JP2019145016A - Method for storing vehicle control information, in-vehicle device and system - Google Patents

Abstract

To provide a method capable of identifying a cause of user discomfort during automatic driving.SOLUTION: A method is comprised of: acquiring vehicle state information for indicating a state of a vehicle when the vehicle whose operation can be controlled by manual operation and automatic operation is manually operated, and manual operation information for operating the vehicle by manual operation; calculating automatic control information for controlling the vehicle when the vehicle is automatically driven based on the vehicle state information; determining whether a difference between the manual operation information and the automatic control information is greater than or equal to a threshold; acquiring a position of the vehicle; and storing a position where the difference has occurred in a first storage unit in the case where the difference is equal to or greater than the threshold, together with manual operation information and automatic control information for a predetermined period including a time when the difference has occurred.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a method for storing vehicle control information, an in-vehicle device, and a system.

  In recent years, an autonomous driving vehicle that operates a vehicle by automatic control has been developed.

  In an autonomous driving vehicle, vehicle operations such as steering, driving and braking are automatically controlled on behalf of a human.

  The operation of the autonomous driving vehicle is controlled so as to travel safely with respect to other vehicles and people traveling on the road together with the own vehicle (for example, Patent Document 1).

  On the other hand, a user who manually drives a vehicle tends to perform his / her favorite operation with respect to the operation of the vehicle such as steering, driving and braking. For example, the inter-vehicle distance between the vehicle traveling ahead and the host vehicle, the timing for braking the obstacle ahead, and the like may differ depending on the user who manually drives the vehicle.

JP 2017-61192 A

  However, since the operation of the vehicle at the time of automatic driving is uniform, the operation of the vehicle at the time of automatic driving does not always coincide with the user's favorite operation on the automatic driving vehicle, and the user feels uncomfortable. there is a possibility. In such a case, there is no way to explain because there is no record when the side providing the vehicle and the service related to the vehicle (such as a dealer) wants to explain the cause of the uncomfortable feeling to the user.

  Therefore, an object of the present invention is to provide a method, an apparatus, and a system that can identify the cause of the user's uncomfortable feeling during automatic driving, which has not existed before.

  According to the method disclosed in the present specification, vehicle state information indicating the state of the vehicle when the vehicle whose operation can be controlled by manual operation and automatic operation is manually operated, and manual operation information for operating the vehicle by manual operation. , Calculating automatic control information for controlling the vehicle when the vehicle is automatically driven based on the vehicle state information, and whether or not the difference between the manual operation information and the automatic control information is greater than or equal to a threshold value Determining, obtaining the position of the vehicle, and if the difference is greater than or equal to a threshold, the position where the difference has occurred, along with manual operation information and automatic control information for a predetermined period including the time when the difference has occurred. Storing in the first storage unit.

  Moreover, according to the vehicle-mounted device disclosed in the present specification, the vehicle-mounted device is mounted on a vehicle whose operation can be controlled by manual driving and automatic driving, and includes a storage unit and a position information acquisition unit that acquires the position of the vehicle. Difference between manual operation information for operating the vehicle by manual operation and automatic control information for controlling the vehicle when the vehicle is automatically operated based on vehicle state information indicating the state of the vehicle when the vehicle is manually operated If the difference is equal to or greater than the threshold, the difference acquired by the position information acquisition unit together with the manual operation information and automatic control information for a predetermined period including the time when the difference occurs And a processing unit that stores a position where the error occurs in a storage unit.

  Furthermore, according to the system disclosed in the present specification, the vehicle-mounted device is mounted on each of a plurality of vehicles whose operations can be controlled by manual operation and automatic operation, and includes a communication unit, a storage unit, and a position of the vehicle The vehicle is controlled when the vehicle is automatically driven based on the position information acquisition unit for acquiring the vehicle, the manual operation information for operating the vehicle by manual operation, and the vehicle state information indicating the state of the vehicle when the vehicle is manually operated. It is determined whether or not the difference from the automatic control information to be performed is greater than or equal to a threshold value. A plurality of in-vehicle devices, comprising: a processing unit that stores, in a storage unit, a position where the difference acquired by the acquiring unit is stored; and a server that is communicably connected to each of the plurality of in-vehicle devices. of Each processing unit transmits the vehicle position acquired by the position information acquisition unit to the server using the communication unit, and each processing unit of the plurality of in-vehicle devices is stored in the storage unit. Manual operation information and automatic control information for a predetermined period including the time when the difference occurs and the position where the difference has occurred are transmitted to the server, and the server indicates the position where the difference has occurred in one vehicle. When traveling, a request for storing automatic control information is transmitted to the in-vehicle device of one vehicle, and when the processing unit of the in-vehicle device mounted on the one vehicle receives the request, the automatic control information is stored in the storage unit. To do.

  Furthermore, according to another system disclosed in the present specification, it is an in-vehicle device mounted on each of a plurality of vehicles whose operations can be controlled by manual operation and automatic operation, and includes a communication unit, a storage unit, When the vehicle is automatically driven based on a position information acquisition unit for acquiring the position of the vehicle, manual operation information for operating the vehicle by manual operation, and vehicle state information indicating the state of the vehicle when the vehicle is manually operated It is determined whether or not the difference from the automatic control information for controlling the vehicle is greater than or equal to a threshold value. An in-vehicle device having a processing unit that stores in the storage unit the position where the difference acquired by the position information acquisition unit has occurred, and a server that is communicably connected to each of the plurality of in-vehicle devices. Car Each processing unit of the apparatus transmits manual operation information and automatic control information for a predetermined period including a time point when the difference stored in the storage unit occurs and a position where the difference has occurred to the server. The position where the difference has occurred in the other vehicle is transmitted to the processing unit of the in-vehicle device mounted on the other vehicle, and the processing unit of the in-vehicle device mounted on the one vehicle When the vehicle travels at a position where a difference has occurred, automatic control information is stored in the storage unit.

  According to the method disclosed in the present specification described above, the cause of the user's uncomfortable feeling during automatic driving can be specified.

  Moreover, according to the apparatus disclosed in the present specification described above, the cause of the user's uncomfortable feeling during automatic driving can be specified.

  Furthermore, according to the system disclosed in the present specification described above, the cause of the user's uncomfortable feeling during automatic driving can be specified.

It is a figure showing composition of a first embodiment of a system indicated to this specification. It is a figure which shows the structure of a vehicle system. It is a figure which shows the structure of a server. It is a flowchart (the 1) explaining operation | movement of a control signal memory | storage device. (A) is a figure which shows a braking control signal, (B) is a figure which shows distance. FIG. 4 is a diagram showing a steering control signal. It is a flowchart (the 2) explaining operation | movement of a control signal memory | storage device. It is the sequence diagram (the 1) explaining operation | movement of a system. It is a figure explaining the process which calculates | requires the area | region where a difference occurs frequently. It is the sequence diagram (the 2) explaining operation | movement of a system.

  Hereinafter, a preferred embodiment of a control information storage system disclosed in this specification will be described with reference to the drawings. However, the technical scope of the present invention is not limited to these embodiments, but extends to the invention described in the claims and equivalents thereof.

  FIG. 1 is a diagram showing a configuration of a first embodiment of a control information storage system disclosed in this specification. FIG. 2 is a diagram illustrating a configuration of a vehicle system mounted on the vehicle. FIG. 3 is a diagram illustrating the configuration of the server.

  The control information storage system 1 of the present embodiment includes a vehicle system 10 mounted on the vehicles 100a and 100b, and a server 80 that is communicably connected to the vehicle system 10 via a network N. The operations of the vehicles 100a and 100b can be controlled by manual operation and automatic operation. In FIG. 1, two vehicles are shown, but the control information storage system 1 only needs to include a vehicle system 10 mounted on at least one vehicle, and is mounted on three or more vehicles. The vehicle system 10 to be used may be provided.

  The vehicle system 10 automatically controls a vehicle when it is automatically driven based on a manual operation signal for operating the vehicle by a manual operation by a user and vehicle state information indicating a state of the vehicle when the vehicle is being manually operated. Compare with control signal. When the difference between the manual operation signal and the automatic control signal corresponding to the manual operation signal is equal to or greater than a threshold, the vehicle system 10 and the manual operation signal for a predetermined period including the time when the difference occurs and the manual operation signal The automatic control signal corresponding to the operation signal and the position where the difference has occurred are stored.

  Then, the vehicle system 10 sends the manual operation signal for a predetermined period including the time when the difference occurs, the automatic control signal corresponding to the manual operation signal, and the position where the difference has occurred to the server 80 via the network N. Send.

  The server 80 stores a manual operation signal, an automatic control signal corresponding to the manual operation signal, and a position where the difference has occurred.

  The vehicle system 10 mounted on the vehicles 100a and 100b includes a control signal storage device 20, an in-vehicle device 30, a GPS information receiving unit 40, a driving control device 50, a steering device 61, a driving device 62, and a braking device. 63 and a vehicle state measuring unit 70.

  The control signal storage device 20 (hereinafter also simply referred to as the storage device 20) receives a manual operation signal and an automatic control signal corresponding to the manual operation signal (hereinafter also referred to as a corresponding automatic control signal) from the operation control device 50. Compare. When the difference between the manual operation signal and the corresponding automatic control signal is equal to or greater than the threshold, the control signal storage device 20 detects the manual operation signal, the corresponding automatic control signal, and the difference for a predetermined period including the time when the difference occurs. Is stored and transmitted to the server 80. In this specification, the manual operation information includes a manual operation signal, and the automatic control information includes an automatic control signal.

  The storage device 20 includes a processing unit 21, a first storage unit 22, a second storage unit 23, and a communication unit 24.

  The processing unit 21 includes one or a plurality of processors and peripheral circuits. The processing unit 21 controls each hardware component of the storage device 20 and performs various processes according to a predetermined program stored in advance in the first storage unit 22, and temporarily stores data generated during the processing. The first storage unit 22 is used.

  The first storage unit 22 may include a semiconductor memory such as a random access memory (RAM) or a read only memory (ROM), a magnetic disk, or a flash memory. The first storage unit 22 may have a drive that can read a storage medium that stores a predetermined program in a non-temporary manner.

  The second storage unit 23 can write a manual operation signal, a corresponding automatic control signal, and the like. The second storage unit 23 may include a semiconductor memory such as a random access memory (RAM), a magnetic disk, or a flash memory.

  The processing unit 21 receives manual operation signals and corresponding automatic control signals from the operation control device 50 at predetermined intervals, and stores the input information in the second storage unit 23 together with the positions of the vehicles 100a and 100b. When the storage capacity of the second storage unit 23 that stores information for a predetermined period becomes full, the processing unit 21 preferably stores new information over the oldest information.

  The processing unit 21 reads out the manual operation signal and the corresponding automatic control signal for a predetermined period including the time point when the difference equal to or greater than the threshold has occurred, and the position where the difference has occurred from the second storage unit 23, and Remember.

  When the difference between the manual operation signal and the corresponding automatic control signal is equal to or greater than the threshold, the processing unit 21 described above, the manual operation signal and the corresponding automatic control signal for a predetermined period including the time when the difference occurs, and the difference. A storage process for storing the position where the error occurred in the first storage unit 22 is executed. Details of other operations executed by the processing unit 21 will be described later. Each function executed by the processing unit 21 is, for example, a functional module realized by a computer program that operates on a processor included in the processing unit 21. Each function of the processing unit 21 may be implemented in the storage device 20 as a circuit.

  The communication unit 24 transmits and receives information to and from the server 80 via the network N using wireless communication. The communication unit 24 is connected to the network N via a base station in compliance with a predetermined wireless communication standard such as 3GPP (Third Generation Partnership Project) or LTE (Long Term Evolution). The communication unit 24 may include a communication circuit that performs transmission and reception wirelessly and an antenna. The processing unit 21 performs various processes based on information received using the communication unit 24. In addition, the processing unit 21 transmits the results of various processes using the communication unit 24.

  Moreover, the communication part 24 transmits / receives information between the vehicle-mounted apparatus 30 and the driving | running control apparatus 50 via the network C (Controller Area Network: CAN conformity) in a vehicle. The communication unit 24 may include a communication circuit and a communication line that perform wired transmission / reception.

  The in-vehicle device 30 includes a processing unit 31, a storage unit 32, a display unit 33, an operation unit 34, an acoustic output unit 35, and a communication unit 36.

  The processing unit 31 includes one or a plurality of processors and peripheral circuits. The processing unit 31 performs control and various processing of each hardware component of the in-vehicle device 30 according to a predetermined program stored in advance in the storage unit 32, and stores the data generated during the processing temporarily. Part 32 is used.

  The storage unit 32 may include a semiconductor memory such as a random access memory (RAM) or a read only memory (ROM), a magnetic disk, or a flash memory. The storage unit 32 may include a drive that can read a storage medium that stores a predetermined program in a non-temporary manner.

  The display unit 33 is controlled by the processing unit 31 and can display various types of information accompanying the operation of the in-vehicle device 30. For example, a liquid crystal display can be used as the display unit 33. The display unit 33 can also be used for displaying information in the operation of the operation control device 50.

  The operation unit 34 can be operated by a user to input an operation. The in-vehicle device 30 can use, for example, a touch panel integrated with the display unit 33 as the operation unit 34. The operation unit 34 can also be used to input an operation in the operation of the operation control device 50.

  The sound output unit 35 is connected to a speaker (not shown), and is controlled by the processing unit 31 to output sound. The sound output unit 35 has an audio interface, for example.

  The communication unit 36 transmits and receives information to and from the storage device 20 and the operation control device 50 via the in-vehicle network C. The communication unit 36 may include a communication circuit and a communication line that perform wired transmission / reception.

  The GPS information receiving unit 40 is a position information acquiring unit that acquires the positions of the vehicles 100a and 100b, receives GPS radio waves transmitted by GPS artificial satellites, obtains the position of the vehicle, and outputs the vehicle position information to the in-vehicle device 30. To do. The in-vehicle device 30 can transmit the vehicle position information to the storage device 20 via the network C in the vehicle at a predetermined interval or in response to a request from the storage device 20. Note that the storage device 20 may include a GPS information receiving unit.

  The processing unit 31 has a navigation function. The navigation function is a functional module realized by using map data stored in the storage unit 32 by executing a predetermined route search program such as a route search program using the Dijkstra method. The vehicle acquired from the GPS information receiving unit 40 Based on the current position of the vehicle, it has a navigation function to calculate and guide the travel route to the destination. Based on the map data stored in the storage unit 32 and the position of the vehicle, the processing unit 31 outputs a map image indicating a map around the vehicle and voice guidance information to the display unit 33 or the sound output unit 35. Further, when the destination is set by the user, the processing unit 31 derives a route from the current vehicle position to the destination and superimposes the route on the map image. The map image output by the processing unit 31 is displayed on the display unit 13.

  The operation control device 50 inputs a user operation from the operation unit 34 of the in-vehicle device 30, for example, and switches the operation of the vehicles 100a and 100b between automatic operation and manual operation, and controls the operation of the vehicle. The operation control device 50 includes an automatic operation control unit 51 and a manual operation control unit 52. In the automatic driving, the driving control device 50 outputs an automatic control signal calculated by the automatic driving control unit 51 to the steering device 61, the driving device 62, and the braking device 63. In the manual operation, the operation control device 50 generates a manual operation signal that the manual operation control unit 52 outputs to the steering device 61, the drive device 62, and the braking device 63 based on an operation by the user.

  The automatic operation control unit 51 calculates an automatic control signal for controlling the vehicle by automatic operation based on the vehicle state information indicating the state of the vehicle, even when the vehicles 100a and 100b are manually operated, and sends them to the storage device 20. Send.

  The vehicle state measurement unit 70 includes sensors that detect vehicle state information indicating the state of the vehicle, such as a vehicle speed sensor 71, a steering angle sensor 72, and a pedal sensor 73, for example. The vehicle speed sensor 71 measures the rotational speed of the axle and outputs it to the operation control device 50. The operation control device 50 obtains the vehicle speed based on the output value of the vehicle speed sensor 71. The rudder angle sensor 72 detects the rotation angle of a steering (not shown) and outputs it to the operation control device 50. The driving control device 50 obtains the steering operation amount based on the output value of the rudder angle sensor 72. The pedal sensor 73 detects the displacement amounts of the brake pedal and the accelerator pedal, and outputs them to the operation control device 50. The operation control device 50 obtains the operation amounts of the brake pedal and the accelerator pedal based on the displacement amount of the pedal sensor 73. The vehicle state measuring unit 70 may further include sensors that detect vehicle state information such as an acceleration sensor, a yaw rate sensor, and an engine speed sensor.

  In addition, the vehicle state measurement unit 70 includes sensors that detect vehicle state information such as a camera 74 and a radar 75, and vehicle environment information such as a temperature sensor 76 that indicates an environment around the vehicle. The camera 74 captures front, rear, and side images of the vehicles 100 a and 100 b and outputs the captured images to the driving control device 50. As the camera 74, for example, a CCD or a CMOS sensor can be used. The driving control device 50 detects the presence of obstacles on the front, rear, and sides of the vehicles 100a and 100b based on the images taken by the camera 74. The radar 75 transmits electromagnetic waves such as millimeter waves to the front and rear of the vehicles 100a and 100b, receives the reflected waves that have been reflected back, converts the received electromagnetic waves into signals, and controls the operation control device 50. Output to. The radar 75 includes, for example, a sound wave or millimeter wave transmission / reception circuit. The operation control device 50 detects the presence of an obstacle in front of or behind the vehicles 100a and 100b based on the reflected wave signal output by the radar 75. The temperature sensor 76 detects the outside air temperature or road surface temperature of the vehicles 100 a and 100 b and outputs the detected temperature to the operation control device 50. The operation control device 50 transmits the input temperature to the storage device 20. As the temperature sensor 76, for example, a thermistor or a thermocouple can be used.

  Based on vehicle state information such as the vehicle speed, acceleration, yaw rate, image taken by the camera, reflected wave measured by the radar, etc. An automatic control signal for controlling 62 and the braking device 63 is calculated, and the operation of the vehicle by automatic driving is controlled. Further, the automatic operation control unit 51 receives the route information generated by the in-vehicle device 30 and determines the traveling direction. Further, the automatic driving control unit 51 recognizes another vehicle that is an obstacle ahead based on the image taken by the camera 74. The automatic operation control unit 51 obtains the inter-vehicle distance between the other vehicle recognized as an obstacle ahead and the host vehicle based on the reflected wave signal output from the radar 75. Note that the automatic operation control unit 51 may obtain a distance from an obstacle ahead based on an image taken by the camera 74. And the automatic driving | operation control part 51 determines the other vehicle of the recognized front as a target, and determines the stop inter-vehicle distance which stops with respect to a target based on the inter-vehicle distance and the vehicle speed of the own vehicle. Further, the automatic operation control unit 51 recognizes the traffic light ahead and the color of the signal lamp displayed by the traffic light based on the image taken by the camera 74. And the automatic driving | operation control part 51 determines the front signal apparatus recognized as a target object, and determines the stop inter-vehicle distance which stops with respect to a target object based on the inter-vehicle distance and the vehicle speed of the own vehicle. In addition, the automatic driving | operation control part 51 may receive the beacon signal which a traffic light outputs using the communication part 36 of the vehicle-mounted apparatus 30, and may recognize the color of the signal light which a front traffic light and a traffic light display. Each process of the automatic driving | operation control part 51 mentioned above can be performed using a well-known technique, for example. In the present specification, the inter-vehicle distance and the stopped inter-vehicle distance are included in the vehicle state information.

  The manual operation control unit 52 generates a manual operation signal for controlling the steering device 61, the driving device 62, and the braking device 63 based on an operation by a user seated on the driver's seat on a steering, an accelerator pedal, a brake pedal, or the like (not shown). Thus, the operation of the vehicle by manual operation is controlled. Further, the manual operation control unit 52 recognizes another vehicle that is an obstacle ahead based on the image taken by the camera 74. The manual operation control unit 52 obtains the inter-vehicle distance between the other vehicle recognized as an obstacle ahead and the host vehicle based on the reflected wave signal output by the radar 75. Note that the manual operation control unit 52 may obtain the distance from the obstacle ahead based on the image captured by the camera 74. Further, the manual operation control unit 52 recognizes the front traffic light and the color of the signal lamp displayed by the traffic light based on the image taken by the camera 74. The manual operation control unit 52 obtains the distance between the traffic signal ahead and the host vehicle based on the image taken by the camera 74. The manual operation control unit 52 may receive the beacon signal output from the traffic signal using the communication unit 36 of the in-vehicle device 30 and recognize the front traffic signal and the color of the signal lamp displayed by the traffic signal. Each process of the manual operation control part 52 mentioned above can be performed using a well-known technique, for example. In the present embodiment, the inter-vehicle distance obtained by the manual operation control unit 52 is the same as the inter-vehicle distance obtained by the automatic operation control unit 51.

  The steering device 61 determines the traveling direction of the vehicle based on the automatic steering control signal of the automatic driving control unit 51 or the manual steering operation signal of the manual driving control unit 52.

  The driving device 62 generates a driving force of the vehicle based on the automatic driving control signal of the automatic driving control unit 51 or the manual driving operation signal of the manual driving control unit 52, and accelerates the vehicle. The drive device 62 includes, for example, an engine that is an internal combustion engine or an electric motor.

  The braking device 63 generates the braking force of the vehicle based on the automatic braking control signal of the automatic driving control unit 51 or the manual braking operation signal of the manual driving control unit 52. The braking device 63 includes, for example, a brake disc, a brake caliper, and a hydraulic mechanism.

  The server 80 includes a processing unit 81, a storage unit 82, a display unit 83, an operation unit 84, and a communication unit 85.

  The processing unit 81 includes one or a plurality of processors and peripheral circuits. The processing unit 81 controls each hardware component of the server 80 and performs various processes according to a predetermined program stored in advance in the storage unit 82, and temporarily stores data generated during the processing. 82 is used.

  The storage unit 82 may include a semiconductor memory such as a random access memory (RAM) or a read only memory (ROM), a magnetic disk, or a flash memory. The storage unit 82 may include a drive that can read a storage medium that stores a predetermined program in a non-temporary manner.

  The display unit 83 can display various types of information under the control of the processing unit 81. As the display unit 83, for example, a liquid crystal display can be used.

  The operation unit 84 can be operated by a user to input an operation. As the operation unit 84, for example, a keyboard and a mouse can be used.

  The communication unit 85 transmits and receives information to and from the vehicle system 10 mounted on the vehicles 100a and 100b via the network N. The processing unit 81 performs various processes based on information received using the communication unit 85. In addition, the processing unit 81 transmits the results of various processes using the communication unit 85. The communication unit 85 may include a communication circuit and a communication line that perform transmission / reception.

  The processing unit 81 described above stores, in the storage unit 82, the manual operation signal and the corresponding automatic control signal received from the storage device 20, and the position where the difference has occurred. Details of other operations executed by the processing unit 81 will be described later. Each function executed by the processing unit 81 is, for example, a functional module realized by a computer program that operates on a processor included in the processing unit 81. Each function of the processing unit 81 may be implemented in the server 80 as a circuit.

  Next, a first operation example of the control information storage system 1 described above will be described below with reference to the flowchart shown in FIG. In the first operation example, an operation in which the vehicles 100a and 100b that are manually operated by the user store the control signal will be described.

  First, in step S <b> 401, the processing unit 21 of the storage device 20 of the vehicles 100 a and 100 b that are manually operated receives a manual operation signal from the operation control device 50. Examples of the manual operation signal include a manual braking operation signal and a manual steering operation signal. The manual operation signal received by the processing unit 21 may be all types of operation signals for manually operating the vehicles 100a and 100b, or may be a part of the operation signals.

  Further, the processing unit 21 receives the automatic control signal calculated by the operation control device 50. The received automatic control signal preferably includes an automatic control signal (corresponding automatic control signal) corresponding to the manual operation signal received by the processing unit 21 from the operation control device 50. As described above, the automatic operation control unit 51 generates an automatic control signal for controlling the vehicle by automatic operation based on the state of the vehicle even when the vehicles 100a and 100b are manually operated.

  Further, the processing unit 21 receives the current positions of the vehicles 100 a and 100 b from the in-vehicle device 30. In addition, the processing unit 21 receives vehicle state information such as the inter-vehicle distance, the stopped inter-vehicle distance, and the vehicle speed. In addition, the processing unit 21 receives vehicle environment information such as temperature from the operation control device 50. And the process part 21 memorize | stores the position of the vehicles 100a and 100b, vehicle state information, vehicle environment information, and date and time as time series data in the 2nd memory | storage part 23 with a manual operation signal and an automatic control signal.

  Next, in step S403, the processing unit 21 compares the manual operation signal and the corresponding automatic control signal, and determines whether or not the difference between the manual operation signal and the corresponding automatic control signal is equal to or greater than a threshold value.

  First, the process in which the processing unit 21 compares the braking signals will be described below with reference to FIG. The braking signal shown in FIG. 5 is a signal generated when the user who manually drives the vehicles 100a and 100b operates the brake pedal because the inter-vehicle distance from other vehicles ahead is approaching.

  FIG. 5A is a diagram illustrating a braking signal, and FIG. 5B is a diagram illustrating a distance.

  In FIG. 5 (A), 501 shows the time change of the manual braking operation signal of the manual operation (M), and 502 shows the time change of the automatic braking control signal of the automatic operation (A).

  In FIG. 5B, 503 indicates the inter-vehicle distance between the other vehicle in front and the own vehicle when the manual braking operation signal is generated in the manual operation (M), and 504 indicates the target in the automatic operation. On the other hand, the distance between the vehicles to stop is shown.

  First, the processing unit 21 compares the time when the manual braking operation signal is generated by the user's operation of the brake pedal with the time when the automatic braking control signal for automatic driving is generated. Specifically, the processing unit 21 obtains the absolute value Δt of the difference between the time when the manual braking operation signal is generated and the time when the automatic braking control signal is generated. Thereby, the difference of the time which starts braking in manual operation and automatic operation can be compared.

  Next, the processing unit 21 compares the temporal change rate of the signal strength of the manual braking operation signal with the temporal change rate of the signal strength of the automatic braking control signal. Specifically, the processing unit 21 obtains an absolute value Δa of a difference between the temporal change rate of the signal strength of the manual braking operation signal and the temporal change rate of the signal strength of the automatic braking control signal. Thereby, the difference of the braking amount in manual operation and automatic operation can be compared.

  Next, the processing unit 21 compares the inter-vehicle distance between the other vehicle ahead and the own vehicle when the manual braking operation signal is generated, and the stop inter-vehicle distance at which the target vehicle is stopped in the automatic driving. Specifically, the processing unit 21 obtains the absolute value Δd of the difference between the inter-vehicle distance and the stopped inter-vehicle distance.

  When Δt is equal to or greater than X1, Δa is equal to or greater than Y1, and Δd is equal to or greater than Z1 (Yes in step S403), the processing unit 21 determines a time point when a difference greater than or equal to the threshold occurs in step S405. In addition to the manual braking operation signal and the corresponding automatic braking control signal for a predetermined period including the vehicle position, the inter-vehicle distance, the stopped inter-vehicle distance, the temperature, and the date and time when the difference has occurred, the second storage unit 23 reads out the first storage Store in unit 22. Each threshold value X, Y, Z is appropriately determined.

  The predetermined period including the time point when the difference equal to or greater than the threshold value is generated is preferably a period including before and after the time point when the difference occurs. For example, the predetermined period may be 15 seconds or 30 seconds before and after the time when the difference occurs. Since the second storage unit 23 continuously stores the time-dependent changes in the manual braking operation signal and the corresponding automatic braking control signal, the processing unit 21 outputs the signal before and after the time when the difference occurs. Can be read from the second storage unit 23.

  The determination process of the processing unit 21 described above is an example, and the processing unit 21 may perform the process of step S405 if Δt is X1 or more or Δa is Y1 or more.

  On the other hand, when Δt is equal to or greater than X1, Δa is equal to or greater than Y1, and Δd is not equal to or greater than Z1 (No in step S403), the processing unit 21 returns to step S401.

  The processing unit 21 is the same when the user who manually operates the vehicles 100a and 100b approaches the front traffic light and compares the manual braking operation signal generated when the brake pedal is operated with the corresponding automatic braking control signal. The determination process can be performed. In this case, the inter-vehicle distance for manual operation is replaced with the distance between the front traffic light and the host vehicle, and the stopped inter-vehicle distance for automatic operation is replaced with the stop inter-vehicle distance that stops with respect to the traffic signal that is the target.

  Next, processing in which the processing unit 21 compares the steering signals will be described below with reference to FIG.

  FIG. 6 is a diagram showing a steering signal. The steering signal shown in FIG. 6 is a signal generated when the user who manually drives the vehicles 100a and 100b operates the steering.

  In FIG. 6, 601 indicates the time change of the manual steering operation signal for manual operation (M), and 602 indicates the time change of the automatic steering control signal for automatic operation (A).

  First, the processing unit 21 compares the time when the manual steering operation signal is generated by the steering operation of the user with the time when the steering control signal for automatic driving is generated. Specifically, the processing unit 21 obtains the absolute value Δt of the difference between the time when the manual steering operation signal is generated and the time when the automatic steering control signal is generated. Thereby, the difference of the time which starts steering in a manual driving | operation and an automatic driving | operation can be compared.

  Next, the processing unit 21 compares the temporal change rate of the signal strength of the manual steering operation signal with the temporal change rate of the signal strength of the automatic steering control signal. Specifically, the processing unit 21 obtains the absolute value Δa of the difference between the temporal change rate of the signal strength of the manual steering operation signal and the temporal change rate of the signal strength of the automatic steering control signal. Thereby, the difference of the steering amount in manual driving and automatic driving can be compared.

  Next, the processing unit 21 receives the vehicle speed 装置 when the manual steering control signal is generated from the driving control device 50.

  When Δt is greater than or equal to X2, Δa is greater than or equal to Y2, and ∨ is greater than or equal to Z2 (Yes in step S403), the processing unit 21 determines the time point when a difference greater than or equal to the threshold has occurred in step S405. In addition to the manual steering operation signal and the corresponding automatic steering control signal for a predetermined period including the position, the position where the difference has occurred, the vehicle speed, the temperature, and the date and time are read from the second storage unit 23 and stored in the first storage unit 22. Each threshold value X, Y, Z is appropriately determined.

  The determination processing of the processing unit 21 described above is an example, and the processing unit 21 may perform the process of step S405 if Δt is X2 or more or Δa is Y2 or more.

  On the other hand, when Δt is equal to or greater than X2, Δa is equal to or greater than Y2, and Δd is not equal to or greater than Z2 (No in step S403), the processing unit 21 returns to before step S401.

  Next, in step S407, the processing unit 21 determines the position where the difference has occurred, the vehicle speed, the temperature, and the manual steering operation signal and the corresponding automatic steering control signal for a predetermined period including the time point when the difference greater than the threshold value has occurred. The date and time are read from the first storage unit 22 and transmitted to the server 80 via the network N.

  Next, in step S409, the processing unit 81 of the server 80 stores the received manual steering operation signal and corresponding automatic steering control signal for a predetermined period, the position and temperature at which the difference has occurred, vehicle state information, and the date and time. 82. Further, the processing unit 81 acquires the weather information at the position where the difference has occurred via the network N, and stores it in the storage unit 82 in association with each piece of information received from the storage device 20. The weather information is vehicle environment information including information such as sunny, cloudy, rainy, and snowy.

  While the vehicles 100a and 100b are traveling in the manual operation, the above-described steps S401 to S409 are repeatedly executed. On the other hand, the processes of steps S401 to S409 are completed when the manual operation of the vehicles 100a and 100b is completed.

  According to the first operation example described above, when a difference equal to or greater than a threshold value occurs between the automatic control signal and the manual operation signal, together with the manual operation signal and the automatic control signal for a predetermined period including the time when the difference occurs. The position where the difference occurs, the vehicle speed, the temperature, and the date and time can be stored in the first storage unit of the storage device and the storage unit of the server.

  Further, by storing the vehicle state information at the time when the difference between the automatic control signal and the manual operation signal occurs, the vehicle state information is referred to, for example, between the manual operation signal related to braking or steering and the automatic control signal. It is possible to investigate the cause of the vehicle that causes the difference between them. Further, by storing the vehicle environment information at the time when a difference occurs between the automatic control signal and the manual operation signal, for example, an environmental cause of the difference between the automatic control signal related to braking or steering and the manual operation signal can be obtained. You can investigate.

  The side providing the vehicle and the service related to the vehicle (for example, a dealer) identifies the cause of the user's uncomfortable feeling at the time of automatic driving, and the difference between the user's operation of the vehicle at the time of automatic driving and the difference from manual driving. The reason why this occurs can be explained.

  Further, the automatic control operation can be improved by comparing the two signals based on the manual operation signal and the automatic control signal stored as described above, the position where the difference has occurred, and the like.

  It is preferable to compare and analyze the above-described information based on the information stored in the storage unit 82 of the server 80 from the viewpoint that the information on each vehicle can be handled in a unified manner, but each vehicle 100a. , 100b may be executed based on information stored in the first storage unit 22 of the storage device 20 of 100b.

  Next, a second operation example of the control information storage system 1 described above will be described below with reference to the flowchart shown in FIG. In the second operation example, an operation in which the automatically driven vehicles 100a and 100b store the control signal will be described.

  First, in step S <b> 701, the processing unit 21 of the storage device 20 of the vehicles 100 a and 100 b that are automatically operated inputs an automatic control signal from the operation control device 50. It is preferable that the automatic control signal to be input includes a corresponding automatic control signal in which a difference equal to or greater than a threshold value has previously occurred in the own vehicle with respect to the manual operation signal.

  In addition, the processing unit 21 inputs the current positions of the vehicles 100 a and 100 b from the in-vehicle device 30. In addition, the processing unit 21 receives vehicle state information such as the inter-vehicle distance, the stopped inter-vehicle distance, and the vehicle speed. Further, the processing unit 21 inputs vehicle environment information such as temperature from the operation control device 50. And the process part 21 memorize | stores the position of the vehicles 100a and 100b, vehicle state information, vehicle environment information, and a date with the automatic control signal in the 2nd memory | storage part 23 as time series data.

  Next, in step S703, the processing unit 21 determines whether or not the position where the host vehicle is traveling is a position where a difference greater than or equal to the threshold value has previously occurred between the manual operation signal and the corresponding automatic control signal. Is determined with reference to the position information stored in the first storage unit 22.

  For example, the processing unit 21 creates a table of positions where a difference equal to or greater than a threshold value has occurred between the manual operation signal and the corresponding automatic control signal, stores the table in the first storage unit 22, and refers to this table. The position may be determined.

  Here, the position where the host vehicle is traveling and the position where the difference greater than or equal to the threshold value does not have to completely coincide. For example, the position where the host vehicle is traveling may be within a circle with a predetermined radius centered on a position where a difference equal to or greater than a threshold value has occurred. For example, the predetermined radius may be 10 m or 20 m.

  When the position where the host vehicle is traveling is a position where a difference greater than or equal to the threshold value has previously occurred between the manual operation signal and the corresponding automatic control signal (Yes in step S703), the processing unit 21 performs a predetermined process. Along with the automatic control signal of the period, the position, vehicle state information, vehicle environment information, and date / time are read from the second storage unit 23 and stored in the first storage unit 22. Here, the automatic braking control signal read from the second storage unit 23 is a corresponding automatic control signal in which a difference equal to or greater than a threshold value occurs with respect to the manual operation signal at this position (step S705).

  On the other hand, when the position where the host vehicle is traveling is not a position where a difference greater than or equal to the threshold value has previously occurred between the manual operation signal and the corresponding automatic control signal (No in step S703), the processing unit 21 It returns to before step S701.

  Next, in step S707, the processing unit 21 reads out the position, vehicle state information, vehicle environment information, and date / time together with the automatic control signal for a predetermined period from the first storage unit 22 and transmits the server via the network N. To 80.

  Next, in step S707, the processing unit 81 of the server 80 stores the received automatic control signal, position, vehicle state information, vehicle environment information, and date / time for a predetermined period in the storage unit 82. Further, the processing unit 81 acquires weather information on the positions of the vehicles 100 a and 100 b via the network N, and stores the weather information in the storage unit 82 in association with each piece of information received from the storage device 20.

  While the vehicles 100a and 100b are traveling in an automatic operation, the above-described steps S701 to S709 are repeatedly executed. On the other hand, the processing of steps S701 to S709 ends with the end of automatic driving of the vehicles 100a and 100b.

  According to the second operation example described above, even if no difference occurs between the manual operation signal and the corresponding automatic control signal at a position where a difference equal to or greater than the threshold value occurs, The corresponding automatic control signal, position, vehicle state information, vehicle environment information, and date / time can be stored in the first storage unit of the storage device and the storage unit of the server.

  By collecting corresponding automatic control signals at positions where a difference greater than or equal to the threshold has occurred between the manual operation signal and the corresponding automatic control signal in the past, it is possible to grasp the tendency of automatic control and to make the user feel uncomfortable during automatic driving. The cause can be identified. Moreover, based on the cause of the user's uncomfortable feeling at the time of the specified automatic driving, the automatic control driving can be improved.

  Next, a third operation example of the control information storage system 1 described above will be described below with reference to the sequence diagram shown in FIG. In the third operation example, an operation of storing a control signal of a vehicle that is automatically driven at a position where a difference greater than or equal to a threshold value occurs between the manual operation signal and the corresponding automatic control signal in another vehicle will be described.

  First, in step S801, the processing unit 21 of the storage device 20 of the first vehicle 100a that is automatically operated transmits the current position and destination of the first vehicle 100a to the server 80 via the network N. To start. The processing unit 21 transmits the position and the destination of the first vehicle 100a to the server 80 at a predetermined interval, for example, while the first vehicle 100a is traveling in an automatic operation. The processing unit 81 of the server 80 stores the received position and destination of the first vehicle 100a in the storage unit 82.

  Next, in step S803, the processing unit 21 of the storage device 20 of the second vehicle 100b generates the difference together with the manual operation signal and the corresponding automatic control signal for a predetermined period including the time when the difference equal to or greater than the threshold value occurs. The position, vehicle state information, vehicle environment information, and date / time are transmitted to the server 80 via the network N.

  Next, in step S805, the processing unit 81 of the server 80 stores the received manual operation signal and corresponding automatic control signal for a predetermined period, the position where the difference has occurred, vehicle state information, vehicle environment information, and the date and time. 82. Further, the processing unit 81 acquires the weather information at the position where the difference has occurred via the network N, and stores it in the storage unit 82 in association with each piece of information received from the storage device 20.

  And the process part 81 calculates | requires the area | region where the difference more than a threshold value occurs frequently based on the information received from the 2nd vehicle 100b, and the information received before that. When the processing unit 81 receives information from another vehicle other than the second vehicle, the processing unit 81 includes this information and obtains a region where a difference greater than or equal to the threshold occurs frequently. Moreover, the information transmitted from the 1st vehicle 100a may be contained in the information received before that.

  FIG. 9 is a diagram for explaining processing for obtaining an area where differences occur frequently. 900 indicates a road on which the vehicle travels.

  In this operation example, the processing unit 81 obtains a region 903 in which the number of positions where a difference greater than or equal to the threshold occurs in a circular region having a radius Rm is greater than or equal to a predetermined number. An area 903 is an area where a difference greater than or equal to a threshold occurs frequently. The radius Rm and the predetermined number can be appropriately set. For example, the radius can be 10 m and the predetermined number can be 5. Region 903 includes a position where a difference greater than or equal to the threshold value has occurred in a plurality of other vehicles. Then, in the region 903, the processing unit 81 associates the corresponding automatic control signal having a difference equal to or greater than the threshold with the manual operation signal, and stores it in the storage unit 82. In the present specification, the fact that the automatically driven vehicle travels in the region 903 means that the automatically driven vehicle travels in a position where a difference equal to or greater than a threshold value has occurred in another vehicle.

  Next, in step S807, the processing unit 81 of the server 80 stores the information by executing a predetermined route search program such as a route search program using the Dijkstra method based on the position and destination of the first vehicle 100a received immediately before. Using the map data stored in the unit 82, the travel route of the first vehicle 100a is predicted. Then, when the first vehicle 100a is expected to enter the region 903, the processing unit 81, together with the information storage request for requesting the first vehicle 100a to store the automatic control signal, the position of the region 903 and the region The type of the automatic control signal associated with 903 is transmitted to the storage device 20 of the first vehicle 100a via the network N. In addition, when there are a plurality of regions where the difference more than the threshold occurs frequently, the processing unit 81 transmits the positions of the plurality of regions to the storage device 20 of the first vehicle 100a.

  Next, in step S809, the processing unit 21 of the storage device 20 of the first vehicle 100a that is automatically operated sets the position of the area 903 and the type of the automatic control signal associated with the area 903 together with the information storage request. Receive. When the processing unit 21 enters the region 903, the processing unit 21 stores the position, vehicle state information, vehicle environment information, and date and time in the first storage unit 22 together with automatic control information associated with the region for a predetermined period. .

  Next, in step S811, the processing unit 21 of the storage device 20 of the first vehicle 100a that is automatically operated, together with the automatic control information for a predetermined period, the position, vehicle state information, vehicle environment information, and date / time are The data is read from the storage unit 22 and transmitted to the server 80 via the network N.

  Next, in step S813, the processing unit 81 of the server 80 stores the automatic control information, position, vehicle state information, vehicle environment information, and date / time for a predetermined period in the storage unit 82. Further, the processing unit 81 acquires weather information on the position of the first vehicle 100 a via the network N, and stores the weather information in association with each information received from the storage device 20 in the storage unit 82.

  According to the third operation example described above, the automatic control signal, the vehicle state information, the vehicle environment information, and the date / time corresponding to the manual operation signal in which the difference has occurred are automatically calculated at the position where the difference of the threshold value or more has occurred in another vehicle. It can memorize | store in the 1st memory | storage part of the memory | storage device of the drive | operated vehicle, and the memory | storage part of a server.

  As a result, it is possible to further collect the corresponding automatic control signal at the position where the difference between the manual operation signal and the corresponding automatic control signal is greater than or equal to the threshold value. The cause of discomfort can be further specified. Moreover, based on the cause of the user's uncomfortable feeling at the time of the specified automatic driving, the automatic driving can be further improved.

  The processing unit 81 of the server 80 may search for roads similar to areas where differences more than a threshold occur frequently from map data and add them as areas for requesting information storage requests. As an area where the difference more than a threshold occurs frequently, for example, an intersection where a plurality of roads such as a five-way road intersect, or a road having a curve with a large downward slope is exemplified. The processing unit 81 may search for an intersection where a plurality of roads intersect based on the map data and add it to an area for requesting an information storage request. Further, the processing unit 81 may search for a road having a curve with a large downward slope based on map data including road slope information and add it to an area for requesting an information storage request. As a curve with a large downward slope, for example, a curve having an inclination of 5 degrees or more and a curvature radius of 100 m or less can be mentioned.

  Next, a fourth operation example of the control information storage system 1 described above will be described below with reference to the sequence diagram shown in FIG. In the fourth operation example, as in the third operation example, the control signal of the vehicle that is automatically driven at the position where the difference between the manual operation signal and the corresponding automatic control signal in the other vehicle is greater than the threshold value. Will be described.

  First, in step S1001, the processing unit 21 of the storage device 20 of the second vehicle 100b, together with the manual operation signal and the corresponding automatic control signal for a predetermined period including the time when the difference equal to or greater than the threshold value has occurred, the position where the difference has occurred. The vehicle state information, the vehicle environment information, and the date and time are transmitted to the server 80 via the network N.

  Next, in step S1003, the processing unit 81 of the server 80 stores the position, vehicle state information, vehicle environment information, and date / time at which the difference occurred together with the received manual operation signal and corresponding automatic control signal for a predetermined period. Store in the unit 82. Further, the processing unit 81 acquires the weather information at the position where the difference has occurred via the network N, and stores it in the storage unit 82 in association with each piece of information received from the storage device 20.

  And the process part 81 calculates | requires the area | region where the difference more than a threshold value occurs frequently based on the information received from the 2nd vehicle 100b, and the information received before that. As described with reference to FIG. 9, the processing unit 81 obtains a region where a difference greater than or equal to the threshold occurs frequently.

  Next, in step S1005, the processing unit 81 of the server 80 is automatically operated via the network N with the position of the region where the difference more than the threshold occurs frequently and the type of the automatic control signal associated with this region. To the storage device 20 of the first vehicle 100a.

  Next, in step S1007, the processing unit 21 of the storage device 20 of the first vehicle 100a that is automatically operated receives the position of the area where the difference more than the received threshold occurs frequently and the automatic control signal associated with this area. The type is stored in the first storage unit 22.

  Next, in step S1009, the processing unit 21 of the storage device 20 of the first vehicle 100a that is automatically operated is associated with this region for a predetermined period when traveling in a region where differences more than a threshold occur frequently. The position, vehicle state information, vehicle environment information, and date / time are stored in the first storage unit 22 together with the automatic control signal.

  Next, in step S <b> 1011, the processing unit 21 of the storage device 20 of the first vehicle 100 a reads the automatic control signal, position, vehicle state information, vehicle environment information, and date / time for a predetermined period from the first storage unit 22. And sent to the server 80 via the network N.

  Next, in step S <b> 1013, the processing unit 81 of the server 80 stores the automatic control signal, position, vehicle state information, vehicle environment information, and date / time for a predetermined period in the storage unit 82. Further, the processing unit 81 acquires weather information on the position of the first vehicle 100 a via the network N, and stores the weather information in association with each information received from the storage device 20 in the storage unit 82.

  According to the above-described fourth operation example, the first vehicle has received in advance the position of the region where the difference greater than or equal to the threshold occurs frequently, so that the communication state between the server and the first vehicle is not good. Even if it exists, the 1st vehicle can memorize | store the automatic control signal etc. of a predetermined period. Further, according to the fourth operation example, the same effects as in the third operation example are achieved.

  In the present invention, the method, the in-vehicle device, and the system of the above-described embodiment can be appropriately changed without departing from the gist of the present invention. The description in one operation example is applied to other operation examples as appropriate.

  For example, in the third operation example and the fourth operation example described above, the first vehicle is automatically driven. However, when the first vehicle is manually operated, the first vehicle enters the area in response to the information storage request. You may make it memorize | store the automatic control information and position of a predetermined period, vehicle state information, vehicle environment information, and a date in a 1st memory | storage part.

  Further, in the third operation example and the fourth operation example described above, an automatically driven vehicle stores automatic control information and the like for a predetermined period when traveling in a region where a difference greater than a threshold occurs frequently. A vehicle that is automatically driven may store automatic control information and the like for a predetermined period when traveling in a position where a difference has occurred in another vehicle.

  The user may have different feelings about the difference between the automatic control information and the manual operation information depending on the boarding position in the passenger compartment. Therefore, even when the user is seated only in the driver's seat and when the user is seated in a seat other than the driver's seat, the operation for storing information at the position where the difference has occurred may be different. Good. For example, when the user is seated only in the driver's seat, the first operation example and the second operation example described above are executed, and when the user is seated in a seat other than the driver seat, The first operation example to the fourth operation example may be executed.

  There is an upper limit to the storage capacity that can be stored in the first storage unit of the control signal storage device or the storage unit of the server. Therefore, information having a low priority may be deleted first by storing information with a priority. In the information acquired in the area where the difference is more than the threshold, the priority +1 is given to the information acquired when the information matches the vehicle environment information (temperature or weather information) when this information is first stored. In addition, priority +1 is added to information acquired when the date and time when this information was first stored, and information is stored without priority. Then, when erasing information, it may be erased from low priority information to secure a storage capacity.

  In the first operation example described above, braking information and steering information in manual driving and automatic driving are compared, but driving information in manual driving and automatic driving may be compared. For example, a manual drive operation signal may be compared with an automatic drive control signal for automatic operation by a user's operation of an accelerator pedal.

DESCRIPTION OF SYMBOLS 1 Control information storage system 10 Vehicle system 20 Control signal memory | storage device 21 Processing part 22 1st memory | storage part 23 2nd memory | storage part 24 Communication part 30 Car-mounted apparatus 31 Processing part 32 Memory | storage part 33 Display part 34 Operation part 35 Sound output part 36 Communication Unit 40 GPS information receiving unit 50 driving control unit 51 automatic driving control unit 52 manual driving control unit 61 steering device 62 driving device 63 braking device 70 vehicle state measuring unit 71 vehicle speed sensor 72 steering angle sensor 73 pedal sensor 74 camera 75 radar 76 temperature Sensor 80 Server 81 Processing unit 82 Storage unit 83 Display unit 84 Operation unit 85 Communication unit 100a, 100b Vehicle

Claims (11)

Obtaining vehicle state information indicating a state of the vehicle when a vehicle whose operation can be controlled by manual operation and automatic operation is manually operated, and manual operation information for operating the vehicle by manual operation;
Calculating automatic control information for controlling the vehicle when the vehicle is automatically driven based on the vehicle state information;
Determining whether the difference between the manual operation information and the automatic control information is greater than or equal to a threshold;
Obtaining the position of the vehicle;
When the difference is greater than or equal to a threshold, storing the position where the difference has occurred in the first storage unit together with the manual operation information and the automatic control information for a predetermined period including the time when the difference has occurred;
Including methods.   The method according to claim 1, further comprising storing the automatic control information in the first storage unit when the vehicle that is automatically driven travels at a position where the difference has occurred. And further including obtaining a position where the difference has occurred in another vehicle,
The automatic control information includes storing the automatic control information in the first storage unit when the vehicle is traveling in a position where the difference has occurred in another vehicle. Method.   The determination as to whether or not the difference between the manual operation information and the automatic control information is greater than or equal to a threshold is based on a difference between the time when the manual operation information is generated and the time when the automatic control information is generated. Or comparing a difference between a time change rate of the manual operation information and a time change rate of the automatic control information with a second threshold value. The method according to one item.   5. The storing in the first storage unit further includes storing the vehicle state information at the time when the difference occurs in the first storage unit. Method.   The storage in the first storage unit further includes storing vehicle environment information indicating the environment of the vehicle at the time when the difference occurs in the first storage unit. The method according to claim 1. Further, regardless of whether or not the difference is greater than or equal to a threshold value, the manual operation information and the automatic control information and the position of the vehicle is stored in a second storage unit,
The storing in the first storage unit is
The manual operation information and the automatic control information for the predetermined period including the time when the difference has occurred and the position of the vehicle in which the difference has occurred are read from the second storage unit and stored in the first storage unit. The method according to any one of claims 1 to 6, comprising:   The method according to claim 1, wherein the manual operation information includes braking operation information for controlling braking of the vehicle. An in-vehicle device mounted on a vehicle whose operation can be controlled by manual operation and automatic operation,
A storage unit;
A position information acquisition unit for acquiring the position of the vehicle;
Manual operation information for operating the vehicle by manual operation, and automatic control information for controlling the vehicle when the vehicle is automatically operated based on vehicle state information indicating a state of the vehicle when the vehicle is being manually operated. If the difference is equal to or greater than a threshold, and the difference is equal to or greater than the threshold, the position information acquisition is performed together with the manual operation information and the automatic control information for a predetermined period including the time when the difference occurs. A processing unit that stores, in the storage unit, a position where the difference acquired by the unit has occurred;
A vehicle-mounted device comprising: It is an in-vehicle device mounted on each of a plurality of vehicles whose operation can be controlled by manual operation and automatic operation,
A communication department;
A storage unit;
A position information acquisition unit for acquiring the position of the vehicle;
Manual operation information for operating the vehicle by manual operation, and automatic control information for controlling the vehicle when the vehicle is automatically operated based on vehicle state information indicating a state of the vehicle when the vehicle is being manually operated. If the difference is equal to or greater than a threshold, and the difference is equal to or greater than the threshold, the position information acquisition is performed together with the manual operation information and the automatic control information for a predetermined period including the time when the difference occurs. A processing unit that stores, in the storage unit, a position where the difference acquired by the unit has occurred;
An in-vehicle device having
A server that is communicably connected to each of the plurality of in-vehicle devices;
With
Each of the processing units of the plurality of in-vehicle devices uses the communication unit to transmit the position of the vehicle acquired by the position information acquisition unit to the server,
Each of the processing units of the plurality of in-vehicle devices stores the manual operation information, the automatic control information, and the position where the difference has occurred in a predetermined period including the time point when the difference stored in the storage unit occurs. , Send to the server,
The server transmits a request to store the automatic control information to the in-vehicle device of the one vehicle when the one vehicle travels in a position where the difference has occurred in the other vehicle.
The said processing part of the said vehicle-mounted apparatus mounted in one said vehicle memorize | stores the said automatic control information in the said memory | storage part, if the said request | requirement is received. It is an in-vehicle device mounted on each of a plurality of vehicles whose operation can be controlled by manual operation and automatic operation,
A communication department;
A storage unit;
A position information acquisition unit for acquiring the position of the vehicle;
Manual operation information for operating the vehicle by manual operation, and automatic control information for controlling the vehicle when the vehicle is automatically operated based on vehicle state information indicating a state of the vehicle when the vehicle is being manually operated. If the difference is equal to or greater than a threshold, and the difference is equal to or greater than the threshold, the position information acquisition is performed together with the manual operation information and the automatic control information for a predetermined period including the time when the difference occurs. A processing unit that stores, in the storage unit, a position where the difference acquired by the unit has occurred;
An in-vehicle device having
A server that is communicably connected to each of the plurality of in-vehicle devices;
With
Each of the processing units of the plurality of in-vehicle devices stores the manual operation information, the automatic control information, and the position where the difference has occurred in a predetermined period including the time point when the difference stored in the storage unit occurs. , Send to the server,
The server transmits the position where the difference has occurred in the other vehicle to the processing unit of the in-vehicle device mounted on the one vehicle,
The processing unit of the in-vehicle device mounted on one of the vehicles stores the automatic control information in the storage unit when the one vehicle travels at a position where the difference has occurred in the other vehicle. ,system.

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