JP2019045370A - Control method, autonomous land vehicle, and control program - Google Patents

Abstract

To provide an autonomous land vehicle, etc., with which it is possible for a registrant to appropriately escape by automatic driving of the autonomous land vehicle at occurrence of a disaster.SOLUTION: An autonomous land vehicle 1 is an autonomous land vehicle used at disaster time, comprising: a self-position detection unit 23 for detecting the present position of the autonomous land vehicle 1; a disaster information reception unit 21 for receiving disaster information; a management unit 11 for determining, when disaster information is received, whether or not a previously registered registrant is aboard the autonomous land vehicle 1; an evacuation place determination unit 12 for determining an evacuation place of the registrant on the basis of the disaster information and the present position when it is determined that the registrant is aboard the autonomous land vehicle; and an automatic travel control unit 13 for causing the autonomous land vehicle to automatically travel aiming at the evacuation plate as a destination.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to an autonomous vehicle used at the time of occurrence of a disaster, and a control method and control program of a control device that controls the autonomous vehicle.

  In recent years, technology development has been carried out on completely autonomous vehicles (autonomously driven vehicles) that do not require steering by the driver, and technical disclosure is also provided on the operation when a disaster occurs during such autonomous vehicle operation. It has been done.

  For example, Patent Document 1 discloses an autonomous driving control vehicle equipped with a travel control device that generates a travel plan that decelerates and stops based on the received emergency earthquake bulletin. Further, Patent Document 2 discloses a vehicle control system which detects a road shoulder after receiving disaster information and stops the vehicle on the detected road shoulder in an automatic operation mode.

JP, 2008-146168, A Unexamined-Japanese-Patent No. 2010-20371

  However, in the above-mentioned prior art, no consideration is given to supporting evacuation of people at the time of disaster occurrence, and it is necessary to further improve the method of assisting evacuation of people by autonomous driving of autonomous vehicles. It was supposed to be.

  The present disclosure has been made to solve the above problems, and provides a control method, an autonomous vehicle, and a control program that enable a registrant to properly evacuate by automatic driving of an autonomous vehicle when a disaster occurs. The purpose is to

  A control method according to an aspect of the present disclosure is a control method of a control device that controls an autonomous vehicle used at the time of disaster, and when the autonomous vehicle receives disaster information, it is registered in advance in the autonomous vehicle. If it is determined whether the registered person is on board and it is determined that the registrant is on the autonomous vehicle, the registration is made based on the disaster information and the current position of the autonomous vehicle The evacuation site of the person is determined, and the autonomous vehicle is automatically traveled with the evacuation site as a destination.

  According to the present disclosure, when a disaster occurs, the registrant can appropriately evacuate by the autonomous driving of the autonomous vehicle.

FIG. 1 is a block diagram showing an example of a configuration of an autonomous vehicle in a first embodiment of the present disclosure. It is a figure for demonstrating an example of operation | movement which the autonomous vehicle shown in FIG. 1 assists evacuation of a person at the time of a disaster occurrence. It is a flowchart which shows an example of the evacuation assistance process by the autonomous traveling vehicle shown in FIG. It is a figure which shows an example of the screen at the time of disaster information generation displayed on a vehicle-mounted terminal display part when a registrant is not boarded in an autonomous running vehicle. It is a figure which shows an example of the screen displayed on a vehicle-mounted terminal display part, when it is judged that a registrant boarded an autonomous vehicle, but evacuation is not in time. It is a figure which shows an example of the screen at the time of disaster information generation displayed on a vehicle-mounted terminal display part, when a registrant is boarded in an autonomous running vehicle. It is a figure which shows an example of the screen displayed on a vehicle-mounted terminal display part, when a registrant gets in an autonomous vehicle and evacuation of a registrant is completed. It is a figure which shows an example of the screen displayed on a vehicle-mounted terminal display part, when disaster information is cancelled | released in the middle of evacuation assistance. It is a block diagram which shows an example of a structure of the autonomous vehicle in Embodiment 2 of this indication. It is a figure for demonstrating an example of the operation | movement which an autonomous vehicle shown in FIG. 9 evacuates after assisting a person's evacuation at the time of a disaster occurrence. It is a first flowchart showing an example of the evacuation support processing by the autonomous traveling vehicle shown in FIG. It is a 2nd flowchart which shows an example of the evacuation assistance process by the autonomous traveling vehicle shown in FIG. It is a figure which shows an example of the screen displayed on a vehicle-mounted terminal display part, when an autonomous traveling vehicle evacuates after the registrant boarded in the autonomous traveling vehicle shown in FIG. 9 complete evacuation. It is a figure which shows an example of the screen displayed on a registrant's portable terminal at the time of retraction completion of the autonomous traveling vehicle shown in FIG. It is a block diagram which shows an example of a structure of the autonomous vehicle in Embodiment 3 of this indication. It is a figure for demonstrating an example of operation | movement which an autonomous vehicle shown in FIG. 15 meets a registrant at the time of a disaster occurrence, and assists evacuation. It is a first flowchart showing an example of the evacuation support processing by the autonomous traveling vehicle shown in FIG. It is a 2nd flowchart which shows an example of the evacuation assistance process by the autonomous traveling vehicle shown in FIG. It is a 3rd flowchart which shows an example of the evacuation assistance process by the autonomous traveling vehicle shown in FIG. It is a figure which shows an example of the screen displayed on a portable terminal when the autonomous traveling vehicle shown in FIG. 15 can not receive a relief request at the time of a disaster occurrence. It is a figure which shows an example of the screen displayed on a portable terminal when the autonomous traveling vehicle shown in FIG. 15 can receive a relief request at the time of a disaster occurrence. It is a figure which shows an example of the screen displayed on a portable terminal in order to inquire the necessity of a relief request at the time of a disaster occurrence which the autonomous vehicle shown in FIG. 15 generate | occur | produces. It is a block diagram which shows an example of a structure of the autonomous vehicle in Embodiment 4 of this indication. FIG. 24 is a diagram for describing an example of an operation of assisting the evacuation by another autonomous traveling vehicle to greet the registrant when the autonomous traveling vehicle shown in FIG. 23 can not support evacuation of the registrant when a disaster occurs. FIG. 24 is a first flowchart showing an example of an evacuation support process by the autonomous traveling vehicle shown in FIG. 23; FIG. 24 is a second flowchart showing an example of the evacuation support processing by the autonomous traveling vehicle shown in FIG. FIG. 24 is a third flowchart showing an example of the evacuation support processing by the autonomous traveling vehicle shown in FIG. 23;

(Findings that formed the basis of this disclosure)
The travel control device described in Patent Document 1 generates a travel plan to decelerate and stop based on the emergency earthquake alert received by the emergency earthquake alert system receiver, and an obstacle around the vehicle acquired by the peripheral sensor Depending on the situation, if there is a risk of a collision with another vehicle, another travel plan is generated to avoid the collision and the collision. However, it is not taken into consideration that a person who is desired to evacuate by a car at the time of a disaster, such as a person who needs a disaster, should evacuate using an autonomous vehicle.

  Further, in the vehicle control system described in Patent Document 2, the wireless circuit controls the antenna to perform wireless communication with the outside, receives the disaster information, and the microcomputer can stop the space after the disaster information is received. An automatic operation mode is performed in which an accelerator pedal, a brake pedal, a shift lever, a hand brake and a steering wheel provided on the vehicle are operated by an actuator so that the vehicle is stopped on the detected road shoulder. However, it is not taken into consideration that a person who is desired to evacuate by a car at the time of a disaster, such as a person who needs a disaster, should evacuate using an autonomous vehicle.

  In order to solve the above-mentioned problems, it is necessary to support the evacuation of the occupants as needed when the disaster occurs. On the basis of this finding, the inventors of the present application have completed the present disclosure as a result of earnestly examining an evacuation support method in the event of a disaster by an autonomous vehicle.

  A control method according to an aspect of the present disclosure is a control method of a control device that controls an autonomous vehicle used at the time of disaster, and when the autonomous vehicle receives disaster information, it is registered in advance in the autonomous vehicle. If it is determined whether the registered person is on board and it is determined that the registrant is on the autonomous vehicle, the registration is made based on the disaster information and the current position of the autonomous vehicle The evacuation site of the person is determined, and the autonomous vehicle is automatically traveled with the evacuation site as a destination.

  According to this configuration, when the autonomous traveling vehicle receives the disaster information, it is determined whether or not the registrant registered in advance in the autonomous traveling vehicle is riding, and the registrant is riding in the autonomous traveling vehicle If it is determined, the evacuation site of the registrant is determined based on the disaster information and the current position of the autonomous vehicle, and the autonomous vehicle is automatically traveled with the determined evacuation site as the destination, so evacuation at the time of disaster occurrence The evacuation site can be automatically determined and traveling by automatic driving can be performed to the evacuation site only when the registrant whose use of the car is appropriate is on board. Therefore, while being able to evacuate the registrant whose utilization of a car is considered appropriate for evacuation when a disaster occurs, evacuation of persons other than registrants who are not considered appropriate for the utilization of a car for evacuation using an autonomous traveling vehicle Can be prevented. As a result, the registrant can evacuate appropriately by the automatic driving of the autonomous vehicle.

  The control method further acquires traffic information to the evacuation site, and further determines whether the autonomous vehicle arrives at the evacuation site before the occurrence of a disaster based on the traffic information and the disaster information. If it is determined that the autonomous traveling vehicle will arrive at the evacuation site before the occurrence of a disaster, the autonomous traveling causes the autonomous traveling vehicle to automatically travel with the evacuation site as a destination, and the autonomous traveling vehicle is a disaster Preferably, the autonomous vehicle is stopped on the road shoulder if it is determined that the vehicle does not arrive at the evacuation site before the occurrence of

  According to this configuration, traffic information to the evacuation site is acquired, and it is determined whether or not the autonomous vehicle arrives at the evacuation site before the occurrence of a disaster based on the traffic information and disaster information, and the autonomous vehicle is If it is determined that the evacuation site will arrive by the occurrence of a disaster, the autonomous vehicle is automatically traveled with the evacuation site as the destination, so that the registrant can reliably assist in evacuating to a safe evacuation site. . In addition, when it is determined that the autonomous vehicle does not arrive at the evacuation site by the occurrence of the disaster, the autonomous vehicle is stopped on the road shoulder, so when the autonomous vehicle can not arrive at the evacuation site by the occurrence of the disaster The autonomous traveling vehicle can be stopped so as not to get in the way of other vehicles, etc., and the registrant can get off the autonomous traveling vehicle and take a second best evacuation plan.

  The control method further includes: automatically traveling the autonomous traveling vehicle having the evacuation site as a destination, when receiving that the disaster information is canceled before the autonomous traveling vehicle arrives at the evacuation site. It is preferable to release.

  According to this configuration, when it is received that the disaster information has been canceled before the autonomous vehicle arrives at the evacuation site, the automatic traveling of the autonomous vehicle with the evacuation site as the destination is canceled. When evacuation is not necessary, the registrant can use the autonomous vehicle for the desired application.

  The control method further determines an evacuation site for the autonomous vehicle based on the evacuation site, and further causes the autonomous vehicle to automatically travel with the evacuation site as a destination after automatically traveling to the evacuation site. Is preferred.

  According to this configuration, after assisting the registrant to evacuate to the evacuation site, the autonomous traveling vehicle can be automatically evacuated to another place so that it does not get in the way of another vehicle or the like.

The above control method is
Furthermore, when it is determined that the registrant is not on the autonomous vehicle, the location of the registrant is obtained, and the evacuation site of the registrant is determined based on the disaster information and the location. Preferably, the autonomous traveling causes the autonomous vehicle to travel automatically to the evacuation site via the location.

  According to this configuration, even if the registrant whose use of the car is appropriate for evacuation is not on the autonomous traveling vehicle, the user travels to the evacuation site after the registrant is picked up by automatic driving. Helps ensure that registrants evacuate to safe shelters.

  The control method further acquires the location of the registrant when the autonomous vehicle receives the disaster information when the autonomous vehicle is not executing a predetermined task, and further, based on the disaster information and the location. Preferably, the evacuation site of the registrant is determined, and the automatic travel control causes the autonomous traveling vehicle to automatically travel to the evacuation site via the location.

  According to this configuration, when the autonomous vehicle is not executing the predetermined task, the registrant whose use of the vehicle is appropriate for evacuation is not on the autonomous vehicle, and in this case, when the disaster information is received, Since the location of the registrant is acquired and the autonomous vehicle is automatically traveled to the evacuation site via the acquired location, the autonomous vehicle that is not currently performing a predetermined task is effectively used to pick up the registrant It is possible to travel to the evacuation site after going there, and it is possible to reliably support the registrant to evacuate to a safe evacuation site.

  The control method further determines whether the autonomous vehicle arrives at the evacuation site via the location before the occurrence of a disaster based on the disaster information, and the autonomous vehicle is a disaster If it is determined that the evacuation site does not arrive at the evacuation site before the occurrence of the emergency, a relief request signal is sent to another autonomous vehicle requesting automatic traveling to the evacuation site via the site. Is preferred.

  According to this configuration, the registrant whose use of the car is appropriate for evacuation does not get on the autonomous vehicle, and there is not enough time for traveling to the evacuation site after the registrant has been picked up. Even if there are other autonomous vehicles, they will automatically move to the evacuation site after they have met the registrant by automatic driving, so they can reliably assist the registrant to evacuate to a safe evacuation site .

  The control method further acquires the location of the registrant when the autonomous vehicle receives a rescue request signal from the terminal device of the registrant, and further registers the registration based on the disaster information and the location. Determine the evacuation site of the person, and further determine whether the autonomous vehicle will arrive at the evacuation site via the location before the occurrence of a disaster based on the disaster information, and further, the autonomous traveling When it is determined that a car arrives at the evacuation site via the location before a disaster occurs, a rescue request acceptance signal indicating that the rescue request signal has been accepted is transmitted to the terminal device, and the autonomous traveling vehicle When it is determined that the evacuation site is not reached via the location before the occurrence of a disaster, a relief request rejection signal indicating that the relief request signal can not be received is transmitted to the terminal device. It is preferable.

  According to this configuration, when the autonomous vehicle receives the rescue request signal from the terminal device of the registrant, the registrant's location is acquired, the registrant's evacuation site is determined based on the disaster information and the location, and the disaster is Based on the information, it is determined whether the autonomous vehicle arrives at the evacuation site via the location before the occurrence of the disaster, and it is determined that the autonomous vehicle arrives at the evacuation site via the location before the occurrence of the disaster In this case, since the rescue request acceptance signal indicating that the rescue request signal has been accepted is transmitted to the terminal device, it is possible for the registrant to allow the autonomous vehicle to get on the registrant and arrive at the evacuation site before the occurrence of the disaster. It can be notified. In addition, when it is determined that the autonomous vehicle does not arrive at the evacuation site via the location before the occurrence of the disaster, the relief request non-acceptance signal indicating that the relief request signal can not be received is transmitted to the terminal device. , You can urge the registrant to take the next best evacuation plan without waiting for the arrival of the autonomous vehicle, and if the autonomous vehicle does not have to go for pick-up to support evacuation, Since there is no need to operate the car, it is possible to prevent it from blocking other traffic.

  Further, the present disclosure can be realized not only as a control method for executing the above-described characteristic processing but also as a control device or an autonomous traveling vehicle having a characteristic configuration corresponding to the processing performed by the control method. You can also In addition, a characteristic process included in such a control method can be realized as a computer program which is executed by a computer including a processor, a memory, and the like. Therefore, the same effects as those of the control method described above can be achieved also in the following other aspects.

  An autonomous vehicle according to another aspect of the present disclosure is an autonomous vehicle used at the time of a disaster, and is registered in advance in the autonomous vehicle when a receiver that receives disaster information and the disaster information is received. When it is determined that the registrant is on the autonomous traveling vehicle, a determination unit that determines whether or not the registrant is riding, a detection unit that detects the current position of the autonomous traveling vehicle, and A determination unit that determines the evacuation site of the registrant based on disaster information and the current position, and a control unit that causes the autonomous vehicle to automatically travel with the evacuation site as a destination.

  A control program according to another aspect of the present disclosure is a control program for causing a computer to function as a control device that controls an autonomous traveling vehicle used at the time of a disaster, wherein the autonomous traveling vehicle has disaster information If it is determined that the registrant registered in advance on the autonomous vehicle is on, and if it is determined that the registrant is on the autonomous vehicle, the disaster information and the disaster information The evacuation location of the registrant is determined based on the current position of the autonomous vehicle, and the autonomous vehicle is automatically traveled with the evacuation location as a destination.

  It goes without saying that the computer program as described above can be distributed via a computer readable non-transitory recording medium such as a CD-ROM or a communication network such as the Internet.

  Moreover, all the embodiments described below show one specific example of the present disclosure. The shapes, components, steps, order of steps, and the like described in the following embodiments are merely examples, and are not intended to limit the present disclosure.

  Further, among the components in the following embodiments, components not described in the independent claim indicating the highest concept are described as arbitrary components. Also, in all the embodiments, the contents of each can be combined. Furthermore, without departing from the gist of the present disclosure, various modifications of the embodiments of the present disclosure within the purview of those skilled in the art are also included in the present disclosure.

  Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

Embodiment 1
FIG. 1 is a block diagram showing an example of a configuration of an autonomous vehicle according to a first embodiment of the present disclosure. The autonomous traveling vehicle 1 shown in FIG. 1 includes a control device 10, a disaster information reception unit 21, an occupant authentication unit 22, an own vehicle position detection unit 23, an on-vehicle terminal display unit 24, a communication unit 25, an evacuation site DB (database) 26, And a map DB (database) 27. The control device 10 includes a management unit 11, an evacuation site determination unit 12, and an automatic travel control unit 13.

  The control device 10 controls an autonomous vehicle 1 used at the time of a disaster. The control device 10 includes, for example, a computer and the like including a processor, a memory, and the like, and functions as a management unit 11, an evacuation site determination unit 12, and an automatic travel control unit 13 by executing a predetermined control program. The configuration of the control device is not particularly limited to the above example, and functions as the management unit 11, the evacuation site determination unit 12, and the automatic travel control unit 13 when an external server or the like executes a predetermined control program. In addition, various changes can be made such that the autonomous traveling vehicle 1 travels automatically according to the control processing of the server.

  The disaster information receiving unit 21 performs wireless communication with an external device such as an FM station, an AM station, a satellite broadcast station, a roadside device installed on the road using wireless broadcasting, for example, and receives disaster information It is output to the management unit 11. The disaster information includes various information such as the occurrence time and location of the disaster, the scope of the disaster, and the predicted arrival time of the disaster. In addition, disaster information means disaster information such as tsunami information and flood information that is desirable to evacuate to a safe place. In addition, disaster information includes all information on disasters, and special warning / alarms / warnings such as heavy rainfall, floods, storm surges, etc. correspond.

  In addition, disaster information is not specifically limited to said example, You may use other disaster information. For example, disaster information transmitted via the Internet may be used, or emergency earthquake bulletins may be used as disaster prevention information announced by the Meteorological Agency using television broadcasting, radio broadcasting, CATV, a mobile telephone network or the like. Besides Japan, disaster information used in that country may be used, and for example, an emergency alert system (EAS) for mobile phones operating in the United States may be used.

  The occupant authentication unit 22 comprises, for example, a wireless tag reader and the like, and authenticates whether or not a pre-registered wireless tag possessed by the registrant is present in the vicinity, and the pre-registered wireless tag is nearby. If the existence is authenticated, the management unit 11 is notified of the authentication result. The authentication method of the registrant is not particularly limited to the above-described example, and may be authentication that can identify an individual, such as fingerprint authentication, face authentication, authentication using a personal identification number or the like.

  The management unit 11 determines whether the disaster information received by the disaster information receiving unit 21 includes disaster information that requires evacuation. The determination as to whether or not the disaster information requires evacuation can be determined, for example, based on whether or not the current position of the autonomous mobile vehicle 1 is within the evacuation target area indicated by the disaster information.

  When the management unit 11 determines that there is disaster information requiring evacuation among the disaster information received by the disaster information reception unit 21, that is, when the autonomous traveling vehicle 1 receives the disaster information, Based on the authentication result, it is determined whether the registrant registered in advance in the autonomous traveling vehicle 1 is on the vehicle.

  The vehicle position detection unit 23 detects the current position of the autonomous traveling vehicle 1 using a GPS (Global Positioning System), a vehicle speed sensor, an acceleration sensor, and the like, and outputs the current position to the management unit 11.

  The on-vehicle terminal display unit 24 includes, for example, a touch panel of a navigation system, and displays various information related to the autonomous vehicle 1 and is used by a registrant or the like to input various information.

  The communication unit 25 receives traffic information from the outside, and outputs the received traffic information to the management unit 11. The communication unit 25 receives, for example, VICS (registered trademark) (Vehicle Information and Communication System) information. Traffic information is not particularly limited to this example, and traffic information transmitted via a predetermined network such as the Internet may be used.

  The evacuation site DB 26 stores a plurality of evacuation sites in advance as candidates for the registrant's evacuation site. When the management unit 11 determines that the registrant is on the autonomous traveling vehicle 1, the evacuation site determination unit 12 determines the disaster information acquired by the disaster information reception unit 21 and the own vehicle position acquired by the vehicle position detection unit 23. Based on the current position of the car, an evacuation site near the vehicle position is acquired from the evacuation site DB 26 within the scope of the disaster, and the acquired evacuation site is determined as the evacuation site of the registrant. In addition, the configuration of the evacuation site DB is not particularly limited to the above example, the evacuation site is stored in the evacuation site DB of an external device such as a server connected to a predetermined network, and the evacuation site is It may be acquired.

  The management unit 11 acquires traffic information from the traffic information received by the communication unit 25 to the evacuation site, and the autonomous traveling vehicle 1 is a disaster based on the acquired traffic information and the disaster information acquired by the disaster information reception unit 21. Whether to arrive at the evacuation site by the occurrence of

  Map DB27 has memorized map data etc. beforehand. If it is determined that the autonomous vehicle 1 arrives at the evacuation site before the occurrence of a disaster, the automatic travel control unit 13 refers to the map DB 27 and automatically travels the evacuation site determined by the evacuation site determination unit 12 as a destination. The autonomous traveling vehicle 1 is controlled to perform. On the other hand, when it is determined that the autonomous vehicle 1 does not arrive at the evacuation site by the occurrence of a disaster, the automatic travel control unit 13 causes the autonomous vehicle 1 to stop on the road shoulder. The map data may be stored in the map DB of an external device such as a server connected to a predetermined network, and the map data may be acquired using the communication unit 25.

  The management unit 11 determines whether or not the automatic travel to the evacuation site has been completed. When it is determined that the automatic travel to the evacuation site is not completed, the management unit 11 determines whether or not there is disaster information that requires evacuation. If the management unit 11 determines that there is no disaster information that requires evacuation, that is, if it receives cancellation of the disaster information before the autonomous vehicle 1 arrives at the evacuation site, it cancels evacuation travel. The effect is displayed on the on-vehicle terminal display unit 24. Further, when it is determined that the automatic traveling to the evacuation site is completed, the management unit 11 cancels the automatic traveling by the automatic traveling control unit 13.

  FIG. 2 is a diagram for explaining an example of an operation of the autonomous vehicle 1 shown in FIG. 1 assisting evacuation of a person when a disaster occurs. In the case of a disaster, it is a principle to evacuate on foot, but in the present embodiment, in the case of evacuation on foot, a person whose security is difficult to secure is registered in advance as a registrant. In this case, as shown in FIG. 2, the autonomous traveling vehicle 1 receives the disaster information when the registered person P1 registered in advance gets on and executes a predetermined task, and the autonomous traveling vehicle 1 When the current location is within the evacuation target area, evacuation support is performed by acquiring an evacuation site based on the current position of the autonomous traveling vehicle 1 and automatically traveling with the acquired evacuation site as a destination.

  Here, the predetermined task means traveling or stopping while traveling or stopping in response to a request from a registrant or the like, or transporting an occupant while the occupant is on the vehicle. . For example, a person's transportation service such as a taxi service may correspond to a predetermined task, and the autonomous vehicle 1 may be in an automatic operation or in a manual operation. Moreover, the state where the predetermined task is not executed means the state where the above-mentioned transport service etc. are not carried out, for example, the autonomous traveling vehicle 1 parks in the parking lot of the registrant parking lot, commercial facility etc. The situation where it is done and stands by corresponds.

  Moreover, a registrant means a person who has registered in advance in order to evacuate safely with the autonomous vehicle 1. For example, a person who is difficult to evacuate safely corresponds on foot. The registrant is preferably those who need support to take a series of actions in the event of a disaster, such as quickly and accurately grasping the necessary information and evacuating to a safe place to protect themselves from the disaster, Generally, elderly people, disabled people, foreigners, infants, pregnant women, etc. are applicable. In the present embodiment, for example, the disaster support person is registered in advance as a registrant. However, the present invention is not particularly limited to this example, and a care recipient or the like may be registered as a registrant.

  Moreover, in the present embodiment, the autonomous vehicle 1 may cancel the support while supporting the evacuation of the registrant. Specifically, when it is determined that evacuation by automatic driving is not in time due to deterioration of traffic conditions during evacuation support, the autonomous traveling vehicle 1 cancels the evacuation support and stops on the road shoulder by automatic driving. In addition, when disaster information is canceled in the middle of evacuation support, evacuation support is canceled and automatic driving is switched to stop on the road shoulder or manual operation.

  Next, evacuation support processing by the autonomous vehicle 1 configured as described above will be described. FIG. 3 is a flowchart showing an example of the evacuation support process by the autonomous mobile vehicle 1 shown in FIG.

  First, the management unit 11 of the autonomous mobile vehicle 1 determines whether there is disaster information that requires evacuation (step 11). If there is disaster information during the operation of the vehicle, the disaster information reception unit 21 receives the disaster information, and the management unit 11 needs disaster information in the disaster information received by the disaster information reception unit 21. Determine if there is. If there is no disaster information that requires evacuation (NO in step S11), the process of step 11 is repeated.

  On the other hand, when there is disaster information requiring evacuation (YES in step S11), the occupant authentication unit 22 authenticates whether or not a registered person registered in advance is on board, and notifies the management unit 11 of the authentication result. (Step S12).

  Next, based on the authentication result of the occupant authentication unit 22, the management unit 11 determines whether the registrant is on the vehicle (step S13). If the registrant is not boarded (NO in step S13), the on-vehicle terminal display unit 24 stops the road shoulder by automatic driving, and therefore displays to the occupant that it evacuates and urges evacuation, and the automatic travel control unit 13 In step S14, the autonomous traveling vehicle 1 is safely stopped on the road shoulder by automatic driving (step S14), and the process is ended.

  FIG. 4 is a view showing an example of a screen at the time of occurrence of disaster information displayed on the on-vehicle terminal display unit 24 when the registrant is not on the autonomous traveling vehicle 1. As shown in FIG. 4, for example, when a tsunami warning is announced, the message "Stop on the road. Get off the car and evacuate immediately to a safe place." Is displayed on the on-vehicle terminal display 24. Be done. When the autonomous mobile vehicle 1 is executing the task of transporting an occupant other than the registrant, the registrant is not on board but is notified of the above-mentioned message to the onboard occupant to urge evacuation.

  On the other hand, when the registrant is on board (YES in step S13), the vehicle position detection unit 23 acquires the current position of the vehicle, and the evacuation site determination unit 12 receives the current position of the vehicle and disaster information Based on the disaster information acquired by the unit 21, the evacuation site in the vicinity of the current position of the vehicle is acquired from the evacuation site DB 26 within the scope of the disaster (step S15).

  Next, the automatic travel control unit 13 refers to the map DB 27 to set an evacuation travel route to the evacuation site acquired by the evacuation site determination unit 12 (step S16).

  Next, the management unit 11 acquires traffic information from the outside using the communication unit 25, and estimates the arrival time to the evacuation site on the evacuation travel route set by the automatic travel control unit 13 based on the acquired traffic information. (Step S17).

  Next, the management unit 11 determines whether the arrival time to the evacuation site is in time for the predicted arrival time of the disaster received by the disaster information receiving unit 21 (step S18). If the arrival time to the evacuation site does not meet the predicted arrival time of the disaster (NO in step S18), the on-vehicle terminal display unit 24 displays that the vehicle is stopped on the road shoulder, and the automatic travel control unit 13 is autonomous by automatic driving. The traveling vehicle 1 is safely stopped on the road shoulder (step S19), and the process is ended.

  FIG. 5 is a diagram showing an example of a screen displayed on the on-vehicle terminal display unit 24 when it is determined that the registrant is on the autonomous mobile vehicle 1 but evacuation is not in time. As shown in FIG. 5, for example, when a tsunami warning is announced and it is determined that evacuation by automatic driving is not in time due to deterioration of traffic conditions during evacuation support, the registrant is notified that the evacuation support is to be cancelled. In order to do so, the message “Evacuated by automatic driving seems not to be in time.” And “Stop on the road shoulder. Please get out of the car and evacuate immediately to a safe place.” Is displayed. In this case, the autonomous vehicle 1 stops on the road shoulder by automatic driving, and the registrant confirms the above-mentioned message, gets off and evacuates.

  The processing in the case where the arrival time to the evacuation site is not in time for the predicted arrival time of the disaster is not particularly limited to the above example. For example, the autonomous traveling vehicle 1 is not stopped on the road shoulder. Various changes can be made such as switching to manual operation, and a registrant manually driving and evacuating the autonomous vehicle 1.

  On the other hand, when the arrival time to the evacuation site is in time for the predicted arrival time of the disaster (YES in step S18), the on-vehicle terminal display unit 24 displays that evacuation by automatic driving is performed, and the automatic travel control unit 13 The traveling by the automatic driving is performed with the place as the destination (step S20).

  FIG. 6 is a view showing an example of a screen at the time of occurrence of disaster information displayed on the on-vehicle terminal display unit 24 when the registrant is on the autonomous traveling vehicle 1. As shown in FIG. 6, for example, when a tsunami warning is announced and “Takadai Elementary School” is determined as an evacuation site near the current position of the autonomous vehicle 1 and evacuated by automatic driving as a destination, “Near We acquired "Takadai Elementary School" as an evacuation site. Evacuate by automatic driving. The message “is displayed on the on-vehicle terminal display unit 24. In this case, the autonomous vehicle 1 travels to the evacuation site by automatic driving, and the registrant confirms the above-mentioned message, and the autonomous vehicle 1 evacuates to the evacuation site.

  Next, the management unit 11 determines whether evacuation travel to the destination is completed (step S21). When evacuation travel to the destination is completed (YES in step S21), the on-vehicle terminal display unit 24 ends evacuation by automatic driving, displays that the user is urged to get off, and ends the process.

  FIG. 7 is a view showing an example of a screen displayed on the on-vehicle terminal display unit 24 when the registrant is on the autonomous mobile vehicle 1 and evacuation of the registrant is completed. As shown in FIG. 7, for example, when a tsunami warning is announced and the autonomous vehicle 1 arrives at the destination evacuation site, the message "Evacuation by automatic driving has been completed. Please get off." Is displayed on the on-vehicle terminal display unit 24. In this case, since the registrant confirms the above-mentioned message and evacuation support by the autonomous driving of the autonomous mobile vehicle 1 is completed, the registrant dismounts and evacuates to the evacuation site.

  On the other hand, when the evacuation travel to the destination is not completed (NO in step S21), the management unit 11 confirms whether the disaster information reception unit 21 receives the disaster information during the evacuation travel. Then, it is determined whether there is disaster information that requires evacuation (step S22). If there is disaster information that requires evacuation (YES in step S22), the processing in step S20 and subsequent steps is continued, and the autonomous vehicle 1 continues automatic driving to the evacuation site.

  On the other hand, when there is no disaster information requiring evacuation (NO in step S22), the on-vehicle terminal display unit 24 displays to the registrant that the evacuation traveling is canceled, and the management unit 11 controls the automatic traveling control unit 13 to automatically The driving of the driving is canceled (step S23), and the process is ended.

  FIG. 8 is a view showing an example of a screen displayed on the on-vehicle terminal display unit 24 when the disaster information is canceled in the middle of the evacuation support. As shown in FIG. 8, for example, when the tsunami warning is canceled in the middle of evacuation support, the message “Tsunami warning has been canceled. Cancel evacuation in automatic operation.” Is displayed on the on-vehicle terminal display unit 24. Is displayed on. In this case, the registrant confirms the above-mentioned message, for example, causes the autonomous traveling vehicle 1 to resume the interrupted task, and the autonomous traveling vehicle 1 transports the registrant to the initial destination.

  According to the above process, in the present embodiment, at the time of disaster occurrence, the evacuation site is automatically determined only when the occupant, ie, the registrant, who is appropriate for using the car for getting on the vehicle, is automatically driven to the evacuation site. Because they are driving at the site, they can reliably assist the registrant to evacuate to a safe evacuation site.

Second Embodiment
FIG. 9 is a block diagram showing an example of a configuration of an autonomous vehicle according to a second embodiment of the present disclosure. In the first embodiment described above, traveling by automatic driving is performed up to the evacuation site, but in the present embodiment, after the autonomous traveling vehicle 1a shown in FIG. Automatic travel control is performed with the evacuation site as the destination. Therefore, the difference between the autonomous traveling vehicle 1a shown in FIG. 9 and the autonomous traveling vehicle 1 shown in FIG. 1 is that the control device 10 is changed to the control device 10a further comprising the evacuation location determination unit 14 and evacuation location DB (database) 28 is a point added, and the same part as Embodiment 1 attaches the same numerals, and omits detailed explanation.

  The autonomous traveling vehicle 1a shown in FIG. 9 includes the control device 10a, the disaster information receiving unit 21, the occupant authentication unit 22, the vehicle position detection unit 23, the in-vehicle terminal display unit 24, the communication unit 25, and the like as in the first embodiment. The evacuation site DB 26 and the map DB 27 are provided, and further, the evacuation site DB (database) 28 is provided. The control device 10 a includes a management unit 11, an evacuation place determination unit 12, and an automatic travel control unit 13, and further includes a evacuation place determination unit 14.

  The evacuation site DB 28 stores a plurality of evacuation sites in advance as candidates for the evacuation site of the autonomous traveling vehicle 1a. The evacuation site determination unit 14 acquires an evacuation site in the vicinity of the evacuation site from the evacuation site DB 28 based on the evacuation site determined by the evacuation site determination unit 12, and determines the acquired evacuation site as an evacuation site of the autonomous traveling vehicle 1a. Do. The configuration of the save location DB is not particularly limited to the above example, and the evacuation location is stored in a save location DB of an external device such as a server connected to a predetermined network, and the save location is stored using the communication unit 25. It may be acquired.

  The automatic travel control unit 13 causes the autonomous traveling vehicle 1a to automatically travel with the evacuation location determined by the evacuation location determination unit 14 as the destination after the automatic traveling to the evacuation location. In addition to receiving traffic information from the outside, the communication unit 25 is a portable terminal 2 that the registrant uses, for example, a message notifying the registrant that the autonomous vehicle 1a has completed evacuation to the evacuation location and the evacuation location. Send to

  The portable terminal 2 is an example of a terminal device, and for example, a smartphone can be used. The portable terminal 2 is not particularly limited to the above example, and another terminal device such as a tablet or a notebook computer may be used.

  FIG. 10 is a diagram for explaining an example of an operation of the autonomous mobile vehicle 1a shown in FIG. 9 for evacuating after assisting a person's evacuation at the time of occurrence of a disaster. As shown in FIG. 10, the autonomous traveling vehicle 1a receives disaster information when the registrant P1 registered in advance is on, as in the first embodiment, and the current location of the autonomous traveling vehicle 1a is When within the evacuation target area, evacuation support is performed by acquiring an evacuation site based on the current position of the autonomous vehicle 1a and automatically traveling with the acquired evacuation site as a destination. After completion of the evacuation support, the autonomous vehicle 1a performs evacuation by automatic traveling with the evacuation site not interfering with other traffic as a destination, and a message notifying the evacuation site that evacuation has been completed and a evacuation site, It transmits to the portable terminal 2 of the registrant P1.

  Next, evacuation support processing by the autonomous vehicle 1a configured as described above will be described. 11 and 12 are first and second flowcharts showing an example of the evacuation support process by the autonomous mobile vehicle 1a shown in FIG. In FIG. 11, the same processing as that of the flowchart of the first embodiment shown in FIG. 3 is denoted by the same reference numeral, and the description will be omitted.

  As shown in FIG. 11, the autonomous traveling vehicle 1a executes the processing of steps S11 to S23 in the same manner as the processing of steps S11 to S23 shown in FIG. 3, and the evacuation travel to the destination is completed (step S21). YES), as shown in FIG. 12, the on-vehicle terminal display unit 24 displays that evacuation by automatic driving is finished and that the user is urged to get off and that the autonomous traveling vehicle 1 a be evacuated, and the evacuation site determination unit 14 The evacuation site near the evacuation site is acquired from the evacuation site DB 28, and the evacuation site of the autonomous vehicle 1a is determined (step S31).

  FIG. 13 is a view showing an example of a screen displayed on the on-vehicle terminal display unit 24 when the autonomous traveling vehicle 1a retracts after the registrant on the autonomous traveling vehicle 1a shown in FIG. 9 has been evacuated. is there. As shown in FIG. 13, for example, when the tsunami warning is announced and the autonomous vehicle 1a arrives at the evacuation site as the destination, "Evacuation by automatic driving is completed. Please get off." And " After that, a message “automatically moves the car out of the way” is displayed on the on-vehicle terminal display unit 24. In this case, since the registrant confirms the above message and evacuation support by the autonomous driving of the autonomous vehicle 1a is completed, the passenger dismounts and evacuates to the evacuation site, and then the autonomous traveling vehicle 1a is evacuated by the automatic driving. It will be evacuated to a place.

  Next, the automatic travel control unit 13 performs traveling by automatic driving with the evacuation site as a destination (step S32).

  Next, the management unit 11 determines whether the evacuation travel to the destination has been completed (step S33). When the evacuation traveling to the destination is not completed (NO in step S33), the process returns to step S32, and the automatic traveling control unit 13 continues traveling by the automatic driving with the evacuation place as the destination. On the other hand, when the evacuation travel to the destination is completed (YES in step S33), the communication unit 25 transmits the fact that evacuation by automatic driving is completed to the registrant's portable terminal 2, and ends the process.

  FIG. 14 is a view showing an example of a screen displayed on the portable terminal 2 of the registrant at the completion of retraction of the autonomous mobile vehicle 1a shown in FIG. As shown in FIG. 14, for example, when the autonomous vehicle 1 a completes evacuation by automatic driving with the “wide area motion park” as an evacuation place, “we evacuated to a place where the car does not get in the way.” And “evacuate The place is "wide area exercise park". Is displayed on the portable terminal 2. In this case, the registrant confirms that the evacuation has been completed and a message indicating the evacuation location, and knows that the autonomous traveling vehicle 1a is stopped at the "wide area exercise park".

  According to the above-described process, in the present embodiment, after assisting the registrant to evacuate the evacuation site, the autonomous traveling vehicle 1a is automatically separated so that the autonomous traveling vehicle 1a does not get in the way of other vehicles etc. Can be evacuated to

Third Embodiment
FIG. 15 is a block diagram showing an example of a configuration of an autonomous vehicle according to a third embodiment of the present disclosure. In the first embodiment described above, when the registrant who is an occupant whose use of a car is appropriate for evacuation is on board, traveling by automatic driving is performed up to the evacuation site, but in the present embodiment When a registrant who is an appropriate occupant of a car does not get on the vehicle, the autonomous traveling vehicle picks up the registrant and travels automatically to the evacuation site. For this reason, the autonomous traveling vehicle 1b shown in FIG. 15 is different from the autonomous traveling vehicle 1 shown in FIG. 1 in that the control device 10 is changed to a control device 10b further comprising a registrant location acquisition unit 15 The same parts as in the first embodiment and the second embodiment are assigned the same reference numerals and detailed explanations thereof will be omitted.

  As in the first embodiment, the autonomous traveling vehicle 1b shown in FIG. 15 includes the control device 10b, the disaster information receiving unit 21, the occupant authentication unit 22, the vehicle position detection unit 23, the in-vehicle terminal display unit 24, the communication unit 25, The control device 10 b includes the management unit 11, the evacuation location determination unit 12, and the automatic travel control unit 13, and further includes the registrant location acquisition unit 15.

  The portable terminal 2 is possessed by the registrant and transmits a rescue request signal to the autonomous vehicle 1b in accordance with the operation of the registrant. The communication unit 25 receives the rescue request signal and the current position of the portable terminal 2 from the portable terminal 2 in addition to receiving traffic information and the like from the outside, and transmits various messages and the like regarding the rescue request to the portable terminal 2 The portable terminal 2 displays the received message or the like to the registrant.

  The management unit 11 determines whether the autonomous traveling vehicle 1b is executing a predetermined task. Further, the management unit 11 checks whether the communication unit 25 receives the relief request signal from the portable terminal 2 and determines whether or not there is a relief request from the relief request registrant.

  When the disaster information receiving unit 21 receives the disaster information when the autonomous traveling vehicle 1 b is not executing a predetermined task, the registrant location acquiring unit 15 receives the portable terminal of the registrant through the communication unit 25 and the management unit 11. Obtain the current position of 2, ie, the current location of the registrant.

  Further, when management unit 11 determines that registrant's location is not on autonomous traveling vehicle 1b, registrant location acquisition unit 15 determines the current position of registrant's portable terminal 2 through communication unit 25 and management unit 11, ie, Get the registrant's current location.

  In addition, when the communication unit 25 receives the rescue request signal from the portable terminal 2 of the registrant, the registrant location acquisition unit 15 transmits the current position of the portable terminal 2 of the registrant through the communication unit 25 and the management unit 11, that is, the registrant Get the current location of.

  Based on the disaster information received by the disaster information reception unit 21 and the location acquired by the registrant location acquisition unit 15, the evacuation location determination unit 12 determines from the evacuation location DB 26 the current location of the registrant within the scope of the disaster. Acquire a nearby evacuation site, and determine the acquired evacuation site as a registrant's evacuation site.

  Based on the disaster information received by the disaster information receiving unit 21 and the traffic information received by the communication unit 25, the management unit 11 determines whether the autonomous vehicle 1b arrives at the evacuation site via the location before the occurrence of the disaster. Determine if

  When the management unit 11 determines that the autonomous vehicle 1b arrives at the evacuation site via the location before the occurrence of a disaster, the communication unit 25 transmits a rescue request acceptance signal indicating that the rescue request signal has been received to the portable terminal 2 If the management unit 11 determines that the autonomous vehicle 1b does not arrive at the evacuation site via the location before the occurrence of a disaster, the rescue request non-acceptance signal indicating that the rescue request signal can not be accepted is Send to terminal 2

  If the management unit 11 determines that the autonomous vehicle 1b arrives at the evacuation site via the location before the occurrence of a disaster, the automatic travel control unit 13 autonomously travels to the evacuation site via the current location of the registrant The car 1b is run automatically.

  FIG. 16 is a diagram for describing an example of an operation in which the autonomous vehicle 1b shown in FIG. 15 picks up the registrant at the occurrence of a disaster to support evacuation. As shown in FIG. 16, when the autonomous vehicle 1b receives disaster information and receives a relief request from the registrant P1, ie, a relief request signal from the portable terminal 2, the autonomous traveling vehicle 1b acquires the location of the registrant and registers it. I am going to pick you up. After that, as in the first embodiment, the autonomous vehicle 1b performs evacuation support for the registrant P1 by automatically traveling with the evacuation site as the destination.

  Next, evacuation support processing by the autonomous vehicle 1b configured as described above will be described. FIGS. 17 to 19 are first to third flowcharts showing an example of the evacuation support process by the autonomous mobile vehicle 1b shown in FIG. In FIG. 17, the same processes as the flowchart of the first embodiment shown in FIG. 3 carry the same reference numerals, and the explanation thereof is omitted.

  As shown in FIG. 17, the autonomous traveling vehicle 1b executes the process of step S11 in the same manner as the process of step S11 shown in FIG. 3, and when there is disaster information requiring evacuation (YES in step S11), management The unit 11 determines whether the autonomous traveling vehicle 1b is executing a predetermined task (step S41).

  If the autonomous vehicle 1b is not executing a predetermined task (NO in step S41), the process proceeds to step S43 shown in FIG. 18, and the management unit 11 selects the relief request signal from the portable terminal 2 by the communication unit 25. It is checked whether or not it has been received, and it is determined whether or not there is a request for relief from the registrant (step S43). If there is no request for relief from the registrant (NO in step S43), the process ends.

  On the other hand, when there is a request for relief from the registrant (YES in step S43), the registrant location acquisition unit 15 sets the current position of the registrant's mobile terminal 2 as the registrant location through the communication unit 25 and the management unit 11. It acquires (step S44).

  Next, on the basis of the disaster information acquired by the disaster information receiving unit 21 and the location of the registrant acquired by the registrant location acquiring unit 15, the evacuation site determination unit 12 registers the registrant within a range not affected by the disaster from the evacuation site DB 26. An evacuation site near the location of the destination is acquired (step S45).

  Next, the automatic travel control unit 13 refers to the map DB 27 and sets a pick-up / evacuation travel route to the evacuation site acquired by the evacuation site determination unit 12 via the location of the registrant (step S46).

  Next, the management unit 11 acquires traffic information from the outside using the communication unit 25, and based on the acquired traffic information, the arrival time to the evacuation site on the pick-up / evacuation travel route set by the automatic travel control unit 13 (Step S47).

  Next, the management unit 11 determines whether the arrival time to the evacuation site is in time for the predicted arrival time of the disaster received by the disaster information reception unit 21 (step S48). If the arrival time to the evacuation site is not in time for the predicted arrival time of the disaster (NO in step S48), the communication unit 25 transmits a relief request non-acceptance signal indicating that the relief request (relief request signal) can not be accepted. 2 (step S49), and the process ends.

  FIG. 20 is a view showing an example of a screen displayed on the portable terminal 2 when the autonomous mobile vehicle 1b shown in FIG. 15 can not receive a rescue request when a disaster occurs. As shown in FIG. 20, for example, a tsunami warning is announced, and the arrival time to the evacuation site is not in time for the predicted arrival time of the disaster, so when the autonomous traveling vehicle 1b can not receive the relief request at the time of disaster occurrence, The terminal 2 receives the relief request non-acceptance signal, and a message “Evacuate by car seems not to be in time. Please evacuate immediately to a safe place.” Is displayed on the portable terminal 2. In this case, the registrant will immediately evacuate to a safe place without the arrival of the autonomous vehicle 1b.

  On the other hand, when the arrival time to the evacuation site is in time for the predicted arrival time of the disaster (YES in step S48), the communication unit 25 transmits the relief request acceptance signal indicating that the relief request (relief request signal) is accepted. (Step S50).

  FIG. 21 is a view showing an example of a screen displayed on the portable terminal 2 when the autonomous mobile vehicle 1b shown in FIG. 15 can receive a relief request when a disaster occurs. As shown in FIG. 21, for example, when a tsunami warning is announced and the arrival time to the evacuation site is in time for the predicted arrival time of a disaster, the mobile terminal can receive the relief request when the disaster occurs, the mobile terminal 2 receives the relief request acceptance signal, and a message “I will accept you immediately because I received the evacuation request” is displayed on the portable terminal 2. In this case, the registrant will stand by until the autonomous vehicle 1b arrives.

  Next, the automatic travel control unit 13 performs a pickup travel by automatic driving with the location of the registrant as a destination (step S51).

  Next, the management unit 11 determines whether or not the pickup travel to the destination is completed (step S52). When the pickup traveling is not completed (NO in step S52), the management unit 11 checks whether the disaster information receiving unit 21 receives the disaster information during the pickup traveling, so that the disaster requiring evacuation is performed. It is determined whether there is information (step S53). If there is disaster information that requires evacuation (YES in step S53), the processing in step S51 and subsequent steps is continued, and the autonomous vehicle 1b continues automatic driving to the location of the registrant. On the other hand, when there is no disaster information that needs evacuation (NO in step S53), the management unit 11 cancels the traveling by the automatic driving of the automatic traveling control unit 13 (step S54), and ends the processing.

  On the other hand, if pick-up travel is completed (YES in step S52), the process proceeds to step 55 shown in FIG. 19, and the occupant authentication unit 22 authenticates whether a registered person registered in advance is on board. Is notified to the management unit 11 (step S55).

  Next, the management unit 11 determines whether the registrant is on the basis of the authentication result of the occupant authentication unit 22 (step S56). If the registrant is not on board (NO in step S56), the process ends.

  On the other hand, when the registrant is on board (YES in step S56), the automatic travel control unit 13 travels by automatic driving with the evacuation site as the destination (step S57).

  Next, the management unit 11 determines whether evacuation travel to the destination is completed (step S58). When evacuation travel to the destination is completed (YES in step S58), the on-vehicle terminal display unit 24 displays to the registrant that evacuation by automatic driving is finished and evacuation is prompted, as shown in FIG. , End the process.

  On the other hand, when the evacuation travel to the destination is not completed (NO in step S58), the management unit 11 confirms whether the disaster information reception unit 21 receives the disaster information during the evacuation travel. Then, it is determined whether there is disaster information that requires evacuation (step S59). If there is disaster information that requires evacuation (YES in step S59), the processing in step S57 and subsequent steps is continued, and the autonomous vehicle 1b continues automatic driving to the evacuation site.

  On the other hand, when there is no disaster information that requires evacuation (NO in step S59), as shown in FIG. 8, the on-vehicle terminal display unit 24 displays to the registrant that cancellation of evacuation traveling is to be performed. The automatic driving control unit 13 cancels the driving of the automatic driving (step S60), and ends the processing.

  When it is determined in step S41 shown in FIG. 17 that the autonomous traveling vehicle 1b is executing a predetermined task, the processes of steps S12, S13, and S15 are executed as in the first embodiment, If the registrant is not boarded (NO in step S13), the automatic travel control unit 13 causes the autonomous traveling vehicle to stop on the road shoulder by automatic driving (step S42), and then the processing after step S43 shown in FIG. It is carried out as above.

  In addition, the method to transmit a relief request signal from the portable terminal 2 is not specifically limited to said example, A various change is possible. For example, when the process after step S44 is executed while omitting the process of step S43 and the arrival time to the evacuation site is in time for the predicted arrival time of the disaster (YES in step S48), the communication unit 25 is performed as the process of step S50. May transmit a request message for relief request to the portable terminal 2 and then execute the relief request determination process of step S43 to determine whether or not there is a relief request from the registrant.

  When the registrant transmits a rescue request signal from the portable terminal 2 in response to the above inquiry message, it is determined that there is a rescue request from the registrant, and the processing after step S50 is executed, and the registrant carries When the rescue request signal is not transmitted from the terminal 2, the process may be ended by determining that there is no rescue request from the registrant.

  FIG. 22 is a view showing an example of a screen displayed on the portable terminal 2 for the autonomous mobile vehicle 1b shown in FIG. 15 to inquire the necessity of a rescue request when a disaster occurs. As shown in FIG. 22, for example, when the tsunami warning is announced and the arrival time to the evacuation site is in time for the predicted arrival time of the disaster, if the autonomous traveling vehicle 1b can receive the relief request when the disaster occurs, An inquiry message “Do you want to request evacuation by driving?” Is displayed on the mobile terminal 2. When a request for relief is desired, the registrant presses the “Yes” button B1, and the portable terminal 2 transmits a relief request signal to the autonomous vehicle 1b. On the other hand, when not requesting a relief request, the registrant presses the "No" button B2, and transmits a relief unnecessary signal from the portable terminal 2 to the autonomous vehicle 1b without transmitting a relief request signal. Become.

  According to the above process, in the present embodiment, at the time of disaster occurrence, the evacuation site is automatically acquired only when the occupant, ie, the registrant, who is appropriate to use the car gets on the evacuation, and the automatic driving to the evacuation site is performed. The autonomous traveling vehicle 1b picks up the registrant and travels by automatic driving to the evacuation site when an occupant, ie a registrant, whose use of the automobile is appropriate for evacuation is not on. To ensure that registrants can evacuate to safe shelters.

Embodiment 4
FIG. 23 is a block diagram showing an example of a configuration of an autonomous vehicle according to a fourth embodiment of the present disclosure. In the third embodiment described above, when a registrant who is a passenger whose use of a car is appropriate for evacuation does not get on, the autonomous traveling vehicle picks up the registrant and travels by automatic driving to the evacuation site. In the present embodiment, the alternative autonomous traveling vehicle greets the registrant when the autonomous traveling vehicle greets the registrant and can not travel to the evacuation site by automatic driving in the present embodiment. Travel to the evacuation site by automatic driving. Therefore, an autonomous traveling vehicle 1c shown in FIG. 23 differs from the autonomous traveling vehicle 1b shown in FIG. 15 in that a vehicle communication unit 29 is added, and the same portions as the first to third embodiments are the same. The sign is given and the detailed explanation is omitted.

  As in the third embodiment, the autonomous traveling vehicle 1c shown in FIG. 23 includes the control device 10b, the disaster information receiving unit 21, the occupant authentication unit 22, the vehicle position detection unit 23, the in-vehicle terminal display unit 24, the communication unit 25, The evacuation site DB 26 and the map DB 27 are provided, and further, the vehicle communication unit 29 is provided. The control device 10 b includes the management unit 11, the evacuation site determination unit 12, the automatic travel control unit 13, and the registrant location acquisition unit 15.

  Based on the disaster information received by the disaster information receiving unit 21 and the traffic information received by the communication unit 25, the management unit 11 determines whether the autonomous vehicle 1c arrives at the evacuation site via the location before the occurrence of the disaster. Determine if

  The vehicle communication unit 29 determines that the management unit 11 determines that the autonomous traveling vehicle 1c does not arrive at the evacuation site via the location by the occurrence of a disaster if it is determined that the evacuation support by the autonomous traveling vehicle 1c is not in time In this case, a rescue request signal for requesting automatic travel to the evacuation site via the location is transmitted to the alternative autonomous vehicle 1d.

  The autonomous traveling vehicle 1d is configured in the same manner as the autonomous traveling vehicle 1c, and can execute the same evacuation support processing as the autonomous traveling vehicle 1c. For example, the registrant owns the autonomous traveling vehicle 1c and the autonomous traveling vehicle 1d, the registrant is preset with respect to the autonomous traveling vehicle 1c and the autonomous traveling vehicle 1d, and the autonomous traveling vehicle 1c carries the family of the registrant When traveling to a commercial facility, it is assumed to use an autonomous vehicle 1d waiting in a parking lot to support evacuation of a registrant. The number of autonomous vehicles is not particularly limited to the above example, and three or more autonomous vehicles may be used. In this case, the priority of evacuation support is set in advance for the autonomous vehicles, and the priority order is Alternative autonomous vehicles may be determined according to

  FIG. 24 illustrates an example of the operation of assisting the evacuation by another autonomous traveling vehicle 1d to meet the registrant when the autonomous traveling vehicle 1c shown in FIG. 23 can not support the evacuation of the registrant at the time of occurrence of a disaster. Of the As shown in FIG. 24, when the autonomous vehicle 1c receives disaster information and receives a request for relief from the registrant P1, the autonomous traveling vehicle 1c acquires the location of the registrant P1, and after picking up the registrant P1. Even if automatic travel is performed with the evacuation site as the destination, it is determined whether evacuation support is in time. The autonomous traveling vehicle 1c, when going to pick up the registrant P1, automatically travels with the evacuation site as the destination, if it is determined that evacuation support is not in time, the evacuation site via the location of the registrant P1 The autonomous traveling vehicle 1d is requested to automatically travel up to the end. The autonomous mobile vehicle 1d automatically travels with the evacuation site as a destination after the registrant P1 is picked up.

  Next, the evacuation support processing by the autonomous traveling vehicle 1c configured as described above will be described. FIGS. 25 to 27 are first to third flowcharts showing an example of the evacuation support process by the autonomous mobile vehicle 1 c shown in FIG. In FIG. 25 to FIG. 27, the same processes as the flowcharts of the third embodiment shown in FIG. 17 to FIG. That is, the flowcharts shown in FIGS. 25 to 27 are different from the flowcharts shown in FIGS. 17 to 19 in that the process of step S49 shown in FIG. 18 is changed to the process of step S61 shown in FIG. Since the process of is the same as the evacuation support process of the third embodiment, the detailed description is omitted.

  In the present embodiment, when it is determined that the arrival time to the evacuation site is not in time for the predicted arrival time of the disaster received by the disaster information receiving unit 21 in step S48 of FIG. 26, the vehicle communication unit In response to an instruction from the management unit 11, the control unit 29 transmits a rescue request signal to the autonomous vehicle 1d (step S61), and ends the process.

  At this time, the autonomous vehicle 1d receives the relief request signal, regards the relief request signal as the relief request signal from the portable terminal 2, executes the processing after step S44 shown in FIG. 26, and picks up the registrant. After that, we will travel automatically with the evacuation site as the destination.

  According to the above process, in the present embodiment, at the time of occurrence of a disaster, an occupant whose use of a car is appropriate for evacuation, ie a registrant, is not on the autonomous traveling vehicle 1c. If there is not enough time for traveling, another autonomous vehicle 1d will go to the evacuation site after going to pick up the registrant by automatic driving, so the registrant will evacuate to a safe evacuation site Can certainly help.

  In the present embodiment, when it is determined that evacuation by the autonomous vehicle 1c is not in time, the rescue request signal is transmitted to the alternative autonomous vehicle 1d. However, the present invention is not particularly limited to this example. When a predetermined task is being performed in a state where the occupants other than the registrants are riding, a rescue request signal may be transmitted to the alternative autonomous mobile vehicle 1d. Further, if it is determined in step S13 shown in FIG. 25 that the registrant has not taken a ride, the processing in step S42 and subsequent steps may be changed to transmit a rescue request signal to the alternative autonomous vehicle 1d. Good.

  In the control method, the autonomous vehicle and the control program according to the present disclosure, since the registrant can appropriately evacuate by automatic driving of the autonomous vehicle at the occurrence of a disaster, the autonomous vehicle used at the occurrence of the disaster It is useful as a control method and control program of a control device that controls an autonomous vehicle.

1, 1a to 1d Autonomous Vehicles 10, 10a, 10b Control Device 11 Management Unit 12 Evacuation Place Determination Unit 13 Automatic Travel Control Unit 14 Evacuation Place Determination Unit 15 Registrant Location Acquisition Unit 21 Disaster Information Reception Unit 22 Occupant Authentication Unit 23 Self Car position detection unit 24 In-vehicle terminal display unit 25 Communication unit 26 Evacuation site DB
27 Map DB
28 Backup location DB
29 Vehicle Communication Department

Claims (10)

A control method of a control device for controlling an autonomous traveling vehicle used at the time of a disaster,
When the autonomous vehicle receives disaster information, it is determined whether a registrant registered in advance in the autonomous vehicle is on the vehicle.
When it is determined that the registrant is on the autonomous vehicle, the evacuation site of the registrant is determined based on the disaster information and the current position of the autonomous vehicle.
Causing the autonomous vehicle to automatically travel with the evacuation site as a destination;
Control method. Furthermore, traffic information to the evacuation site is acquired,
Furthermore, based on the traffic information and the disaster information, it is determined whether the autonomous vehicle arrives at the evacuation site before the occurrence of a disaster.
The automatic traveling is
If it is determined that the autonomous vehicle will arrive at the evacuation site by the occurrence of a disaster, the autonomous vehicle is automatically traveled with the evacuation site as a destination, and the autonomous vehicle is at the evacuation site by the occurrence of the disaster. When it is determined that the vehicle does not arrive, the autonomous vehicle is stopped on the road shoulder,
The control method according to claim 1. Furthermore, when it is received that the disaster information is canceled before the autonomous vehicle arrives at the evacuation site, automatic traveling of the autonomous vehicle with the evacuation site as a destination is canceled.
The control method according to claim 1. Furthermore, the evacuation site of the autonomous vehicle is determined based on the evacuation site,
Furthermore, after the automatic travel to the evacuation site, the autonomous vehicle is automatically traveled with the evacuation site as a destination.
The control method according to claim 1. Furthermore, when it is determined that the registrant is not on the autonomous vehicle, the location of the registrant is acquired,
Further, the evacuation site of the registrant is determined based on the disaster information and the location,
The automatic traveling is
Causing the autonomous vehicle to automatically travel to the evacuation site via the location;
The control method according to claim 1. Furthermore, when the autonomous traveling vehicle is not executing a predetermined task, if the disaster information is received, the location of the registrant is acquired,
Further, the evacuation site of the registrant is determined based on the disaster information and the location,
The automatic travel control is
Causing the autonomous vehicle to automatically travel to the evacuation site via the location;
The control method according to claim 1. Furthermore, based on the disaster information, it is determined whether the autonomous vehicle arrives at the evacuation site via the location before the occurrence of a disaster.
Furthermore, when it is determined that the autonomous vehicle does not arrive at the evacuation site via the location before occurrence of a disaster, a relief request signal requesting automatic traveling to the evacuation site via the location is received. Send to other autonomous vehicles,
A control method according to claim 5 or 6. Furthermore, when the autonomous vehicle receives a rescue request signal from the terminal device of the registrant, the location of the registrant is acquired,
Further, the evacuation site of the registrant is determined based on the disaster information and the location,
Furthermore, based on the disaster information, it is determined whether the autonomous vehicle arrives at the evacuation site via the location before the occurrence of a disaster.
Furthermore, when it is determined that the autonomous vehicle arrives at the evacuation site via the location before occurrence of a disaster, a rescue request acceptance signal indicating that the rescue request signal has been accepted is transmitted to the terminal device. When it is determined that the autonomous vehicle does not arrive at the evacuation site via the location before the occurrence of a disaster, a relief request rejection signal indicating that the relief request signal can not be received is transmitted to the terminal device ,
The control method according to claim 1. It is an autonomous vehicle used at the time of a disaster,
A receiver for receiving disaster information;
A determination unit that determines whether or not a registrant registered in advance on the autonomous traveling vehicle is riding when the disaster information is received;
A detection unit that detects the current position of the autonomous vehicle;
A determination unit that determines an evacuation site of the registrant based on the disaster information and the current position when it is determined that the registrant is on the autonomous traveling vehicle;
And a control unit that causes the autonomous vehicle to automatically travel with the evacuation site as a destination.
Autonomous vehicle. A control program for causing a computer to function as a control device that controls an autonomous vehicle used at the time of a disaster,
On the computer
When the autonomous vehicle receives disaster information, it is determined whether a registrant registered in advance in the autonomous vehicle is on the vehicle.
When it is determined that the registrant is on the autonomous vehicle, the evacuation site of the registrant is determined based on the disaster information and the current position of the autonomous vehicle.
Causing the autonomous vehicle to automatically travel with the evacuation site as a destination;
Control program that executes processing.

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