higher. Then, a low priority is set for the candidate routes including the automatic operation level 3 or lower.
  • the route guidance unit 12 does not have to present the occupants with a candidate route including the automatic driving level 3 or lower. However, even if it is a candidate route that includes automatic driving level 3 or lower, the occupant will recover to a healthy state that allows manual driving by the time vehicle 1 arrives at the switching point where automatic driving level 4 or higher is switched to automatic driving level 3 or lower. It is preferable that the route guidance unit 12 presents the candidate route to the occupant when there is a possibility of the route. This increases the number of candidate routes that the occupant can select.
  • the route guidance unit 12 arrives at the switching point where the automatic driving level 4 or higher is switched to the automatic driving level 3 or lower for the candidate route composed of the automatic driving level 3 or lower and the automatic driving level 4 or higher.
  • the estimated time of arrival is compared with the estimated recovery time of each occupant to determine whether or not there is an occupant who is expected to recover to a state of health that allows manual driving by the estimated time of arrival. If there is an occupant who is expected to recover, the route guidance unit 12 presents this candidate route to the occupant. At this time, the route guidance unit 12 lowers the priority of the route candidate to the candidate route composed of only the automatic operation level 4 or higher.
  • the route guidance unit 12 may acquire the estimated time of arrival at the switching point from the automatic operation level 4 or higher to the automatic operation level 3 or lower from the route search unit 11.
  • the route guidance unit 12 is at least the display unit 6 or the audio output unit 7. One of them may be used to urge the occupant in the driver's seat to change seats to the occupant assigned to the driver by the driver determination unit 15.
  • the route guidance unit 12 resets the priority of the candidate route and presents it to the occupant. This increases the number of candidate routes that the occupant can select.
  • the route guidance unit 12 may acquire the experience value of each occupant from the driver determination unit 15 and set the priority order of the candidate route based on the acquired experience value. For example, the route guidance unit 12 lowers the priority of a candidate route on which the driver's seat occupant has been drowsy in the past. As a result, when the vehicle 1 is switched from automatic driving to manual driving after the start of traveling, it can be expected that the occupants in the driver's seat are in a healthy state in which manual driving is possible without causing drowsiness. Further, for example, the route guidance unit 12 may lower the priority of the candidate route including the narrow road when the occupant in the driver's seat has only driven a wide road in the past.
  • the route guidance unit 12 may lower the priority of the candidate route including the snowy road when the occupant in the driver's seat has never driven the snowy road in the past. Further, for example, the route guidance unit 12 may lower the priority of the candidate route including the meandering road when the occupant in the driver's seat has only driven a road having many straight lines such as an expressway in the past. Further, for example, when the occupant in the driver's seat has never driven a meandering road such as a mountain road in the past, the route guidance unit 12 lowers the priority of the candidate route including the mountain road.
  • the priority order of the candidate route can be changed even when the occupant gets on a vehicle other than the vehicle 1 which is normally driven.
  • FIG. 4 is a flowchart showing an operation example of the operation control device 10 according to the second embodiment.
  • the operation in steps ST1 and ST2 of FIG. 4 is the same as the operation in steps ST1 and ST2 of FIG. 2 in the first embodiment.
  • step ST11 the occupant information acquisition unit 13 acquires the occupant information of each occupant from the occupant monitoring unit 2.
  • the occupant state determination unit 14 determines whether or not each occupant can manually drive at the present time by using the occupant information acquired by the occupant information acquisition unit 13.
  • step ST15 the route guidance unit 12 is a plurality of candidates searched by the route search unit 11. Present the route to the occupants along with the autonomous driving level.
  • the route guidance unit 12 may set the priority of the candidate routes as described above, and present the candidate routes in order from the highest priority.
  • the route guidance unit 12 seats the occupant assigned to the driver by the driver determination unit 15. You may make a suggestion to encourage change.
  • step ST11 “NO”) the occupant status determination unit 14 estimates the estimated recovery time of each occupant in step ST12.
  • the route guidance unit 12 determines whether or not there is a candidate route among the candidate routes searched by the route search unit 11 that the automatic driving level 4 or higher continues until the estimated recovery time of the occupant.
  • the route guidance unit 12 selects a route candidate whose automatic operation level 4 or higher continues until the estimated recovery time in step ST14. Present to the occupants along with the autonomous driving level.
  • the route guidance unit 12 may set the priority of the candidate routes as described above, and present the candidate routes in order from the highest priority.
  • the route guidance unit 12 presents the occupants assigned to the driver by the driver determination unit 15 to urge the occupants to change seats at the switching point where the automatic driving level 4 or higher of the candidate route is switched to the automatic driving level 3 or lower. May be good.
  • the route guidance unit 12 does not present the candidate route, for example, and asks the occupant to wait until the estimated recovery time. Make a prompting presentation.
  • the route guidance unit 12 When the occupant recovers to a healthy state capable of manual driving due to the passage of time after the operation shown in the flowchart of FIG. 4 is completed, the route guidance unit 12 presents the occupant with a candidate route including the automatic driving level 3 or lower. You may. For example, if all the occupants of the vehicle 1 are unable to drive manually and it takes one hour for the driver to recover to a state of health that allows manual driving, the route guidance unit 12 is a candidate for the automatic driving level 4 or higher to continue for one hour. Present the route.
  • the route guidance unit 12 may use the candidate route including, for example, the automatic driving level 3 or lower. Therefore, the occupant is presented with a candidate route whose estimated time of arrival at the destination is earlier than that of the running candidate route.
  • the operation control device 10 includes an occupant information acquisition unit 13 and an occupant state determination unit 14.
  • the occupant information acquisition unit 13 acquires occupant information indicating the state of the occupant.
  • the occupant state determination unit 14 determines whether or not the occupant can manually drive by using the occupant information acquired by the occupant information acquisition unit 13.
  • the route guidance unit 12 presents an automatic driving level route according to the determination result of the occupant state determination unit 14 among the routes searched by the route search unit 11.
  • the operation control device 10 can present a route that does not require manual operation when the occupant cannot perform manual operation. Therefore, the operation control device 10 can shorten the arrival time at the destination as compared with the case where the vehicle is stopped until the occupant recovers to the state in which the driver can manually drive the vehicle.
  • the occupant state determination unit 14 is expected to recover until the occupant can manually drive using the occupant information acquired by the occupant information acquisition unit 13. Estimate the time.
  • the route guidance unit 12 presents a route of an automatic operation level capable of continuing automatic operation until the estimated recovery time among the routes searched by the route search unit 11.
  • the operation control device 10 travels on a route that does not require manual driving while the occupant cannot manually drive, and after the occupant is in a state where manual driving is possible, travels on a route other than the route that does not require manual driving. Can be presented. Therefore, the operation control device 10 can shorten the arrival time at the destination as compared with the case where the vehicle is stopped until the occupant recovers to the state in which the driver can manually drive the vehicle.
  • the driving control device 10 determines the occupant to be assigned to the driver from among the occupants on the vehicle 1 based on the determination result of the occupant state determination unit 14.
  • a unit 15 is provided.
  • the route guidance unit 12 presents an automatic driving level route according to the determination result of the occupant state determination unit 14 regarding the occupant assigned to the driver by the driver determination unit 15. To do.
  • the route guidance unit 12 automatically determines the occupant status determination unit 14 regarding the occupant assigned to the driver by the driver determination unit 15 among the routes searched by the route search unit 11 and the estimated recovery time.
  • a driving level route may be presented.
  • the operation control device 10 can present not only a route that does not require manual operation but also a route that requires manual operation to a driver who can drive manually. Therefore, the operation control device 10 can increase the route options.
  • FIGS. 5 and 6 are diagrams showing a hardware configuration example of the operation control device 10 according to each embodiment.
  • the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant state determination unit 14, and the driver determination unit 15 in the operation control device 10 are realized by the processing circuit. That is, the operation control device 10 includes a processing circuit for realizing the above functions.
  • the processing circuit may be a processing circuit 100 as dedicated hardware, or a processor 101 that executes a program stored in the memory 102.
  • the processing circuit 100 when the processing circuit is dedicated hardware, includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, and an ASIC (Application Special Integrated Circuit). ), FPGA (Field Processor Gate Array), or a combination thereof.
  • the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant state determination unit 14, and the driver determination unit 15 may be realized by a plurality of processing circuits 100, or the functions of each unit may be integrated. It may be realized by one processing circuit 100.
  • the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant state determination unit 14, and the driver determination unit 15 are software. , Firmware, or a combination of software and firmware.
  • the software or firmware is described as a program and stored in the memory 102.
  • the processor 101 realizes the functions of each part by reading and executing the program stored in the memory 102. That is, the operation control device 10 includes a memory 102 for storing a program in which the steps shown in the flowcharts of FIGS. 2 and 4 are eventually executed when executed by the processor 101. Further, it can be said that this program causes the computer to execute the procedures or methods of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant status determination unit 14, and the driver determination unit 15.
  • the processor 101 is a CPU (Central Processing Unit), a processing device, an arithmetic unit, a microprocessor, or the like.
  • the memory 102 may be a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), or a flash memory, or may be a non-volatile or volatile semiconductor memory such as a hard disk or a flexible disk. It may be a magnetic disk of the above, or an optical disk such as a CD (Compact Disc) or a DVD (Digital Versaille Disc).
  • Some of the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant status determination unit 14, and the driver determination unit 15 are realized by dedicated hardware, and some are software or software. It may be realized by firmware. As described above, the processing circuit in the operation control device 10 can realize the above-mentioned functions by hardware, software, firmware, or a combination thereof.
  • the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant state determination unit 14, and the driver determination unit 15 are mounted on the vehicle 1. Although it was configured to be integrated into information devices brought into the vehicle 1, it may be distributed to server devices on the network, mobile terminals such as smartphones, and in-vehicle devices. Further, the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant status determination unit 14, and the driver determination unit 15 may be integrated in a server device on the network.
  • the driving control device is suitable for use as a driving control device for an autonomous driving vehicle that requires switching between automatic driving and manual driving.

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

Abstract

A route finding unit (11) finds a route for a vehicle (1) from a departure location to a destination, and calculates an automated driving level for the found route. A route guidance unit (12) presents the route found by the route finding unit (11) and the automated driving level to an occupant riding in the vehicle (1).

Description

運転制御装置及び運転制御方法Operation control device and operation control method
　この発明は、車両の運転制御装置及び運転制御方法に関するものである。 The present invention relates to a vehicle driving control device and a driving control method.
　従来、車両の自動運転を支援する技術として、出発地から目的地までの経路のうちの自動運転区間について走行時間又は距離等を算出して提示する技術があった（例えば、特許文献１参照）。 Conventionally, as a technique for supporting automatic driving of a vehicle, there has been a technique for calculating and presenting a traveling time or a distance for an automatic driving section in a route from a departure point to a destination (see, for example, Patent Document 1). ..
特開２０１５－１７９４４号公報Japanese Unexamined Patent Publication No. 2015-17944
　車両を自律的に走行させる自動運転技術が発展しているが、乗員による運転操作を必要としない完全自動運転は実現途中であり、現状、乗員による運転操作が必要になる場面がある。自動運転から手動運転に切り替わる際、車内にいる乗員が体調不良等で運転操作できない状態であれば、運転操作できる状態に回復するまで手動運転を開始できず、停車する必要があった。 Although automatic driving technology that allows vehicles to run autonomously is developing, fully automatic driving that does not require driving operations by occupants is in the process of being realized, and at present, there are situations where driving operations by occupants are required. When switching from automatic driving to manual driving, if the occupants in the vehicle were in a state where they could not operate the vehicle due to poor physical condition or the like, the manual operation could not be started until the state where the driving operation was possible was restored, and the vehicle had to stop.
　この発明は、上記のような課題を解決するためになされたもので、乗員が手動運転できない状態でも、目的地への到着時間を短縮することを目的とする。 The present invention has been made to solve the above problems, and an object of the present invention is to shorten the arrival time to the destination even when the occupant cannot manually drive the vehicle.
　この発明に係る運転制御装置は、車両の出発地から目的地までの経路を探索すると共に探索した経路の自動運転レベルを算出する経路探索部と、経路と自動運転レベルとを車両の乗員に提示する経路案内部とを備えるものである。 The driving control device according to the present invention presents to the occupants of the vehicle a route search unit that searches for a route from the departure point to the destination of the vehicle and calculates the automatic driving level of the searched route, and the route and the automatic driving level. It is provided with a route guide unit.
　この発明によれば、出発地から目的地までの経路と自動運転レベルとを乗員に提示するようにしたので、手動運転できない状態の乗員が手動運転不要の経路を選択することが可能となり、乗員が手動運転できる状態に回復するまで停車する場合に比べて目的地への到着時間を短縮することができる。 According to the present invention, the route from the starting point to the destination and the automatic driving level are presented to the occupant, so that the occupant who cannot drive manually can select a route that does not require manual driving. It is possible to shorten the arrival time at the destination as compared with the case where the vehicle is stopped until it recovers to the state where it can be manually operated.
実施の形態１に係る運転制御装置の構成例を示すブロック図である。It is a block diagram which shows the structural example of the operation control apparatus which concerns on Embodiment 1. FIG. 実施の形態１に係る運転制御装置の動作例を示すフローチャートである。It is a flowchart which shows the operation example of the operation control apparatus which concerns on Embodiment 1. FIG. 実施の形態２に係る運転制御装置の構成例を示すブロック図である。It is a block diagram which shows the structural example of the operation control apparatus which concerns on Embodiment 2. 実施の形態２に係る運転制御装置の動作例を示すフローチャートである。It is a flowchart which shows the operation example of the operation control apparatus which concerns on Embodiment 2. 各実施の形態に係る運転制御装置のハードウェア構成の一例を示すブロック図である。It is a block diagram which shows an example of the hardware composition of the operation control device which concerns on each embodiment. 各実施の形態に係る運転制御装置のハードウェア構成の別の例を示すブロック図である。It is a block diagram which shows another example of the hardware composition of the operation control device which concerns on each embodiment.
　以下、この発明をより詳細に説明するために、この発明を実施するための形態について、添付の図面に従って説明する。
実施の形態１．
　図１は、実施の形態１に係る運転制御装置１０の構成例を示すブロック図である。車両１には、運転制御システムを構成する、位置情報取得部３、地図記憶部４、車両制御部５、表示部６、音声出力部７、入力部８、及び運転制御装置１０が設けられている。運転制御装置１０は、車両１の経路を探索して車両１の乗員に提示するものである。この運転制御装置１０は、位置情報取得部３、地図記憶部４、車両制御部５、表示部６、音声出力部７、及び入力部８と接続されている。 Hereinafter, in order to explain the present invention in more detail, a mode for carrying out the present invention will be described with reference to the accompanying drawings.
Embodiment 1.
FIG. 1 is a block diagram showing a configuration example of the operation control device 10 according to the first embodiment. The vehicle 1 is provided with a position information acquisition unit 3, a map storage unit 4, a vehicle control unit 5, a display unit 6, a voice output unit 7, an input unit 8, and a driving control device 10 that constitute a driving control system. There is. The driving control device 10 searches for the route of the vehicle 1 and presents it to the occupant of the vehicle 1. The operation control device 10 is connected to a position information acquisition unit 3, a map storage unit 4, a vehicle control unit 5, a display unit 6, a voice output unit 7, and an input unit 8.
　位置情報取得部３は、ＧＰＳ（Ｇｌｏｂａｌ　Ｐｏｓｉｔｉｏｎｉｎｇ　Ｓｙｓｔｅｍ）衛星からの電波を受信し、受信した電波を用いて車両１の位置を測位する。位置情報取得部３は、車両１の位置を示す位置情報を、経路探索部１１へ出力する。 The position information acquisition unit 3 receives radio waves from a GPS (Global Positioning System) satellite and positions the vehicle 1 using the received radio waves. The position information acquisition unit 3 outputs the position information indicating the position of the vehicle 1 to the route search unit 11.
　地図記憶部４は、地図情報を記憶している。地図情報は、経路探索部１１による経路探索に使用される。例えば、地図情報の各道路は、交差点等のノードと、ノード間を接続する区間であるリンクとで構成されている。また、地図情報の各道路は、自動運転が不可能な道路と、自動運転が可能な道路とに分類されている。ここでは、自動運転が不可能な道路は、例えば、ＳＡＥ（Ｓｏｃｉｅｔｙ　ｏｆ　Ａｕｔｏｍｏｔｉｖｅ　Ｅｎｇｉｎｅｅｒｓ）により定義されている自動運転レベル０～５のうち、自動運転レベル３（条件付き運転自動化）以下に分類された道路であるものとする。また、自動運転が可能な道路は、例えば、ＳＡＥにより定義されている自動運転レベル０～５のうち、自動運転レベル４（高度運転自動化）、及び自動運転レベル５（完全運転自動化）に分類された道路であるものとする。自動運転レベル４以上では、乗員による運転操作が不要であるのに対し、自動運転レベル３以下では、乗員による運転操作が必要な場合がある。そのため、自動運転レベル３以下では、運転席に、運転免許証を所持しており、かつ、手動運転できる状態の乗員がいる必要がある。 The map storage unit 4 stores map information. The map information is used for route search by the route search unit 11. For example, each road in the map information is composed of a node such as an intersection and a link which is a section connecting the nodes. In addition, each road in the map information is classified into a road that cannot be automatically driven and a road that can be automatically driven. Here, roads on which automatic driving is not possible are classified as, for example, automatic driving level 3 (conditional driving automation) or lower among automatic driving levels 0 to 5 defined by SAE (SAE (Sociacy of Automation Engineers)). It shall be a road. In addition, roads capable of automatic driving are classified into, for example, automatic driving level 4 (advanced driving automation) and automatic driving level 5 (complete driving automation) among the automatic driving levels 0 to 5 defined by SAE. It shall be a road. At automatic driving level 4 or higher, the driving operation by the occupant is not required, whereas at the automatic driving level 3 or lower, the driving operation by the occupant may be required. Therefore, at automatic driving level 3 or lower, it is necessary to have an occupant in the driver's seat who has a driver's license and can drive manually.
　地図記憶部４は、車両１に設けられていてもよいし、車外サーバ等に設けられていてもよい。地図記憶部４が車外サーバ等に設けられている場合、経路探索部１１は、図示しない通信装置を介して車外サーバ等の地図記憶部４から地図情報を取得すればよい。 The map storage unit 4 may be provided in the vehicle 1, or may be provided in an external server or the like. When the map storage unit 4 is provided on an external server or the like, the route search unit 11 may acquire map information from the map storage unit 4 such as the external server via a communication device (not shown).
　車両制御部５は、経路案内部１２により設定された経路に沿って車両１が自律的に走行するよう、車両１を制御する。なお、車両制御部５は、自動運転レベル３において、乗員による運転操作が必要な場合には乗員の手動運転に切り替える。 The vehicle control unit 5 controls the vehicle 1 so that the vehicle 1 autonomously travels along the route set by the route guidance unit 12. The vehicle control unit 5 switches to manual driving by the occupant when the driving operation by the occupant is required at the automatic driving level 3.
　表示部６は、経路案内部１２からの情報を表示するディスプレイである。 The display unit 6 is a display that displays information from the route guidance unit 12.
　音声出力部７は、経路案内部１２からの情報を音声出力するスピーカである。 The voice output unit 7 is a speaker that outputs information from the route guidance unit 12 by voice.
　入力部８は、乗員の操作を受け付け、受け付けた操作内容を操作情報として経路探索部１１及び経路案内部１２へ出力する。入力部８は、タッチパネル又はコントローラ等により構成される。なお、入力部８がタッチパネルである場合、このタッチパネルは、表示部６であるディスプレイと一体に構成されていてもよい。 The input unit 8 receives the operation of the occupant and outputs the received operation content as operation information to the route search unit 11 and the route guidance unit 12. The input unit 8 is composed of a touch panel, a controller, or the like. When the input unit 8 is a touch panel, the touch panel may be integrally configured with the display which is the display unit 6.
　運転制御装置１０は、経路探索部１１、及び経路案内部１２を備える。経路探索部１１は、車両１の出発地から目的地までの経路を探索すると共に探索した経路の自動運転レベルを算出する。経路案内部１２は、経路探索部１１が探索した経路と、経路探索部１１が算出した自動運転レベルとを、車両１の乗員に提示する。 The operation control device 10 includes a route search unit 11 and a route guidance unit 12. The route search unit 11 searches for a route from the departure point to the destination of the vehicle 1 and calculates the automatic driving level of the searched route. The route guidance unit 12 presents the route searched by the route search unit 11 and the automatic driving level calculated by the route search unit 11 to the occupants of the vehicle 1.
　次に、運転制御装置１０の動作を説明する。
　図２は、実施の形態１に係る運転制御装置１０の動作例を示すフローチャートである。 Next, the operation of the operation control device 10 will be described.
FIG. 2 is a flowchart showing an operation example of the operation control device 10 according to the first embodiment.
　ステップＳＴ１において、経路探索部１１は、乗員が設定した出発地と目的地とを示す操作情報を、入力部８から受け付ける。出発地は、位置情報取得部３により取得される現在位置であってもよい。 In step ST1, the route search unit 11 receives the operation information indicating the departure point and the destination set by the occupant from the input unit 8. The departure place may be the current position acquired by the position information acquisition unit 3.
　ステップＳＴ２において、経路探索部１１は、地図記憶部４の地図情報を用いて、出発地から目的地までの候補経路を複数探索する。乗員が経由地を設定した場合、経路探索部１１は、出発地から経由地を通って目的地へ向かう候補経路を探索すればよい。また、経路探索部１１は、候補経路ごとに、候補経路中に占める各自動運転レベルの割合も算出する。つまり、経路探索部１１が探索する候補経路は、自動運転レベル３以下のみで構成される候補経路、自動運転レベル４以上のみで構成される候補経路、自動運転レベル３以下と自動運転レベル４以上とで構成される候補経路になり得る。また、経路探索部１１は、候補経路において自動運転レベルが切り替わる切替地点へ車両１が到着する到着予定時刻を推定してもよい。また、経路探索部１１は、乗員の設定に従い、走行時間が短い候補経路、走行距離が短い候補経路、又は有料道路を優先して走行する候補経路等、どのような候補経路を探索してもよい。経路探索部１１は、候補経路と自動運転レベルとの組み合わせを、経路案内部１２へ出力する。 In step ST2, the route search unit 11 searches for a plurality of candidate routes from the departure point to the destination using the map information of the map storage unit 4. When the occupant sets a waypoint, the route search unit 11 may search for a candidate route from the departure place to the destination through the waypoint. In addition, the route search unit 11 also calculates the ratio of each automatic operation level to the candidate routes for each candidate route. That is, the candidate routes searched by the route search unit 11 are a candidate route composed of only automatic driving level 3 or lower, a candidate route consisting of only automatic driving level 4 or higher, automatic driving level 3 or lower, and automatic driving level 4 or higher. It can be a candidate route composed of and. Further, the route search unit 11 may estimate the estimated time of arrival of the vehicle 1 at the switching point where the automatic driving level is switched in the candidate route. Further, the route search unit 11 searches for any candidate route, such as a candidate route having a short traveling time, a candidate route having a short traveling distance, or a candidate route traveling preferentially on a toll road, according to the setting of the occupant. Good. The route search unit 11 outputs the combination of the candidate route and the automatic operation level to the route guidance unit 12.
　なお、経路探索部１１は、自動運転レベル３以下と自動運転レベル４以上とで構成される候補経路について、自動運転レベル４以上から自動運転レベル３以下へ切り替わる切替地点より手前、かつ、車両１を駐車可能な場所を、経由地に設定してもよい。これにより、切替地点において運転席に着座中の乗員が体調不良等により手動運転できない状態である場合に、車両制御部５が車両１を停車させて運転者を他の乗員に交代させることができる。 In addition, the route search unit 11 is before the switching point at which the automatic driving level 4 or higher is switched to the automatic driving level 3 or lower for the candidate route composed of the automatic driving level 3 or lower and the automatic driving level 4 or higher, and the vehicle 1 A place where parking is possible may be set as a stopover. As a result, when the occupant seated in the driver's seat at the switching point cannot manually drive due to poor physical condition or the like, the vehicle control unit 5 can stop the vehicle 1 and replace the driver with another occupant. ..
　ステップＳＴ３において、経路案内部１２は、経路探索部１１から受け付けた候補経路と自動運転レベルとの組み合わせを、車両１の乗員に提示する。提示の方法は、表示部６を用いた表示、又は音声出力部７を用いた音声出力の少なくとも一方とする。例えば、経路案内部１２は、経路探索部１１により探索された各候補経路と、各候補経路に含まれる自動運転レベルとを示す画像を生成し、生成した画像を表示部６に表示させる。その際、経路案内部１２は、例えば、候補経路と自動運転レベルとをリスト形式で提示してもよいし、地図上に重畳した状態で提示してもよい。 In step ST3, the route guidance unit 12 presents the combination of the candidate route received from the route search unit 11 and the automatic driving level to the occupant of the vehicle 1. The method of presentation is at least one of display using the display unit 6 and audio output using the audio output unit 7. For example, the route guidance unit 12 generates an image showing each candidate route searched by the route search unit 11 and the automatic operation level included in each candidate route, and displays the generated image on the display unit 6. At that time, the route guidance unit 12 may present, for example, the candidate route and the automatic driving level in a list format, or may present them in a state of being superimposed on the map.
　乗員は、表示部６に表示された複数の候補経路の中から所望の候補経路を選択する操作を、入力部８に対して行う。乗員は、車両１に搭乗している全乗員が手動運転できない状態である場合に、表示部６に表示された複数の候補経路の中から、手動運転が不要な自動運転レベル４以上の候補経路を選択可能となる。入力部８は、乗員が選択した候補経路を示す操作情報を、経路案内部１２へ出力する。経路案内部１２は、入力部８から受け付けた操作情報に基づき、乗員が選択した候補経路を車両１が走行する経路に設定し、設定した経路の情報を車両制御部５へ出力する。 The occupant performs an operation of selecting a desired candidate route from the plurality of candidate routes displayed on the display unit 6 on the input unit 8. When all the occupants on the vehicle 1 cannot manually drive, the occupant can select a candidate route of automatic driving level 4 or higher that does not require manual driving from among the plurality of candidate routes displayed on the display unit 6. Can be selected. The input unit 8 outputs operation information indicating the candidate route selected by the occupant to the route guidance unit 12. Based on the operation information received from the input unit 8, the route guidance unit 12 sets the candidate route selected by the occupant as the route on which the vehicle 1 travels, and outputs the information of the set route to the vehicle control unit 5.
　車両制御部５は、自動運転レベル４以上の経路が経路案内部１２により設定された場合、この経路に沿って車両１が自律的に走行するよう、車両１を制御する。車両制御部５は、自動運転レベル３以下を含む経路が経路案内部１２により設定された場合、車両１の現在位置における自動運転レベルに従って自動運転と手動運転とを切り替える。 When a route of automatic driving level 4 or higher is set by the route guidance unit 12, the vehicle control unit 5 controls the vehicle 1 so that the vehicle 1 autonomously travels along this route. When the route including the automatic driving level 3 or lower is set by the route guidance unit 12, the vehicle control unit 5 switches between automatic driving and manual driving according to the automatic driving level at the current position of the vehicle 1.
　以上のように、実施の形態１に係る運転制御装置１０は、経路探索部１１と経路案内部１２とを備える。経路探索部１１は、車両１の出発地から目的地までの経路を探索すると共に探索した経路の自動運転レベルを算出する。経路案内部１２は、経路と自動運転レベルとを車両１の乗員に提示する。この構成により、手動運転できない状態の乗員が手動運転不要の経路を選択することが可能となる。したがって、運転制御装置１０は、乗員が手動運転できる状態に回復するまで停車する場合に比べて目的地への到着時間を短縮することができる。 As described above, the operation control device 10 according to the first embodiment includes a route search unit 11 and a route guidance unit 12. The route search unit 11 searches for a route from the departure point to the destination of the vehicle 1 and calculates the automatic driving level of the searched route. The route guidance unit 12 presents the route and the automatic driving level to the occupants of the vehicle 1. With this configuration, it is possible for an occupant who cannot operate manually to select a route that does not require manual operation. Therefore, the operation control device 10 can shorten the arrival time at the destination as compared with the case where the vehicle is stopped until the occupant recovers to the state in which the driver can manually drive the vehicle.
実施の形態２．
　図３は、実施の形態２に係る運転制御装置１０の構成例を示すブロック図である。実施の形態２に係る運転制御装置１０は、図１に示された実施の形態１の運転制御装置１０に対して乗員情報取得部１３、乗員状態判断部１４、及び運転者決定部１５が追加された構成である。また、実施の形態２では、車両１に乗員監視部２が設けられている。
　なお、図３において図１と同一又は相当する部分は、同一の符号を付し説明を省略する。 Embodiment 2.
FIG. 3 is a block diagram showing a configuration example of the operation control device 10 according to the second embodiment. The operation control device 10 according to the second embodiment has an occupant information acquisition unit 13, an occupant state determination unit 14, and a driver determination unit 15 added to the operation control device 10 of the first embodiment shown in FIG. It is a configured configuration. Further, in the second embodiment, the vehicle 1 is provided with the occupant monitoring unit 2.
In FIG. 3, the same or corresponding parts as those in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted.
　乗員監視部２は、車両１に搭乗している各乗員の表情、充血度合い若しくは開眼度等の目の状態、脈拍、呼気、又は血中アルコール濃度のうちの少なくとも１つを監視し、監視結果を乗員情報として乗員情報取得部１３へ出力する。乗員監視部２は、例えば、カメラ及び各種センサを用いて運転者の状態を監視するＤＭＳ（Ｄｒｉｖｅｒ　Ｍｏｎｉｔｏｒｉｎｇ　Ｓｙｓｔｅｍ）、又はカメラ及び各種センサを用いて乗員の状態を監視するＯＭＳ（Ｏｃｃｕｐａｎｔ　Ｍｏｎｉｔｏｒｉｎｇ　Ｓｙｓｔｅｍ）等により構成されている。 The occupant monitoring unit 2 monitors at least one of the facial expressions, eye conditions such as the degree of hyperemia or eye opening, pulse, exhalation, or blood alcohol concentration of each occupant in the vehicle 1, and the monitoring result. Is output to the occupant information acquisition unit 13 as occupant information. The occupant monitoring unit 2 includes, for example, a DMS (Driver Monitoring System) that monitors the driver's condition using a camera and various sensors, or an OMS (Occupant Monitoring System) that monitors the occupant's condition using a camera and various sensors. It is composed of.
　なお、乗員は、運転席に着座している運転者だけでなく、同乗者を含む。また、乗員は、運転免許証を所持している者を指すこととする。運転制御装置１０は、乗員が運転免許証を所持しているか否かを、どのように判断してもよい。 The occupants include not only the driver seated in the driver's seat but also the passengers. In addition, the occupant shall refer to a person who has a driver's license. The driving control device 10 may determine in any way whether or not the occupant has a driver's license.
　また、乗員監視部２は、各乗員の普段の、つまり手動運転可能な健康状態のときの表情等の乗員情報を、正常時乗員情報として記憶していてもよい。また、乗員監視部２は、スマートフォン等の携帯端末に正常時乗員情報が登録されている場合、正常時乗員情報を携帯端末から取得してもよい。 Further, the occupant monitoring unit 2 may store occupant information such as facial expressions of each occupant in a normal state, that is, in a state of being able to manually drive, as normal occupant information. Further, the occupant monitoring unit 2 may acquire the normal occupant information from the mobile terminal when the normal occupant information is registered in the mobile terminal such as a smartphone.
　乗員情報取得部１３は、車両１に搭乗している各乗員の現在の状態を示す乗員情報を、乗員監視部２から取得して乗員状態判断部１４へ出力する。また、乗員情報取得部１３は、車両１に搭乗している各乗員の正常時乗員情報を乗員監視部２から取得して、現在の状態を示す乗員情報と併せて乗員状態判断部１４へ出力してもよい。 The occupant information acquisition unit 13 acquires occupant information indicating the current state of each occupant in the vehicle 1 from the occupant monitoring unit 2 and outputs the occupant information to the occupant status determination unit 14. Further, the occupant information acquisition unit 13 acquires the normal occupant information of each occupant on the vehicle 1 from the occupant monitoring unit 2 and outputs the occupant information together with the occupant information indicating the current state to the occupant status determination unit 14. You may.
　乗員状態判断部１４は、乗員情報取得部１３からの乗員情報を用いて、各乗員が手動運転可能か否かを判断する。乗員状態判断部１４は、手動運転可能でない乗員のそれぞれについて手動運転可能になるまでの時間（以下、「回復見込み時間」と称する）を推定し、手動運転可能か否かの判断結果と回復見込み時間とを、経路案内部１２及び運転者決定部１５へ出力する。 The occupant status determination unit 14 determines whether or not each occupant can manually drive using the occupant information from the occupant information acquisition unit 13. The occupant status determination unit 14 estimates the time until manual driving becomes possible for each of the occupants who cannot be manually operated (hereinafter referred to as "estimated recovery time"), and determines whether or not manual driving is possible and the expected recovery. The time is output to the route guidance unit 12 and the driver determination unit 15.
　乗員状態判断部１４は、乗員情報に含まれる表情、目の状態、脈拍、呼気、又は血中アルコール濃度のうちの少なくとも１つを用いて、乗員の健康状態を判断するものとする。健康状態は、体調不良、眠気、疲労、及び酒酔い等の、身体面と精神面の両方を含むものとする。乗員状態判断部１４は、乗員ごとに、現在の状態を示す乗員情報に基づいて、手動運転可能な健康状態か否かを判断する。乗員状態判断部１４による健康状態の判断方法は、周知の技術を用いればよいため、説明を省略する。また、乗員状態判断部１４は、現在の状態を示す乗員情報と正常時乗員情報とを比較することによって、手動運転可能な健康状態か否かを判断してもよい。 The occupant condition determination unit 14 shall determine the health condition of the occupant using at least one of the facial expression, eye condition, pulse, exhalation, or blood alcohol concentration contained in the occupant information. Health status shall include both physical and mental health, such as poor physical condition, drowsiness, fatigue, and drunkenness. The occupant state determination unit 14 determines for each occupant whether or not the vehicle is in a healthy state capable of manual driving based on the occupant information indicating the current state. As the method for determining the health condition by the occupant condition determination unit 14, a well-known technique may be used, and thus the description thereof will be omitted. In addition, the occupant state determination unit 14 may determine whether or not the vehicle is in a healthy state capable of manual driving by comparing the occupant information indicating the current state with the normal occupant information.
　乗員状態判断部１４は、手動運転可能な健康状態でないと判断した乗員について、乗員情報を用いて、手動運転可能な健康状態に回復するまでの回復見込み時間を推定する。例えば、乗員状態判断部１４は、血中アルコール濃度が高いために手動運転可能な健康状態でないと判断した乗員に対し、血中アルコール濃度の時間的な変化を予測する計算式を用いて回復見込み時間を推定する。その際、乗員状態判断部１４は、血中アルコール濃度以外の、表情等の乗員情報を用いて上記計算式を補正してもよい。また、例えば、乗員状態判断部１４は、目の充血度合い又は開眼度から疲労又は眠気を感じていると判断した乗員に対し、疲労又は眠気の時間的な変化を予測する計算式を用いて回復見込み時間を推定する。回復見込み時間の推定方法は、上記例に限定されない。 The occupant state determination unit 14 estimates the estimated recovery time until the occupant who is determined not to be in a manually driving healthy state recovers to a manually driving healthy state by using the occupant information. For example, the occupant condition determination unit 14 predicts recovery by using a calculation formula that predicts a temporal change in the blood alcohol concentration for an occupant who has determined that the occupant is not in a healthy condition capable of manual operation due to the high blood alcohol concentration. Estimate the time. At that time, the occupant state determination unit 14 may correct the above calculation formula by using occupant information such as facial expressions other than the blood alcohol concentration. Further, for example, the occupant state determination unit 14 recovers the occupant who is determined to be feeling tired or drowsy based on the degree of redness or eye opening by using a calculation formula for predicting a temporal change in fatigue or drowsiness. Estimate the estimated time. The method for estimating the estimated recovery time is not limited to the above example.
　なお、各乗員の健康状態に応じて各乗員の回復見込み時間が異なることが予想されるため、乗員状態判断部１４は、手動運転可能な健康状態でないと判断した全乗員の回復見込み時間を推定することが好ましい。以下では、乗員状態判断部１４が、手動運転可能な健康状態でないと判断した全乗員の回復見込み時間を推定するものとする。 Since it is expected that the estimated recovery time of each occupant will differ depending on the health condition of each occupant, the occupant condition determination unit 14 estimates the estimated recovery time of all occupants who are determined not to be in a manually operable health condition. It is preferable to do so. In the following, it is assumed that the occupant condition determination unit 14 estimates the estimated recovery time of all occupants who are determined not to be in a healthy condition capable of manual driving.
　運転者決定部１５は、乗員状態判断部１４の判断結果に基づいて、車両１に搭乗している乗員の中から運転者に割り当てる乗員を決定し、決定した乗員の情報を経路案内部１２へ出力する。例えば、運転者決定部１５は、車両１に搭乗している乗員の中から、手動運転可能と判断された１人以上の乗員を運転者に割り当てる。また、例えば、運転者決定部１５は、手動運転可能と判断された乗員が複数存在する場合、かつ、現在運転席に着座している乗員が手動運転可能と判断された場合、現在運転席に着座している乗員を優先的に運転者に割り当てる。また、例えば、運転者決定部１５は、各乗員の回復見込み時間の違いを考慮して、各時刻において最適な運転者を決定してもよい。 The driver determination unit 15 determines an occupant to be assigned to the driver from among the occupants on the vehicle 1 based on the determination result of the occupant state determination unit 14, and transmits the determined occupant information to the route guidance unit 12. Output. For example, the driver determination unit 15 assigns one or more occupants who are determined to be capable of manual driving from the occupants on the vehicle 1 to the driver. Further, for example, when there are a plurality of occupants who are determined to be able to drive manually, and when it is determined that the occupants currently seated in the driver's seat are capable of manual driving, the driver determination unit 15 is currently in the driver's seat. Priority is given to the seated occupants. Further, for example, the driver determination unit 15 may determine the optimum driver at each time in consideration of the difference in the estimated recovery time of each occupant.
　なお、運転者決定部１５は、乗員ごとの経験値を記憶しておき、記憶済みの経験値を用いて運転者に割り当てる乗員の優先順位を算出してもよい。経験値は、乗員の手動運転の技量、自動運転中に眠気を催す頻度、又は、直線道路若しくは蛇行道路の運転経験等である。経験値は、運転者決定部１５ではなく、車外サーバ等に記憶されてもよい。その場合、運転者決定部１５は、図示しない通信装置を介して車外サーバ等から乗員の経験値を取得すればよい。例えば、運転者決定部１５は、技量の高い乗員ほど優先順位を高くする。また、例えば、運転者決定部１５は、眠気を催す頻度の高い乗員ほど優先順位を低くする。 The driver determination unit 15 may store the experience value for each occupant and calculate the priority of the occupant to be assigned to the driver using the stored experience value. The experience value is the skill of the occupant in manual driving, the frequency of drowsiness during automatic driving, or the driving experience of a straight road or a meandering road. The experience value may be stored in an external server or the like instead of the driver determination unit 15. In that case, the driver determination unit 15 may acquire the experience value of the occupant from the server outside the vehicle or the like via a communication device (not shown). For example, the driver determination unit 15 gives higher priority to occupants with higher skills. Further, for example, the driver determination unit 15 lowers the priority of the occupant who frequently causes drowsiness.
　経路案内部１２は、乗員状態判断部１４の判断結果及び回復見込み時間に基づいて、経路探索部１１により探索された複数の候補経路に対して優先順位を設定し、優先順位の高い候補経路から順番に、候補経路と自動運転レベルとを乗員に提示する。 The route guidance unit 12 sets priorities for a plurality of candidate routes searched by the route search unit 11 based on the determination result of the occupant status determination unit 14 and the estimated recovery time, and starts from the candidate route having the highest priority. In turn, the candidate route and the automatic driving level are presented to the occupants.
　例えば、運転席に着座している乗員が手動運転可能と判断された場合、経路案内部１２は、自動運転レベル３以下の割合が多い候補経路を乗員に提示しても問題ない。これに対し、車両１に搭乗している全乗員が手動運転不可能と判断された場合、経路案内部１２は、自動運転レベル４以上のみで構成される候補経路に対して高い優先順位を設定し、自動運転レベル３以下を含む候補経路に対して低い優先順位を設定する。 For example, when it is determined that the occupant seated in the driver's seat can be manually driven, the route guidance unit 12 may present the occupant with a candidate route having a high ratio of automatic driving level 3 or less. On the other hand, when it is determined that all the occupants on the vehicle 1 cannot drive manually, the route guidance unit 12 sets a high priority for the candidate route consisting only of the automatic driving level 4 or higher. Then, a low priority is set for the candidate routes including the automatic operation level 3 or lower.
　また、車両１に搭乗している全乗員が手動運転不可能と判断された場合、経路案内部１２は、自動運転レベル３以下を含む候補経路を、乗員に提示しなくてもよい。ただし、自動運転レベル３以下を含む候補経路であっても、自動運転レベル４以上から自動運転レベル３以下に切り替わる切替地点に車両１が到着するまでに、乗員が手動運転可能な健康状態に回復する見込みがある場合、経路案内部１２は、この候補経路を乗員に提示することが好ましい。これにより、乗員が選択可能な候補経路数が増える。具体例として、経路案内部１２は、自動運転レベル３以下と自動運転レベル４以上とで構成される候補経路について、自動運転レベル４以上から自動運転レベル３以下へ切り替わる切替地点に車両１が到着する到着予定時刻と、各乗員の回復見込み時間とを比較し、到着予定時刻までに手動運転可能な健康状態に回復する見込みのある乗員がいるか否かを判断する。経路案内部１２は、回復する見込みのある乗員がいる場合、この候補経路を乗員に提示する。この際、経路案内部１２は、この経路候補の優先順位を、自動運転レベル４以上のみで構成される候補経路よりも低くする。なお、経路案内部１２は、自動運転レベル４以上から自動運転レベル３以下へ切り替わる切替地点への到着予定時刻を、経路探索部１１から取得すればよい。 Further, when it is determined that all the occupants on the vehicle 1 cannot drive manually, the route guidance unit 12 does not have to present the occupants with a candidate route including the automatic driving level 3 or lower. However, even if it is a candidate route that includes automatic driving level 3 or lower, the occupant will recover to a healthy state that allows manual driving by the time vehicle 1 arrives at the switching point where automatic driving level 4 or higher is switched to automatic driving level 3 or lower. It is preferable that the route guidance unit 12 presents the candidate route to the occupant when there is a possibility of the route. This increases the number of candidate routes that the occupant can select. As a specific example, the route guidance unit 12 arrives at the switching point where the automatic driving level 4 or higher is switched to the automatic driving level 3 or lower for the candidate route composed of the automatic driving level 3 or lower and the automatic driving level 4 or higher. The estimated time of arrival is compared with the estimated recovery time of each occupant to determine whether or not there is an occupant who is expected to recover to a state of health that allows manual driving by the estimated time of arrival. If there is an occupant who is expected to recover, the route guidance unit 12 presents this candidate route to the occupant. At this time, the route guidance unit 12 lowers the priority of the route candidate to the candidate route composed of only the automatic operation level 4 or higher. The route guidance unit 12 may acquire the estimated time of arrival at the switching point from the automatic operation level 4 or higher to the automatic operation level 3 or lower from the route search unit 11.
　また、経路案内部１２は、運転席の乗員が手動運転不可能、かつ、運転席以外の乗員の中に手動運転可能と判断された乗員がいる場合、表示部６又は音声出力部７の少なくとも一方を用いて、運転席の乗員から運転者決定部１５により運転者に割り当てられた乗員へ座席変更を促す提示を行ってもよい。この提示に従い座席変更が行われた場合、経路案内部１２は、候補経路の優先順位を再設定した上で乗員に提示する。これにより、乗員が選択可能な候補経路数が増える。 Further, when the occupant in the driver's seat cannot be manually driven and there is an occupant other than the driver's seat who is determined to be able to manually drive, the route guidance unit 12 is at least the display unit 6 or the audio output unit 7. One of them may be used to urge the occupant in the driver's seat to change seats to the occupant assigned to the driver by the driver determination unit 15. When the seat is changed according to this presentation, the route guidance unit 12 resets the priority of the candidate route and presents it to the occupant. This increases the number of candidate routes that the occupant can select.
　また、経路案内部１２は、運転者決定部１５から各乗員の経験値を取得し、取得した経験値に基づいて候補経路の優先順位を設定してもよい。例えば、経路案内部１２は、運転席の乗員が過去に眠気を催したことのある候補経路の優先順位を下げる。これにより、車両１が走行開始後、自動運転から手動運転に切り替わったときに、運転席の乗員が眠気を催しておらず手動運転可能な健康状態でいることが期待できる。また、例えば、経路案内部１２は、運転席の乗員が過去に広い道路しか運転した経験がない場合、細い道路を含む候補経路の優先順位を下げてもよい。また、例えば、経路案内部１２は、運転席の乗員が過去に雪道を運転した経験がない場合、雪道を含む候補経路の優先順位を下げてもよい。また、例えば、経路案内部１２は、運転席の乗員が過去に高速道路のような直線が多い道路しか運転した経験がない場合、蛇行道路を含む候補経路の優先順位を下げてもよい。また、例えば、経路案内部１２は、運転席の乗員が過去に山道のような蛇行道路を運転した経験がない場合、山道を含む候補経路の優先順位を下げる。なお、経験値が車外サーバ等に記憶されている場合、乗員が普段運転する車両１以外の車両に搭乗したときにも候補経路の優先順位変更が可能となる。 Further, the route guidance unit 12 may acquire the experience value of each occupant from the driver determination unit 15 and set the priority order of the candidate route based on the acquired experience value. For example, the route guidance unit 12 lowers the priority of a candidate route on which the driver's seat occupant has been drowsy in the past. As a result, when the vehicle 1 is switched from automatic driving to manual driving after the start of traveling, it can be expected that the occupants in the driver's seat are in a healthy state in which manual driving is possible without causing drowsiness. Further, for example, the route guidance unit 12 may lower the priority of the candidate route including the narrow road when the occupant in the driver's seat has only driven a wide road in the past. Further, for example, the route guidance unit 12 may lower the priority of the candidate route including the snowy road when the occupant in the driver's seat has never driven the snowy road in the past. Further, for example, the route guidance unit 12 may lower the priority of the candidate route including the meandering road when the occupant in the driver's seat has only driven a road having many straight lines such as an expressway in the past. Further, for example, when the occupant in the driver's seat has never driven a meandering road such as a mountain road in the past, the route guidance unit 12 lowers the priority of the candidate route including the mountain road. When the experience value is stored in the server outside the vehicle, the priority order of the candidate route can be changed even when the occupant gets on a vehicle other than the vehicle 1 which is normally driven.
　次に、運転制御装置１０の動作を説明する。
　図４は、実施の形態２に係る運転制御装置１０の動作例を示すフローチャートである。図４のステップＳＴ１，ＳＴ２における動作は、実施の形態１における図２のステップＳＴ１，ＳＴ２における動作と同じである。 Next, the operation of the operation control device 10 will be described.
FIG. 4 is a flowchart showing an operation example of the operation control device 10 according to the second embodiment. The operation in steps ST1 and ST2 of FIG. 4 is the same as the operation in steps ST1 and ST2 of FIG. 2 in the first embodiment.
　ステップＳＴ１１において、乗員情報取得部１３は、乗員監視部２から各乗員の乗員情報を取得する。乗員状態判断部１４は、乗員情報取得部１３により取得された乗員情報を用いて、現時点で各乗員が手動運転可能か否かを判断する。車両１に搭乗している乗員のうちの少なくとも１人が手動運転可能である場合（ステップＳＴ１１“ＹＥＳ”）、ステップＳＴ１５において、経路案内部１２は、経路探索部１１により探索された複数の候補経路を自動運転レベルと併せて乗員に提示する。この際、経路案内部１２は、上述のように候補経路に優先順位を設定し、優先順位が高い候補経路から順番に提示するようにしてもよい。また、経路案内部１２は、運転席の乗員が手動運転不可能、かつ、運転席以外の乗員が手動運転可能と判断された場合、運転者決定部１５により運転者に割り当てられた乗員へ座席変更を促す提示を行ってもよい。 In step ST11, the occupant information acquisition unit 13 acquires the occupant information of each occupant from the occupant monitoring unit 2. The occupant state determination unit 14 determines whether or not each occupant can manually drive at the present time by using the occupant information acquired by the occupant information acquisition unit 13. When at least one of the occupants on the vehicle 1 can be manually driven (step ST11 “YES”), in step ST15, the route guidance unit 12 is a plurality of candidates searched by the route search unit 11. Present the route to the occupants along with the autonomous driving level. At this time, the route guidance unit 12 may set the priority of the candidate routes as described above, and present the candidate routes in order from the highest priority. Further, when it is determined that the occupant in the driver's seat cannot be manually driven and the occupant other than the driver's seat can be manually driven, the route guidance unit 12 seats the occupant assigned to the driver by the driver determination unit 15. You may make a suggestion to encourage change.
　一方、乗員状態判断部１４は、車両１に搭乗している全乗員が手動運転可能でない場合（ステップＳＴ１１“ＮＯ”）、ステップＳＴ１２において各乗員の回復見込み時間を推定する。ステップＳＴ１３において、経路案内部１２は、経路探索部１１が探索した候補経路の中に、乗員の回復見込み時間まで自動運転レベル４以上が継続する候補経路があるか否かを判断する。経路案内部１２は、回復見込み時間まで自動運転レベル４以上が継続する経路候補がある場合（ステップＳＴ１３“ＹＥＳ”）、ステップＳＴ１４において、回復見込み時間まで自動運転レベル４以上が継続する経路候補を自動運転レベルと併せて乗員に提示する。この際、経路案内部１２は、上述のように候補経路に優先順位を設定し、優先順位が高い候補経路から順番に提示するようにしてもよい。また、経路案内部１２は、候補経路の自動運転レベル４以上から自動運転レベル３以下に切り替わる切替地点において運転者決定部１５により運転者に割り当てられた乗員に、座席変更を促す提示を行ってもよい。回復見込み時間まで自動運転レベル４以上が継続する経路候補がない場合（ステップＳＴ１３“ＮＯ”）、経路案内部１２は、例えば、候補経路を提示せず、回復見込み時間まで待機するように乗員に促す提示を行う。 On the other hand, when all the occupants on the vehicle 1 are not capable of manual driving (step ST11 “NO”), the occupant status determination unit 14 estimates the estimated recovery time of each occupant in step ST12. In step ST13, the route guidance unit 12 determines whether or not there is a candidate route among the candidate routes searched by the route search unit 11 that the automatic driving level 4 or higher continues until the estimated recovery time of the occupant. When there is a route candidate whose automatic operation level 4 or higher continues until the estimated recovery time (step ST13 “YES”), the route guidance unit 12 selects a route candidate whose automatic operation level 4 or higher continues until the estimated recovery time in step ST14. Present to the occupants along with the autonomous driving level. At this time, the route guidance unit 12 may set the priority of the candidate routes as described above, and present the candidate routes in order from the highest priority. In addition, the route guidance unit 12 presents the occupants assigned to the driver by the driver determination unit 15 to urge the occupants to change seats at the switching point where the automatic driving level 4 or higher of the candidate route is switched to the automatic driving level 3 or lower. May be good. When there is no route candidate whose automatic operation level 4 or higher continues until the estimated recovery time (step ST13 “NO”), the route guidance unit 12 does not present the candidate route, for example, and asks the occupant to wait until the estimated recovery time. Make a prompting presentation.
　図４のフローチャートに示される動作終了後、時間が経過したことで乗員が手動運転可能な健康状態に回復した場合、経路案内部１２は、自動運転レベル３以下を含む候補経路を乗員に提示してもよい。例えば、車両１の全乗員が手動運転不可能であり、運転者が手動運転可能な健康状態に回復するまで１時間かかる場合、経路案内部１２は、自動運転レベル４以上が１時間継続する候補経路を提示する。車両制御部５の自動運転により車両１が１時間この候補経路を走行し、運転者が手動運転可能な健康状態に回復した場合、経路案内部１２は、例えば自動運転レベル３以下を含む候補経路であって走行中の候補経路よりも目的地到着予定時刻が早い候補経路を、乗員に提示する。 When the occupant recovers to a healthy state capable of manual driving due to the passage of time after the operation shown in the flowchart of FIG. 4 is completed, the route guidance unit 12 presents the occupant with a candidate route including the automatic driving level 3 or lower. You may. For example, if all the occupants of the vehicle 1 are unable to drive manually and it takes one hour for the driver to recover to a state of health that allows manual driving, the route guidance unit 12 is a candidate for the automatic driving level 4 or higher to continue for one hour. Present the route. When the vehicle 1 travels on this candidate route for one hour due to the automatic driving of the vehicle control unit 5 and the driver recovers to a healthy state in which he / she can manually drive, the route guidance unit 12 may use the candidate route including, for example, the automatic driving level 3 or lower. Therefore, the occupant is presented with a candidate route whose estimated time of arrival at the destination is earlier than that of the running candidate route.
　以上のように、実施の形態２に係る運転制御装置１０は、乗員情報取得部１３と、乗員状態判断部１４とを備える。乗員情報取得部１３は、乗員の状態を示す乗員情報を取得する。乗員状態判断部１４は、乗員情報取得部１３により取得された乗員情報を用いて、乗員が手動運転可能か否かを判断する。経路案内部１２は、経路探索部１１により探索された経路のうち、乗員状態判断部１４の判断結果に応じた自動運転レベルの経路を提示する。この構成により、運転制御装置１０は、乗員が手動運転できない状態の場合に、手動運転不要の経路を提示することができる。したがって、運転制御装置１０は、乗員が手動運転できる状態に回復するまで停車する場合に比べて目的地への到着時間を短縮することができる。 As described above, the operation control device 10 according to the second embodiment includes an occupant information acquisition unit 13 and an occupant state determination unit 14. The occupant information acquisition unit 13 acquires occupant information indicating the state of the occupant. The occupant state determination unit 14 determines whether or not the occupant can manually drive by using the occupant information acquired by the occupant information acquisition unit 13. The route guidance unit 12 presents an automatic driving level route according to the determination result of the occupant state determination unit 14 among the routes searched by the route search unit 11. With this configuration, the operation control device 10 can present a route that does not require manual operation when the occupant cannot perform manual operation. Therefore, the operation control device 10 can shorten the arrival time at the destination as compared with the case where the vehicle is stopped until the occupant recovers to the state in which the driver can manually drive the vehicle.
　また、実施の形態２によれば、乗員状態判断部１４は、乗員が手動運転可能でない場合、乗員情報取得部１３により取得された乗員情報を用いて乗員が手動運転可能になるまでの回復見込み時間を推定する。経路案内部１２は、経路探索部１１により探索された経路のうち、回復見込み時間まで自動運転を継続できる自動運転レベルの経路を提示する。この構成により、運転制御装置１０は、乗員が手動運転できない間は手動運転不要の経路を走行し、乗員が手動運転できる状態になった後は手動運転不要の経路以外も走行するような経路を提示することができる。したがって、運転制御装置１０は、乗員が手動運転できる状態に回復するまで停車する場合に比べて目的地への到着時間を短縮することができる。 Further, according to the second embodiment, when the occupant is not capable of manual driving, the occupant state determination unit 14 is expected to recover until the occupant can manually drive using the occupant information acquired by the occupant information acquisition unit 13. Estimate the time. The route guidance unit 12 presents a route of an automatic operation level capable of continuing automatic operation until the estimated recovery time among the routes searched by the route search unit 11. With this configuration, the operation control device 10 travels on a route that does not require manual driving while the occupant cannot manually drive, and after the occupant is in a state where manual driving is possible, travels on a route other than the route that does not require manual driving. Can be presented. Therefore, the operation control device 10 can shorten the arrival time at the destination as compared with the case where the vehicle is stopped until the occupant recovers to the state in which the driver can manually drive the vehicle.
　また、実施の形態２によれば、運転制御装置１０は、乗員状態判断部１４の判断結果に基づいて、車両１に搭乗している乗員の中から運転者に割り当てる乗員を決定する運転者決定部１５を備える。経路案内部１２は、経路探索部１１により探索された経路のうち、運転者決定部１５により運転者に割り当てられた乗員に関する乗員状態判断部１４の判断結果に応じた自動運転レベルの経路を提示する。または、経路案内部１２は、経路探索部１１により探索された経路のうち、運転者決定部１５により運転者に割り当てられた乗員に関する乗員状態判断部１４の判断結果及び回復見込み時間に応じた自動運転レベルの経路を提示してもよい。これらの構成により、運転制御装置１０は、手動運転可能な運転者に対し、手動運転不要の経路だけでなく、手動運転が必要な経路も提示することができる。したがって、運転制御装置１０は、経路の選択肢を増やすことができる。 Further, according to the second embodiment, the driving control device 10 determines the occupant to be assigned to the driver from among the occupants on the vehicle 1 based on the determination result of the occupant state determination unit 14. A unit 15 is provided. Of the routes searched by the route search unit 11, the route guidance unit 12 presents an automatic driving level route according to the determination result of the occupant state determination unit 14 regarding the occupant assigned to the driver by the driver determination unit 15. To do. Alternatively, the route guidance unit 12 automatically determines the occupant status determination unit 14 regarding the occupant assigned to the driver by the driver determination unit 15 among the routes searched by the route search unit 11 and the estimated recovery time. A driving level route may be presented. With these configurations, the operation control device 10 can present not only a route that does not require manual operation but also a route that requires manual operation to a driver who can drive manually. Therefore, the operation control device 10 can increase the route options.
　最後に、各実施の形態に係る運転制御装置１０のハードウェア構成を説明する。
　図５及び図６は、各実施の形態に係る運転制御装置１０のハードウェア構成例を示す図である。運転制御装置１０における経路探索部１１、経路案内部１２、乗員情報取得部１３、乗員状態判断部１４、及び運転者決定部１５の機能は、処理回路により実現される。即ち、運転制御装置１０は、上記機能を実現するための処理回路を備える。処理回路は、専用のハードウェアとしての処理回路１００であってもよいし、メモリ１０２に格納されるプログラムを実行するプロセッサ１０１であってもよい。 Finally, the hardware configuration of the operation control device 10 according to each embodiment will be described.
5 and 6 are diagrams showing a hardware configuration example of the operation control device 10 according to each embodiment. The functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant state determination unit 14, and the driver determination unit 15 in the operation control device 10 are realized by the processing circuit. That is, the operation control device 10 includes a processing circuit for realizing the above functions. The processing circuit may be a processing circuit 100 as dedicated hardware, or a processor 101 that executes a program stored in the memory 102.
　図５に示されるように、処理回路が専用のハードウェアである場合、処理回路１００は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、ＦＰＧＡ（Ｆｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）、又はこれらを組み合わせたものが該当する。経路探索部１１、経路案内部１２、乗員情報取得部１３、乗員状態判断部１４、及び運転者決定部１５の機能を複数の処理回路１００で実現してもよいし、各部の機能をまとめて１つの処理回路１００で実現してもよい。 As shown in FIG. 5, when the processing circuit is dedicated hardware, the processing circuit 100 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, and an ASIC (Application Special Integrated Circuit). ), FPGA (Field Processor Gate Array), or a combination thereof. The functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant state determination unit 14, and the driver determination unit 15 may be realized by a plurality of processing circuits 100, or the functions of each unit may be integrated. It may be realized by one processing circuit 100.
　図６に示されるように、処理回路がプロセッサ１０１である場合、経路探索部１１、経路案内部１２、乗員情報取得部１３、乗員状態判断部１４、及び運転者決定部１５の機能は、ソフトウェア、ファームウェア、又はソフトウェアとファームウェアとの組み合わせにより実現される。ソフトウェア又はファームウェアはプログラムとして記述され、メモリ１０２に格納される。プロセッサ１０１は、メモリ１０２に格納されたプログラムを読みだして実行することにより、各部の機能を実現する。即ち、運転制御装置１０は、プロセッサ１０１により実行されるときに、図２及び図４のフローチャートで示されるステップが結果的に実行されることになるプログラムを格納するためのメモリ１０２を備える。また、このプログラムは、経路探索部１１、経路案内部１２、乗員情報取得部１３、乗員状態判断部１４、及び運転者決定部１５の手順又は方法をコンピュータに実行させるものであるとも言える。 As shown in FIG. 6, when the processing circuit is the processor 101, the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant state determination unit 14, and the driver determination unit 15 are software. , Firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in the memory 102. The processor 101 realizes the functions of each part by reading and executing the program stored in the memory 102. That is, the operation control device 10 includes a memory 102 for storing a program in which the steps shown in the flowcharts of FIGS. 2 and 4 are eventually executed when executed by the processor 101. Further, it can be said that this program causes the computer to execute the procedures or methods of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant status determination unit 14, and the driver determination unit 15.
　ここで、プロセッサ１０１とは、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、処理装置、演算装置、又はマイクロプロセッサ等のことである。
　メモリ１０２は、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、ＥＰＲＯＭ（Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　ＲＯＭ）、又はフラッシュメモリ等の不揮発性もしくは揮発性の半導体メモリであってもよいし、ハードディスク又はフレキシブルディスク等の磁気ディスクであってもよいし、ＣＤ（Ｃｏｍｐａｃｔ　Ｄｉｓｃ）又はＤＶＤ（Ｄｉｇｉｔａｌ　Ｖｅｒｓａｔｉｌｅ　Ｄｉｓｃ）等の光ディスクであってもよい。 Here, the processor 101 is a CPU (Central Processing Unit), a processing device, an arithmetic unit, a microprocessor, or the like.
The memory 102 may be a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), or a flash memory, or may be a non-volatile or volatile semiconductor memory such as a hard disk or a flexible disk. It may be a magnetic disk of the above, or an optical disk such as a CD (Compact Disc) or a DVD (Digital Versaille Disc).
　なお、経路探索部１１、経路案内部１２、乗員情報取得部１３、乗員状態判断部１４、及び運転者決定部１５の機能について、一部を専用のハードウェアで実現し、一部をソフトウェア又はファームウェアで実現するようにしてもよい。このように、運転制御装置１０における処理回路は、ハードウェア、ソフトウェア、ファームウェア、又はこれらの組み合わせによって、上述の機能を実現することができる。 Some of the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant status determination unit 14, and the driver determination unit 15 are realized by dedicated hardware, and some are software or software. It may be realized by firmware. As described above, the processing circuit in the operation control device 10 can realize the above-mentioned functions by hardware, software, firmware, or a combination thereof.
　また、実施の形態１及び実施の形態２では、経路探索部１１、経路案内部１２、乗員情報取得部１３、乗員状態判断部１４、及び運転者決定部１５の機能が、車両１に搭載される、又は車両１に持ち込まれる情報機器に集約された構成であったが、ネットワーク上のサーバ装置、スマートフォン等の携帯端末、及び車載器等に分散されていてもよい。また、経路探索部１１、経路案内部１２、乗員情報取得部１３、乗員状態判断部１４、及び運転者決定部１５の機能が、ネットワーク上のサーバ装置に集約されていてもよい。 Further, in the first and second embodiments, the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant state determination unit 14, and the driver determination unit 15 are mounted on the vehicle 1. Although it was configured to be integrated into information devices brought into the vehicle 1, it may be distributed to server devices on the network, mobile terminals such as smartphones, and in-vehicle devices. Further, the functions of the route search unit 11, the route guidance unit 12, the occupant information acquisition unit 13, the occupant status determination unit 14, and the driver determination unit 15 may be integrated in a server device on the network.
　なお、本発明はその発明の範囲内において、各実施の形態の自由な組み合わせ、各実施の形態の任意の構成要素の変形、又は各実施の形態の任意の構成要素の省略が可能である。 It should be noted that, within the scope of the present invention, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component of each embodiment.
　この発明に係る運転制御装置は、自動運転と手動運転との切り替えが必要となる自動運転車両の運転制御装置等に用いるのに適している。 The driving control device according to the present invention is suitable for use as a driving control device for an autonomous driving vehicle that requires switching between automatic driving and manual driving.
　１　車両、２　乗員監視部、３　位置情報取得部、４　地図記憶部、５　車両制御部、６　表示部、７　音声出力部、８　入力部、１０　運転制御装置、１１　経路探索部、１２　経路案内部、１３　乗員情報取得部、１４　乗員状態判断部、１５　運転者決定部、１００　処理回路、１０１　プロセッサ、１０２　メモリ。 1 vehicle, 2 occupant monitoring unit, 3 position information acquisition unit, 4 map storage unit, 5 vehicle control unit, 6 display unit, 7 voice output unit, 8 input unit, 10 driving control device, 11 route search unit, 12 route guidance Unit, 13 occupant information acquisition unit, 14 occupant status judgment unit, 15 driver determination unit, 100 processing circuit, 101 processor, 102 memory.

Claims (6)

  1. 　車両の出発地から目的地までの経路を探索すると共に探索した前記経路の自動運転レベルを算出する経路探索部と、
    　前記経路と前記自動運転レベルとを前記車両の乗員に提示する経路案内部とを備える運転制御装置。     A route search unit that searches for a route from the vehicle's departure point to the destination and calculates the automatic driving level of the searched route.
    A driving control device including a route guide unit that presents the route and the automatic driving level to the occupants of the vehicle.
  2. 　前記乗員の状態を示す乗員情報を取得する乗員情報取得部と、
    　前記乗員情報取得部により取得された前記乗員情報を用いて、前記乗員が手動運転可能か否かを判断する乗員状態判断部とを備え、
    　前記経路案内部は、前記経路探索部により探索された前記経路のうち、前記乗員状態判断部の前記判断結果に応じた自動運転レベルの経路を提示することを特徴とする請求項１記載の運転制御装置。     An occupant information acquisition unit that acquires occupant information indicating the state of the occupant, and
    It is provided with an occupant state determination unit that determines whether or not the occupant can manually drive using the occupant information acquired by the occupant information acquisition unit.
    The operation according to claim 1, wherein the route guidance unit presents a route of an automatic operation level according to the determination result of the occupant state determination unit among the routes searched by the route search unit. Control device.
  3. 　前記乗員状態判断部は、前記乗員が手動運転可能でない場合、前記乗員情報取得部により取得された前記乗員情報を用いて前記乗員が手動運転可能になるまでの回復見込み時間を推定し、
    　前記経路案内部は、前記経路探索部により探索された前記経路のうち、前記回復見込み時間まで自動運転を継続できる自動運転レベルの経路を提示することを特徴とする請求項２記載の運転制御装置。     When the occupant is not capable of manual driving, the occupant state determination unit estimates the estimated recovery time until the occupant can manually drive using the occupant information acquired by the occupant information acquisition unit.
    The operation control device according to claim 2, wherein the route guidance unit presents a route of an automatic operation level capable of continuing automatic operation until the estimated recovery time among the routes searched by the route search unit. ..
  4. 　前記乗員情報は、前記乗員の表情、目の状態、脈拍、呼気、又は血中アルコール濃度のうちの少なくとも１つを含むことを特徴とする請求項２記載の運転制御装置。 The driving control device according to claim 2, wherein the occupant information includes at least one of the occupant's facial expression, eye condition, pulse, exhalation, or blood alcohol concentration.
  5. 　前記乗員状態判断部の前記判断結果に基づいて、前記車両に搭乗している乗員の中から運転者に割り当てる乗員を決定する運転者決定部を備え、
    　前記経路案内部は、前記経路探索部により探索された前記経路のうち、前記運転者決定部により運転者に割り当てられた前記乗員に関する前記乗員状態判断部の前記判断結果に応じた自動運転レベルの経路を提示することを特徴とする請求項２記載の運転制御装置。     A driver determination unit for determining an occupant to be assigned to a driver from among the occupants on the vehicle based on the determination result of the occupant state determination unit is provided.
    The route guidance unit has an automatic driving level according to the determination result of the occupant state determination unit regarding the occupant assigned to the driver by the driver determination unit among the routes searched by the route search unit. The operation control device according to claim 2, wherein a route is presented.
  6. 　経路探索部が、車両の出発地から目的地までの経路を探索すると共に探索した前記経路の自動運転レベルを算出し、
    　経路案内部が、前記経路と前記自動運転レベルとを前記車両の乗員に提示する運転制御方法。     The route search unit searches for a route from the departure point of the vehicle to the destination, and calculates the automatic driving level of the searched route.
    A driving control method in which a route guide unit presents the route and the automatic driving level to the occupants of the vehicle.
PCT/JP2019/014451 2019-04-01 2019-04-01 Driving control device and driving control method WO2020202432A1 (en)

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