JP2018033253A - Operation method and operation device for automatic driving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a start of automatic driving unintended by the occupant of a vehicle when on the vehicle.SOLUTION: In an operation method of an unmanned driving support vehicle A of which start operation of automatic driving is performed from inside and outside of the vehicle, there are provided an in-vehicle operation panel 16 installed inside the vehicle, an outside-vehicle operation panel 17 installed outside the vehicle, and one physical key 18 for managing the in-vehicle operation panel 16 and the outside-vehicle operation panel 17. When the physical key 18 is inserted to the in-vehicle operation panel 16, a start operation of automatic driving from inside the vehicle is permitted. When the physical key 18 is inserted to the outside-vehicle operation panel 17, a start operation of automatic driving from outside the vehicle is permitted.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to an operation method and an operation device for an automatic driving vehicle in which an automatic driving start operation is performed from inside and outside the vehicle.

  As a conventional example, a remote control control circuit for a battery forklift disclosed in Patent Document 1 is known. In this conventional example, first, a switch SW3 that interlocks with the lock operation of the vehicle-side control valve lever is provided, and an NC relay R14 that interlocks with the switch SW3 is connected in series with the key switch SW1 of the vehicle-side operation circuit. Next, the remote control side key switch SW2 is provided in series with the vehicle side brake switch SW4, and the NO relay R16 is inserted into the remote control operation circuit. Then, the NO relay R16 is controlled by the key switch SW2 and the vehicle side brake switch SW4. Here, when the switch SW3, the brake switch SW4, and the key switch SW2 are turned ON, the NC relay R14 is turned OFF and the NO relay R16 is turned ON, thereby enabling remote operation, and the vehicle side operation circuit is cut off. Therefore, even if the vehicle side key switch is turned on, the traveling operation and the forklift operation cannot be performed from the operation unit on the vehicle side.

Japanese Utility Model Publication No. 6-87396

  However, in the above-described conventional example, the vehicle can be operated by remote control even when the worker is in the vehicle. For this reason, even if the operator is in the vehicle or doing some work (loading, etc.) around the vehicle, the vehicle starts operating due to an erroneous operation on the remote operation side, such as an unintended vehicle start. There was a problem that could be.

  This indication is made paying attention to the above-mentioned problem, and it aims at preventing the start of automatic operation which is not intended for the in-vehicle crew when boarding.

To achieve the above object, the present disclosure provides an operation method of an autonomous driving vehicle,
An in-vehicle operation panel installed in the vehicle, an out-of-vehicle operation panel installed outside the vehicle, and one physical key for managing the in-vehicle operation panel and the out-of-vehicle operation panel.
When a physical key is inserted into the in-vehicle operation panel, an automatic driving start operation from the inside of the vehicle is permitted.
When a physical key is inserted into the outside operation panel, an automatic driving start operation from outside the vehicle is permitted.

  As mentioned above, it is a mechanism that can not operate both operation panels at the same time, as long as you get on with the physical key, do not allow outside operation by a third party. It is possible to prevent an unintended start of automatic driving for the passenger.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a system block diagram illustrating a complete vehicle transport system for an unmanned operation-compatible vehicle to which an operation method and an operation device of Example 1 are applied. It is a schematic diagram which shows the vehicle corresponding to the unmanned driving which pulls the conveyance trolley to which the operation method and operation device of Example 1 are applied. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram showing a control system installed as an infrastructure on a travel route of an unmanned driving-compatible vehicle to which an operation method and an operation device of Example 1 are applied. It is a schematic diagram which shows the control system (example: traffic signal) installed as infrastructure on the driving | running route of the vehicle for unattended driving to which the operating method and operating device of Example 1 are applied. It is a schematic diagram which shows the quick charger installed as an infrastructure on the driving | running route of the vehicle for unattended driving to which the operating method and operating device of Example 1 are applied. It is a flowchart which shows the flow of the manned automatic driving mode operation process when starting manned automatic driving | operation from the manned manual driving | running | working performed by the completed vehicle conveyance system with which the operating method and operating device of Example 1 were applied. It is a flowchart which shows the flow of an unmanned automatic driving mode operation process when starting an unmanned automatic driving | operation from the manned automatic driving | running | working performed with the completed vehicle conveyance system to which the operating method and operating device of Example 1 were applied. It is a flowchart which shows the flow of the emergency stop cancellation | release mode operation process at the time of resetting from the emergency stop state performed with the completion vehicle conveyance system to which the operating method and operating device of Example 1 were applied to manned manual driving | operation. The explanation which shows the operation authority of each brake device in the in-vehicle operation panel / the outside operation panel and the operation authority in the automatic driving control / person (when boarding) in the completed vehicle transport system to which the operation method and the operation device of the first embodiment are applied. FIG. It is explanatory drawing which shows the state transition in the vehicle corresponding to unmanned driving in the completed vehicle conveyance system to which the operating method and operating device of Example 1 were applied.

  Hereinafter, the best mode for realizing an operation method and an operation device of an autonomous driving vehicle according to the present disclosure will be described based on Example 1 shown in the drawings.

First, the configuration will be described.
The operation method and the operation device according to the first embodiment are applied to an unmanned driving-compatible vehicle that pulls a conveyance carriage in a complete vehicle unmanned conveyance system that unmannedly conveys a completed vehicle line-off in a factory using a conveyance carriage within a factory site. It is a thing. Hereinafter, the configuration of the first embodiment will be described by being divided into “entire system configuration”, “manned automatic operation mode operation processing configuration”, “unmanned automatic operation mode operation processing configuration”, and “emergency stop release mode operation processing configuration”.

[Overall system configuration]
FIG. 1 shows a complete vehicle transport system for an unmanned operation compatible vehicle to which the operation method and the operation device of the first embodiment are applied, and FIG. 2 shows an unmanned operation compatible vehicle that pulls a transport carriage by the complete vehicle transport system. FIG. 3 shows a control system installed as an infrastructure in a completed vehicle transport system, FIG. 4 shows a control system (eg, a traffic light) that is also installed as infrastructure, and FIG. 5 is a rapid system that is also installed as infrastructure. Indicates a charger. The overall system configuration will be described below with reference to FIGS.

  The unmanned driving-compatible vehicle A of the first embodiment normally sets a candidate line based on the center reference of the road (running lane), and automatically travels so that the center line in the front-rear direction of the host vehicle coincides with the tangent line of the candidate line. It is an autonomous driving vehicle to be controlled.

  As shown in FIG. 1, the unmanned driving-compatible vehicle A has a vehicle sensing system 1, an automatic driving sensing controller 2, and an automatic driving vehicle motion controller 3 set in the vehicle. And based on the process of these controllers 2 and 3, it respond | corresponds to unmanned driving | operating by the mechanism which controls the accelerator actuator 4, the brake actuator 5, and the steering actuator 6 of a vehicle.

  Among them, in the brake actuator 5 that is a braking system, a mechanical brake mechanism 7 and a sequencer 8 that manages the operation thereof are set so as to be parallel to the operation system by the brake pedal 5a, that is, in a double system. . When the sequencer 8 determines that the emergency stop is necessary for the unmanned driving-compatible vehicle A based on the input information to the sequencer 8, for example, the mechanical brake mechanism 7 uses the compressed air previously stored in the mechanism brake mechanism 7. The brake pedal 5a is pushed in with a pressure to release the. With this operation, the brake can be applied independently of the control of the foot brake operation system for the brake pedal 5a.

  As shown in FIG. 2, the unmanned driving-compatible vehicle A is a towing vehicle that connects the transportation vehicles B1, B2, and B3 in the completed vehicle transportation system, and is 3 at a time using the transportation vehicles B1, B2, and B3. ~ 5 finished cars C1, C2, C3 line-off are transported by traction. At that time, a mechanical brake actuator 9 (= cart brake) that can be braked in conjunction with the mechanical brake mechanism 7 is set in each of the transport carts B1, B2, and B3 to be pulled.

  As input information to the sequencer 8, when a person who is monitoring outside the vehicle determines that there is a risk that the unmanned driving-compatible vehicle A continues to run as it is, the unmanned driving-compatible vehicle A is stopped from a remote location. There is an emergency stop signal from the remote controller 10. In addition to this, input using the wireless module 11, for example, remote monitoring or intervention by communication from the control system 12 (see FIG. 3), or remote control input by communication with the traffic light 13 or another vehicle 14 at an intersection or the like (See FIG. 4). In addition, since the vehicle A corresponding to unmanned driving is an electric vehicle, a quick charger 15 is installed as an infrastructure of a complete vehicle transport system.

  The sequencer 8 is provided with an in-vehicle operation panel 16 and an out-of-vehicle operation panel 17 at the same time as being linked with the motion controller 3 for automatic driving, and has a mechanism for receiving an operation command. The in-vehicle operation panel 16 is provided at a position where an occupant in the vehicle can operate, and is in a manual operation mode including an operation when the unmanned operation-compatible vehicle A is automatically operated from the inside of the vehicle and a return after an emergency stop. Used when switching. As shown in FIG. 2, the outside operation panel 17 is provided outside the vehicle, and is used to input a start command command when automatically driving in an unattended state outside the vehicle. In particular, regarding these two operation panels 16 and 17, a physical key 18 that gives operation permission to each of them is set in common, and there is only one physical key 18. With this mechanism, it is unlikely that the in-vehicle operation panel 16 and the out-of-vehicle operation panel 17 can be operated simultaneously in one unmanned driving-compatible vehicle A. It should be noted that, after the physical key 18 is inserted into the in-vehicle operation panel 16, the physical key 18 cannot be removed from the in-vehicle operation panel 16 when it is in an activated state (ON state) for accepting an operation from within the vehicle. Similarly, after the physical key 18 is inserted into the outside operation panel 17, the physical key 18 cannot be removed from the outside operation panel 17 when it is in an activated state (ON state) that accepts an operation from inside the vehicle.

[Manned automatic operation mode operation processing configuration]
FIG. 6 shows a flow of manned automatic driving mode operation processing when manned automatic driving is started from manned manual driving executed in the completed vehicle transport system to which the operating method and the operating device of the first embodiment are applied. Hereinafter, each step of FIG. 6 showing a manned automatic driving mode operation processing configuration will be described.

In step S1, the physical key 18 is inserted into the in-vehicle operation panel 16, the manned automatic driving system is started, and the process proceeds to step S2.
Here, when the manned automatic driving system is started, the cart brake: OFF, PKB: ON, shift P range, and foot brake: OFF. “PKB” means a parking brake.

In step S2, following the start of the manned automatic driving system in step S1, after the occupant depresses the foot brake, the manned automatic driving start button is turned on on the in-vehicle operation panel 16 to release PKB, and step S3 Proceed to
With this manned automatic driving start operation, the shift position shifts from the P range to the D range, and the cart brake: OFF, PKB: OFF, shift D range, foot brake: ON.

In step S3, following the manned automatic driving start operation in step S2, the occupant releases the foot brake, starts running the vehicle, and proceeds to step S4.
When the occupant releases the foot brake and starts running the vehicle, the vehicle brake: OFF, PKB: OFF, shift D range, and foot brake: OFF.

  In step S4, following the determination that the vehicle has not started running in step S3 or the emergency stop in step S6, it is determined whether or not the unmanned conveyance start position has been reached. If YES (arrival at the unmanned transfer start position), the process proceeds to step S6, and if NO (not arrived at the unattended transfer start position), the process proceeds to step S5.

  In step S5, it is determined whether or not it is an emergency stop following the determination that the unmanned transfer start position has not arrived in step S4. If YES (determined as an emergency stop), the process proceeds to the emergency stop processing mode (FIG. 8). If NO (determined not as an emergency stop), the process returns to step S4.

In step S6, following the determination that it has arrived at the unmanned conveyance start position in step S4, the manned automatic operation system is shut down and the process proceeds to the unmanned operation (automatic conveyance) mode (FIG. 7).
Here, when the manned automatic driving system is shut down, the cart brake: ON, the PKB: ON, the shift P range, and the foot brake: OFF.

[Unattended automatic operation mode operation processing configuration]
FIG. 7 shows a flow of unmanned automatic driving mode operation processing when unmanned automatic driving is started from manned automatic driving executed in the completed vehicle transport system to which the operating method and the operating device of the first embodiment are applied. Hereinafter, each step of FIG. 7 showing the unmanned automatic operation mode operation processing configuration will be described.

In step S7, following the start of the unmanned operation mode, it is determined whether vehicle state confirmation (confirmation of the shutdown state of the manned automatic operation system) has been completed. If YES (vehicle state has been confirmed), the process proceeds to step S8. If NO (vehicle state has not been confirmed), the determination in step S7 is repeated.
Here, the “shutdown state of the manned automatic driving system” means that the vehicle brake: ON, PKB: ON, shift P range, and foot brake: OFF.

In step S8, following the determination that the vehicle state has been confirmed in step S7, the occupant removes the physical key 18 from the in-vehicle operation panel 16, gets off the vehicle, and loads the completed vehicle. Then, the physical key 18 is inserted into the vehicle exterior operation panel 17, the unmanned automatic operation start button is turned on to release PKB, and the process proceeds to step S9.
By this unmanned automatic driving start operation, the shift position shifts from the P range to the D range, and the vehicle starts running in the automatic driving mode unattended. At this time, cart brake: OFF, PKB: OFF, shift D range, foot brake: OFF.

  In step S9, following the determination that the vehicle is not driven by unmanned automatic driving in step S8 or the emergency stop in step S11, it is determined whether the unmanned driving-compatible vehicle A has arrived at the destination. If YES (destination arrival), the process proceeds to step S11. If NO (destination arrival), the process proceeds to step S10.

  In step S10, following the determination that the destination has not arrived in step S9, it is determined whether or not an emergency stop has occurred. If YES (determined to be an emergency stop), the process proceeds to the emergency stop processing mode (FIG. 8). If NO (determined not to be an emergency stop), the process returns to step S9.

In step S11, following the determination that the destination has arrived in step S9, after confirming the vehicle state, an unmanned automatic driving preparation OFF operation is performed on the outside operation panel 17, the physical key 18 is removed, and the end Proceed to
Here, when the terminal process is performed upon arrival at the destination, the cart brake: ON, PKB: ON, shift P range, and foot brake: OFF.

[Emergency stop release mode operation processing configuration]
FIG. 8 shows the flow of the emergency stop release mode operation process when resetting from an emergency stop state to a manned manual operation, which is executed in the completed vehicle transport system to which the operation method and the operation device of the first embodiment are applied. Hereinafter, each step of FIG. 8 representing the emergency stop cancellation mode operation processing configuration will be described.

In step S12, following the start of the emergency stop cancellation mode, it is determined whether or not vehicle state confirmation (confirmation of whether or not the following state has been established by the emergency stop process in the automatic operation control system) has been completed. If YES (vehicle state has been confirmed), the process proceeds to step S13. If NO (vehicle state has not been confirmed), the determination in step S12 is repeated.
Here, the “state due to the emergency stop process” means that the vehicle brake: ON, PKB: ON, shift P range, and foot brake: OFF.

In step S13, following the determination that the vehicle state has been confirmed in step S12, the physical key 18 is removed from the outside operation panel 17, the physical key 18 is held, the vehicle is boarded, and the in-vehicle operation panel 16 has the physical key. 18 is inserted and it progresses to step S14.
When the physical key 18 is replaced from the vehicle exterior operation panel 17 to the vehicle interior operation panel 16, the cart brake: ON, PKB: ON, shift P range, and foot brake: OFF remain.

In Step S14, following the replacement operation of the physical key 18 in Step S13, the abnormality flag reset process is executed by pressing the abnormality reset button on the in-vehicle operation panel 16, and the process proceeds to Step S15.
In this abnormality flag reset process, the cart brake: ON, PKB: ON, shift P range, and foot brake: OFF remain.

In step S15, following the execution of the abnormality flag reset process in step S14, the occupant steps on the foot brake, presses the mechanical brake release button on the in-vehicle operation panel 16, and proceeds to step S16.
By this foot brake operation and mechanical brake release operation, the vehicle brake is changed to OFF, PKB: ON, shift P range, and foot brake: ON.

In step S16, following the foot brake operation and the mechanical brake release operation in step S15, the occupant releases the parking brake, performs a shift operation from the P range to the D range, starts manual driving, and proceeds to the end. . In addition, by moving to the end, it moves to the appropriate place by manual operation.
By this manual driving travel start operation, the vehicle brake is changed to OFF, PKB: OFF, shift D range, and foot brake: OFF.

Next, the operation will be described.
The effects of the first embodiment are as follows: “mode transition operation processing action”, “emergency stop release mode processing action”, “command operation authority action for each braking device”, “vehicle state transition action”, “automatic driving start action” This will be described separately in “Operation”.

[Mode transition operation processing action]
The mode transition operation processing action when the mode transition is performed from the manned automatic driving mode to the unmanned automatic driving mode will be described based on the flowcharts of FIGS. 6 and 7.

  When starting the manned automatic operation mode from the manual operation, the process proceeds from step S1 to step S2 to step S3 in the flowchart of FIG. In step S1, a manned automatic driving system is started by inserting the physical key 18 into the in-vehicle operation panel 16. In step S2, the parking brake (PKB) is released by turning on the manned automatic driving start button on the in-vehicle operation panel 16 after the occupant depresses the foot brake. In step S <b> 3, the vehicle traveling in the manned automatic driving mode is started by the passenger releasing the foot brake.

  After the vehicle traveling in the manned automatic operation mode is started, when there is no emergency stop determination, the flow from step S4 to step S5 is repeated in the flowchart of FIG. 6 until the unmanned conveyance start position is reached. That is, the traveling of the unmanned driving compatible vehicle A in the manned automatic driving mode is maintained. And when it arrives at an unmanned conveyance start position, it progresses to Step S6 from Step S4, and a manned automatic operation system is shut down in Step S6. When the manned automatic driving system is shut down, the cart brake: ON, PKB: ON, shift P range, foot brake: OFF.

  Next, when the shutdown state of the manned automatic driving system is confirmed in step S7 of FIG. 7, the process proceeds to step S8. In step S <b> 8, the occupant performs an operation of removing the physical key 18 from the in-vehicle operation panel 16. And it gets off from the vehicle A corresponding to unmanned operation, and complete vehicles C1, C2, and C3 are loaded onto the transport carts B1, B2, and B3. Then, the parking brake (PKB) is released by inserting the physical key 18 into the outside operation panel 17 and turning on the unmanned automatic operation start button. By this unmanned automatic driving start operation, the shift position shifts from the P range to the D range, and the vehicle starts running in the unmanned automatic driving mode. At this time, cart brake: OFF, PKB: OFF, shift D range, foot brake: OFF.

  After the vehicle traveling in the unattended automatic driving mode is started, when there is no emergency stop determination, the flow of steps S9 to S10 is repeated in the flowchart of FIG. 7 until the destination is reached. That is, the traveling of the unmanned driving-compatible vehicle A in the unmanned automatic driving mode is maintained. When the vehicle arrives at the destination, the process proceeds from step S9 to step S11. In step S11, the vehicle state by the terminal process when the destination arrives is confirmed, and the unmanned automatic driving preparation OFF is set on the outside operation panel 17. The operation is performed and the physical key 18 is removed.

  As described above, when starting the manned automatic driving mode from the manual driving, the physical key 18 is inserted into the in-vehicle operation panel 16, and the manned automatic driving start button is turned on in the in-vehicle operation panel 16. Allowed. When starting the unmanned automatic driving mode from the manned automatic driving mode, the physical key 18 removed from the in-vehicle operation panel 16 is inserted into the outside operation panel 17, and the unmanned automatic driving start button is pressed on the outside operation panel 17. Unmanned automatic driving is permitted by turning ON.

[Emergency stop release mode processing action]
When an emergency stop due to an abnormality is determined in the unmanned automatic driving mode and the unmanned driving-compatible vehicle A stops at a place other than the destination, an emergency stop cancellation mode processing operation for canceling the emergency stop will be described based on the flowchart of FIG. .

  First, in step S12, it is confirmed by emergency stop processing whether or not the vehicle state is such that the truck brake is ON, the PKB is ON, the shift P range, and the foot brake is OFF. When this vehicle state is confirmed, the process proceeds from step S13 to step S14 to step S15 to step S16 in the flowchart of FIG.

  In step S <b> 13, the physical key 18 is removed from the outside operation panel 17, the physical key 18 is held, the vehicle A is boarded on the unmanned driving-compatible vehicle A, and the operation of inserting the physical key 18 into the in-vehicle operation panel 16 is performed. In the next step S14, the abnormality flag reset process is executed by pressing the abnormality reset button on the in-vehicle operation panel 16. In the next step S15, the foot brake is changed from OFF to ON by the occupant depressing the foot brake. Then, by performing an operation of pressing the mechanical brake release button on the in-vehicle operation panel 16, the cart brake is changed from ON to OFF. In the next step S16, the occupant releases the parking brake and performs a shift operation from the P range to the D range, whereby the vehicle brake is changed to OFF, the PKB is OFF, the shift D range, and the foot brake is OFF. . In this vehicle state, an accelerator operation, a steering operation, and a foot brake operation are performed to start manual driving travel, and the unmanned driving compatible vehicle A is moved to an appropriate place by manual driving.

  Thus, when an emergency stop due to an abnormality is determined in the unmanned automatic driving mode and the unmanned driving-compatible vehicle A is stopped at a place other than the destination, the physical key 18 pulled out from the outside operation panel 17 is applied to the in-vehicle operation panel 16. It is allowed to cancel the emergency stop by performing the insertion operation. That is, the abnormality flag reset process is executed by pressing the abnormality reset button on the in-vehicle operation panel 16. Further, by performing an operation of pushing the mechanical brake release button on the in-vehicle operation panel 16, the cart brake is changed from ON to OFF. Therefore, after canceling the emergency stop, the occupant releases the parking brake and performs a shift operation from the P range to the D range, thereby ensuring manual driving.

[Command operation authority action for each braking device]
Next, command operation authority with respect to each braking device in the in-vehicle operation panel 16 and the out-of-vehicle operation panel 17 will be described with reference to FIG.

  The command operation authority for each braking device on the in-vehicle operation panel 16 will be described. The mechanical brake operation and the parking brake operation are realized by setting an emergency stop button. Mechanical brake release is realized by setting a release button. The automatic start function by releasing the parking brake (PKB) is realized by setting an automatic operation start button. Resetting errors that occur during a system failure or emergency stop is realized by setting a reset button that releases the mechanical brake that always operates when an error occurs. There are no buttons on the in-vehicle operation panel 16 relating to the shift operation and the foot brake.

  The command operation authority for each braking device on the outside operation panel 17 will be described. The mechanical brake operation and the parking brake operation are realized by setting an emergency stop button. The automatic start function by releasing the parking brake (PKB) is realized by setting an automatic operation start button. It should be noted that there are no buttons on the outside operation panel 17 relating to mechanical brake release, error reset, shift operation, and foot brake.

  As described above, in the vehicle exterior operation panel 17, the mechanical brake operation function is assigned to the emergency stop button and the automatic start function is assigned to the automatic operation start button in the same manner as in the vehicle operation panel 16. However, the outside operation panel 17 does not have the error reset function and the mechanical brake release function that the inside operation panel 16 has.

  Here, as shown in FIG. 9, the operation authority in the automatic operation control is possible only for the automatic operation regarding the PKB, the shift operation, and the foot brake. However, mechanical brake release and error reset are not possible, and mechanical brake operation is possible at the time of failure. As shown in FIG. 9, the operation authority by a person (when boarding) is possible only during manual operation for mechanical brake, PKB, shift operation, and foot brake. However, the error reset can be canceled by the in-vehicle operation panel 16.

[Vehicle state transition action]
FIG. 10 shows the state transition of the unmanned driving-compatible vehicle A in the first embodiment under the configuration including the unmanned driving-compatible vehicle A and the infrastructure.

  The state of the unmanned driving-compatible vehicle A in the first embodiment is roughly classified into four types: “manual driving”, “manned automatic driving”, “unmanned automatic driving”, and “emergency stop”.

  The flowchart shown in FIG. 6 shows the flow of operation processing when the mode transition is made from manual operation to manned automatic operation. In FIG. 10, the mode transition from manual operation to manned automatic operation is the status in (a).

  The flowchart shown in FIG. 7 shows the flow of the operation process when the mode is changed from the manned automatic driving to the unmanned automatic driving. In FIG. 10, the mode transition from the manned automatic driving to the unmanned automatic driving becomes the status in (b).

  Further, in the first embodiment, when the function is returned in the case of an emergency stop state, as shown in FIG. 10, it is assumed that the state is once returned to the manual operation mode and then transitioned to an arbitrary state. The flowchart shown in FIG. 8 shows the flow of the emergency stop release operation process at the time of emergency stop. In FIG. 10, the transition to the emergency stop cancellation mode is the status in (c).

[Characteristics of automatic operation start operation]
The first embodiment includes an in-vehicle operation panel 16 installed in the vehicle, an out-of-vehicle operation panel 17 installed outside the vehicle, and one physical key 18 for managing the in-vehicle operation panel 16 and the out-of-vehicle operation panel 17. When the physical key 18 is inserted into the in-vehicle operation panel 16, an automatic driving start operation from the inside of the vehicle is permitted. When the physical key 18 is inserted into the outside operation panel 17, an automatic driving start operation from outside the vehicle is permitted.

  That is, the in-vehicle operation panel 16 and the out-of-vehicle operation panel 17 are managed by one physical key 18 so that both the operation panels cannot be operated simultaneously. Therefore, as long as the passenger rides with the physical key 18, even if there is an operation intervention from the outside operation panel 17 by a third party, it is possible to prevent an unintended start of automatic driving for the passenger in the vehicle. .

  In the first embodiment, a mechanical brake mechanism 7 capable of independently operating the brake actuator 5 is provided in parallel with the braking system in the vehicle travel control. When the physical key 18 is inserted into the in-vehicle operation panel 16, automatic start operation, mechanical brake operation operation, and mechanical brake release operation from the inside of the vehicle are permitted.

  That is, the in-vehicle operation panel 16 has an automatic start function, a mechanical brake operation function, and a mechanical brake release function by an occupant operation from the inside of the vehicle. Therefore, even when an error reset occurs, a phenomenon of unintentionally starting for the occupant due to the mechanical brake release function, the occupant in the vehicle can cope with the manual operation system.

  In the first embodiment, when the physical key 18 is inserted into the operation panel 17 outside the vehicle, the automatic start operation and the mechanical brake operation operation from outside the vehicle are permitted, but the mechanical brake release operation is not permitted.

  That is, the vehicle exterior operation panel 17 has an automatic start function and a mechanical brake operation function, but does not have a mechanical brake release function, and thus cannot perform a function return operation of a series of autonomous driving vehicles including an error reset from the outside of the vehicle. . Therefore, it is possible to prevent in advance a situation in which the unmanned driving-compatible vehicle A starts unintentionally during a return operation from the outside of the vehicle.

  In the first embodiment, the end sequence when the destination is reached by the automatic driving travel and the end processing when the vehicle stops due to the emergency stop during the automatic driving travel are the same sequence.

  That is, since the two end processes are in the same sequence, the status configuration of the state transition is as simple as possible in various state transitions in the unmanned driving-compatible vehicle A as shown in FIG. Accordingly, the operation procedure that can be remembered in various state transitions in the unmanned driving-compatible vehicle A can be minimized.

In Example 1, when reaching the destination by automatic driving,
・ Operation preparation ON → OFF
・ Mechanical brake OFF → ON
・ PKB OFF → ON
・ Shift D sequence → P range, and make it the same as the sequence at emergency stop.

  That is, in the terminal process for stopping the unmanned driving-compatible vehicle A, the vehicle is stopped by using two types of brakes (mechanical brake, PKB) and the P range in combination. Therefore, erroneous start of the unmanned driving-compatible vehicle A due to the switching operation to the manual driving mode after the end processing can be surely prevented.

Next, the effect will be described.
In the operation method and the operation device of the unmanned driving-compatible vehicle A in the first embodiment, the effects listed below can be obtained.

(1) In an operation method of an autonomous driving vehicle (unmanned driving compatible vehicle A) that performs an automatic driving start operation from inside and outside the vehicle,
The vehicle operation panel 16 installed inside the vehicle, the vehicle operation panel 17 installed outside the vehicle, and one physical key 18 for managing the vehicle operation panel 16 and the vehicle operation panel 17 are provided (FIG. 1).
When the physical key 18 is inserted into the in-vehicle operation panel 16, an automatic driving start operation from the inside of the vehicle is permitted (FIG. 6).
When the physical key 18 is inserted into the outside operation panel 17, an automatic driving start operation from outside the vehicle is permitted (FIG. 7).
Therefore, it is possible to provide a method for operating an automatic driving vehicle (unmanned driving compatible vehicle A) that prevents an unintended start of automatic driving when the passenger is in the vehicle.

(2) A mechanical brake mechanism 7 capable of independently operating the brake actuator 5 is provided in parallel with a braking system in vehicle travel control.
When the physical key 18 is inserted into the in-vehicle operation panel 16, automatic start operation, mechanical brake operation operation, and mechanical brake release operation from the inside of the vehicle are permitted (FIG. 9).
For this reason, in addition to the effect of (1), even if a phenomenon of starting unintentionally by the occupant occurs due to the mechanical brake release function, the occupant in the vehicle can cope with the operation system for manual operation.

(3) When the physical key 18 is inserted into the operation panel 17 outside the vehicle, automatic start operation and mechanical brake operation operation from outside the vehicle are permitted, but mechanical brake release operation is not permitted (FIG. 9).
For this reason, in addition to the effect of (2), it is possible to prevent in advance the occurrence of a situation in which the autonomous driving vehicle (unmanned driving compatible vehicle A) starts unintentionally during a return operation from outside the vehicle.

(4) The end sequence when reaching the destination by automatic driving travel and the end processing when stopping due to an emergency stop during automatic driving travel are the same sequence (FIG. 10).
For this reason, in addition to the effect of (2) or (3), it is possible to minimize the operation procedure to be remembered in various state transitions in the automatic driving vehicle (vehicle A for unattended driving).

(5) When the destination is reached by automatic driving, the sequence of automatic driving preparation on → off, mechanical brake off → on, parking brake off → on, shift position D range → P range is executed. The sequence is the same as that at the stop (FIG. 10).
For this reason, in addition to the effect of (4), it is possible to reliably prevent an erroneous start of the automatic driving vehicle (unmanned driving compatible vehicle A) due to the switching operation to the manual driving mode after the terminal process.

(6) In an operation device for an automatic driving vehicle (unmanned driving compatible vehicle A) that performs an automatic driving start operation from inside and outside the vehicle,
A vehicle operation panel 16 installed in the vehicle, a vehicle operation panel 17 installed outside the vehicle, one physical key 18 for managing the vehicle operation panel 16 and the vehicle operation panel 17, and a controller (a vehicle motion controller for automatic driving). 3).
When the controller (automatic driving vehicle motion controller 3) inserts the physical key 18 into the in-vehicle operation panel 16, the controller permits the automatic driving start operation from the inside of the vehicle, and inserts the physical key 18 into the outside operation panel 17. Then, an automatic driving start operation from outside the vehicle is permitted (FIG. 1).
For this reason, it is possible to provide an operating device for an automatic driving vehicle (unmanned driving compatible vehicle A) that prevents an unintended start of automatic driving when the passenger is in the vehicle.

  As described above, the operation method and the operation device for the autonomous driving vehicle according to the present disclosure have been described based on the first embodiment. However, the specific configuration is not limited to the first embodiment, and design changes and additions are permitted without departing from the gist of the invention according to each claim of the claims.

  In Example 1, the example provided with the mechanical brake mechanism 7 which can act | operate the brake actuator 5 independently in parallel with the braking system in vehicle travel control was shown. However, the autonomous driving vehicle may be an example in which no mechanical brake mechanism is installed.

  In the first embodiment, an example in which the operation method and the operation device of the present disclosure are applied to the unmanned driving-compatible vehicle A that pulls the conveyance carriage in the complete vehicle unmanned conveyance system is shown. However, the operation method and the operation device of the present disclosure can be applied to, for example, an unmanned operation compatible bus in a passenger transport system, an unmanned operation compatible truck in a luggage transport system, and the like. In short, the present invention can be applied to any operation method and operation device for an automatic driving vehicle that performs an automatic driving start operation from inside and outside the vehicle.

A Unmanned driving vehicle (automatic driving vehicle)
B1, B2, B3 Conveyor carts C1, C2, C3 Completed vehicle 1 Vehicle sensing system 2 Automatic driving sensing controller 3 Automatic driving vehicle motion controller 4 Accelerator actuator 5 Brake actuator 5a Brake pedal 6 Steering actuator 7 Mechanical brake mechanism 8 Sequencer 9 Mechanical brake actuator (cart brake)
DESCRIPTION OF SYMBOLS 10 Remote controller 11 Wireless module 12 Control system 13 Traffic light 14 Other vehicle 15 Quick charger 16 Car interior panel 17 Car exterior panel 18 Physical key

Claims (6)

In the operation method of the automatic driving vehicle in which the automatic driving start operation is performed from inside and outside the vehicle,
An in-vehicle operation panel installed in the vehicle, an out-of-vehicle operation panel installed outside the vehicle, and one physical key for managing the in-vehicle operation panel and the out-of-vehicle operation panel,
When the physical key is inserted into the in-vehicle operation panel, the automatic driving start operation from the inside of the vehicle is permitted,
An operation method for an autonomous driving vehicle, wherein the automatic driving start operation from outside the vehicle is permitted when the physical key is inserted into the outside operating panel. In the operation method of the automatic driving vehicle according to claim 1,
In parallel with the braking system in vehicle running control, equipped with a mechanical brake mechanism that can operate the brake actuator independently,
An automatic driving vehicle operating method, wherein when the physical key is inserted into the in-vehicle operation panel, an automatic start operation, a mechanical brake operation operation, and a mechanical brake release operation from the inside of the vehicle are permitted. In the operation method of the automatic driving vehicle according to claim 2,
When the physical key is inserted into the outside operation panel, the automatic start operation from outside the vehicle and the mechanical brake operation operation are permitted, but the mechanical brake release operation is not permitted. Method. In the operation method of the autonomous driving vehicle according to claim 2 or claim 3,
A method for operating an automatically driven vehicle, characterized in that the end sequence when reaching the destination by automatic driving travel and the end processing when stopping by an emergency stop during automatic driving travel are in the same sequence. In the operation method of the automatic driving vehicle according to claim 4,
When the destination is reached by automatic driving, the sequence of automatic driving preparation on → off, mechanical brake off → on, parking brake off → on, shift position D range → P range is executed. A method of operating an autonomous vehicle characterized by being the same as a sequence. In the operation device of the automatic driving vehicle that performs the automatic driving start operation from inside and outside the vehicle,
An in-vehicle operation panel installed in the vehicle, an out-of-vehicle operation panel installed outside the vehicle, one physical key for managing the in-vehicle operation panel and the out-of-vehicle operation panel, and a controller,
The controller permits the automatic operation start operation from inside the vehicle when the physical key is inserted into the in-vehicle operation panel, and inserts the physical key into the outside operation panel to permit the automatic operation from outside the vehicle. An operation device for an autonomous driving vehicle, wherein start operation is permitted.