JP2019018852A - Automatic driving vehicle and program therefor - Google Patents

Abstract

To provide an automatic driving vehicle which can observe a traffic law and travel according to a road sign and road indication.SOLUTION: An automatic driving vehicle comprises: a manual driving mode; a normal automatic driving mode in which a mode is switched to the manual driving mode based on a prescribed operation by a driver; and a forced automatic driving mode in which the mode cannot be switched to the manual driving mode even when a prescribed operation is performed by a driver. The automatic driving vehicle comprises driving mode control means for determining whether or not the vehicle matches a predetermined switching condition predetermined based on a traffic law, or a predetermined switching condition for maintaining a safety driving, and if it is determined that the vehicle matches the switching condition, switching a mode to the forced automatic driving mode, and if it is determined that, the vehicle matches a release condition for releasing the forced automatic driving mode, switching a mode from the forced automatic driving mode to the normal automatic driving mode.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic driving vehicle having an automatic driving mode based on a manual driving operation of a driver and an automatic driving mode for autonomous driving, and an automatic driving vehicle program.

  Traffic laws and regulations have been established so that automobile accidents can be prevented and safer driving of vehicles can be ensured, and road signs and road markings are provided. Drivers are obliged to comply with traffic laws and drive in accordance with road signs and signs, and fines and penalties are imposed on drivers for violations. .

  However, due to the driver's intention or negligence such as oversight of road signs and road markings, traffic laws were often violated and driving was often performed ignoring road signs and road markings.

  Conventionally, in order to prevent drunk driving by a driver, an invention that discriminates whether or not the driver is drinking and prevents the vehicle from starting (see Patent Document 1 (Japanese Patent Laid-Open No. 2009-173252)). Is proposed, but it should not cause a violation of traffic laws intentionally by a driver who is driving a car (including parking or stopping) or a traffic law violation caused by negligence such as overlooking of a road sign or a road marking. The invention has not been proposed.

JP 2009-173252 A

  This invention complies with the traffic regulations even if the driver intentionally violates traffic regulations while driving a car (including parking or stopping), or the driver has overlooked road signs and signs. An object of the present invention is to provide an autonomous driving vehicle capable of traveling according to road signs and road markings.

In order to solve the above problems, the invention of claim 1
A manual driving mode for traveling according to the driving operation of the driver, and a mode for performing autonomous driving without the driver's driving operation, which is normally switched to the manual driving mode based on the driver's predetermined operation In an automatic driving vehicle comprising an automatic driving mode and a forced automatic driving mode in which the normal automatic driving mode is continued without being switched to the manual driving mode even if the predetermined operation by the driver is performed,
Detects the condition elements used to detect whether or not a predetermined switching condition to comply with traffic regulations or a predetermined switching condition to maintain safe driving is met Condition element detecting means for
Switching condition determination means for determining whether or not the switching condition is met based on the detection output from the condition element detection means;
Cancellation condition determination means for determining whether or not a cancellation condition for canceling the forced automatic operation mode is met,
When the switching condition determining means determines that the switching condition is met, the mode is switched to the forced automatic operation mode, and when the canceling condition determining means determines that the cancel condition is met, the forced automatic operation mode is switched to the normal operation mode. Operation mode control means for switching to automatic operation mode;
A self-driving vehicle is provided.

  In the invention of claim 1 having the above-described configuration, a switching condition is determined in advance in order to comply with traffic regulations or to maintain safe driving. The condition element detection means detects a condition element used for detecting whether or not this switching condition is met.

  The switching condition determining unit determines whether or not the switching condition is met based on the detection output from the condition element detecting unit. The operation mode control means switches to the forced automatic operation mode when the switching condition determination means determines that the switching condition is met.

  Then, the release condition determining means determines whether or not a release condition for canceling the forced automatic operation mode is met. The operation mode control means switches from the forced automatic operation mode to the normal automatic operation mode when the release condition determination means determines that the release condition is met.

  Therefore, according to the automatic driving vehicle of the first aspect of the invention, a predetermined switching condition is monitored, and when the switching condition is met, the mode is switched to the forced automatic driving mode. At the same time, the vehicle travels while maintaining safe driving. When the release condition is met, the forced automatic operation mode is not switched to the manual operation mode, but the forced automatic operation mode is switched to the normal automatic operation mode. Therefore, even if the forced automatic driving mode is canceled, autonomous running is continued and safety is ensured.

  According to the present invention, even if there is an error such as an oversight of a road sign or a road sign by a driver, an autonomous driving vehicle that can follow the traffic regulations and can run according to the road sign or the road sign is provided. be able to. And when the release condition is met, the forced automatic operation mode is not switched to the manual operation mode, but the forced automatic operation mode is switched to the normal automatic operation mode. Driving continues and safety is ensured.

It is a block diagram which shows the structural example of the electronic control circuit part in 1st Embodiment of the autonomous driving vehicle by this invention. It is a figure which shows the example of the content of the forced automatic driving | operation switching condition table in 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the example of the continuation of the content of the forced automatic driving | operation switching condition table of FIG. It is a figure which shows the example of the road sign used for describing embodiment of the autonomous driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating the processing operation example of the electronic control circuit part in 1st Embodiment of the automatic driving vehicle by this invention. It is a figure used in order to explain an example of processing operation of an electronic control circuit part in a 1st embodiment of an automatic driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the process operation example of the electronic control circuit part in 1st Embodiment of the autonomous driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the process operation example of the electronic control circuit part in 1st Embodiment of the autonomous driving vehicle by this invention. It is a figure used in order to explain an example of processing operation of an electronic control circuit part in a 1st embodiment of an automatic driving vehicle by this invention. It is a block diagram which shows the structural example of the electronic control circuit part in 2nd Embodiment of the autonomous driving vehicle by this invention. It is a figure which shows the example of the content of the forced automatic driving | operation switching condition table in 2nd Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the example of a continuation of the content of the forced automatic driving | operation switching condition table of FIG. It is a figure used in order to explain an example of processing operation of an electronic control circuit part in a 2nd embodiment of an automatic driving vehicle by this invention. It is a figure used in order to explain an example of processing operation of an electronic control circuit part in a 2nd embodiment of an automatic driving vehicle by this invention. It is a figure used in order to explain an example of processing operation of an electronic control circuit part in a 2nd embodiment of an automatic driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation of the electronic control circuit part in 2nd Embodiment of the autonomous vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation of the electronic control circuit part in 2nd Embodiment of the autonomous vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation of the electronic control circuit part in 2nd Embodiment of the autonomous vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation of the electronic control circuit part in 2nd Embodiment of the autonomous vehicle by this invention.

[First Embodiment]
FIG. 1 is a block diagram illustrating a hardware configuration example of the electronic control circuit unit 10 of the autonomous vehicle 1 according to the first embodiment. In addition, the automatic driving vehicle 1 of this embodiment is an example in the case of an electric vehicle. However, the battery is not shown in FIG.

  Moreover, the automatic driving vehicle 1 of this embodiment has an automatic driving mode and a manual driving mode. The manual operation mode is a mode in which the vehicle can travel in accordance with the driver's accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (handle operation), as in a normal automobile that is not an autonomous driving vehicle. In the automatic driving mode, the autonomous driving vehicle 1 itself automatically (autonomously) avoids obstacles even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever and the steering. It is a driving mode to change.

  At the normal time, the driver of the automatic driving vehicle 1 can switch the automatic driving vehicle 1 running in the manual driving mode to the automatic driving mode by a predetermined operation through the touch panel 112 described later, for example. When the driver performs an accelerator pedal operation, a brake pedal operation, a shift lever operation, or a steering operation while traveling, the vehicle automatically returns to the manual operation mode. However, as will be described later, when the automatic driving vehicle 1 of this embodiment is forcibly switched from the manual operation mode to the automatic operation mode, the manual operation mode described above must be satisfied after satisfying a predetermined condition described later. Even if an operation to return to is performed, the operation is invalidated, and control is performed so as to maintain traveling in the automatic operation mode.

  In order to distinguish from the normal automatic operation mode selected and set by the user through the touch panel 112 or the like, the automatic operation in which the operation is invalidated even if the operation is returned to the manual operation mode after the forced switching. In this specification, the mode is particularly referred to as a forced automatic operation mode.

  As shown in FIG. 1, the electronic control circuit unit 10 has a motor drive control unit 102, a steering drive control unit 103, a manual / automatic operation through a system bus 100, with respect to a control unit 101 configured with a computer. Driving mode switching control unit 104, manual driving operation detection unit 105, radar 106, camera group 107, sensor group 108, surrounding moving body grasping unit 109, current position detection unit 110, display unit 111, touch panel 112, car navigation (hereinafter referred to as “car navigation”) The function unit 113, abbreviated as car navigation), the image recognition unit 114, the forced automatic driving mode switching processing unit 115, the speed detection unit 116, the own vehicle motion analysis detection unit 117, the audio output unit 118, and the clock unit 119 are connected. ing.

  A motor drive unit 121 is connected to the motor drive control unit 102. A steering drive unit 122 is connected to the steering drive control unit 103. A car navigation database 123 is connected to the car navigation function unit 113. In addition, a road sign database 124 is connected to the image recognition unit 114. Further, a forced automatic operation switching condition storage unit 125 is connected to the forced automatic operation mode switching processing unit 115. A speaker 126 is connected to the audio output unit 118.

  Under the control of the control unit 101, the motor drive control unit 102 controls the supply of a drive signal to the motor drive unit 121 of the automatic driving vehicle 1 configured by the electric vehicle of this embodiment. The start of travel, the travel speed control (including brake control and accelerator control), the travel stop, etc. are controlled.

  Under the control of the control unit 101, the steering drive control unit 103 controls the supply of a drive control signal to the steering drive unit 122 of the autonomous driving vehicle 1 of this embodiment to control the course change of the autonomous driving vehicle 1. To do.

  The manual / automatic operation mode switching control unit 104 selects one of the operation mode of the automatic operation vehicle 1 as a manual operation mode, an automatic operation mode, or a forced automatic operation mode described later in accordance with a selection operation input through the touch panel 112. Control to switch between.

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

  The manual / automatic driving mode switching control unit 104 supplies the manual driving operation information from the manual driving operation detecting unit 105 to the motor driving control unit 102 and the steering driving control unit 103 when the automatic driving vehicle 1 is in the manual driving mode. Then, the motor drive unit 121 and the steering drive unit 122 are controlled according to the driver's pedal operation, shift lever operation, and steering operation (handle operation).

  Further, the manual / automatic driving mode switching control unit 104, when the autonomous driving vehicle 1 is in the automatic driving mode (including the forced automatic driving mode), as described later, the radar 106, the camera group 107, the sensor group 108, and the surroundings The automatic driving operation information generated by the control unit 101 based on the output of the moving body grasping unit 109 is supplied to the motor drive control unit 102 and the steering drive control unit 103, and the motor drive unit 121 and the steering drive unit 122 are Drive control is performed by automatic driving operation information. In the automatic driving mode (including the forced automatic driving mode), the car navigation function unit 113 searches for a route from the current position with respect to the destination (destination) set by the driver or the like. It is controlled to travel along.

  In this embodiment, the manual / automatic operation mode switching control unit 104 receives the switching condition coincidence determination result in the forced automatic operation mode switching processing unit 115 described later, and contrary to the driver's intention, that is, Contrary to the operation mode selection setting by the driver, control is also performed to automatically and automatically switch from the manual operation mode to the automatic operation mode.

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

  However, when the driving mode of the autonomous vehicle 1 is the forced automatic driving mode, in principle, the driver does not operate the accelerator pedal, the brake pedal, the shift lever, or the steering operation except in special cases described later. In addition, the manual / automatic operation mode switching control unit 104 invalidates the manual operation information and maintains the state of the automatic operation mode.

  The radar 106 is used to measure the distance from a person or an object existing around the vehicle of the autonomous driving vehicle 1 and includes a laser radar, a millimeter wave radar, or the like. The laser radar is embedded, for example, near the ceiling or the bumper, and the millimeter wave radar is provided, for example, at the front and rear of the vehicle. Both laser radar and millimeter wave radar may be provided, or only one of them may be provided.

  The camera group 107 includes one to a plurality of cameras for photographing the inside of the autonomous driving vehicle 1 and one to a plurality of cameras for photographing the surroundings outside the vehicle such as the front, side, and rear of the autonomous driving vehicle 1. . For example, a camera that captures the interior of a vehicle is attached to the rear-view mirror (rear-view mirror, rear-view mirror) installed between the driver's seat and front passenger seat, the upper part of the front window, etc. In addition to a camera for photographing the work, a camera for photographing the work of a passenger (passenger) sitting in the passenger seat or the rear seat is included. Cameras that photograph the periphery of the autonomous vehicle 1 are attached to the left and right sides of the rearview mirror, for example, and two cameras (stereo cameras) that primarily photograph the left front and right front of the autonomous vehicle 1 The camera includes a camera that is attached to, for example, a door mirror or a fender mirror of the autonomous driving vehicle 1 and photographs the left and right sides, a camera that captures the rear of the autonomous driving vehicle 1, and the like.

  The sensor group 108 includes an opening / closing detection sensor for detecting opening / closing of a door and a window, a sensor for detecting seat belt wear, a seating sensor for detecting that a passenger is seated in a seat such as a driver's seat and a passenger seat, etc. In addition, it includes a human sensor (infrared sensor) for detecting a person in the vicinity outside the vehicle and various sensors for acquiring information to assist automatic driving. As various sensors for acquiring information to assist automatic driving, for example, a vibration sensor for detecting vibration of a vehicle or a tire, a rotation speed sensor for detecting the rotation speed of a tire, or a direction for detecting a direction A geomagnetic sensor, an acceleration sensor for detecting acceleration, a gyro sensor (gyroscope) for detecting angle and angular velocity, and the like are included. In this embodiment, the sensor group 108 also includes sensors that detect lighting of a right turn signal, a left turn signal (direction indicator), and a hazard lamp (emergency blinking light).

  A surrounding moving body grasping unit 109 grasps a moving body (including a person) around the own vehicle using the images captured by the radar 106, the sensor group 108, and the camera group 107. The surrounding moving body grasping unit 109 grasps surrounding obstacles and moving bodies by performing processing based on, for example, Bayesian theory.

  The current position detector 110 receives radio waves from GPS satellites and detects the current position of the vehicle. Since the current position detection unit 110 has poor accuracy of the position detected by the radio wave from the GPS satellite, the current position detection unit 110 includes not only the information on the current position detected by the reception of the radio wave from the GPS satellite but also 1 to 1 included in the sensor group 108. In addition to using a plurality of sensors, radar 106, captured images of the camera group 107 (with a navigation function), and the like, for example, processing based on Bayesian theory is performed to detect and confirm the current position with higher accuracy. ing.

  In the automatic driving mode, the autonomous driving vehicle 1 has position information acquired by receiving radio waves from the radar 106, the camera group 107, the sensor group 108, and GPS satellites in the current position detection unit 110 and the surrounding moving body grasping unit 109. Information, that is, information corresponding to information obtained from human eyes and ears is processed by Bayesian theory, and based on this, the control unit 101 performs intelligent information processing such as changing the course of the own vehicle and avoiding obstacles. (Artificial intelligence) and control (artificial intelligence) are performed to generate automatic driving operation information.

  The display unit 111 is composed of, for example, an LCD (Liquid Crystal Display). The touch panel 112 is arranged by superimposing a touch sensor capable of touch input with a finger on the display screen of the display unit 111 formed of an LCD. A display image including software buttons (including keyboard character input buttons) is displayed on the display screen of the display unit 111 based on the control of the control unit 101. When the touch panel 112 detects a touch by a finger on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101. Receiving this, the control unit 101 is configured to execute control processing corresponding to the software button.

  A car navigation database 123 connected to the car navigation function unit 113 stores domestic maps and route guidance data in advance. The car navigation function unit 113 is a function unit for guiding the automatic driving vehicle 1 to assist in moving to a designated destination based on a map stored in the car navigation database 123 and route guidance data. It is. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing in the manual operation mode and the automatic operation mode.

  That is, in the manual operation mode, the car navigation function unit 113 is detected and confirmed by the current position detection unit 110 on the map that explicitly displays the route (route) to the destination on the display screen of the display unit 111. In addition to displaying a superimposed image of the current vehicle position, the vehicle position (current position) on the map is moved as the vehicle moves, and route guidance such as intersections and branch points on the route is provided. Provide voice guidance where necessary. This is the same as the normal car navigation function.

  On the other hand, in the automatic driving mode, the car navigation function unit 113 notifies the control unit 101 of information on the direction and distance of the vehicle when the current position of the vehicle is away from the route to the destination. When the current position of the vehicle is on the route to the destination, the control unit 101 is notified of the change direction information along the route before the intersection or branching point on the route as the vehicle moves. To do. Based on the information notified from the car navigation function unit 113, the current position confirmation result of the current position detection unit 110, and the grasping result of the surrounding moving body grasping unit 109, the control unit 101 instructs the own vehicle on the route. The motor drive unit 121 is controlled through the motor drive control unit 102 and the automatic drive operation information for controlling the steering drive unit 122 through the steering drive control unit 103 is generated so as to move along the route as described. . Therefore, by the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode, the automatic driving vehicle 1 can move to the destination even when the passenger is unattended.

  The image recognition unit 114 recognizes a driver and a passenger from a captured image from a camera that captures the inside of the camera group 107. Further, the image recognition unit 114 recognizes a person standing on a pedestrian crossing or a crossing barrier of a railroad crossing from a captured image from a camera that captures the outside of the vehicle in the camera group 107, thereby detecting a railroad crossing barrier. It also has a function to recognize and the like.

  In the road sign database 124 connected to the image recognition unit 114, road sign and road marking image data are registered and stored in advance. The image recognition unit 114 captures images taken from one or more cameras that photograph the front, side, rear, etc. of the autonomous driving vehicle 1 outside the vehicle group 107 in the camera group 107, and road signs in the road sign database 124. In addition, by performing a matching process with the image data of the road markings, road signs and road markings are extracted from the captured images of the one or more cameras.

  The speed detector 116 detects the traveling speed of the host vehicle. The speed detection unit 116 can also be configured as a part of the sensors of the sensor group 108.

  The own vehicle movement analysis detection unit 117 detects movements such as start, stop, straight traveling, slow travel, right rotation, left rotation, and reverse movement of the own vehicle (automated driving vehicle 1) from the captured image of the camera of the camera group 107. At the same time, it is a processing unit that detects movements such as moving to the left side of the road and straddling the center line of the traveling lane.

  Although not shown, the voice output unit 118 has a built-in memory for storing voice message data to be emitted to the outside, and a voice synthesizer that converts voice message data read from the memory into an analog voice signal. And a D-A converter. Then, the audio output unit 118 supplies the audio message selected by the control of the control unit 101 to the speaker 126 so as to be emitted to the outside as audio. Note that the voice message to be stored is, for example, an operation mode switching notification message such as “switched to forced automatic operation mode” or “switched to manual operation mode”, as described later, and automatic operation mode. A notification message for prompting destination setting when switching to is prepared.

  The clock unit 119 has a calendar function, provides the current date and time, and also has a timer function for measuring time from a predetermined timing based on the control of the control unit 101.

  In this embodiment, the forced automatic driving switching condition storage unit 125 connected to the forced automatic driving mode switching processing unit 115 stores the automatic driving vehicle 1 while the automatic driving vehicle 1 is running or stopped in the manual driving mode. Forced automatic operation consisting of the switching conditions for forcibly switching the driving mode from manual operation mode to forced automatic operation mode, the content of travel control in forced automatic operation mode after switching, and the condition for canceling forced automatic operation mode A switching condition table TBL1 is stored.

  The switching condition is a condition predetermined in order to comply with traffic laws and / or a condition predetermined in order to maintain safe driving. When the self-driving car 1 is in a driving state that matches this switching condition (when the driver has driven to meet the switching condition), there is a danger or safety is not guaranteed. Therefore, it is a condition to switch from the manual operation mode to the forced automatic operation mode so as to comply with the traffic laws and to maintain a safe driving state.

  The content of traveling control in the forced automatic driving mode after switching means the content of automatic driving that the autonomous driving vehicle 1 should perform as the traveling state according to the switching condition. Further, the release condition may be a condition that the forced automatic operation mode may be canceled and the manual operation mode may be restored, or the automatic operation mode that enables the operation for switching to the manual operation mode may be restored. It is a condition.

  The switching conditions stored in the forced automatic driving switching condition storage unit 125, the travel control contents in the forced automatic driving mode after switching, and the cancellation conditions are written and stored in advance by the manufacturer or sales company of the automatic driving vehicle 1. Is done. In addition, this switching condition is additionally written later by a predetermined operation through the touch panel 112 by the user of the autonomous driving vehicle 1, that is, a driver or a passenger, thereby the forced automatic driving switching condition storage unit 125. It is also possible to memorize additionally. And it is comprised so that the user of the automatic driving vehicle 1, ie, a driver | operator, can also select whether to use about some switching conditions.

  FIG. 3 which is a continuation of FIGS. 2 and 2 is an example of a forced automatic operation switching condition table TBL1 which is the content stored in the forced automatic operation switching condition storage unit 125 in the first embodiment. In the example of FIGS. 2 and 3, the switching conditions do not comply with traffic regulations such as “overtaking prohibited”, “right turn (left turn prohibited)”, “speed limit”, “signal compliance”, “pause at the crossing”, etc. Conditions to prevent driving and conditions that are prone to accidents such as `` ignoring suspension at pedestrian crossings '', `` interfering driving '', `` dangerous driving, reckless driving '', `` rapid accelerator, sudden braking, sudden steering '' The conditions for avoiding and ensuring safe driving are illustrated. Corresponding to each switching condition, the content of travel control in the forced automatic driving mode after switching and the canceling condition of the forced automatic driving mode are determined.

  Note that the switching conditions shown in FIGS. 2 and 3 are a part of the stored contents of the forced automatic driving switching condition storage unit 125, and other various switching conditions determined in advance to comply with traffic regulations. It goes without saying that various switching conditions that are predetermined in order to maintain conditions and / or safe driving are registered.

As shown in FIG. 2, for example, in order not to violate “overtaking prohibition”, as a switching condition for the “overtaking prohibition”,
(Condition 1) In the section of the yellow line that is the overtaking prohibited section indicated by the road sign prohibiting overtaking (regulatory sign; see FIG. 4A) or the road marking indicating overtaking prohibited
(Condition 2) It is determined that the right turn signal is activated when there is no right turn or the like, or that the course is changed by operating the steering wheel so as to cross the yellow line.
(Condition 3) However, in this case, there is a vehicle running ahead of the vehicle, and the stopped vehicle is parked or parked on the left side, or an obstacle exists on the left side of the lane. If it is, it will not be a switching condition.

  The overtaking prohibition section of (Condition 1) is shown in FIG. 4A from the captured images of one or more cameras in front and side of the own vehicle in the camera group 107 in the image recognition unit 114. It can be detected by recognizing a road sign and recognizing a yellow line from an image of a camera that captures a road surface in the camera group 107.

  Further, the activation of the right turn signal in (Condition 2) can be detected from the output of the sensors included in the sensor group 108 as described above. The change of course by operating the steering wheel so as to cross the yellow line means that the manual driving operation detecting unit 105 detects the right steering wheel operation, and the own vehicle movement analysis detecting unit 117 detects that the camera of the camera group 107 has changed. This can be determined by analyzing the image and detecting that the vehicle is traveling across the yellow line. The absence of a store having a parking space such as a right turn road ahead or a convenience store in the right direction can be detected from the captured image of the camera of the camera group 107.

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

  Then, the content of the travel control in the forced automatic operation mode after the switching with respect to the switching condition for the “prohibition of overtaking” is “traveling while maintaining the traveling lane”. Further, the condition for canceling the forced automatic operation mode is “detection of a road sign at the end of the overtaking prohibited section” or “disappearance of a yellow line as a road marking”.

As can be seen from the above description, as the condition element detection means used for detecting an event as a condition element for monitoring whether or not the switching condition for overtaking prohibition is satisfied, the camera group 107, the sensor group 108, The manual driving operation detecting unit 105, the surrounding moving body grasping unit 109, the image recognizing unit 114, and the own vehicle movement analysis detecting unit 117 are used.

In addition, for example, as a switching condition for “no right turn”,
(Condition 4) When a right turn is prohibited by a road sign (regulation sign) or a road sign (not shown) prohibited from traveling in the specified direction as shown in FIGS. 4 (B), (C), (D) ,
(Condition 5) It is determined that it is detected that the lighting of the right turn signal is activated, or that it is detected that the steering wheel is operated to change the course by turning right.

  The traveling control content in the forced automatic operation mode after switching according to the switching condition for “prohibit right turn” is “traveling by selecting a designated traveling direction”. Further, the condition for canceling the forced automatic operation mode is detection of “passing right turn prohibited point”.

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

  Further, the activation of the right turn signal in (Condition 5) can be detected from the outputs of the sensors included in the sensor group 108 as described above. Further, it is possible to determine that the course is changed by operating the steering wheel so as to turn right, by detecting the right steering operation in the manual driving operation detection unit 105.

  Therefore, as the condition element detection means in this case, the camera group 107, the sensor group 108, the manual driving operation detection unit 105, and the image recognition unit 114 are used.

For example, as a switching condition for “pedestrian crossing”,
(Condition 6) When the image recognition unit 114 detects a pedestrian crossing road sign (indicating sign) or a road marking from the camera images of the camera group 107,
(Condition 7) When the image recognition unit 114 detects a person who is about to cross a pedestrian crossing or a person who is crossing from the camera images of the camera group 107,
Is stipulated.

  Then, the content of the travel control in the forced automatic operation mode after switching according to the switching condition for this “pedestrian crossing” is “after a temporary stop, confirm that there is no crossing and start”. Further, the forced automatic driving mode release condition is detection of “passing a pedestrian crossing”. It should be noted that human sensors included in the sensor group 108 may be used together for detection of a person. Furthermore, even for people, elderly people, infants and schoolchildren, people with physical disabilities, people with pets, etc., especially when driving safely, it is desirable to detect and selectively respond with more advanced image recognition. May be.

  As the condition element detection means in this case, the camera group 107, the sensor group 108, and the image recognition unit 114 are used.

Next, for example, as a switching condition for “crossing”,
(Condition 8) When a road sign with a level crossing (warning sign) is detected by the image recognition unit 114 from the camera images of the camera group 107, or the actual level crossing is detected from the captured image of the camera by the image recognition unit 114. The case of recognition is determined.

  Then, the content of the travel control in the forced automatic operation mode after switching according to the switching condition for the “crossing” is “after a temporary stop, confirm safety and start”. The safety confirmation in this case is detection that the circuit breaker is not down. Further, the condition for canceling the forced automatic operation mode is detection of “passing a level crossing”.

  As the condition element detection means in this case, the camera group 107 and the image recognition unit 114 are used.

Next, for example, as a switching condition for “speed limit”,
(Condition 9) If the traveling speed of the vehicle detected by the speed detector 116 is a speed that causes a serious danger, for example, if it is a general road, it may exceed the speed limit by 30 km / h or more and be a highway. For example, a case where it is detected that the vehicle speed is 40 km / h over the speed limit is determined.

  Then, the travel control content in the forced automatic operation mode after the switching with respect to the switching condition for the “limit speed” is set to “travel below the limit speed”. Moreover, the cancellation | release conditions of forced automatic operation mode are made after predetermined time, for example, 30 minutes, including a punitive meaning. This predetermined time may be lengthened depending on the degree of speed over from the switching condition. For example, assuming that the predetermined time exactly corresponding to the switching condition is 30 minutes, every time 1 km / h is exceeded, 30 minutes is added. In this case, when 5 km / h is exceeded, the release condition is after 3 hours.

  As the condition element detection means in this case, the speed detection unit 116 is used. However, for detecting the release condition, the clock unit 119 is used to measure the elapsed time after switching to the forced automatic operation.

Next, the example shown in FIG. 3 will be described. That is, for example, as a switching condition for “signal compliance”,
(Condition 10) From the captured image of the camera of the camera group 107, the vehicle motion analysis detection unit 117 indicates that the traffic light has shown a red signal, but the vehicle has traveled without ignoring it for a predetermined number of times. As described above, for example, the case of detecting three times or more is determined.

  Here, the switching condition may be when the vehicle travels ignoring the red light even once. However, in this embodiment, in consideration of the driver's oversight of the signal inadvertently, red Signal ignorance was the switching condition.

  The driving control contents in the forced automatic operation mode after switching according to the switching condition for this “signal compliance” include the punitive meaning for intentional signal disregarding, and the vehicle will run only in the forced automatic driving mode on the day. It was possible. Accordingly, the forced automatic operation mode is released on the next day.

  As the condition element detection means in this case, the camera group 107 and the own vehicle motion analysis detection unit 117 are used. However, to detect the release condition, the clock unit 119 is used to detect the end of the current day (the start of the next day).

Next, for example, as a switching condition for “interfering operation”,
From the analysis result of the captured image of the camera of the camera group 107 in the own vehicle motion analysis detection unit 117 and the grasping result of the surrounding moving body grasping unit 109,
(Condition 11) Entering just before another car in motion, or (Condition 12) Remarkably approaching a passing person or vehicle, or (Condition 13) Alignment, cruising, brute force interruption,
Is detected a predetermined number of times or more, for example, three times or more. In this case, not only when the same one of the conditions 11 to 13 is detected three times or more, but any of the conditions 11 to 13 may be detected three times or more in total.

  The driving control contents in forced automatic operation mode after switching for the switching condition for this “interfering driving” include the punitive meaning for disturbing driving, and on the day it is possible to drive only in forced automatic driving mode. . Accordingly, the forced automatic operation mode is released on the next day.

  As the condition element detection means in this case, the radar 106, the camera group 107, the sensor group 108, and the own vehicle motion analysis detection unit 117 are used. However, in order to detect the release condition, the clock unit 119 is used to detect the end of the day.

Next, for example, as a switching condition for “dangerous driving, reckless driving”,
From the analysis result of the own vehicle motion analysis detection unit 117 of the captured image of the camera of the camera group 107 and the detection result of the manual driving operation in the manual driving operation detection unit 105,
(Condition 14) The case where the drift running or the spin turn is detected a predetermined number of times or more, for example, twice or more is defined.

  The driving control contents in the forced automatic driving mode after switching according to the switching conditions for this “dangerous driving, reckless driving” include the punitive meaning for dangerous driving and reckless driving, and on the day the forced automatic driving mode It was possible to run only on. Accordingly, the forced automatic operation mode is released on the next day.

  As the condition element detection means in this case, the manual driving operation detection unit 105, the camera group 107, and the own vehicle motion analysis detection unit 117 are used. However, in order to detect the release condition, the clock unit 119 is used to detect the end of the day.

Next, for example, as a switching condition for “sudden accelerator, sudden brake, sudden handle”,
From the analysis result of the own vehicle motion analysis detection unit 117 of the captured image of the camera of the camera group 107 and the detection result of the manual driving operation in the manual driving operation detection unit 105,
(Condition 15) A case where a sudden accelerator, a sudden brake, or a sudden handle is detected a predetermined number of times or more, for example, five times or more is defined. In this case, not only when the same thing is detected three times or more among the sudden accelerator, sudden brake, and sudden handle, but when the sudden accelerator, sudden brake, or sudden handle is detected three times or more in total. Also good.

  The driving control details in the forced automatic driving mode after switching according to the switching conditions for this "sudden accelerator, sudden braking, and sudden steering wheel" include punitive meaning for dangerous driving, and forced automatic driving on the day It was allowed to run only in the mode. Accordingly, the forced automatic operation mode is released on the next day.

  As the condition element detection means in this case, the manual driving operation detection unit 105, the camera group 107, and the own vehicle motion analysis detection unit 117 are used. However, in order to detect the release condition, the clock unit 119 is used to detect the end of the day.

  The contents stored in the forced automatic operation switching condition storage unit 125 described above are to store each of the switching condition, the content of forced automatic operation after switching, and the release condition as a corresponding processing program. For each of the switching conditions set later by the user, the contents of forced automatic operation after switching, and the cancellation conditions, the user describes the switching conditions, the cancellation conditions and the control contents in the forced automatic driving mode as described above. Thus, the electronic control circuit unit 10 of the automatic driving vehicle 1 includes a processing function for automatically generating a corresponding processing program and storing the processing program in the forced automatic driving switching condition storage unit 125.

  As described above, the electronic control circuit unit 10 of the automatic driving vehicle 1 is configured. Of the blocks shown in FIG. 1, the motor drive control unit 102, the steering drive control unit 103, and the manual / automatic operation mode switching control. Unit 104, surrounding moving body grasping unit 109, current position detection unit 110, car navigation function unit 113, image recognition unit 114, forced automatic driving mode switching processing unit 115, own vehicle motion analysis detection unit 117, and voice output unit 118. The processing function can be realized by the control unit 101 as software processing.

[Example of operation mode switching processing operation in the autonomous vehicle 1 of the first embodiment]
FIG. 5 is a diagram for explaining the flow of processing operation when the automatic driving vehicle 1 according to the first embodiment monitors the switching condition during traveling in the manual driving mode and switches to the forced automatic driving mode. It is a figure which shows a flowchart.

  In the description of FIG. 5, among the blocks shown in FIG. 1, the control unit 101 includes a motor drive control unit 102, a steering drive control unit 103, a manual / automatic operation mode switching control unit 104, and a surrounding moving body grasping unit. 109, the current position detection unit 110, the car navigation function unit 113, the image recognition unit 114, the forced automatic driving mode switching processing unit 115, the own vehicle motion analysis detection unit 117, and the voice output unit 118 as software processing. This will be described as an actual case. The same applies to the description of other flowcharts described below.

  In the automatic driving vehicle 1 of this embodiment, in consideration of the fact that the manual driving mode can be switched to the forced automatic driving mode against the driver's intention, the car navigation function is started by the driver when starting the automatic driving vehicle. The destination setting is input at. Therefore, after the automatic driving vehicle 1 is switched to the forced automatic driving mode, the route guidance function by the car navigation function unit 113 performs traveling control so as to go to the destination.

  First, the control unit 101 determines whether or not the operation mode is the manual operation mode (step S1). When it is determined in step S1 that the operation mode is not the manual operation mode but the automatic operation mode, the control unit 101 shifts to a processing routine for the automatic operation mode.

  When it is determined in step S1 that the operation mode is the manual operation mode, the control unit 101 monitors the condition for switching to the forced automatic operation mode stored in the forced automatic operation switching condition storage unit 125 ( Step S2). Then, the control unit 101 determines whether or not the switching condition as described above is met (step S3). When it is determined that the switching condition is not met, the control unit 101 returns the process to step S2 and continues to monitor the switching condition.

  When it is determined in step S3 that the switching condition is met, the control unit 101 switches from the manual operation mode to the forced automatic operation mode, and notifies the driver as a voice message through the speaker 126 (step S4). And the control part 101 performs the forced automatic driving | operation process content after switching to the forced automatic driving | running | working mode according to the matched switching conditions (step S5).

  Next, the control unit 101 starts monitoring the forced automatic operation mode release condition (step S6). And the control part 101 discriminate | determines whether the cancellation | release conditions of forced automatic operation mode were matched (step S7), and when it determines with not agree | coinciding, a process is returned to step S6 and monitoring of a cancellation | release condition is continued. To do.

  When it is determined in step S7 that the forced automatic operation mode is canceled, the control unit 101 switches the operation mode to the normal automatic operation mode (step S8). And the control part 101 discriminate | determines whether manual driving operation was detected (step S9), and when it discriminate | determines that manual driving operation is not detected, this step S9 is continued and it waits for manual driving operation. .

  When it is determined in step S9 that the manual driving operation has been detected, the control unit 101 switches from the normal automatic driving mode to the manual driving mode, and notifies the driver through the speaker 126 as a voice message (step S9). S10). And the control part 101 returns a process to step S2, and repeats the process after this step S2.

  In addition, when the above-described processing matches the forced automatic operation mode release condition, the forced automatic operation mode is switched to the manual operation mode through the normal automatic operation mode. However, the forced automatic operation mode is switched to the normal automatic operation mode. You may make it switch directly to manual operation mode, without passing through a mode. In step S8, when the operation mode is switched from the forced automatic operation mode to the normal automatic operation mode, a voice message is not issued. However, a message to that effect may be notified to the driver through the speaker 126. Good.

  The above is a description of the rough operation flow of the main part of the operation mode switching process in the autonomous vehicle 1 of this embodiment. Next, an example of the processing operation will be described in more detail with respect to the monitoring conditions in step S2 in FIG. 5, the forced automatic operation processing contents in step S5 and the cancellation conditions monitoring in step S6.

  6 to 8 are diagrams for explaining a detailed processing example in an example in which the switching condition relates to “passing prohibition”.

  FIG. 6 shows that a yellow line 22 on the center line of the road is used as a road marking while the driver gets on the self-driving car 1 and is driving on one side lane (traveling lane) 21 of the two-lane road in the manual driving mode. In the section attached to the road, an operation example of the automatic driving vehicle 1 when attempting to pass is shown.

  That is, as shown in FIG. 6, the driver of the automatic driving vehicle 1 lights up the right turn signal 24 while trying to overtake a vehicle traveling ahead (not shown) while traveling on the traveling lane 21. Then, if the steering wheel is turned to the right and the yellow line 22 is straddled and it is going to protrude into the oncoming lane 23, the automatic driving vehicle 1 of this embodiment automatically switches from the manual driving mode to the forced automatic driving mode. Returning to the traveling lane 21, the vehicle follows the vehicle in front and travels to prevent the overtaking prohibition violation.

  In this example, the forced automatic operation mode is canceled when the yellow line 22 ends. In addition, it is possible to make a left turn even in a lane where overtaking is prohibited, and when the driver performs a manual operation to make a left turn, the forced automatic operation mode is switched to the manual operation mode and the left turn operation is executed. To do.

  FIG. 7 and FIG. 8 that is a continuation thereof are flowcharts for explaining an example of the flow of detailed processing when the switching condition relates to “overtaking prohibition”. As described above, this flowchart is a flow after step S2.

  That is, the control unit 101 determines whether or not the overtaking prohibition sign is recognized and detected from the captured images of the cameras in the camera group 107 (step S21), and when determining that the overtaking prohibition sign is not detected, It is determined from the captured image of the camera of the camera group 107 whether or not the yellow line 22 of the center line, which is a road marking indicating prohibition of overtaking, is detected (step S22). If it is determined in step S22 that the yellow line 22 has not been detected, the control unit 101 returns the process to step S21.

  When it is determined in step S21 that the overtaking prohibition sign has been detected, or in step S22, it is determined that the yellow line 22 has been detected, the control unit 101 determines whether the right side of the sensor group 108 is detected from the sensor output. It is determined whether or not the turn signal activation is detected (step S23). When it is determined in step S23 that activation of the right turn signal is not detected, the control unit 101 determines that the driver crosses the yellow line 22 from the detection result of the own vehicle motion analysis detection unit 117. It is determined whether or not a driving operation for changing the course is performed (step S24).

  When it is determined in step S24 that the driver is not performing a driving operation for changing the course of the automatic driving vehicle 1 so as to cross the yellow line 22, the control unit 101 returns the process to step S23, and after step S23. Repeat the process.

  When it is determined in step S23 that the activation of the right turn signal has been detected, or in step S24, it is determined that the driver has made a driving operation for changing the course of the automatic driving vehicle 1 so as to cross the yellow line 22. The control unit 101 determines from the captured image of the camera of the camera group 107 whether there is a road that can be turned to the right, a store that can be parked in the right direction, or the like (step S25).

  When it is determined in step S25 that there is a road that turns right ahead, a store that can be parked in the right direction, and the like, the control unit 101 maintains the manual operation mode and performs a right turn or the like while performing the manual operation operation by the driver. (Step S26). And the control part 101 returns a process to step S21, and repeats the process after this step S21.

  When it is determined in step S25 that there is no road that turns right in front or a store that can be parked in the right direction, the control unit 101 determines whether there is a vehicle traveling in front (step S27). When it is determined in step S27 that there is no vehicle traveling ahead, it is determined whether there is an obstacle (including parked or parked vehicles) stopped on the front left side (step S28). ).

  When it is determined in step S28 that there is an obstacle stopped on the left side in front, the control unit 101 maintains the manual operation mode (step S29) and enables the driver to perform an operation to avoid the obstacle. To do.

  When it is determined in step S27 that there is a vehicle traveling ahead, or when it is determined in step S28 that there is no obstacle ahead, the control unit 101 changes the operation mode from the manual operation mode to the forced automatic operation mode. (Step S30). Here, when it is determined that there is no vehicle traveling ahead and there are no obstacles, switching to the forced automatic driving mode is dangerous if it runs unnecessarily in the opposite lane, so it is safe to drive It is intended to maintain the state.

  After step S30, the control unit 101 maintains safe traveling in the lane in which the autonomous driving vehicle 1 of this embodiment is traveling by automatic driving (step S31).

  Next, the control unit 101 determines whether or not an overtaking prohibition section end sign is detected from the captured images of the cameras in the camera group 107 (step S41 in FIG. 8), and detects the overtaking prohibition section end sign. When it is determined that there is no yes, it is determined whether or not the end of the yellow line 22 has been detected (step S42). If it is determined in step S42 that the end of the yellow line 22 has not been detected, it is determined whether a left turn manual operation has been performed by the driving vehicle (step S43). When it is determined in step S43 that the left turn manual operation is not performed, the control unit 101 returns the process to step S41, and repeats the processes after step S41. When it is determined in step S43 that the left turn manual operation has been performed, the control unit 101 switches the operation mode to the manual operation mode, executes the left turn (step S44), and then returns the process to step S21.

  When it is determined in step S41 that an overtaking prohibition section end mark has been detected, or in step S42, it is determined that the end of the yellow line 22 has been detected, the control unit 101 sets the operation mode to forced automatic operation. The mode is switched to the normal automatic operation mode (step S45). Then, the control unit 101 determines whether or not a manual driving operation is detected (step S46), and when it is determined that the manual driving operation is not detected, the control unit 101 continues this step S46 and waits for the manual driving operation. .

  When it is determined in step S46 that the manual driving operation has been detected, the control unit 101 switches from the normal automatic driving mode to the manual driving mode, and notifies the driver through the speaker 126 as a voice message (step S46). S47). Thereafter, the control unit 101 returns the process to step S21, and repeats the processes after step S21.

  Next, FIG. 9 is a diagram for explaining the operation in the case of the switching condition “crosswalk”. As shown in FIG. 9, the autonomous driving vehicle 1 detects the road marking 25 of the front pedestrian crossing from the captured image of the camera of the camera group 107 while traveling in the driving lane 21, and the pedestrian crossing is detected. When a person 26 who is about to cross or a person who is crossing (not shown) is detected, for example, from the point of a predetermined distance D (for example, 20 m) from the pedestrian crossing position before the road marking 25 of the pedestrian crossing, forced automatic The mode is switched to the driving mode, and automatic driving is performed so as to temporarily stop at the position of the stop line 27 in front of the pedestrian crossing. Then, when the person 26 completes the crossing and confirms that there are no other crossers, the autonomous driving vehicle 1 starts, and after passing the pedestrian crossing, the mode is switched to the normal automatic driving mode, and the driver's manual operation is performed. And switch to manual operation mode. In this case, the flowchart of the processing operation of the autonomous vehicle 1 is omitted.

  Similarly, for other switching conditions, the control unit 101 of the automatic driving vehicle 1 monitors the switching conditions, and when the switching conditions are met, the control unit 101 stores them in the forced automatic driving switching condition storage unit 125. When the forced automatic operation content is executed and the release condition is met, the forced automatic operation mode is switched to the manual operation mode through the normal automatic operation mode. Note that the forced automatic operation mode may be switched directly to the manual operation mode without passing through the normal automatic operation mode.

  As described above, according to the automatic driving vehicle of the first embodiment described above, even if the driver who is driving the vehicle intentionally tries to violate the traffic laws, it is automatically switched to the forced automatic driving mode. Violation of the traffic laws is prevented. In addition, even if there is an error such as an oversight of a road sign or a road sign by the driver, the automatic driving vehicle of the first embodiment described above complies with traffic safety due to automatic driving in the forced automatic driving mode. Autonomous driving is performed so that the laws and regulations to be observed are observed.

  In addition, when the driver repeatedly ignores the signal or repeats dangerous driving or reckless driving, the driver automatically switches to the forced automatic driving mode to prevent manual operation throughout the day. There is also an effect that it can be prevented beforehand.

[Second Embodiment]
In the first embodiment described above, the switching condition from the manual operation mode to the forced automatic operation mode is mainly targeted when the driver gets on the vehicle. In addition to the switching conditions in the case of the first embodiment, the second embodiment also covers the switching conditions that prevent the traffic laws from being violated even when the driver parks and gets off the autonomous driving vehicle. And In the first embodiment, the captured image of the camera is mainly used as a means for detecting a condition element for monitoring whether or not the switching condition is met. In the second embodiment, a police car (patrol) The sound of sirens of emergency vehicles (emergency cars) such as cars, police cars), fire engines, and ambulances can be used as a condition element for monitoring whether or not the switching conditions are met. In addition, white motorcycles (motorcycles for traffic control) are also included in emergency vehicles. Furthermore, in the second embodiment, the wireless communication means is also provided with a function of receiving an emergency earthquake notification and preparing for an earthquake.

  FIG. 10 is a block diagram illustrating a configuration example of the electronic control circuit unit 10A of the autonomous vehicle 1A according to the second embodiment. In FIG. 10, the same reference numerals are assigned to the same parts as those of the electronic control circuit unit 1 of the automatic driving vehicle 1 of the first embodiment. In the second embodiment, as shown in FIG. 10, in addition to the configuration of the first embodiment, the electronic control circuit unit 10A has a voice recognition unit 131 and a mobile phone function for the system bus 100. The unit 132 and the audio input / output unit 133 are further connected. Note that the speed detection unit 116 and the vehicle motion analysis detection unit 117 in FIG. 1 are omitted in FIG. 10 due to space limitations. The audio input / output unit 133 is connected instead of the audio output unit 118 in FIG.

  A voice information storage unit 134 is connected to the voice recognition unit 131. In the voice information storage unit 134, the voice information of sirens emitted from police cars, white bikes, fire trucks, ambulances, emergency vehicles of gas companies that deal with gas accidents, etc. are used for comparison in the voice recognition unit 131 for voice recognition. It is remembered. Furthermore, the voice information storage unit 134 also stores and stores a child's cry, a falling sound from a child's seat, a pet's bark, and the like.

  In this example, the mobile phone function unit 132 is built in the automatic driving vehicle 1A in advance, and is registered as a subscriber and assigned a predetermined subscriber number. A driver or a passenger of the autonomous driving vehicle 1A can make a mobile phone call by so-called hands-free. Then, the control unit 101 of the autonomous driving vehicle 1A automatically responds to an incoming call from the mobile phone subscriber number of the driver registered in advance to the mobile phone function unit 132 or an emergency earthquake report. The function which can perform the control processing about driving control by predetermined communication processing and driving mode switching which performed, and automatic driving is provided.

  The voice input / output unit 133 is connected to a speaker 135 and a microphone 136. The speaker 135 and the microphone 136 are used for hands-free calling using the mobile phone function unit 132. The voice input / output unit 133 has the function of the voice output unit 118 of the first embodiment, and the speaker 135 switches from the manual operation mode to the forced automatic operation mode, as in the first embodiment. It is also used for notification to the driver at the time, notification at the time of switching from the forced automatic operation mode to the manual operation mode via the normal automatic operation mode, and the like.

  The microphone 136 is also used for collecting sounds of sirens of emergency vehicles such as police cars and collecting sounds emitted by children and pets. The microphone 136 is provided inside the autonomous driving vehicle 1A. Therefore, the microphone 136 is separately provided outside the ceiling or door mirror of the autonomous driving vehicle 1A for collecting sound of an emergency vehicle such as a police car. May be.

  FIG. 11 and FIG. 12, which is a continuation thereof, show examples of the stored contents of the forced automatic operation switching condition storage unit 125 in the case of the second embodiment. The stored contents shown in FIGS. 11 and 12 are stored in addition to the stored contents shown in FIGS. 2 and 3 in the second embodiment.

As shown in FIG. 11, for example, as a switching condition for “parking prohibition”,
(Condition 16) Road sign prohibiting parking (see FIG. 4 (E))), road sign for time-limited parking section (see FIG. 4 (G)), or road sign prohibiting parking (displayed in yellow broken line on sidewalk) In places where parking is prohibited or where time-limited parking is possible,
(Condition 17) Detecting parking of own vehicle (Condition 18) Detection of fear of parking prohibition is defined.

In the image recognition unit 114, the road sign for prohibiting parking, the road sign for the time-limited parking section, or the road sign for prohibiting parking are displayed in front of or in front of the own vehicle in the camera group 107. Detected by recognizing road signs shown in FIG. 4E, road signs shown in FIG. 4G, or road markings indicated by yellow broken lines on the sidewalk from images captured by one or more cameras. be able to.
In addition to road signs and road markings, various places where parking is prohibited are stipulated in Article 45 of the Road Traffic Law, and can be dealt with. For example, parking is prohibited within 5 m from the fire hydrant and within 1 m from the fire alarm. In this case, the image recognition unit 114 uses one or more cameras in front of or in the side of the vehicle in the camera group 107. The fire hydrant and fire alarm are recognized from the captured image, and the distance from the fire hydrant and fire alarm is measured using the radar 106 or sensor group 108 (ranging sensor), and within a predetermined distance (5 m, 1 m). It is detected by recognizing.

  In addition, the parking of the host vehicle (condition 17) can be detected by the host vehicle motion analysis detection unit 117, which is not shown in FIG. In addition, the fear of parking prohibition under (Condition 18) is that the vehicle is parked at a parking prohibited location for at least 5 minutes. The timing for switching to the forced automatic operation mode is that parking at a parking prohibited location is considered a parking violation. For example, when 5 minutes have elapsed, for example, when 4 minutes have passed since the vehicle was parked at a parking prohibited place.

  The driving control contents in the forced automatic operation mode after switching according to the switching condition for this “parking prohibition” include whether the recognized road sign is a parking sign forbidden parking or a road sign for a time-limited parking section. It depends on the type of the car, the presence or absence of prohibited hours, and the presence or absence of parking time restrictions.

  As shown in FIG. 11, when the recognized road sign is a parking prohibition road sign as shown in FIG. 4E and there is no parking time restriction or prohibited time zone indication or auxiliary sign (all-day parking prohibited) In the case of), the automatic driving content is as follows.

  That is, the automatic driving vehicle 1A switches to the forced automatic driving mode before the lapse of 5 minutes, for example, after the lapse of 4 minutes, so as not to be regarded as a parking violation. At this time, when the driver gets off, the automatic driving vehicle 1A notifies the driver's mobile phone terminal registered in advance that the vehicle has moved. Then, the automatic driving vehicle 1A returns to the original parked place when there is a call by an incoming call from the driver's mobile phone terminal.

  Further, the recognized road sign is a road sign for a time-limited parking section as shown in FIG. 4G, and there is a display of the parking time limit (60 minutes in the example of FIG. 4G). When a (fee meter) is installed, the automatic operation is as follows. Note that the parking meter (fee meter) may be provided with a function for displaying the parking limit time.

  In this case, since the parking meter can be charged by charging the parking meter, the self-driving vehicle 1A detects that the parking meter has started or the parking meter has been charged with the camera. Later, the timer 119 is started by the clock unit 119, and the vehicle is moved to the forced automatic driving mode immediately before the time limit is exceeded. In this case, when the driver gets off, the automatic driving vehicle 1A notifies the driver's mobile phone terminal registered in advance that the vehicle has moved. Then, the automatic driving vehicle 1A returns to the original parked place when there is a call by an incoming call from the driver's mobile phone terminal. When the parking meter displays the elapsed parking time or the remaining parking time, the parking limit time can be known without detecting the time by detecting the time display with a camera.

  If the recognized road sign is a road sign as shown in FIGS. 4 (E) and 4 (G), and there are signs for prohibited times and auxiliary signs, the following details of automatic driving It becomes.

  That is, in this case, the automatic driving vehicle 1A monitors the time by the clock unit 119 after starting parking outside the prohibited time zone, and moves to the forced automatic driving mode immediately before entering the prohibited time zone. In this case, when the driver gets off, the automatic driving vehicle 1A notifies the driver's mobile phone terminal registered in advance that the vehicle has moved. Then, the automatic driving vehicle 1A returns to the original parked place when there is a call by an incoming call from the driver's mobile phone terminal.

  In addition, the forced automatic operation mode release condition for the “parking prohibition” switching condition is that when the driver gets off, the driver returns to a predetermined place in response to the driver's call and confirms the driver's boarding. "What I did." Further, if the driver is on board, the detection is “detection of manual driving operation by the driver”.

Next, for example, as a switching condition for “parking and parking prohibition”,
(Condition 19) In a parking prohibition place indicated by a road sign prohibiting parking (see Fig. 4 (F)) or a road marking prohibiting parking (displayed with a solid yellow line on the sidewalk)
(Condition 20) It is determined that the stop of the own vehicle is detected.

  In the image recognition unit 114, the road sign prohibiting parking / stopping and the road marking prohibiting parking / stopping in the above (condition 19) are picked up by one or a plurality of cameras in front of or in the side of the own vehicle in the camera group 107. From the image, it can be detected by recognizing the road sign shown in FIG. 4F and the road marking indicated by the solid yellow line of the sidewalk.

  In addition to road signs and road markings, various places where parking and parking are prohibited are stipulated in Article 44 of the Road Traffic Law and can be dealt with. For example, parking or stopping is prohibited for parts within 5m from the side edge of the intersection, parts within 5m before and after the side edge before and after the pedestrian crossing, and parts within 10m before and after the side edge before and after the crossing. In this case, the image recognition unit 114 recognizes an intersection, a pedestrian crossing, and a railroad crossing from the captured images of one or a plurality of cameras in front of and on the side of the own vehicle in the camera group 107, and further, the radar 106 or the sensor. The group 108 (ranging sensor) is used to measure the distance between these side edges or the front and rear side edges, and recognizes whether the distance is within a predetermined distance (5 m, 5 m, 10 m).

  Moreover, the stop of the own vehicle of (condition 20) can be detected by the own vehicle motion analysis detection unit 117, which is not shown in FIG.

  The content of the travel control in the forced automatic operation mode after switching according to the switching condition for “parking and parking prohibition” differs depending on whether or not the recognized road sign has a prohibition time zone sign or an auxiliary sign.

  If the recognized road sign has no prohibition time zone sign or auxiliary sign, the automatic driving car 1A immediately switches to the forced automatic driving mode without stopping and moves its own vehicle, Do not violate parking prohibition.

  When the recognized road sign has a prohibition time zone sign or an auxiliary sign, the autonomous driving vehicle 1A monitors the time by the clock unit 119 and switches to the forced automatic driving mode immediately before entering the prohibited time zone. When the vehicle is moved and the driver gets off, the driver's mobile phone terminal registered in advance is notified of the movement. When a call is received by an incoming call from the driver's mobile phone terminal, the driver returns to the original parked location.

  And the cancellation condition of the forced automatic driving mode for the switching condition of “parking and parking prohibition” is the same as the cancellation condition of the forced automatic driving mode for the switching condition of “parking prohibition”, and the driver gets off the vehicle. Sometimes it is `` returning to a place where parking is not prohibited in the vicinity of the original place in response to the driver's call and detecting the driver's boarding '', and if the driver is on board, This is “detection of manual driving operation by the driver”.

Next, in this second embodiment,
(Condition 21) The switching condition is also set when the mobile phone function unit 132 of the autonomous driving vehicle 1A receives an emergency earthquake report.

  That is, the control part 101 of 1 A of automatic driving vehicles will switch to forced automatic driving mode, if reception of an emergency earthquake notification is confirmed.

  The content of the automatic operation in the forced automatic operation mode at this time is “turn on the hazard lamp, slowly reduce the speed, and stop on the shoulder if you feel a large shake due to the earthquake”.

  And the cancellation | release condition of forced automatic operation mode at this time is "after predetermined time (for example, 5 minutes) progress since reception of an emergency earthquake report".

  Next, in the second embodiment, as the switching condition based on the voice information, as shown in FIG. 12, “approach of an emergency vehicle such as a patrol car” and “sound that a child rides on, a pet emits” are defined. .

As a switching condition for "approach of emergency vehicles such as police cars",
(Condition 22) Detecting siren sound generated by emergency vehicles such as police cars, or
(Condition 23) A call from a police car, white bike “car ahead, please stop to the left” or “car ahead, stop”, and
(Condition 24) It is determined that an approach of an emergency vehicle such as a police car is detected by a rear camera.

  And in this case, the content of the automatic driving in the forced automatic driving mode is, according to traffic regulations, “When it is at or near an intersection, avoid the intersection and stop at the left side of the road” and “ Outside of the vicinity, stop by the left side of the road, or slow down or pause to give way. "

  Further, the condition for canceling the forced automatic operation mode in this case is “stop of driving” or “passage of an emergency vehicle such as a police car”.

Next, as a switching condition for “children riding together, sounds made by pets”
(Condition 25) It is defined that a child's cry is detected, a falling sound from a child's seat is detected, or (Condition 26) a pet's bark is detected.

  The purpose of this switching condition is to avoid the risk of an accident due to the driver being deprived of attention to these sounds and taking a look.

  The automatic driving content in the forced automatic driving mode in this case is defined as “normal driving in the forced automatic driving mode”. For example, a straight driving is maintained to maintain a safe driving state.

  In addition, the forced automatic operation mode release condition in this case is a manual operation operation after a predetermined time (for example, 5 minutes) has elapsed since switching to the forced automatic operation mode.

  In the second embodiment, although not complying with traffic laws and regulations, in order to avoid a dangerous driving state, switching to the forced automatic driving mode is also performed. For example, as shown in FIG. 12, an adverse weather condition can be used as the switching condition.

In other words, as a switching condition for this "bad weather condition"
(Condition 27) The setting as to whether or not the switching condition provided as the setting item of the setting menu of the autonomous driving vehicle 1A is turned on.
(Condition 28) It is determined that “backlight” or “dusk (sunset)” or “bad weather (for example, heavy rain, storm, snow, etc.)” that is defined as an adverse weather condition for driving is detected.

  This switching condition is intended to prevent an accident from occurring by avoiding a driving mistake because the driver is likely to make a driving mistake.

  The automatic driving content in the forced automatic driving mode in this case is defined as “normal driving in the forced automatic driving mode”.

  Further, the condition for canceling the forced automatic operation mode in this case is the disappearance of the bad weather condition. Note that an adverse weather condition can be detected from an image taken outside the vehicle by the cameras of the camera group 107. Further, the mobile phone function unit 132 can be connected to the cloud to obtain bad weather conditions. Furthermore, from the captured images of the driver's face by the camera of the camera group 107, the driver's facial expression that the driver narrows his eyes or makes it difficult to see when backlit or the like is recognized, and adverse weather conditions It can also be judged. About backlight, you may judge by the presence or absence of the use of the sun visor which is an awning of a driver's seat.

  Although not complying with traffic laws and regulations, the switching condition for switching to the forced automatic driving mode in order to avoid dangerous driving conditions is not limited to the above-mentioned bad weather conditions. For example, the switching condition may be a case where it is difficult to see the front due to significant dirt on the windshield.

  Instead of providing the mobile phone function unit 132, the function of the above-described mobile phone function unit 132 can be configured by other wireless communication means that does not have the mobile phone function. Further, the communication function may be enhanced by providing both the mobile phone function unit and other wireless communication means.

  Also in the second embodiment, the general operation flow of the main part of the operation mode switching process in the autonomous vehicle 1A is the same as that shown in FIG. Next, the case of the above-described parking prohibition switching condition will be described by taking the monitoring condition monitoring step S2 in FIG. 5, the forced automatic driving process content in step S5 and the release condition monitoring step S6 monitoring part as examples of processing operations. Further description will be made with reference to the drawings.

  For example, as shown in FIG. 13, when the autonomous driving vehicle 1 </ b> A stops at a place where the parking prohibition road sign 31 exists, the autonomous driving vehicle 1 </ b> A grasps the road sign 31 and the prohibition time zone. Switch to forced automatic operation mode. Then, when the prohibited time zone is set, the autonomous driving vehicle 1A refers to the current time and determines whether or not parking is currently prohibited. If the current parking is prohibited, the self-driving vehicle 1A moves the vehicle before five minutes that are not regarded as parking, thereby preventing a parking violation.

  If the current time is not a prohibited time zone, the autonomous driving vehicle 1A continues to park as it is, but continues to monitor the current time. Then, when the current time is in the prohibited time zone, a time not exceeding 5 minutes after entering the prohibited time zone, for example, after 4 minutes have elapsed (in the example of FIG. 13, when it becomes 8:04), Move it to prevent parking violations.

  Moreover, as shown in FIG. 14, when the road sign 32 is prohibited to park or stop, the autonomous driving vehicle 1A moves its own vehicle at 7:58, for example, before the time for entering the prohibited time zone. , Try to prevent a parking violation violation.

  Further, as shown in FIG. 15, when the automatic driving vehicle 1A stops at a place where the parking meter 33 is installed and the road marking 34 in the time-limited parking section is installed, Switch from operation mode to forced automatic operation mode. When the driver inputs a charge for the time limit (60 minutes in the example of FIG. 15) to the parking meter 33, the automatic driving vehicle 1A The timer using 119 is started. In this case, as described above, the timer using the clock unit 119 may be started from the time when the autonomous driving vehicle 1A stops, or after confirming the charging of the charge from the camera image to the parking meter 33, the clock unit A timer using 119 may be started.

  Then, the automatic driving vehicle 1A monitors the timer and moves the host vehicle at the time when the time not exceeding the time limit is exceeded to prevent a parking violation.

  If there is no time limit, or there is a time limit, but the time for the charge classification is shorter than that, the timer is monitored according to the time for the input charge.

  FIG. 16 and subsequent FIGS. 17 to 19 are flowcharts for explaining an example of the flow of detailed processing when the switching condition relates to “parking prohibition”. As described above, this flowchart is a flow after step S2.

  First, as shown in FIG. 16, the control unit 101 determines whether or not a parking prohibition road sign is recognized from the captured images of the cameras of the camera group 107 (step S51), and recognizes the parking prohibition road sign. If not, step S51 is continued.

  When it is determined in step S51 that the parking prohibition road sign has been recognized, the control unit 101 determines whether or not the own vehicle has stopped (step S52). If the vehicle has not stopped, the process returns to step S51.

  When it is determined in step S52 that the host vehicle has stopped, the control unit 101 determines whether a parking meter is installed from the captured image of the camera of the camera group 107 (step S53). If it is determined in step S53 that the parking meter is not installed, it is determined whether or not there is a prohibition time zone sign or an auxiliary sign on the parking prohibition road sign (step S54).

  If it is determined in step S54 that there is an indication of a prohibited time zone or an auxiliary indicator, it is determined whether or not the current time is within the prohibited time zone (step S55). When it is determined in step S55 that it is not within the prohibited time zone, the control unit 101 monitors the passage of time while the vehicle is stopped (step S56), and returns the process to step S55.

  If it is determined in step S54 that there is no prohibited time zone and parking is prohibited all day, or if it is determined in step S55 that the current time is in a prohibited time zone, the parking prohibition start is started. It is determined whether or not the stop state has elapsed for a predetermined time of 5 minutes or less, for example, 4 minutes (step S57).

  When it is determined in step S57 that four minutes have not elapsed since the parking prohibition stop state, the control unit 101 repeats step S57. When it is determined in step S57 that 4 minutes have elapsed since the parking prohibition stop state, the control unit 101 switches to the forced automatic operation mode, starts the vehicle, and moves it to prevent parking violation (step S58). ).

  Next, the control unit 101 determines whether or not the driver is on board from the captured images of the cameras in the camera group 107 (step S61 in FIG. 17). When it is determined in step S61 that the driver is in the boarding state, the control unit 101 notifies the driver by voice that the vehicle has been switched to the automatic driving mode due to the parking prohibited position. (Step S62).

  Then, the control unit 101 waits for a manual driving operation by the driver (step S63). When it is determined in step S63 that the manual driving operation by the driver has been detected, the control unit 101 switches to the manual driving mode and notifies that. The driver is notified by voice through the speaker 135 (step S64). And the control part 101 returns a process to step S51, and repeats the process after this step S51.

  If it is determined in step S61 that the driver is not in the vehicle, the control unit 101 calls the telephone number of the driver's mobile phone terminal stored in advance in the mobile phone function unit 132, and the mobile phone The voice synthesis function provided in the function unit 132 converts a voice message stored in the mobile phone function unit 132 in advance, for example, a voice message “I moved to prevent parking violation” into voice. This is sent to the driver (step S71 in FIG. 18).

  Then, the control unit 101 uses the car navigation function by the car navigation function unit 113, and if there is a place where it can continuously move or park around the original parking place, the control unit 101 parks at the parking place (step). S72).

  And the control part 101 waits for reception of the call from a driver | operator's mobile telephone terminal (step S73). The call from the driver's mobile phone terminal is a predetermined key operation input, for example, “# 55”. The control unit 101 automatically responds to an incoming call from the driver's mobile phone terminal based on the phone number of the driver's mobile phone terminal stored in the mobile phone function unit 132, for example, “ By detecting “# 55”, the driver's call is detected.

  When it is detected in step S73 that a call from the driver has been received, the control unit 101 returns the host vehicle to the original stop position by automatic driving (step S74).

  In this example, the vehicle is returned to the original stop position. However, the driver's current position information is added to the call information from the driver's mobile phone terminal and sent to the driver. May be determined through the mobile phone function unit 132 and the car navigation function unit 113 may move the vehicle to the current position of the driver.

  After step S74, the control unit 101 determines whether or not the driver's boarding has been confirmed by image recognition by the image recognition unit 114 for the captured image of the camera of the camera group 107 (step S75). Sometimes, the host vehicle is started (step S76). Then, the control unit 101 switches to the normal automatic operation mode (step S77).

  Thereafter, the control unit 101 waits for a manual driving operation by the driver (step S78). When the manual driving operation is detected in step S78, the control unit 101 switches from the normal automatic driving mode to the manual driving mode, and from the speaker 135, the manual driving operation is performed. A voice message to the effect of switching to the mode is emitted and notified to the driver (step S79). And the control part 101 returns a process to step S51, and repeats the process after this step S51.

  When it is determined in step S53 in FIG. 16 that a parking meter is installed, as shown in FIG. 19, the control unit 101 displays a prohibition time zone sign or an auxiliary sign on the road sign recognized in step S51. It is determined whether or not there is (step S81). If it is determined in step S81 that the road sign has a prohibition time zone sign or an auxiliary sign, the control unit 101 determines whether the current time is within the prohibition time zone (step S82). When it is determined in step S82 that the current time is within the prohibited time zone, the control unit 101 shifts the processing to step S57 in FIG. 16, and performs the processing after step S57.

  When it is determined in step S81 that the road sign does not have a prohibition time zone sign or an auxiliary sign, or in step S82, it is determined that the current time is not within the prohibition time zone, the control unit 101 moves to the parking meter. It is determined whether or not the driver has confirmed the input of the charge from the captured images of the cameras in the camera group 107 (step S83).

  When it is not confirmed in step S83 that the driver has charged the parking meter, the control unit 101 determines whether or not the driver has not charged the parking meter (step S84). The confirmation that the charge is not charged in step S84 is made based on, for example, whether or not the driver has put in a charge within 3 minutes after the vehicle stops.

  When it is confirmed in step S84 that the charge has not been charged, the control unit 101 shifts the processing to step S57 in FIG. 16, and executes the processing after step S57. In step S84, when it is not confirmed that the charge has not been charged, the control unit 101 returns the process to step S83.

  When it is confirmed in step S83 that the driver has charged the parking meter, the control unit 101 starts measuring the available parking time displayed on the road sign with the timer (step S85). Next, the control part 101 discriminate | determines whether the possibility of exceeding parking available time was detected (step S86). In this step S86, the time immediately before the expiration of the parking available time, for example, 3 minutes before, is detected as the possibility of exceeding the parking available time.

  When it is determined in this step S86 that the possibility of exceeding the available parking time has not been detected, the control unit 101 determines whether or not the vehicle has been started by the driver (step S87) and is started. If this happens, the process returns to step S51 in FIG. 16, and the processes after step S51 are repeated. If it is determined in step S87 that the driver has not started the vehicle, the control unit 101 returns the process to step S86 and continues measuring the parking available time with a timer.

  When it is determined in step S86 that there is a risk of exceeding the available parking time, the control unit 101 shifts the process to step S58 in FIG. 16 and switches to the forced automatic operation mode. Execute.

  As described above, also in the case of the second embodiment, it is possible to prevent the driver who is driving the vehicle from violating traffic regulations in the same manner as the first embodiment. In addition, according to the second embodiment, even if a child's crying voice or pet barking is accompanied, the driver's attention is likely to be distracted, the automatic driving is switched to the forced automatic driving mode. This ensures safe driving that prevents accidents.

[Other Embodiments or Modifications]
As described above, the switching conditions shown in the tables of FIGS. 2, 3, 11, and 12 are examples, and the switching conditions targeted by the automatic driving vehicle of the present invention are not limited thereto. It is not something that can be done. For example, as in the case of “signal compliance” shown in FIG. 3, “stop line compliance” that becomes a switching condition when a stop line over is detected a predetermined number of times or more, a headlight (headlight) at night, and a tail lamp There is “light compliance” which is a switching condition when no lighting without turning on (tail light) or the like is detected a predetermined number of times or more. Also, if you are required to take a turn signal, such as when turning right, turning left, turning, changing lanes, or overtaking, you do not start the turn signal, turn a turn signal reversed, or if you should not turn the turn signal In addition, there is a “winker operation observance” which is a switching condition when it is detected that a blinker is taken out or forgotten to be turned off by turning off the blinker more than a predetermined number of times.

  Traffic laws, road signs, and road markings may vary from country to country. Therefore, the road sign database 124 stores traffic regulations, road signs, and road marking data for each country in which the autonomous vehicle travels. Further, the forced automatic driving switching condition storage unit 125 stores a forced automatic driving switching condition table (switching to the forced automatic driving mode) set in advance in order to comply with the traffic laws of each country where the autonomous driving vehicle travels. Condition, content of travel control in forced automatic operation mode after switching, condition for canceling forced automatic operation mode), or a forced automatic operation switching condition table determined in advance to maintain safe driving Is.

  If the driving range is limited so that the driving range of the autonomous driving vehicle is limited to a certain country, the autonomous driving vehicle will be forced to use data such as traffic regulations and road signs in that country, or forced automatic driving. Only the switching condition needs to be stored.

  However, when driving in multiple countries, such as the EU (European Union), is carried out on a daily basis, self-driving cars are not subject to traffic laws, road signs, and roads in all countries where driving is planned. The sign data is stored in the road sign database 124 in association with the country identification information, and the forced automatic operation switching condition table is also associated with the country identification information for each of all countries where the traveling is planned. And stored in the forced automatic operation switching condition storage unit 125. The self-driving car detects the current position during traveling by using radio waves from the GPS satellites, the mobile phone function unit 132, etc., identifies the border from the current position, and changes the country when the country changes. The data corresponding to the country identification information is switched so as to be read from the road sign database 124 or the forced automatic operation switching condition storage unit 125.

  In this way, instead of automatically switching data automatically read out from the road sign database 124 or the forced automatic driving switching condition storage unit 125 in accordance with the country in which the vehicle is traveling, the driver automatically The country in which the vehicle is traveling is specified, and the data and switching condition table corresponding to the country in which the vehicle is traveling are switched so as to be read out from the road sign database 124 or the forced automatic driving switching condition storage unit 125. Also good. Note that the data and switching condition table for each country may be stored in advance in the autonomous driving vehicle, or may be obtained from the cloud.

  In addition, traffic laws and road signs, etc. may vary from state to state (US), province (China), and prefectures in the same country, not from country to country. It is also possible to detect the current position while traveling by using the radio wave or the mobile phone function unit 132 and switch the data such as road signs and the switching condition table based on the current position.

  Moreover, in the automatic driving vehicle of the above-described embodiment, various databases and various storage units are configured to be mounted on the own vehicle. However, the present invention is not limited to this and may be on the cloud. The camera group 107 is not limited to being mounted on its own vehicle, but an autonomous driving vehicle can obtain images from surveillance cameras installed on traffic lights, street lights, etc. via communication, or images from cameras of other vehicles can be communicated between vehicles. You may obtain it. Similarly, the radar 106 and the sensor group 108 are not limited to being mounted on the own vehicle, and radar information and various sensor information can be obtained by communication from an external system such as an ITS spot or from another vehicle.

  In the second embodiment, an example in which an autonomous driving vehicle has wireless communication means to receive an emergency earthquake notification and prepare for an earthquake has been described. The communication means can receive images from external cameras and various information from external systems as described above, download the latest danger avoidance information and safe driving information from the Internet, and switch to forced automatic driving mode. It is possible to update the switching conditions, the traveling control contents in the forced automatic driving mode after switching, the cancellation conditions of the forced automatic driving mode, and the like.

  Moreover, although the automatic driving vehicle of the above-described embodiment is an electric vehicle, the present invention can be applied to a gasoline vehicle, a hybrid vehicle, and other driving vehicles.

  DESCRIPTION OF SYMBOLS 1,1A ... Automatic driving vehicle, 10, 10A ... Electronic control circuit part, 101 ... Control part, 104 ... Manual / automatic driving mode switching control part, 105 ... Manual operation detection part, 107 ... Camera group, 108 ... Sensor group, DESCRIPTION OF SYMBOLS 114 ... Image recognition part, 115 ... Compulsory automatic driving mode switching process part, 116 ... Speed detection part, 117 ... Own-vehicle motion analysis detection part, 119 ... Clock part, 124 ... Database, such as a road sign, 125 ... Compulsory automatic driving | operation switching conditions Storage unit 131 ... Voice recognition unit 132 ... Mobile phone function unit

Claims (34)

A manual driving mode for traveling according to the driving operation of the driver, and a mode for performing autonomous driving without the driver's driving operation, which is normally switched to the manual driving mode based on the driver's predetermined operation In an automatic driving vehicle comprising an automatic driving mode and a forced automatic driving mode in which the normal automatic driving mode is continued without being switched to the manual driving mode even if the predetermined operation by the driver is performed,
Detects the condition elements used to detect whether or not a predetermined switching condition to comply with traffic regulations or a predetermined switching condition to maintain safe driving is met Condition element detecting means for
Switching condition determination means for determining whether or not the switching condition is met based on the detection output from the condition element detection means;
Cancellation condition determination means for determining whether or not a cancellation condition for canceling the forced automatic operation mode is met,
When the switching condition determining means determines that the switching condition is met, the mode is switched to the forced automatic operation mode, and when the canceling condition determining means determines that the cancel condition is met, the forced automatic operation mode is switched to the normal operation mode. Operation mode control means for switching to automatic operation mode;
An autonomous driving vehicle characterized by comprising: The self-driving vehicle according to claim 1, further comprising a plurality of the condition element detecting means for monitoring the switching condition by determining the switching condition. A storage means for storing an action to be taken by the vehicle when the switching condition is met, corresponding to each of the plurality of switching conditions;
The operation mode control means switches to the forced automatic operation mode when the switching condition determination means determines that the switching condition is met, and determines that the switching condition stored in the storage means is met. The operation according to the said switching conditions performed is performed. The automatic driving vehicle of Claim 1 or Claim 2 characterized by the above-mentioned. The automatic driving vehicle according to claim 3, wherein the cancellation condition for canceling the forced automatic driving mode is stored in the storage means in association with the switching condition. A position information detecting means for detecting position information is provided,
Comprising an area specifying means for specifying an area based on the detected position information;
5. The automatic driving vehicle according to claim 3, wherein the storage unit stores the operation corresponding to the switching condition for each region specified by the region specifying unit. There is an area specification means for the user to specify the area,
The automatic driving vehicle according to any one of claims 3 to 5, wherein the storage unit stores the operation corresponding to the switching condition for each region specified by the region specifying unit. . The switching conditions are: no overtaking in overtaking prohibited areas, no out-of-designated progress in out-of-designated areas, temporary stop at pedestrian crossings, temporary crossings at speed crossings, speed limit, traffic signal instructions, before stop line Observe parking, prohibit parking in areas where parking is prohibited, prohibit parking in areas where parking is prohibited, prioritize emergency vehicles, stop by police vehicles, use blinkers properly, or light at night The automatic driving vehicle according to any one of claims 1 to 6, wherein at least one of the conditions for the operation is satisfied. The user can select whether or not at least one of the switching conditions is a target of determination by the switching condition determination unit. The self-driving car described. The automatic driving vehicle according to any one of claims 1 to 8, wherein at least one of the switching conditions performs an exceptional process in a predetermined case. A position information detecting means for detecting position information is provided,
Comprising an area specifying means for specifying an area based on the detected position information;
The autonomous driving vehicle according to any one of claims 1 to 9, wherein the switching condition is changed according to an area specified by the area specifying means. There is an area specification means for the user to specify the area,
The autonomous driving vehicle according to any one of claims 1 to 10, wherein the switching condition is changed according to a region specified by the region specifying means. Including one or more cameras for photographing at least one of the front, side or rear of the vehicle;
The autonomous driving vehicle according to any one of claims 1 to 11, wherein the condition element detection unit detects the condition element from a captured image captured by the camera. A road sign storage unit that stores road signs and / or road markings as condition elements for monitoring whether or not the switching conditions are met,
The said condition element detection means is comprised from the image recognition means which detects the said road sign and the said road marking memorize | stored in the memory | storage parts, such as the said road sign, from the picked-up image image | photographed with the said camera. The self-driving car described in 1. A position information detecting means for detecting position information is provided,
Comprising an area specifying means for specifying an area based on the detected position information;
The autonomous driving vehicle according to claim 13, wherein the road sign storage unit stores the road sign and / or the road marking for each area specified by the area specifying means. There is an area specification means for the user to specify the area,
The automatic driving vehicle according to claim 13, wherein the road sign storage unit stores the road sign and / or the road marking for each area specified by the area specifying means. The automatic driving vehicle according to any one of claims 1 to 15, wherein at least a part of the information related to the switching condition is obtained from a cloud on the Internet. The vehicle movement analysis detection part which detects and / or analyzes the movement of the own vehicle used as a condition element for monitoring whether it meets the said switching conditions is provided. The any one of Claims 1-16 characterized by the above-mentioned. The self-driving car described in Crab. With a microphone to pick up the sound outside the vehicle,
A voice information storage unit for storing condition element voice information as the condition element;
The condition element detection means comprises voice recognition means for detecting condition element voice information stored in the voice information storage unit from voice information collected by the microphone. The self-driving car described in any one. Equipped with one or more laser radars and / or radio wave radars to measure the distance to the objects around the vehicle,
The condition element detection means detects the condition element from a distance between the vehicle and the object measured by the laser radar and / or the radio wave radar. The self-driving car described in Crab. Including one or more human sensors for detecting a person in the vicinity of the vehicle,
The automatic driving according to any one of claims 1 to 19, wherein the condition element detecting means detects the condition element from the presence of a person in the vicinity of the own vehicle detected by the human sensor. car. For the same predetermined switching condition among the switching conditions, the switching condition determining means comprises a counting means for counting the number of times determined to match the predetermined switching condition,
The operation mode control means switches to the forced automatic operation mode when the number of times in the counting means is equal to or greater than a predetermined number of 1 or more, and the release condition is a date of switching to the forced automatic operation mode. The automatic driving vehicle according to any one of claims 1 to 20, wherein the automatic driving vehicle is the next day. In addition to providing image recognition means for detecting road signs and / or road markings from captured images taken with a camera mounted on the vehicle,
A speed detecting means for detecting the traveling speed of the host vehicle as the other condition element detecting means;
The switching condition is when the speed detected by the speed detecting means detects a predetermined speed that is equal to or higher than the road sign recognized by the image recognition means or the speed limit indicated by the road sign, The automatic driving vehicle according to any one of claims 1 to 21, wherein the release condition is after a predetermined time has elapsed since switching to the forced automatic driving mode. In addition to providing image recognition means for detecting road signs and / or road markings from captured images taken with a camera mounted on the vehicle,
A clock means,
Even when the operation mode control means determines that the switching condition is met by the switching condition determination means, a time limit is displayed on the road sign or the road sign recognized by the image recognition means. The automatic operation mode is switched from the manual operation mode to the forced automatic operation mode at a time point based on the time restriction based on the time or time detected by the clock means. Item 23. The autonomous driving vehicle according to any one of items 22. A clock means,
In the release condition, a release time for releasing the forced automatic operation mode or an elapsed time until the forced automatic operation mode is released based on the time or time elapsed detected by the clock means is set. The automatic driving vehicle according to claim 4. 25. The autonomous driving vehicle according to claim 24, wherein the release time or the elapsed time until the release is changed according to a degree of violation of the traffic regulation that is a basis of the switching condition. A vehicle movement analysis detection unit for detecting and / or analyzing the movement of the vehicle;
The switching condition is at least one of a driver's disturbing driving, dangerous driving, or reckless driving, which is detected using the condition element detecting means including the own vehicle motion analysis detecting unit, and the release condition 26 is the day after the day of switching to the forced automatic driving mode. The automatic driving vehicle according to any one of claims 1 to 25. A manual driving operation detection unit that detects an accelerator pedal operation, a brake pedal operation, a shift lever operation, and / or a steering operation by the driver;
The switching condition is detected by using the condition element detection means including the manual driving operation detection unit, and the number of operations or total operation of each of the driver's sudden accelerator, sudden brake, and / or sudden handle is detected. 27. The automatic operation according to any one of claims 1 to 26, wherein the number of times becomes a predetermined number of times or more, and the release condition is a day following the day when the forced automatic operation mode is switched. Driving car. The switching conditions are bad weather conditions such as backlight, twilight, heavy rain, storm, snow,
The autonomous driving vehicle according to any one of claims 1 to 27, wherein the cancellation condition is the disappearance of the adverse weather condition. The autonomous driving vehicle according to any one of claims 1 to 28, further comprising a plurality of release condition detection means for detecting the release condition. The automatic driving vehicle according to any one of claims 1 to 29, wherein a plurality of release conditions are set for at least one of the switching conditions. A position information detecting means for detecting position information is provided,
Comprising an area specifying means for specifying an area based on the detected position information;
The autonomous driving vehicle according to any one of claims 1 to 30, wherein the release condition is changed according to an area specified by the area specifying means. The autonomous driving vehicle according to any one of claims 1 to 31, wherein the release condition can be updated through the Internet. The switching condition is when the traveling speed exceeds the speed limit,
The autonomous driving vehicle according to any one of claims 1 to 32, wherein the release condition is changed according to a degree of exceeding the speed limit. A manual driving mode for traveling according to the driving operation of the driver, and a mode for performing autonomous driving without the driver's driving operation, which is normally switched to the manual driving mode based on the driver's predetermined operation A computer provided in an automatic driving vehicle having an automatic driving mode and a forced automatic driving mode in which the normal automatic driving mode is continued without being switched to the manual driving mode even if the driver performs the predetermined operation;
Detects the condition elements used to detect whether or not a predetermined switching condition to comply with traffic regulations or a predetermined switching condition to maintain safe driving is met Condition element detection means to
Switching condition determination means for determining whether or not the switching condition is met based on the detection output from the condition element detection means;
Cancellation condition determination means for determining whether or not a cancellation condition for canceling the forced automatic operation mode is met,
When the switching condition determining means determines that the switching condition is met, the mode is switched to the forced automatic operation mode, and when the canceling condition determining means determines that the cancel condition is met, the forced automatic operation mode is switched to the normal operation mode. Operation mode control means for switching to automatic operation mode,
Program for self-driving cars to operate as.

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