CN113053034B - Vehicle operation right management device, vehicle operation right management method, and storage medium - Google Patents

Abstract

The invention provides a vehicle operation right management device, a vehicle operation right management method and a storage medium, wherein an original operation right person originally having the operation right of a vehicle can transfer the operation right of the vehicle to a passenger of other vehicles. The invention includes: a person identification unit (301) that identifies a passenger of the vehicle; and an operation authority management unit (302) that recognizes, by the person recognition unit (301), an original operation authority person who originally has an operation authority for driving the own vehicle by a vehicle control device that performs automatic driving control of the own vehicle, confirms the operation authority of the own vehicle for the original operation authority person, and confirms the operation authority of the own vehicle for a passenger other than the original operation authority person when the person recognition unit (301) recognizes the passenger other than the original operation authority person in the driver seat of the own vehicle.

Description

Vehicle operation right management device, vehicle operation right management method, and storage medium

Technical Field

The invention relates to a vehicle operation right management device, a vehicle operation right management method and a storage medium.

Background

Patent document 1 discloses a technique capable of registering a person other than the owner of a vehicle in an entry system (entry system) of the vehicle.

Patent document 2 discloses a configuration in which a vehicle is provided with an agent (agent).

[ Prior art documents ]

[ patent document ]

[ patent document 1] Japanese patent laid-open No. 2003-178032

[ patent document 2] Japanese patent application laid-open No. 2009-535626

Disclosure of Invention

[ problems to be solved by the invention ]

However, for example, in a vehicle or the like provided with an agent or the like, when many authorities are concentrated on an owner who has an operation authority originally in the vehicle, the owner needs to give an operation instruction to the vehicle while understanding the intention of the fellow passenger frequently, and cannot transfer the authorities to other passengers, which is troublesome for the owner.

In this regard, patent documents 1 and 2 do not disclose a method in which a person who originally has an operation authority of a vehicle transfers the operation authority to a passenger of another vehicle.

Accordingly, an object of the present invention is to provide a vehicle operation right management device, a vehicle operation right management method, and a storage medium, by which an original operation right person who originally has an operation right of a host vehicle can transfer the operation right of the host vehicle to an occupant of another host vehicle.

[ means for solving problems ]

The invention comprises the following steps: a person identification unit for identifying a passenger of the vehicle; and an operation authority management unit configured to recognize, by the person recognition unit, an original operation authority having an operation authority for driving parameters of the vehicle by an automatic driving control unit configured to perform automatic driving control of the vehicle, to confirm the operation authority for the original operation authority, and to confirm, by the person recognition unit, the operation authority for the passenger other than the original operation authority when the passenger is recognized by the person recognition unit in a driver seat of the vehicle.

[ Effect of the invention ]

According to the present invention, it is possible to provide a vehicle operation right management device, a vehicle operation right management method, and a storage medium, by which an original operation right person originally having an operation right of a host vehicle can transfer the operation right of the host vehicle to a passenger of another host vehicle.

Drawings

Fig. 1 is a diagram showing an overall configuration of a vehicle including a vehicle control device according to an embodiment of the present invention.

Fig. 2 is a functional block diagram showing a vehicle control device and a peripheral structure thereof according to an embodiment of the present invention.

Fig. 3 is a schematic configuration diagram of a Human Machine Interface (HMI) connected to the vehicle control device according to the embodiment of the present invention.

Fig. 4 is a diagram showing a vehicle cabin front structure of a vehicle including a vehicle control device according to an embodiment of the present invention.

Fig. 5A is an external view showing a front structure of a vehicle including a vehicle control device according to an embodiment of the present invention.

Fig. 5B is an external view showing a rear structure of a vehicle including a vehicle control device according to an embodiment of the present invention.

Fig. 5C is a front view showing a schematic configuration of a right front lamp portion included in a vehicle.

Fig. 6 is a functional block diagram illustrating functions of the vehicle operation right management device according to the embodiment of the present invention.

Fig. 7 is a flowchart of a process for determining the operation authority of the host vehicle M executed by the vehicle operation authority management device according to the embodiment of the present invention.

Fig. 8 is a flowchart of a process of changing the running parameter of the host vehicle executed by the vehicle operation right management device according to the embodiment of the present invention.

Fig. 9 is a flowchart of setting of the driver's seat of the host vehicle executed by the vehicle operation right management device according to the embodiment of the present invention.

Fig. 10 is a conceptual diagram illustrating the process of fig. 7 according to the embodiment of the present invention.

Fig. 11 is a conceptual diagram illustrating the process of fig. 7 according to the embodiment of the present invention.

Fig. 12 is a conceptual diagram illustrating the process of fig. 8 according to the embodiment of the present invention.

[ description of symbols ]

100: vehicle control device (autopilot control part)

301: person identification unit

302: operation authority management unit

303: permission accepting unit

304: power supply stop detection unit

305: timing part

306: seat direction detecting part

307: driver seat setting unit

401: driver seat

A: rider(s)

B: the original operation authority person

C: rider(s)

M: the vehicle

Detailed Description

Hereinafter, a vehicle control device according to an embodiment of the present invention will be described in detail with reference to the drawings.

In the drawings shown below, members having a common function are denoted by common reference numerals. In addition, the size and shape of the members may be distorted or exaggerated schematically for convenience of description.

In the explanation of the vehicle control device according to the embodiment of the present invention, the host vehicle M is based on the forward direction in the traveling direction of the host vehicle M when the expressions of the left and right sides are used. Specifically, for example, the vehicle M is placed in a right-handle (handle) -sized housing, and the driver seat side is referred to as the right side and the passenger seat side is referred to as the left side.

[ Structure of the present vehicle M ]

First, a configuration of a vehicle (hereinafter, referred to as "own vehicle M") including a vehicle control device 100 according to an embodiment of the present invention will be described with reference to fig. 1.

Fig. 1 is an overall configuration diagram of a vehicle including a vehicle control device 100 according to an embodiment of the present invention.

As shown in fig. 1, the vehicle M in which the vehicle control device 100 according to the embodiment of the present invention is mounted is, for example, a two-wheeled, three-wheeled, four-wheeled vehicle.

The vehicle M includes an automobile using an internal combustion engine such as a diesel engine (diesel engine) or a gasoline engine (gasoline engine) as a power source, an electric automobile using an electric motor as a power source, and a hybrid (hybrid) automobile having both an internal combustion engine and an electric motor. Among them, electric vehicles are driven using electric power discharged from batteries such as secondary batteries, hydrogen fuel cells, metal fuel cells, and ethanol (alcohol) fuel cells.

As shown in fig. 1, the host vehicle M is mounted with: an external sensor 10 having a function of detecting external information on a target object including an object and a marker existing around the host vehicle M; a navigation device 20 having a function of mapping the current position of the host vehicle M on a map and performing route guidance up to a destination; and a vehicle control device 100 having a function of performing autonomous travel control of the vehicle M including steering and acceleration and deceleration of the vehicle M.

These devices or apparatuses are configured to be connected so as to be capable of data communication with each other via a communication medium such as a Controller Area Network (CAN).

The "vehicle control device" according to the present invention may include other structures (the external sensor 10, the HMI35, and the like) in addition to the structure of the "vehicle control device 100" according to the present embodiment.

[ external sensor 10]

The environment sensor 10 includes a camera 11, a radar 13, and a laser radar 15.

The camera 11 has an optical axis inclined obliquely downward in front of the vehicle and has a function of capturing an image of the vehicle M in the traveling direction. As the camera 11, for example, a Complementary Metal Oxide Semiconductor (CMOS) camera, a Charge Coupled Device (CCD) camera, or the like can be used as appropriate. The camera 11 is provided near a rear view mirror (not shown) in the cabin of the host vehicle M, in front of a right side door and in front of a left side door outside the cabin of the host vehicle M, and the like.

The camera 11 periodically and repeatedly takes images of, for example, the front, right rear side, and left rear side of the host vehicle M in the traveling direction. In the present embodiment, the camera 11 provided near the rear view mirror is formed by arranging a pair of monocular cameras side by side. The camera 11 may also be a stereo camera.

The image information of the front, right rear and left rear sides of the traveling direction of the host vehicle M captured by the camera 11 is transmitted to the vehicle control device 100 via a communication medium.

The radar 13 has the following functions: the distribution information of the target object including the distance to the target object or the direction of the target object is acquired by irradiating a radar wave to the target object including a preceding vehicle to be tracked that travels ahead of the host vehicle M and receiving a radar wave reflected by the target object. As the radar wave, a laser, a microwave, a millimeter wave, an ultrasonic wave, or the like can be suitably used.

In the present embodiment, as shown in fig. 1, three radars 13 are provided on the front side, and two radars are provided on the rear side, and the total number of the radars is five. The distribution information of the target object acquired by the radar 13 is transmitted to the vehicle control device 100 via a communication medium.

The laser radar 15 (Light Detection and measurement) has a function of detecting the presence or absence of a target object and a distance to the target object by measuring a time required for detecting scattered Light with respect to irradiation Light, for example. In the present embodiment, as shown in fig. 1, two laser radars 15 are provided on the front side, and three laser radars are provided on the rear side to total five laser radars. The distribution information of the target object acquired by the laser radar 15 is transmitted to the vehicle control device 100 via a communication medium.

[ navigation device 20]

The Navigation device 20 includes a Global Navigation Satellite System (GNSS) receiver, map information (Navigation map), a touch panel type internal display device 61 functioning as a human interface, a speaker 63 (see fig. 3), a microphone (microphone), and the like. The navigation device 20 functions to estimate the current position of the host vehicle M by the GNSS receiver and to derive a route from the current position to a destination specified by the user.

The route derived by the navigation device 20 is supplied to a target lane determining unit 110 (described later) of the vehicle control device 100. The current position of the host vehicle M may also be determined or supplemented by an Inertial Navigation System (INS) that utilizes the output of the vehicle sensors 30. The navigation device 20 also provides guidance to a route to the destination by voice or map display.

Further, the function for estimating the current position of the own vehicle M may be provided independently of the navigation device 20. The navigation device 20 may be realized by a function of a terminal device such as a smartphone or a tablet terminal that the user has. In this case, the terminal device and the vehicle control device 100 transmit and receive information by wireless or wired communication.

[ vehicle control device 100 and its peripheral structure ]

Next, a vehicle control device 100 according to an embodiment of the present invention mounted on the host vehicle M and a peripheral portion structure thereof will be described with reference to fig. 2.

Fig. 2 is a functional block diagram showing a vehicle control device 100 according to an embodiment of the present invention and a peripheral structure thereof.

As shown in fig. 2, the host vehicle M may be equipped with a communication device 25, a vehicle sensor 30, an HMI (Human Machine Interface) 35, a driving force output device 200, a steering device 210, and a brake device 220, in addition to the above-described environment sensor 10, navigation device 20, and vehicle control device 100.

The communication device 25, the vehicle sensor 30, the HMI35, the vehicle operation right management device 36, the running/driving force output device 200, the steering device 210, and the brake device 220 are connected to the vehicle control device 100 via a communication medium so as to be capable of data communication with each other.

[ communication device 25]

The Communication device 25 has a function of performing Communication via a Wireless Communication medium such as a cellular network (cellular net), a Wireless Fidelity (Wi-Fi) network, bluetooth (registered trademark), or Dedicated Short Range Communication (DSRC).

The Communication device 25 performs wireless Communication with an Information providing server of a System for monitoring traffic conditions on roads, such as a Vehicle Information and Communication System (VICS) (registered trademark), for example, and acquires traffic Information indicating traffic conditions on a road on which the Vehicle M is traveling or a road scheduled to travel. The traffic information includes: forward congestion information; required time information for passing through the congested site; accident, trouble car, construction information; speed limit, lane limit information; position information of the parking lot; full/empty information of parking lot, service area, parking area, etc.

The communication device 25 may also acquire the traffic information by performing communication with a wireless beacon (beacon) provided in a side belt of a road or the like, or performing inter-vehicle communication with another vehicle traveling around the host vehicle M.

The communication device 25 performs wireless communication with an information providing server using a driving support system (Traffic Signal Prediction Systems, TSPS) for Signal information, for example, and acquires Signal information of a Traffic Signal installed on a road on which the vehicle M is traveling or scheduled to travel. The TSPS plays a role of supporting driving for smooth passage at a signal intersection using signal information of a traffic signal.

The communication device 25 may acquire the signal information by performing communication with an optical beacon provided in a side zone of a road or the like, or by performing inter-vehicle communication with another vehicle traveling around the host vehicle M.

[ vehicle sensor 30]

The vehicle sensor 30 has a function of detecting various information about the host vehicle M. The vehicle sensor 30 includes a vehicle speed sensor that detects a vehicle speed of the host vehicle M, an acceleration sensor that detects an acceleration of the host vehicle M, a yaw rate sensor that detects an angular velocity of the host vehicle M about a vertical axis, an azimuth sensor that detects a direction of the host vehicle M, an inclination angle sensor that detects an inclination angle of the host vehicle M, an illuminance sensor that detects illuminance of a place where the host vehicle M is located, a raindrop sensor that detects an amount of raindrops of the place where the host vehicle M is located, and the like.

[ Structure of HMI35 ]

Next, the HMI35 will be described with reference to fig. 3, 4, 5A, and 5B.

Fig. 3 is a schematic configuration diagram of the HMI35 connected to the vehicle control device 100 according to the embodiment of the present invention. Fig. 4 is a diagram showing a structure of a front portion of a vehicle cabin of a host vehicle M including the vehicle control device 100. Fig. 5A and 5B are external views showing the front structure and the rear structure of the host vehicle M including the vehicle control device 100.

As shown in fig. 3, the HMI35 includes constituent members of a driving operation system and constituent members of a non-driving operation system. Their boundaries are not clear, and a structure in which constituent members of the driving operation system include functions of a non-driving operation system (or vice versa) may be employed.

As a component of the driving operation system, as shown in fig. 3, the HMI35 includes: an accelerator pedal 41, an accelerator opening sensor 43 and an accelerator pedal reaction force output device 45, a brake pedal 47 and a brake depression amount sensor 49, a shift lever 51 and a shift position sensor 53, a steering wheel 55, a steering angle sensor 57 and a steering torque sensor 58, and other driving operation elements 59.

The accelerator pedal 41 is an acceleration operation member for receiving an acceleration instruction (or a deceleration instruction based on a return operation) issued by the driver. The accelerator opening sensor 43 detects a depression amount of the accelerator pedal 41, and outputs an accelerator opening signal indicating the depression amount to the vehicle control device 100.

Instead of outputting the accelerator opening degree signal to the vehicle control device 100, the accelerator opening degree signal may be directly output to the running driving force output device 200, the steering device 210, or the brake device 220. The same applies to the configuration of other driving operation systems described below. The accelerator pedal reaction force output device 45 outputs a force (operation reaction force) in the direction opposite to the operation direction to the accelerator pedal 41, for example, in accordance with an instruction from the vehicle control device 100.

The brake pedal 47 is a deceleration operation member for receiving a deceleration instruction from the driver. The brake depression amount sensor 49 detects the depression amount (or depression force) of the brake pedal 47, and outputs a brake signal indicating the detection result to the vehicle control device 100.

The shift lever 51 is a shift operation member for receiving an instruction to change the shift position by the driver. The gearshift position sensor 53 detects a gear position indicated by the driver, and outputs a gearshift position signal indicating the detection result to the vehicle control device 100.

The steering wheel 55 is a steering operation member for receiving a turning instruction from the driver. The steering angle sensor 57 detects the operation angle of the steering wheel 55, and outputs a steering angle signal indicating the detection result to the vehicle control device 100. The steering torque sensor 58 detects the torque applied to the steering wheel 55, and outputs a steering wheel torque signal indicating the detection result to the vehicle control device 100.

Other driving operation devices 59 are, for example, a joystick (joy), a button, a bit switch (dial switch), a Graphic User Interface (GUI) switch, and the like. The other driving operation device 59 receives an acceleration instruction, a deceleration instruction, a turning instruction, and the like, and outputs the received instructions to the vehicle control apparatus 100.

As shown in fig. 3, the HMI35 includes, for example, an internal display device 61, a speaker 63, a touch operation detection device 65, a content (contents) reproduction device 67, various operation switches 69, a seat (seat) 73, a seat drive device 75, a window glass 77, a window drive device 79, an in-vehicle camera 81, an external display device 83, and a microphone 86 as constituent elements of the non-driving operation system.

The interior display device 61 is a display device, preferably a touch panel type, having a function of displaying various information with the occupants in the vehicle compartment as targets. As shown in fig. 4, the internal display device 61 includes: a meter panel (meter panel) 85 provided at a position facing the driver's seat in the meter panel (instrument panel) 60; a multi-information panel (multi-information panel) 87 that is provided so as to straddle the driver seat and the passenger seat and is horizontally long in the vehicle width direction; a right side panel 89a provided on the driver's seat side in the vehicle width direction; and a left side panel 89b provided on the passenger seat side in the vehicle width direction. The internal display device 61 may be additionally provided at a position facing the rear seat (the rear surface side of all the seats).

The instrument panel 85 displays, for example, a speedometer (speedometer), a tachometer (tachometer), an odometer (odometer), shift position information, lighting condition information of lights, and the like.

The multi-information panel 87 displays various information such as map information around the host vehicle M, current position information of the host vehicle M on the map, traffic information (including signal information) related to the current travel route and the predetermined route of the host vehicle M, traffic participant information related to traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, and the like) present around the host vehicle M, and messages to the traffic participants.

The right side panel 89a displays image information of the rear and lower sides of the right side of the host vehicle M captured by the camera 11 provided on the right side of the host vehicle M.

The left panel 89b displays image information of the rear and lower sides of the left side of the own vehicle M captured by the camera 11 provided on the left side of the own vehicle M.

The internal Display device 61 is not particularly limited, and includes, for example, a Liquid Crystal Display (LCD), an organic Electroluminescence (EL), and the like. The internal Display device 61 may also include a Head Up Display (HUD) that projects a desired image onto the window glass 77.

The speaker 63 has a function of outputting voice. The speakers 63 are provided in an appropriate number at appropriate positions such as an instrument panel 60, a door panel, and a rear shelf (none of which is shown) in the vehicle compartment.

The touch operation detection device 65 has a function of detecting a touch position on the display screen of the internal display device 61 and outputting information of the detected touch position to the vehicle control device 100 when the internal display device 61 is of a touch panel type. In the case where the internal display device 61 is not a touch panel type, the touch operation detection device 65 may be omitted.

The content reproduction device 67 includes, for example: a Digital Versatile Disc (DVD) playback device, a Compact Disc (CD) playback device, a television receiver, a device for generating various guide images, and the like. The internal display device 61, the speaker 63, the contact operation detection device 65, and the content reproduction device 67 may be partially or entirely shared with the navigation device 20.

Various operation switches 69 are provided at appropriate positions in the vehicle compartment. The various operation switches 69 include an automated driving changeover switch 71 that instructs immediate start (or future start) and stop of automated driving. The automatic driving changeover switch 71 may be a GUI (Graphical User Interface) switch or a mechanical switch. In addition, the various operation switches 69 may also include a switch for driving the seat driving device 75 or the window driving device 79.

The seat 73 is a seat on which an occupant of the host vehicle M sits. The seat driving device 75 can freely drive the reclining (reclining) angle, the front-rear direction position, the tilt angle, and the like of the seat 73. The seat rotation sensor 76 detects the rotation of the seat 73 and detects the orientation of the seat 73. The window glass 77 is provided in each door, for example. The window drive device 79 drives the window glass 77 to open and close.

The in-vehicle camera 81 is a digital camera using a solid-state imaging device such as a CCD or a CMOS. The in-vehicle camera 81 (image pickup device) is provided at a position where at least the head of a driver seated in the driver's seat can be photographed, such as a rear view mirror, a steering wheel attachment base (not shown), and the instrument panel 60. The in-vehicle camera 81 repeatedly photographs the inside of the vehicle including the driver, for example, periodically.

The external display device 83 has a function of displaying various information targeted at participants (including pedestrians, bicycles, motorcycles, other vehicles, and the like) present around the host vehicle M. As shown in fig. 5A, the external display device 83 includes: in a front grille (front grille) 90 of the vehicle M, a right front lighting part 91A and a left front lighting part 91B are provided separately in the vehicle width direction, and a front display part 93 is provided between the right and left front lighting parts 91B.

In addition, as shown in fig. 5B, the external display device 83 includes: a right rear lamp portion 95A and a left rear lamp portion 95B provided separately in the vehicle width direction in the rear grille 94 of the host vehicle M; and a rear display unit 97 provided in the vehicle compartment of the vehicle M and at a position visible from the outside through a central lower portion of the rear window 96.

Here, the structure of the left and right front lighting units 91A and 91B in the external display device 83 will be described with reference to fig. 5C. Fig. 5C is a front view showing a schematic configuration of a right front lamp portion 91A included in the vehicle M. Since the left and right front lighting units 91A and 91B are commonly used, the description of the schematic configuration of the right front lighting unit 91A will be used instead of the description of the configurations of the left and right front lighting units 91A and 91B.

The right front lamp portion 91A is formed in a circular shape when viewed from the front. The right front lamp portion 91A is configured by arranging a direction indicator 91Ab, a light display portion 91Ac, and a position lamp (position lamp) 91Ad, which are formed in an annular shape, in this order concentrically with a headlight (head lamp) 91Aa centered on the headlight 91Aa, which is formed in a circular shape when viewed from the front and has a smaller diameter than the outer diameter of the right front lamp portion 91A.

The headlight 91Aa functions to assist the forward view of the occupant by radiating light forward in the traveling direction of the host vehicle M while the host vehicle M is traveling in a dark place. The direction indicator 91Ab serves to transmit the intention of the vehicle M to the traffic participants present around the vehicle M when the vehicle M turns left or right. The light display unit 91Ac functions to transmit a travel intention (which will be described in detail later) including a stop of the host vehicle M to a traffic participant present around the host vehicle M in association with the display content of the front display unit 93. The position lamp 91Ad serves to transmit the vehicle width of the vehicle M to the surrounding traffic participants while the vehicle M is traveling in a dark place.

[ Structure of vehicle control device 100 ]

Next, returning to fig. 2, the configuration of the vehicle control device 100 will be described.

The vehicle control device 100 is realized by one or more processors or hardware having equivalent functions, for example. The vehicle Control device 100 may be configured by a combination of a processor such as a Central Processing Unit (CPU), a storage device, and an Electronic Control Unit (ECU) or a Micro-Processing Unit (MPU) in which a communication interface is connected via an internal bus.

The vehicle control device 100 includes: target lane determining unit 110, driving support control unit 120, travel control unit 160, HMI control unit 170, and storage unit 180.

The functions of each unit of the target lane determining unit 110 and the driving support control unit 120, and a part or all of the functions of the travel control unit 160 are realized by a processor executing a program (software). Some or all of these functions may be realized by hardware such as Large Scale Integration (LSI) or Application Specific Integrated Circuit (ASIC), or may be realized by a combination of software and hardware.

In the following description, when it is described that "o" portion is "and main body, the driving support control unit 120 reads out each program from an Electrically Erasable Programmable Read Only Memory (ROM or EEPROM) as needed, loads the program into a RAM, and executes each function (described later). Each program may be stored in the storage unit 180 in advance, or may be introduced into the vehicle control device 100 via another storage medium or a communication medium as needed.

[ target Lane determining section 110]

The target lane determining Unit 110 is realized by, for example, an MPU (Micro Processing Unit). The target lane determining unit 110 divides the route provided from the navigation device 20 into a plurality of blocks (for example, into every 100[ m ] in the vehicle traveling direction), and determines a target lane for each block with reference to the high-precision map information 181. The target lane determining unit 110 determines, for example, to travel in the second lane from the left. The target lane determining unit 110 determines the target lane so that the host vehicle M can travel on a reasonable travel path for traveling to the branch destination, for example, when there is a branch portion, a junction portion, or the like in the path. The target lane determined by the target lane determining unit 110 is stored in the storage unit 180 as the target lane information 182.

[ Driving support control Unit 120]

The driving support control unit 120 includes: driving support mode control unit 130, recognition unit 140, and switching control unit 150.

< Driving support mode control part 130 >

The driving support mode control unit 130 determines an automatic driving mode (automatic driving support state) to be executed by the driving support control unit 120 based on an operation of the HMI35 by the driver, an event determined by the action plan generation unit 144, a travel form determined by the track generation unit 147, and the like. The HMI control unit 170 is notified of the automatic driving mode.

In any of the automated driving modes, the automated driving mode can be switched (overridden) to the lower level by an operation of a component of the driving operation system of the HMI 35.

The override is started, for example, when the operation of the constituent elements of the driving operation system of the HMI35 by the driver of the host vehicle M is continued for more than a predetermined time, when the operation is performed more than a predetermined operation change amount (for example, the accelerator opening amount by the accelerator pedal 41, the brake depression amount by the brake pedal 47, the steering angle by the steering wheel 55), or when the operation is performed more than a predetermined number of times.

< identification part 140 >

The recognition unit 140 includes: a vehicle position recognition unit 141, an external environment recognition unit 142, an area determination unit 143, an action plan generation unit 144, and a trajectory generation unit 147.

< vehicle position recognition unit 141 >

The vehicle position recognition unit 141 recognizes the traveling lane in which the vehicle M is traveling and the relative position of the vehicle M with respect to the traveling lane, based on the high-accuracy map information 181 stored in the storage unit 180 and the information input from the camera 11, the radar 13, the laser radar 15, the navigation device 20, or the vehicle sensor 30.

The vehicle position recognition unit 141 recognizes the traveling lane by comparing the pattern of the road division line recognized from the high-accuracy map information 181 (for example, the arrangement of the solid line and the broken line) with the pattern of the road division line around the vehicle M recognized from the image captured by the camera 11. In this recognition, the current position of the own vehicle M acquired from the navigation device 20 or the processing result based on the INS may also be taken into account.

< external recognition unit 142 >

As shown in fig. 2, the external environment recognition unit 142 recognizes an external environment state including, for example, the position, the vehicle speed, and the acceleration of the nearby vehicle, based on external environment information input from the external environment sensor 10 including the camera 11, the radar 13, and the laser radar 15. The peripheral vehicle is, for example, a vehicle that travels around the host vehicle M and that travels in the same direction as the host vehicle M.

The position of the nearby vehicle may be represented by a representative point such as a center of gravity or a corner (corner) of another vehicle, or may be represented by a region represented by a contour of another vehicle. The state of the peripheral vehicle may include acceleration of the peripheral vehicle grasped based on the information of the various devices, whether a lane change is being performed (or whether a lane change is to be performed). The environment recognition unit 142 may be configured as follows: in addition to recognizing the surrounding vehicles, the positions of target objects including guard rails, utility poles, parking vehicles, pedestrians, and traffic signs are also recognized.

In the embodiment of the present invention, a vehicle that travels directly in front of the host vehicle M and becomes a tracking target in the tracking travel control, among the peripheral vehicles, is referred to as "preceding vehicle".

< area specifying part 143 >

The area specifying unit 143 obtains information of a specified area (Interchange) where there are an IC/intersection (intersection) where there are an increase and a decrease of a JCT/lane) present in the periphery of the host vehicle M based on the map information. Thus, even when the travel direction image cannot be acquired via the external sensor 10 due to being blocked by the preceding vehicle including the preceding vehicle, the area specifying unit 143 can acquire information of the specified area that assists smooth travel of the host vehicle M.

Instead of acquiring information of a specific area based on map information, the area specifying unit 143 may acquire the information of the specific area by specifying an object by image processing based on a traveling direction image acquired via the environment sensor 10 or by recognizing an object by internal processing of the environment recognizing unit 142 based on a contour of the traveling direction image.

As described later, the VICS information obtained by the communication device 25 may be used to improve the accuracy of the information of the specific area obtained by the area specifying unit 143.

< action plan generating part 144 >

The action plan generating unit 144 sets a start point of the automated driving and/or a destination of the automated driving. The start point of the automated driving may be the current position of the host vehicle M or may be a point at which an operation for instructing the automated driving is performed. The action plan generating unit 144 generates an action plan for a section between the start point and the destination of the automated driving. The action plan generating unit 144 may generate an action plan for an arbitrary section, without being limited thereto.

The action plan includes, for example, a plurality of events that are executed in sequence. The plurality of events include, for example: a deceleration event for decelerating the host vehicle M, an acceleration event for accelerating the host vehicle M, a lane-keeping (lane keep) event for driving the host vehicle M without departing from the driving lane, a lane change event for changing the driving lane, a passing event for passing the host vehicle M over a preceding vehicle, a lane change desired at a branch point, a branch event for driving the host vehicle M without deviating from the current driving lane, a convergence event for accelerating or decelerating the host vehicle M in a convergence lane for converging to a main road and changing the driving lane, a transition (hand over) event for changing from the manual driving mode to the automatic driving mode (automatic driving support state) at a start point of automatic driving, or a transition (hand over) event for changing from the automatic driving mode to the manual driving mode at a predetermined point of ending of automatic driving.

The action plan generating unit 144 sets a lane change event, a branch event, or a merge event at a portion where the target lane determined by the target lane determining unit 110 is to be switched. Information indicating the action plan generated by the action plan generating unit 144 is stored in the storage unit 180 as action plan information 183.

The action plan generating unit 144 includes a mode changing unit 145 and a notification control unit 146.

< mode changing part 145 >

The mode changing unit 145 selects a driving mode corresponding to the recognition result from among preset driving modes including an automatic driving mode and a manual driving mode in multiple stages, for example, based on the recognition result of the target object existing in the traveling direction of the host vehicle M by the external world recognition unit 142, and performs the driving operation of the host vehicle M using the selected driving mode.

< notification control unit 146 >

When the driving mode of the host vehicle M is switched by the mode changing unit 145, the notification control unit 146 notifies that the driving mode of the host vehicle M has been switched. The notification control unit 146 notifies the driver of the fact that the driving mode of the host vehicle M has been switched, for example, by causing the speaker 63 to output voice information stored in advance in the storage unit 180.

Note that, as long as the driver can be notified of the switching of the driving mode of the host vehicle M, the notification is not limited to the notification by voice, and may be performed by display, light emission, vibration, or a combination thereof.

< track generating part 147 >

The trajectory generation unit 147 generates a trajectory on which the host vehicle M should travel, based on the action plan generated by the action plan generation unit 144.

< switching control part 150 >

As shown in fig. 2, switching control unit 150 switches between the automatic driving mode and the manual driving mode based on a signal input from automatic driving switching switch 71 (see fig. 3) and others. The switching control unit 150 switches the automatic driving mode at this time to the lower driving mode based on an operation for instructing acceleration, deceleration, or steering with respect to the constituent members of the driving operation system of the HMI 35. For example, when a state in which the operation amount indicated by a signal input from a component of the operating system of the HMI35 exceeds a threshold value continues for a reference time or longer, the switching control unit 150 switches the automatic driving mode at that time to the lower driving mode (override).

Further, the switching control unit 150 may perform switching control to return to the original automatic driving mode when the operation of the component of the driving operation system with respect to the HMI35 is not detected for a predetermined period of time after the switching to the lower driving mode by the override.

< Driving control part 160 >

The travel control unit 160 controls the travel driving force output device 200, the steering device 210, and the brake device 220 so that the host vehicle M passes through the trajectory on which the host vehicle M is to travel, which is generated by the trajectory generation unit 147, at a predetermined timing, thereby performing travel control of the host vehicle M.

< HMI control section 170 >

When the driving support control unit 120 notifies the setting information of the autonomous driving mode of the host vehicle M, the HMI control unit 170 refers to the information 184 (fig. 2) on the operability in the different mode, and controls the HMI35 according to the setting content of the autonomous driving mode. The information 184 indicating whether or not the operation is possible in the different modes is information indicating a device permitted to be used (a part or all of the navigation device 20 and the HMI 35) and a device not permitted to be used in each driving mode.

As shown in fig. 2, the HMI control unit 170 discriminates between devices permitted to be used (a part or all of the navigation device 20 and the HMI 35) and devices not permitted to be used, by referring to the information 184 on the operability in the different mode based on the information on the driving mode of the host vehicle M acquired from the driving support control unit 120. The HMI control unit 170 controls whether or not to accept the driver operation related to the HMI35 of the driving operation system or the navigation device 20 based on the determination result.

For example, when the driving mode executed by the vehicle control device 100 is the manual driving mode, the HMI control unit 170 receives a driver operation relating to the HMI35 (for example, the accelerator pedal 41, the brake pedal 47, the shift lever 51, the steering wheel 55, and the like; see fig. 3) of the driving operation system.

The HMI control unit 170 includes a display control unit 171.

< display control unit 171 >

The display control unit 171 performs display control on the internal display device 61 and the external display device 83. Specifically, for example, when the driving mode executed by the vehicle control device 100 is an automatic driving mode with a high degree of automation, the display control unit 171 performs the following control: control is performed to cause the internal display device 61 and/or the external display device 83 to display information such as attention reminders, warnings, and driving assistance for the traffic participants present around the host vehicle M. This will be described in detail later.

< storage part 180 >

The storage unit 180 stores information such as high-precision map information 181, target lane information 182, action plan information 183, and information 184 indicating whether or not the vehicle can be operated in different modes. The storage unit 180 is implemented by a Read Only Memory (ROM), a Random Access Memory (RAM), a Hard Disk Drive (HDD), a flash Memory, or the like. The program executed by the processor may be stored in the storage unit 180 in advance, or may be downloaded from an external device via a vehicle-mounted Internet (Internet) device or the like. The program may be installed (install) in the storage unit 180 by being mounted on a drive device (not shown) via a portable storage medium storing the program.

The high-precision map information 181 is map information having higher precision than map information normally included in the navigation device 20. The high-accuracy map information 181 includes, for example, information on the center of a lane, information on a lane boundary, and the like. The lane boundaries include the types, colors, lengths, road widths, shoulder widths, trunk widths, lane widths, boundary positions, boundary types (guardrails, forests, curbs), zebra crossing areas, and the like of lane markers, and are included in a high-precision map.

The high-accuracy map information 181 may include road information, traffic regulation information, address information (address, zip code), facility information, telephone number information, and the like. The road information includes information indicating a road type such as an expressway, a toll road, a national road, and a prefecture road, the number of lanes on the road, the width of each lane, the gradient of the road, the position of the road (including three-dimensional coordinates of longitude, latitude, and height), the curvature of curves on the lanes, the position of a merge point and a branch point of the lane, and a sign provided on the road. The traffic regulation information includes information that a lane is blocked due to construction, traffic accident, congestion, and the like.

[ running drive force output device 200, steering device 210, and brake device 220]

As shown in fig. 2, vehicle control device 100 controls the driving of travel driving force output device 200, steering device 210, and brake device 220 in accordance with a travel control command issued by travel control unit 160.

< Driving force output device 200 >

The running drive force output device 200 outputs drive force (torque) for running of the host vehicle M to the drive wheels. In the case of an automobile having an internal combustion engine as a power source, the running drive force output device 200 includes, for example, the internal combustion engine, a transmission, and an engine ECU (Electronic Control Unit) that controls the internal combustion engine (none of which are shown).

In the case of an electric vehicle in which the vehicle M is powered by an electric motor, the running drive force output device 200 includes a running motor and a motor ECU (both not shown) that controls the running motor.

Further, when the host vehicle M is a hybrid vehicle, the running drive force output device 200 includes an internal combustion engine, a transmission, an engine ECU, a running motor, and a motor ECU (none of which is shown).

When traveling drive force output device 200 includes only an internal combustion engine, engine ECU adjusts the throttle opening degree, the shift position, and the like of the internal combustion engine in accordance with information input from traveling control unit 160 described later.

When the travel driving force output device 200 includes only the travel motor, the motor ECU adjusts the duty ratio of a Pulse Width Modulation (PWM) signal to be supplied to the travel motor in accordance with information input from the travel control unit 160.

When the running driving force output device 200 includes an internal combustion engine and a running motor, the engine ECU and the motor ECU control the running driving force in cooperation with each other in accordance with information input from the running control unit 160.

< steering device 210 >

The steering device 210 includes, for example, a steering ECU and an electric motor (both not shown). The electric motor applies a force to a rack and pinion mechanism (rack and pinion), for example, to change the direction of the steering wheel. The steering ECU drives the electric motor based on information input from the vehicle control device 100 or information on the steering angle or the steering torque input thereto, and changes the direction of the steerable wheels.

< brake device 220 >

The brake device 220 is, for example, an electric servo (servo) brake device (not shown) including a brake caliper (brake caliper), a cylinder (cylinder) for transmitting hydraulic pressure to the brake caliper, an electric motor for generating hydraulic pressure in the cylinder, and a brake control unit. The brake control unit of the electric service brake device controls the electric motor based on information input from the travel control unit 160, and outputs a brake torque corresponding to a brake operation to each wheel. The electric service brake apparatus may include a mechanism that transmits hydraulic pressure generated by operation of a brake pedal to a cylinder via a master cylinder as a backup.

The brake device 220 is not limited to the electric servo brake device described above, and may be an electronically controlled hydraulic brake device. The electronically controlled hydraulic brake device controls the actuator in accordance with information input from the travel control unit 160, and transmits the hydraulic pressure of the master cylinder to the cylinder. In addition, the brake device 220 may also include a regenerative brake that utilizes a travel motor that may be included in the travel driving force output device 200.

[ vehicle operation right management device 36]

Fig. 6 is a functional block diagram illustrating the functions of the vehicle operation right management device 36 (fig. 2). The vehicle operation right management device 36 includes: a person recognizing unit 301, an operation authority management unit 302, a permission accepting unit 303, a power supply stop detecting unit 304, a time counting unit 305, a seat direction detecting unit 306, and a driver seat setting unit 307. The vehicle operation right management device 36 is a device that implements a vehicle operation right management method as processing described below based on a predetermined program operation. The predetermined program at this time implements the program of the present invention, and the predetermined vehicle operation right management method described below implements the vehicle operation right management method of the present invention.

The person recognition unit 301 recognizes occupants of the host vehicle M. Specifically, an image of the face of the occupant located in the cabin of the vehicle M is extracted based on the image data captured by the cabin camera 81 (fig. 3), and the feature of the face of the occupant is extracted based on the image to perform predetermined face authentication. The face authentication may be completed in the process of the person recognizing unit 301, but the image data captured by the in-vehicle camera 81 may be transmitted to an external predetermined server via the communication device 25, and the server may extract an image of the face of the occupant from the image data, extract features of the face, perform face authentication, and receive the result by the person recognizing unit 301.

The person recognition unit 301 collects sounds in the vehicle interior by the microphone 86 (fig. 3), and extracts the speech sound of the person from the speech data. Then, which speech sound is the occupant is determined based on the movement of the mouth in the face of the person in the image data of the in-vehicle camera 81, and a feature is extracted from the speech data of the speech sound to perform predetermined sound authentication. These processes may be executed by transmitting voice data to the predetermined server via the communication device 25 and receiving the result by the person recognizing unit 301. The identification of the occupant may be other types of ecological authentication, and is not limited to a specific form.

By this processing, the person recognition unit 301 recognizes the face or voice of each occupant, and can perform face authentication and voice authentication of each occupant as necessary.

The operation authority management unit 302 identifies an original operation authority person (for example, the owner of the host vehicle M) who originally has an operation authority for driving the host vehicle M by the vehicle control device 100 (fig. 2) serving as an automatic driving control unit that performs automatic driving control of the host vehicle M by the person identification unit 301, and confirms the operation authority of the driving parameter to the original operation authority person. When a passenger other than the original operation authority is recognized in the driver seat of the host vehicle M by the person recognition unit 301, the operation authority is confirmed for the passenger.

The human recognition unit 301 collects the facial features and voice features of the original operation authorized person, and these data are registered in advance as the data of the original operation authorized person. Then, when the original operation authority person sits in the driver's seat of the host vehicle M, the person recognition unit 301 performs face authentication based on the data, and authenticates that the person is the original operation authority person. Since the operation of the travel parameters and the like is performed by voice instructions, when the original operation authorized person is seated in the driver's seat of the host vehicle M, the person recognizing unit 301 can authenticate the voice of the original operation authorized person by voice authentication and determine whether or not the operation of the travel parameters is instructed by the original operation authorized person.

The operation of the driving parameters may be performed by voice, and the operation authority management unit 302 may perform voice recognition on the voice, analyze the recognized language by Artificial Intelligence (AI), and determine what instruction has been given. Speech recognition or analysis by means of AI can also be carried out by an external server. The running parameters operable here are the running acceleration setting, the vehicle-to-vehicle setting, the lane change, and the like of the own vehicle M.

When a passenger other than the original operation authority person is present in the driver seat, the person recognition unit 301 recognizes the passenger other than the original operation authority person in the driver seat by face authentication. In this case, the person recognizing unit 301 registers the feature of the face of the occupant, recognizes the voice collected by the microphone 86 as the voice of the occupant according to the movement of the mouth of the occupant, and registers the feature. Then, the person recognition unit 301 recognizes a voice having the characteristics of the occupant by voice authentication, and the operation authority management unit 302 recognizes an instruction of the travel parameter of the host vehicle M from the occupant as in the case of the original operation authority.

In this way, when recognizing an instruction of the travel parameter from the original operation authority or a passenger other than the original operation authority, the vehicle operation authority management device 36 instructs the vehicle control device 100 to change the travel parameter registered in the action plan information 183 by the action plan generating unit 144 of the vehicle control device 100.

The operation authority management unit 302 does not confirm the operation authority to the original operation authority when confirming the operation authority of the vehicle M to the passenger in the driver seat other than the original operation authority. Specifically, when the features of the face of the occupant of the driver seat other than the original operation authority person are registered as described above, the person recognizing unit 301 determines whether or not the occupant verbally instructs the change of the travel parameter based on the movement of the mouth in the face of the occupant of the driver seat other than the original operation authority person. Then, when the operator who has orally instructed the change of the driving parameter is the original operator, the operation authority management unit 302 does not accept the instruction. When the person recognizing unit 301 registers the feature of the voice when the passenger of the driver seat other than the original operation authority speaks, and thereafter, when the person recognizing unit 301 determines through voice recognition that the passenger of the driver seat other than the original operation authority has instructed the change of the travel parameter, the operation authority management unit 302 receives the change of the travel parameter from the passenger of the driver seat other than the original operation authority.

In this case, the permission accepting unit 303 may accept, from the original operation authority person, a permission (first permission) for confirming the operation authority of the travel parameter with respect to a passenger in a seat other than the original operation authority person. That is, when the instruction of the first permission from the original operation authority person is performed by voice, the person recognizing unit 301 performs voice authentication on the voice of the original operation authority person, and the permission accepting unit 303 analyzes the content of the instruction by AI. Then, the permission accepting unit 303 confirms the alternation of the operation authority when the content of the instruction is permission to confirm the operation authority of the driving parameter to the passenger in the driver seat other than the original operation authority. That is, thereafter, the permission accepting unit 303 confirms the operation authority of the travel parameter to the passenger in the driver seat other than the original operation authority, and does not confirm the original operation authority. However, even after the operation authority of the driving parameter is changed from the original operation authority to the driver seat other than the original operation authority, the original operation authority can make a request for changing the operation authority, and when the request is made, the operation authority is returned to the original operation authority.

The power supply stop detection unit 304 detects that the main power supply of the host vehicle M is stopped. The main power supply stop means that an ignition key (not shown) of the vehicle M is turned OFF (OFF). When the ignition key is turned off, the power supply of the vehicle M is turned off, but in recent vehicles, the vehicle M is not often turned off completely, and the power supply of some electronic devices is maintained in an ON (ON) state as standby power by a keyless entry function (not shown) or the like. In the present invention, a state in which the ignition key of the host vehicle M is turned off and most of the power supply of the host vehicle M is turned off is expressed as "main power supply stop".

When the power supply stop detection unit 304 detects the stop of the main power supply, the operation authority management unit 302 releases the operation authority confirmed to the rider of the driver seat other than the original operation authority after the next start of the main power supply. The next start of the main power supply means that the ignition key is turned ON (ON) next time.

When the operation authority is confirmed for the passenger in the driver seat other than the original operation authority person, the feature of the face or voice of the passenger is registered as the feature of the person having the operation authority as described above. The power supply stop detection unit 304 is not particularly required if the data is registered and stored in a predetermined volatile storage device and it is set in advance that the power supply of the volatile storage device is also turned off when the main power supply is turned off, that is, when the ignition key is turned off. This is because, in this case, the ignition key is turned off, and the features of the face or voice of the occupant in the driver seat other than the original operation authority and the data indicating that the occupant has the operation authority are deleted. Therefore, when the ignition key is turned on thereafter, the person having the operation authority of the vehicle M becomes the state set as the original operation authority person.

When the operation authority management unit 302 confirms the operation authority for a passenger in a driver seat other than the original operation authority, the time counting unit 305 counts the time elapsed thereafter. Then, when the elapsed time counted by the timer unit 305 has elapsed by a predetermined time, the operation authority management unit 302 returns the operation authority of the vehicle M to the original operation authority person. Therefore, the operation authority of the vehicle M is not confirmed by the passenger in the driver seat other than the original operation authority person in principle thereafter.

The permission accepting unit 303 may accept a permission (second permission) to return the operation authority of the host vehicle M to the original operation authority person from a passenger who confirms the operation authority of the host vehicle M to the passenger in a driver seat other than the original operation authority person. The permission may be voice authentication of a voice of a passenger in a seat other than the original operation authority person having the operation authority of the host vehicle M, the AI analyzes the content of the language, and the permission accepting unit 303 may determine that the permission is a permission to return the operation authority of the host vehicle M to the original operation authority person. Of course, an external server may perform processing such as analysis using the AI.

When such second permission is received, the operation authority management unit 302 confirms the operation authority of the vehicle M to the original operation authority person, and thereafter does not confirm the operation authority of the vehicle M to the occupants of the seats other than the original operation authority person.

The seat direction detection unit 306 detects the direction of the seat of the host vehicle M. The seat when the seat direction detection unit 306 detects the direction is only a seat that can rotate in the horizontal direction. Since the vehicle M can be automatically driven at the automatic driving level 4 defined by the Society of Automotive Engineers (SAE), the driver does not need to monitor the surrounding situation while driving. Therefore, the driver seat and the passenger seat can be rotated, and the seats can be reversed to face the rear seat.

The driver seat setting unit 307 sets, as the driver seat, a seat on the side where the steering wheel 55 (fig. 3) is present, which is a steering operation element that is visible from the front in the host vehicle M, based on the direction of the seat of the host vehicle M detected by the seat direction detecting unit 306.

Next, an example of a process flow executed by the vehicle operation right management device 36 will be described. Fig. 7 to 9 are flowcharts for explaining the processing executed by the vehicle operation right management device 36.

Fig. 7 is a flowchart of the process of determining the operation authority of the host vehicle M. First, when the permission accepting unit 303 accepts the first permission given by the original operation authority (yes in S1), the power supply stop detecting unit 304 determines whether or not the main power supply is stopped (S2). When the main power supply is not stopped (no in S2), the timer unit 305 determines whether or not a predetermined time has elapsed (S3). When the predetermined time has not elapsed (no in S3), the permission accepting section 303 determines whether or not a second permission to return the operation authority to the original operation authority person is accepted (S4). If the second grant is not accepted (no in S4), the process proceeds to S5.

In S5, the operation authority management unit 302 confirms the operation authority of the vehicle M to the passenger in the driver seat other than the original operation authority. On the other hand, in this case, the operation authority management unit 302 does not confirm the operation authority of the vehicle M to the original operation authority person. The reference time for the timing in S3 is from the time point when the operation authority of the host vehicle M is first confirmed to the passenger in the driver seat other than the original operation authority person, and the elapsed time from the time point is determined in S3.

On the other hand, when the permission accepting unit 303 does not accept the first permission (no in S1), when the first permission is accepted but the power supply stop detecting unit 304 thereafter determines that the main power supply is stopped (yes in S2), when the timer unit 305 determines that the predetermined time has elapsed (yes in S3), or when the permission accepting unit 303 accepts the second permission (yes in S4), the routine proceeds to S6.

In S6, the operation authority management unit 302 returns the operation authority of the vehicle M to the original operation authority person. On the other hand, in this case, the operation authority management unit 302 does not confirm the operation authority of the vehicle M to the passenger in the driver seat other than the original operation authority person.

As described above, the information indicating the operation authority of the vehicle M confirmed to the passenger in the driver seat other than the original operation authority person and the information indicating the features of the face or the voice of the passenger are stored in the volatile storage device, and when the power supply is cut off due to the stop of the main power supply, the determination at S2 may not be necessary.

Fig. 8 is a flowchart of the travel parameter change processing of the host vehicle M. First, when the microphone 86 detects the sound in the vehicle cabin (yes in S11), the operation authority management unit 302 performs sound authentication, and determines whether or not the sound is a sound of a passenger who has confirmed the operation authority of the host vehicle M in S5 or S6 (S12). When the voice is a voice of the occupant who has confirmed the operation authority of the host vehicle M in S5 or S6 (yes in S12), the operation authority management unit 302 determines whether or not the voice is an instruction to operate the host vehicle M by AI (S13). When the sound is an instruction to operate the host vehicle M (yes in S13), the operation authority management unit 302 instructs the vehicle control device 100 to change the running parameters of the host vehicle M in accordance with the instruction (S14).

Fig. 9 is a flowchart of the setting of the driver seat of the host vehicle M. The seat direction detection unit 306 determines whether or not the direction of the seat ( reference numerals 401 and 402 in fig. 12) of the host vehicle M is a predetermined direction (S21). The predetermined direction is a case where the driver seat or the front passenger seat faces the rear seat in the opposite direction. When the seat direction of the host vehicle M is a predetermined direction (yes at S21), the driver seat setting unit 307 sets, as the driver seat, the seat that is visible from the front in the host vehicle M and on which the steering wheel 55 serving as the steering operation member is present. For example, when the driver seat or the front passenger seat faces the rear seat in the opposite direction, the rear seat behind the driver seat is used as the driver seat. As described above, the driver's seat changes depending on the situation, and the processing of fig. 7 is affected. This is because, in the processing of fig. 7, in S5, the operation authority of the host vehicle M is confirmed for the occupants of the seats other than the original operation authority person, but if the seat is changed, the occupants of the seats other than the original operation authority person who confirm the operation authority of the host vehicle M are also changed.

Fig. 10 to 12 are conceptual diagrams for explaining the processing in fig. 7 and 8. In each figure, the arrow direction of the host vehicle M is the front direction, and the driver seat 401, the passenger seat 402, and the rear seat 403 in the vehicle are shown. The original operation authority person a sits on the passenger seat 402, and the passenger B who is not the original operation authority person a sits on the driver seat 401 (fig. 10 to 12). In fig. 12, a passenger C who is not the original operation authority a sits on the rear seat 403.

Fig. 10 shows a case where the permission accepting unit 303 accepts the first permission (yes in S1), the operation authority of the host vehicle M is transferred to the passenger B in the driver seat other than the original operation authority person a, and the original operation authority person a no longer has the operation authority of the host vehicle M (S5).

Fig. 11 shows a case where the operation authority of the host vehicle M is returned to the original operation authority person a due to a subsequent change in the situation (S2 to S4), and the passenger B of the driver seat other than the original operation authority person a does not have the operation authority of the host vehicle M (S6). The change of the situation is that the main power supply of the host vehicle M is stopped (yes in S2), a preset time has elapsed after the operation authority of the host vehicle M is transferred in S5 (yes in S3), and the permission accepting unit 303 accepts the second permission (yes in S4).

Fig. 12 shows a case where the driver seat 401, the passenger seat 402, and the rear seat 403 face each other (yes in S21), and the operation authority of the host vehicle M held by the original operation authority person a is transferred to the passenger C who is seated behind the driver seat 401 of the rear seat 403 (S22). This is because the seat of the occupant C is set as the driver seat. In this way, when the driver seat is changed based on a change in the seat layout or the like, the operation authority can be automatically transferred to the passenger C regardless of who the previous operation authority person was, and the operation authority can be transferred to the passenger C only when the passenger B who was sitting in the driver seat before the change in the driver seat had the operation authority, and when the passenger a who had the operation authority before the change in the driver seat was the original operation authority person a, the operation authority is not automatically transferred to the passenger C, and when the operation authority is to be transferred to the passenger C, the processing as shown in fig. 7 needs to be performed again. In addition, when the passenger B sitting in the driver seat has the operation authority before the change of the driver seat occurs, the operation authority may be temporarily returned to the original operation authority a.

[ Effect of the present embodiment ]

According to the present embodiment, the operation authority of the host vehicle M is confirmed in principle for the original operation authority a that originally has the operation authority of the host vehicle M in automatic driving, and when a passenger B other than the original operation authority a is recognized on the driver seat 401 of the host vehicle M, the operation authority of the host vehicle M is confirmed for the passenger B (S5, S6). In this way, the operation authority of the host vehicle M is not given to any one person, but is limited to the original operation authority a or the occupant B other than the original operation authority a of the driver's seat 401, and therefore, it is possible to prevent the operation authority of the host vehicle M from being given to the entire occupants and the running parameters of the host vehicle M from being changed out of order. On the other hand, the rider B who can give the operation authority of the vehicle M can be handed over the operation authority from the original operation authority person a to the other rider B.

In this case, when the operation authority of the host vehicle M is confirmed to the passenger of the driver seat 401 other than the original operation authority a, the operation authority is not confirmed to the original operation authority a (S5). Therefore, the operation authority of the vehicle M is confirmed to the original operation authority a in addition to the passenger B of the driver seat 401 other than the original operation authority a, and the traveling parameters of the vehicle M can be prevented from being changed out of order.

In this case, when the operation authority of the vehicle M is confirmed to the passenger B in the driver seat 401 other than the original operation authority a, the permission (first permission) of the original operation authority a is required (yes in S1 and S5). When the operation authority of the vehicle M is confirmed to the passenger B in the driver seat 401 other than the original operation authority a, the operation authority is not confirmed to the original operation authority a (S5). Therefore, it is possible to prevent the operation authority of the vehicle M from being unconditionally given to other occupants, and the running parameters of the vehicle M from being irregularly changed.

Even if the operation authority of the host vehicle M is confirmed for the passenger B in the driver seat 401 other than the original operation authority a, the operation authority of the host vehicle M is returned to the original operation authority a (S6) after the main power source of the host vehicle M is stopped (yes in S2). Therefore, the change of the operation authority of the host vehicle M is confirmed only during 1 driving, and thereafter, the operation authority of the host vehicle M is returned to the original operation authority a, thereby ensuring convenience.

Then, even if the operation authority of the vehicle M is confirmed for the passenger B in the driver seat 401 other than the original operation authority a, the operation authority of the vehicle M is returned to the original operation authority a (S6) when a predetermined time has elapsed (yes in S3). Therefore, the change of the operation authority of the host vehicle M is confirmed only during the driving of 1 day, for example, and thereafter, the operation authority of the host vehicle M is returned to the original operation authority person a, whereby convenience can be secured.

Even if the operation authority of the vehicle M is confirmed temporarily to the passenger B in the driver seat 401 other than the original operation authority person a, when the second permission is accepted by the permission accepting unit 303 (yes in S4), the operation authority of the vehicle M is returned to the original operation authority person a (S6). Even if a person who has the operation authority of the own vehicle M among the passengers B of the driver seat 401 other than the original operation authority person a gets off the own vehicle M, the original operation authority person a can acquire the operation authority of the own vehicle M without transferring the seat to the driver seat 401.

In the case where the layout of the seats can be changed, the seat that is visible from the front in the host vehicle M and on which the steering operation member is present is set as the driver's seat (fig. 9) based on the direction of the seat. As a result, the occupant of the driver's seat other than the original operation authority a is also changed to the occupant C, and therefore the occupant who acquires the operation authority of the host vehicle M is also changed. According to this processing, the operation authority of the host vehicle M can be handed over to the rider C who can confirm the traveling direction of the host vehicle M.

The embodiments are not intended to limit the present invention. For example, in the above example, the operation of the host vehicle M is performed by voice, and the transfer of the operation authority of the host vehicle M is performed by changing the voice of a person who can operate the host vehicle M. However, the transfer of the operation authority of the vehicle M can be realized by preparing an operable operation panel such as a touch panel of the vehicle M in front of each passenger and activating only the operation panel in front of the passenger having the operation authority of the vehicle M.

Claims (7)

1. A vehicle operation right management device characterized by comprising:

a person identification unit for identifying a passenger of the vehicle; and

an operation authority management unit configured to identify, by the person recognition unit, an original operation authority originally having an operation authority for driving the host vehicle by an automatic driving control unit that performs automatic driving control of the host vehicle, confirm the operation authority for the original operation authority, and confirm, by the person recognition unit, the operation authority for a passenger other than the original operation authority when the passenger is recognized in a driver seat of the host vehicle by the person recognition unit, the original operation authority being an owner of the host vehicle; and

a permission accepting unit that accepts, from the original operation authorized person, a first permission to confirm the operation authorization to a passenger in the driver seat other than the original operation authorized person,

the operation authority management unit confirms the operation authority to the passenger of the driver seat other than the original operation authority on condition that the first permission is received by the permission receiving unit.

2. The vehicle operation right management device according to claim 1, characterized by comprising: a power supply stop detection unit that detects a stop of a main power supply of the host vehicle,

the operation authority management unit cancels the operation authority confirmed by the occupant of the driver seat other than the original operation authority person after the next start of the main power supply when the power supply stop detection unit detects the stop of the main power supply.

3. The vehicle operation right management device according to claim 1, characterized by comprising: a timer unit that counts an elapsed time after the operation authority management unit confirms the operation authority to the driver seat passenger other than the original operation authority,

when the elapsed time counted by the timer unit has elapsed by a preset time, the operation authority management unit returns the operation authority to the original operation authority person.

4. The vehicle operation authority management device according to claim 1, wherein the permission accepting portion accepts, from the rider who confirms the operation authority to a rider of the driver seat other than the original operation authority person, a second permission to return the operation authority to the original operation authority person,

the operation authority management unit confirms the operation authority to the original operation authority person when receiving the second permission.

5. The vehicle operation right management device according to claim 1, characterized by comprising:

and a driver seat setting unit that sets, as the driver seat, a seat that is visible from the front in the host vehicle and on which the steering operation member is present, based on the direction of the seat of the host vehicle detected by the seat direction detecting unit.

6. A vehicle operation right management method is characterized in that a person identification part, an operation right management part and a permission accepting part are executed,

the person recognizing section recognizes a passenger of the vehicle,

the operation authority management unit identifies, by the person identification unit, an original operation authority person originally having an operation authority for driving the host vehicle by an automatic driving control unit that performs automatic driving control of the host vehicle, confirms the operation authority for the original operation authority person, and confirms the operation authority for the occupant when the person identification unit identifies occupants other than the original operation authority person who is an owner of the host vehicle in a driver seat of the host vehicle,

the permission accepting unit accepts, from the original operation authority person, a first permission to confirm the operation authority to a passenger in the driver seat other than the original operation authority person,

the operation authority management unit confirms the operation authority to the passenger of the driver seat other than the original operation authority on condition that the first permission is received by the permission receiving unit, and does not confirm the operation authority to the original operation authority.

7. A storage medium having recorded thereon a program for causing a computer to function as the vehicle operation right management device according to any one of claims 1 to 5.

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