JP2021107173A - Vehicle operation authority management device, vehicle operation authority management method and program - Google Patents

Abstract

To provide a vehicle operation authority management device, a vehicle operation authority management method and a program to which origin operation authority person having operation authority of an own vehicle originally can transfer operation authority of the own vehicle to another passenger of the own vehicle.SOLUTION: A vehicle operation commission management device comprises: a person identification part 301 which identifies a passenger of an own vehicle; and an operation authority management part 302 which recognizes the operation authority of the own vehicle to an original operation authority person by recognizing the original operation authority person having operation authority of operation of the own vehicle due to a vehicle control device for controlling automatic operation of the own vehicle originally by the person identification part 301 and recognizes the operation authority of the own vehicle to the passenger when recognizing the passenger except for the original operation authority person on a driver seat of the own vehicle by the person identification part 301.SELECTED DRAWING: Figure 6

Description

The present invention relates to a vehicle operation right management device, a vehicle operation right management method, and a program.

Patent Document 1 discloses a technique that enables a person other than the owner of a vehicle to be registered in the entry system of the vehicle.
Patent Document 2 discloses a configuration in which a vehicle includes an agent.

Japanese Unexamined Patent Publication No. 2003-178032. Special Table 2009-535626

However, for example, in a vehicle equipped with an agent or the like, if a lot of rights are concentrated on the right holder who has the original operation authority of the vehicle, the right holder always grasps the intention of the passenger and applies to the vehicle. It was complicated for the right holder to be unable to transfer the authority to another passenger.
In this regard, Patent Documents 1 and 2 do not disclose the means by which a person who originally has the operating authority of a vehicle transfers the operating authority to a passenger of another vehicle.

Therefore, the present invention provides a vehicle operation right management device, a vehicle operation right management method, and a program that allow an original operation authority who originally has the operation authority of the own vehicle to transfer the operation authority of the own vehicle to another passenger of the own vehicle. The task is to do.

The present invention includes a person identification unit that identifies a occupant of the own vehicle and an original operation authority who originally has the authority to operate the driving parameters of the own vehicle by the automatic driving control unit that automatically controls the own vehicle. When the person identification unit recognizes and grants the operation authority to the original operation authority, and the person recognition unit recognizes a passenger other than the original operation authority in the driver's seat of the own vehicle, the passenger is informed. It is characterized by having an operation authority management unit that recognizes operation authority.

According to the present invention, there is provided a vehicle operation right management device, a vehicle operation right management method, and a program that allow an original operation authority who originally has the operation authority of the own vehicle to transfer the operation authority of the own vehicle to another passenger of the own vehicle. can do.

It is a figure which shows the whole structure of the vehicle which includes the vehicle control device which concerns on embodiment of this invention. It is a functional block block diagram which shows the structure of the vehicle control device which concerns on embodiment of this invention, and its peripheral part. It is a schematic block diagram of HMI connected to the vehicle control device which concerns on embodiment of this invention. It is a figure which shows the front part structure of the vehicle interior of the vehicle which comprises the vehicle control device which concerns on embodiment of this invention. It is an external view which shows the front part structure of the vehicle which includes the vehicle control device which concerns on embodiment of this invention. It is an external view which shows the rear structure of the vehicle which includes the vehicle control device which concerns on embodiment of this invention. It is a front view which shows the schematic structure of the right front lighting part provided in a vehicle. It is a functional block diagram explaining the function of the vehicle operation right management apparatus which concerns on embodiment of this invention. It is a flowchart of the determination process of own vehicle M operation right executed by the vehicle operation right management device which concerns on embodiment of this invention. It is a flowchart of the change processing of the driving parameter of the own vehicle executed by the vehicle operation right management device which concerns on embodiment of this invention. It is a flowchart of setting of the driver's seat of own vehicle executed by the vehicle operation right management device which concerns on embodiment of this invention. It is a conceptual diagram explaining the process of FIG. 7 which concerns on embodiment of this invention. It is a conceptual diagram explaining the process of FIG. 7 which concerns on embodiment of this invention. It is a conceptual diagram explaining the process of FIG. 8 which concerns on embodiment of this invention.

Hereinafter, the vehicle control device according to the embodiment of the present invention will be described in detail with reference to the drawings.
In the drawings shown below, members having a common function shall be designated by a common reference numeral. In addition, the size and shape of the member may be deformed or exaggerated schematically for convenience of explanation.
In the description of the vehicle control device according to the embodiment of the present invention, when the left and right expressions are used for the own vehicle M, the front of the own vehicle M in the traveling direction is used as a reference. Specifically, for example, the own vehicle M is placed in a case with a right-hand steering wheel, and the driver's seat side is called the right side and the passenger's seat side is called the left side.

[Structure of own vehicle M]
First, the configuration of a vehicle (hereinafter, referred to as “own vehicle M”) including the vehicle control device 100 according to the embodiment of the present invention will be described with reference to FIG.

FIG. 1 is an overall configuration diagram of a vehicle including the vehicle control device 100 according to the embodiment of the present invention.
As shown in FIG. 1, the own vehicle M on which the vehicle control device 100 according to the embodiment of the present invention is mounted is, for example, a two-wheeled vehicle, a three-wheeled vehicle, a four-wheeled vehicle, or the like.
The own vehicle M includes an automobile powered by an internal combustion engine such as a diesel engine or a gasoline engine, an electric vehicle powered by an electric motor, a hybrid vehicle having both an internal combustion engine and an electric motor, and the like. Of these, electric vehicles are driven using, for example, electric power discharged by batteries such as secondary batteries, hydrogen fuel cells, metal fuel cells, and alcohol fuel cells.

As shown in FIG. 1, the own vehicle M has an external world sensor 10 having a function of detecting external world information about a target including an object or a sign existing around the own vehicle M, and the current position of the own vehicle M on a map. Equipped with a navigation device 20 having a function of mapping and providing route guidance to a destination, and a vehicle control device 100 having a function of autonomous driving control of the own vehicle M including steering / acceleration / deceleration of the own vehicle M. Has been done.
These devices and devices are configured to be connected to each other so as to be capable of data communication via a communication medium such as CAN (Controller Area Network).

The "vehicle control device" according to the present invention may include other configurations (external world sensor 10, HMI 35, etc.) in addition to the configuration of the "vehicle control device 100" according to the present embodiment.

[External sensor 10]
The external sensor 10 includes a camera 11, a radar 13, and a rider 15.
The camera 11 has an optical axis inclined diagonally downward in front of the own vehicle, and has a function of capturing an image of the traveling direction of the own vehicle M. As the camera 11, for example, a CMOS (Complementary Metal Oxide Semiconductor) camera, a CCD (Charge Coupled Device) camera, or the like can be appropriately used. The camera 11 is provided in the vicinity of the rear-view mirror (not shown) in the vehicle interior of the own vehicle M, and in the front right door, the front left door, and the like outside the vehicle interior of the own vehicle M.

For example, the camera 11 periodically and repeatedly captures the front, right rear side, and left rear side of the own vehicle M in the traveling direction. In the present embodiment, the camera 11 provided in the vicinity of the rear-view mirror includes a pair of monocular cameras arranged side by side. The camera 11 may be a stereo camera.
The image information of the own vehicle M captured by the camera 11 in the forward direction, the right rear side, and the left rear side in the traveling direction is sent to the vehicle control device 100 via the communication medium.
The radar 13 irradiates the target including the preceding vehicle to be followed traveling in front of the own vehicle M with the radar wave, and receives the radar wave reflected by the target to increase the distance to the target. It has a function to acquire distribution information of the target including the direction of the target. As the radar wave, a laser, a microwave, a millimeter wave, an ultrasonic wave or the like can be appropriately used.

In the present embodiment, as shown in FIG. 1, three radars 13 are provided on the front side and two radars 13 are provided on the rear side. The distribution information of the target by the radar 13 is sent to the vehicle control device 100 via the communication medium.
The lidar 15 (LIDAR: Light Detection and Ranging) has a function of detecting the presence or absence of a target and the distance to the target by measuring the time required for detecting the scattered light with respect to the irradiation light, for example. In the present embodiment, as shown in FIG. 1, two riders 15 are provided on the front side and three on the rear side. The distribution information of the target by the rider 15 is sent to the vehicle control device 100 via the communication medium.

[Navigation device 20]
The navigation device 20 includes a GNSS (Global Navigation Satellite System) receiver, map information (navigation map), a touch panel type internal display device 61 that functions as a human-machine interface, a speaker 63 (see FIG. 3 for all), a microphone, and the like. It is composed of. The navigation device 20 plays a role of determining the current position of the own vehicle M by the GNSS receiver and deriving a route from the current position to the destination specified by the user.

The route derived by the navigation device 20 is provided to the target lane determination unit 110 (described later) of the vehicle control device 100. The current position of the own vehicle M may be specified or complemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 30. In addition, the navigation device 20 provides guidance by voice or map display on the route to the destination.
The function for determining the current position of the own vehicle M may be provided independently of the navigation device 20. Further, the navigation device 20 may be realized by the function of a terminal device such as a smartphone or a tablet terminal carried by the user, for example. In this case, information is transmitted and received between the terminal device and the vehicle control device 100 by wireless or wired communication.

[Vehicle control device 100 and its peripheral configuration]
Next, the vehicle control device 100 and its peripheral configuration according to the embodiment of the present invention mounted on the own vehicle M will be described with reference to FIG.

FIG. 2 is a functional block configuration diagram showing the configuration of the vehicle control device 100 and its peripheral portion according to the embodiment of the present invention.
In addition to the external world sensor 10, the navigation device 20, and the vehicle control device 100 described above, the own vehicle M includes a communication device 25, a vehicle sensor 30, an HMI (Human Machine Interface) 35, and a traveling drive, as shown in FIG. A force output device 200, a steering device 210, and a braking device 220 are mounted.

The communication device 25, the vehicle sensor 30, the HMI 35, the vehicle operation right management device 36, the traveling driving force output device 200, the steering device 210, and the braking device 220 mutually data with the vehicle control device 100 via a communication medium. It is configured to be communicable.

[Communication device 25]
The communication device 25 has a function of communicating via a wireless communication medium such as a cellular network, a Wi-Fi network, Bluetooth (registered trademark), or DSRC (Dedicated Short Range Communication).
The communication device 25 wirelessly communicates with an information providing server of a system for monitoring road traffic conditions such as VICS (Vehicle Information and Communication System) (registered trademark), and the vehicle M is traveling on the road or traveling. Acquire traffic information showing the traffic status of the planned road. Traffic information includes traffic jam information ahead, time required to pass a traffic jam point, accident / breakdown vehicle / construction information, speed regulation / lane regulation information, parking lot location information, parking lot / service area / parking area. Information such as full / empty information is included.

Even if the communication device 25 acquires the traffic information by communicating with a wireless beacon provided on a side band of a road or by performing inter-vehicle communication with another vehicle traveling around the own vehicle M. good.
Further, the communication device 25 performs wireless communication with, for example, an information providing server of a signal information utilization driving support system (TSPS: Traffic Signal Prediction Systems), and a traffic light provided on a road on which the own vehicle M is traveling or is scheduled to travel. Acquire signal information related to. The TSPS plays a role of supporting the operation for smoothly passing through the signalized intersection by using the signal information of the traffic light.

Even if the communication device 25 acquires the signal information by communicating with an optical beacon provided on a side band of a road or by performing inter-vehicle communication with another vehicle traveling around the own vehicle M. good.

[Vehicle sensor 30]
The vehicle sensor 30 has a function of detecting various information about the own vehicle M. The vehicle sensor 30 detects a vehicle speed sensor that detects the vehicle speed of the own vehicle M, an acceleration sensor that detects the acceleration of the own vehicle M, a yaw rate sensor that detects an angular speed around the vertical axis of the own vehicle M, and a direction of the own vehicle M. An azimuth sensor, an inclination angle sensor that detects the inclination angle of the own vehicle M, an illuminance sensor that detects the illuminance of the place where the own vehicle M exists, an illuminance sensor that detects the illuminance of the place where the own vehicle M exists, and a place where the own vehicle M exists. Includes a raindrop sensor and the like that detect the amount of raindrops.

[Structure of HMI35]
Next, the HMI 35 will be described with reference to FIGS. 3, 4, 5A, and 5B.
FIG. 3 is a schematic configuration diagram of an HMI 35 connected to the vehicle control device 100 according to the embodiment of the present invention. FIG. 4 is a diagram showing a front structure of the passenger compartment of the own vehicle M including the vehicle control device 100. 5A and 5B are external views showing a front structure and a rear structure of the own vehicle M including the vehicle control device 100, respectively.

As shown in FIG. 3, the HMI 35 includes a component of a driving operation system and a component of a non-driving operation system. These boundaries are not clear, and a configuration in which the components of the driving operation system have the functions of the non-driving operation system (or vice versa) may be adopted.
As shown in FIG. 3, the HMI 35 shifts the accelerator pedal 41, the accelerator opening sensor 43, the accelerator pedal reaction force output device 45, the brake pedal 47, and the brake depression sensor 49 as constituent members of the operation operation system. It includes a lever 51, a shift position sensor 53, a steering wheel 55, a steering steering angle sensor 57, a steering torque sensor 58, and other driving operation devices 59.

The accelerator pedal 41 is an acceleration operator for receiving an acceleration instruction (or a deceleration instruction by a return operation) by the driver. The accelerator opening sensor 43 detects the amount of depression of the accelerator pedal 41 and outputs an accelerator opening signal indicating the amount of depression to the vehicle control device 100.
Instead of outputting the accelerator opening signal to the vehicle control device 100, a configuration may be adopted in which the accelerator opening signal is directly output to the traveling driving force output device 200, the steering device 210, or the brake device 220. The same applies to the configurations of other operation operation systems described below. The accelerator pedal reaction force output device 45 outputs a force (operation reaction force) in the direction opposite to the operation direction to the accelerator pedal 41 in response to an instruction from, for example, the vehicle control device 100.

The brake pedal 47 is a deceleration operator for receiving a deceleration instruction by the driver. The brake pedal amount sensor 49 detects the depression amount (or depression force) of the brake pedal 47, and outputs a brake signal indicating the detection result to the vehicle control device 100.
The shift lever 51 is a shift controller for receiving an instruction to change the shift stage by the driver. The shift position sensor 53 detects the shift stage instructed by the driver, and outputs a shift position signal indicating the detection result to the vehicle control device 100.

The steering wheel 55 is a steering operator for receiving a turning instruction by the driver. The steering steering angle sensor 57 detects the operating angle of the steering wheel 55 and outputs a steering steering angle signal indicating the detection result to the vehicle control device 100. The steering torque sensor 58 detects the torque applied to the steering wheel 55 and outputs a steering torque signal indicating the detection result to the vehicle control device 100.
The other driving operation device 59 is, for example, a joystick, a button, a dial switch, a GUI (Graphical User Interface) switch, or the like. The driving operation device 59 receives an acceleration instruction, a deceleration instruction, a turning instruction, and the like, and outputs the instruction to the vehicle control device 100.

As shown in FIG. 3, the HMI 35 includes, for example, an internal display device 61, a speaker 63, a contact operation detection device 65, a content reproduction device 67, various operation switches 69, a seat 73, and the components of the non-operation operation system. The seat drive device 75, the window glass 77, the window drive device 79, the vehicle interior camera 81, the external display device 83, and the microphone 86 are included.
The internal display device 61 is preferably a touch panel type display device having a function of displaying various information to the occupants in the vehicle interior. As shown in FIG. 4, the internal display device 61 is provided in the instrument panel 60 so as to face the meter panel 85 provided at a position facing the driver's seat and the driver's seat and the passenger seat in the vehicle width direction. Includes a horizontally long multi-information panel 87, a right panel 89a provided on the driver's seat side in the vehicle width direction, and a left panel 89b provided on the passenger seat side in the vehicle width direction. The internal display device 61 may be additionally provided at a position facing the rear seats (all on the back side of the seats).

On the meter panel 85, for example, a speedometer, a tachometer, an odometer, shift position information, lighting status information of lights, and the like are displayed.
On the multi-information panel 87, for example, map information around the own vehicle M, current position information of the own vehicle M on the map, traffic information (including signal information) regarding the current travel route / planned route of the own vehicle M, and own Various information such as traffic participant information regarding traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.) existing around the vehicle M, messages sent to the traffic participants, and the like are displayed.

On the right panel 89a, image information of the rear side and the lower side on the right side of the own vehicle M captured by the camera 11 provided on the right side of the own vehicle M is displayed.
On the left panel 89b, image information of the rear side and the lower side on the left side of the own vehicle M captured by the camera 11 provided on the left side of the own vehicle M is displayed.
The internal display device 61 is not particularly limited, but is composed of, for example, an LCD (Liquid Crystal Display), an organic EL (Electroluminescence), or the like. The internal display device 61 may be configured by a HUD (Head Up Display) that projects a required image onto the window glass 77.

The speaker 63 has a function of outputting sound. An appropriate number of speakers 63 are provided at appropriate positions such as an instrument panel 60, a door panel, and a rear parcel shelf (all not shown) in the vehicle interior.
The contact operation detection device 65 has a function of detecting a touch position on the display screen of the internal display device 61 and outputting the detected touch position information to the vehicle control device 100 when the internal display device 61 is a touch panel type. .. If the internal display device 61 is not a touch panel type, the contact operation detection device 65 can omit this.

The content playback device 67 includes, for example, a DVD (Digital Versatile Disc) playback device, a CD (Compact Disc) playback device, a television receiver, and various guidance image generation devices. The internal display device 61, the speaker 63, the contact operation detection device 65, and the content reproduction device 67 may have a configuration in which a part or all of them are common to the navigation device 20.
The various operation switches 69 are arranged at appropriate positions in the vehicle interior. The various operation switches 69 include an automatic operation changeover switch 71 for instructing immediate start (or future start) and stop of automatic operation. The automatic operation changeover switch 71 may be either a GUI (Graphical User Interface) switch or a mechanical switch. Further, the various operation switches 69 may include a switch for driving the seat drive device 75 and the window drive device 79.

The seat 73 is a seat on which the occupant of the own vehicle M is seated. The seat driving device 75 freely drives the reclining angle, the position in the front-rear direction, the yaw angle, and the like of the seat 73. The seat rotation sensor 76 detects the rotation of the seat 73 and detects the orientation of the seat 73. The window glass 77 is provided on each door, for example. The window driving device 79 drives the window glass 77 to open and close.
The vehicle interior camera 81 is a digital camera that uses a solid-state image sensor such as a CCD or CMOS. The vehicle interior camera 81 (imaging element) is provided at a position where at least the head of the driver seated in the driver's seat can be imaged, such as a rear-view mirror, a steering boss portion (all not shown), and an instrument panel 60. The vehicle interior camera 81 periodically and repeatedly captures the state of the vehicle interior including the driver, for example.

The external display device 83 has a function of displaying various information to traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.) existing around the own vehicle M. As shown in FIG. 5A, the external display device 83 includes a right front lighting portion 91A and a left front lighting portion 91B, and left and right front portions of the front grill 90 of the own vehicle M, which are provided apart from each other in the vehicle width direction. A front display unit 93 provided between the lighting units 91A and 91B is provided.
Further, as shown in FIG. 5B, the external display device 83 includes the right rear lighting portion 95A and the left rear lighting portion 95B, and the vehicle interior of the own vehicle M, which are provided apart from each other in the vehicle width direction of the rear grill 94 of the own vehicle M. The rear display unit 97 is provided at a position where the rear window 96 can be seen from the outside through the lower center. The rear display unit 97 is provided, for example, at the lower end of the opening (not shown) of the rear window 96.

Here, the configurations of the left and right front lighting portions 91A and 91B of the external display device 83 will be described with reference to FIG. 5C. FIG. 5C is a front view showing a schematic configuration of the right front lighting portion 91A provided in the own vehicle M. Since the left and right front lighting units 91A and 91B have the same configuration, the schematic configuration of the right front lighting unit 91A will be described instead of the configuration of the left and right front lighting units 91A and 91B. And.
The right front lighting portion 91A is formed in a circular shape when viewed from the front. The right front lighting unit 91A has a headlamp 91Aa formed in a circular shape in a front view, which has a smaller diameter than the outer diameter dimension, and a direction indicator 91Ab and a lighting display, each of which is formed in an annular shape. The portion 91Ac and the position lamp 91Ad are sequentially arranged concentrically toward the outside in the radial direction.

The headlamp 91Aa plays a role of assisting the front view of the occupant by irradiating light forward in the traveling direction while the own vehicle M is traveling in a dark place. The direction indicator 91Ab plays a role of communicating the intention to the traffic participants around the own vehicle M when the own vehicle M turns left or right. The light display unit 91Ac, in combination with the display content of the front display unit 93, conveys the driving intention including the stop of the own vehicle M (details will be described later) to the traffic participants around the own vehicle M. Fulfill. The position lamp 91Ad plays a role of transmitting the width of the own vehicle M to the surrounding traffic participants while the own vehicle M is traveling in a dark place.

[Structure of vehicle control device 100]
Next, returning to FIG. 2, the configuration of the vehicle control device 100 will be described.
The vehicle control device 100 is realized by, for example, one or more processors or hardware having equivalent functions. The vehicle control device 100 is configured by combining a processor such as a CPU (Central Processing Unit), a storage device, an ECU (Electronic Control Unit) to which a communication interface is connected by an internal bus, an MPU (Micro-Processing Unit), or the like. It may be.

The vehicle control device 100 includes a target lane determination unit 110, a driving support control unit 120, a travel control unit 160, an HMI control unit 170, and a storage unit 180.
The functions of each unit of the target lane determination unit 110 and the driving support control unit 120, and some or all of the functions of the travel control unit 160 are realized by the processor executing a program (software). Further, some or all of these functions may be realized by hardware such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit), or may be realized by a combination of software and hardware. good.

In the following description, when the main body is described as "○○ part is", the driving support control unit 120 reads each program from ROM / EEPROM (Electrically Erasable Programmable Read-Only Memory) as necessary and then loads it into RAM. Then, each function (described later) shall be executed. Each program may be stored in the storage unit 180 in advance, or may be incorporated into the vehicle control device 100 as necessary via another storage medium or communication medium.

[Target lane determination unit 110]
The target lane determination unit 110 is realized by, for example, an MPU (Micro Processing Unit). The target lane determination unit 110 divides the route provided by the navigation device 20 into a plurality of blocks (for example, divides the route every 100 [m] with respect to the vehicle traveling direction), and refers to the high-precision map information 181 for each block. Determine the target lane. The target lane determination unit 110 determines, for example, which lane from the left to drive. The target lane determination unit 110 determines the target lane so that the own vehicle M can travel on a rational travel route for traveling to the branch destination, for example, when there are branch points or merging points on the route. .. The target lane determined by the target lane determination unit 110 is stored in the storage unit 180 as the target lane information 182.

[Driving support control unit 120]
The driving support control unit 120 includes a driving support mode control unit 130, a recognition unit 140, and a switching control unit 150.

<Driving support mode control unit 130>
The driving support mode control unit 130 is an automatic driving executed by the driving support control unit 120 based on the driver's operation on the HMI 35, the event determined by the action plan generation unit 144, the driving mode determined by the track generation unit 147, and the like. Determine the mode (automatic driving support state). The automatic operation mode is notified to the HMI control unit 170.
In any of the automatic operation modes, it is possible to switch (override) to a lower automatic operation mode by operating the components of the operation operation system in the HMI 35.

The override is, for example, when the driver of the own vehicle M continues to operate the components of the driving operation system of the HMI 35 for more than a predetermined time, a predetermined amount of operation change (for example, the accelerator opening by the accelerator pedal 41, the brake pedal 47). This is started when the amount of braking stepped by the vehicle (the amount of braking by the steering wheel 55, the steering angle by the steering wheel 55) is exceeded, or when the operation on the components of the driving operation system is performed more than a predetermined number of times.

<Recognition unit 140>
The recognition unit 140 includes a vehicle position recognition unit 141, an outside world recognition unit 142, an area identification unit 143, an action plan generation unit 144, and a track generation unit 147.

<Own vehicle position recognition unit 141>
The own vehicle position recognition unit 141 is based on the high-precision map information 181 stored in the storage unit 180 and the information input from the camera 11, the radar 13, the rider 15, the navigation device 20, or the vehicle sensor 30. It recognizes the traveling lane in which the vehicle M is traveling and the relative position of the own vehicle M with respect to the traveling lane.
The own vehicle position recognition unit 141 recognizes the road marking line pattern (for example, the arrangement of solid lines and broken lines) recognized from the high-precision map information 181 and the roads around the own vehicle M recognized from the image captured by the camera 11. By comparing with the pattern of the lane marking, the traveling lane is recognized. In this recognition, the current position of the own vehicle M acquired from the navigation device 20 and the processing result by the INS may be added.

<External world recognition unit 142>
As shown in FIG. 2, the outside world recognition unit 142 is based on the outside world information input from the outside world sensor 10 including the camera 11, the radar 13, and the rider 15, for example, the outside world state including the position, vehicle speed, and acceleration of peripheral vehicles. Recognize. The peripheral vehicle is, for example, a vehicle that travels around the own vehicle M and travels in the same direction as the own vehicle M.
The position of the peripheral vehicle may be represented by a representative point such as the center of gravity or a corner of another vehicle, or may be represented by an area represented by the outline of the other vehicle. The state of the peripheral vehicle may include the acceleration of the peripheral vehicle and whether or not the vehicle is changing lanes (or whether or not the vehicle is trying to change lanes), which is grasped based on the information of the various devices. Further, the outside world recognition unit 142 may adopt a configuration that recognizes the position of a target including a guardrail, a utility pole, a parked vehicle, a pedestrian, and a traffic sign in addition to a peripheral vehicle.
In the embodiment of the present invention, among the peripheral vehicles, the vehicle traveling immediately before the own vehicle M and the vehicle to be followed in the follow-up travel control is referred to as a "preceding vehicle".

<Area identification part 143>
The area specifying unit 143 acquires information related to a specific area (interchange: IC / junction: JCT / lane increase / decrease point) existing around the own vehicle M based on the map information. As a result, the area specifying unit 143 can obtain information related to the specific area that assists the smooth progress of the own vehicle M even when the traveling direction image cannot be acquired through the outside world sensor 10 while hiding behind the vehicle in front including the preceding vehicle. Can be obtained.

The area specifying unit 143 identifies the target by image processing based on the traveling direction image acquired via the outside world sensor 10 instead of acquiring the information related to the specific area based on the map information, or the outside world. Information related to the specific area may be acquired by recognizing the target based on the contour of the traveling direction image by the internal processing of the recognition unit 142.
Further, as will be described later, a configuration may be adopted in which the VICS information obtained by the communication device 25 is used to improve the accuracy of the information related to the specific area acquired by the area specifying unit 143.

<Action plan generation unit 144>
The action plan generation unit 144 sets the start point of the automatic driving and / or the destination of the automatic driving. The starting point of the automatic driving may be the current position of the own vehicle M, or may be a point where an operation for instructing the automatic driving is performed. The action plan generation unit 144 generates an action plan in the section between the starting point and the destination of the automatic driving. Not limited to this, the action plan generation unit 144 may generate an action plan for any section.

An action plan is composed of, for example, a plurality of events that are executed sequentially. The plurality of events include, for example, a deceleration event for decelerating the own vehicle M, an acceleration event for accelerating the own vehicle M, a lane keeping event for driving the own vehicle M so as not to deviate from the traveling lane, and a lane for changing the traveling lane. Change event, overtaking event to let own vehicle M overtake the preceding vehicle, branch event to change to the desired lane at the branch point or drive own vehicle M so as not to deviate from the current driving lane, join the main line A merging event that accelerates or decelerates the own vehicle M in the merging lane to change the driving lane, shifts from the manual driving mode to the automatic driving mode (automatic driving support state) at the start point of the automatic driving, or plans to end the automatic driving. It includes a handover event that shifts from the automatic operation mode to the manual operation mode at the point.

The action plan generation unit 144 sets a lane change event, a branch event, or a merging event at a position where the target lane determined by the target lane determination unit 110 is switched. The information indicating the action plan generated by the action plan generation unit 144 is stored in the storage unit 180 as the action plan information 183.
The action plan generation unit 144 includes a mode change unit 145 and a notification control unit 146.

<Mode change unit 145>
The mode change unit 145 is, for example, in an operation mode including a plurality of stages of automatic operation mode and manual operation mode set in advance based on the recognition result of a target existing in the traveling direction of the own vehicle M by the outside world recognition unit 142. Therefore, a driving mode suitable for the recognition result is selected, and the driving operation of the own vehicle M is performed using the selected driving mode.

<Notification control unit 146>
When the operation mode of the own vehicle M is changed by the mode change unit 145, the notification control unit 146 notifies that the operation mode of the own vehicle M has changed. The notification control unit 146 notifies that the operation mode of the own vehicle M has changed by outputting the voice information stored in advance in the storage unit 180 to the speaker 63, for example.
As long as it is possible to notify the driver of the transition of the driving mode of the own vehicle M, the notification may be performed not only by voice but also by display, light emission, vibration, or a combination thereof.

<Orbit generator 147>
The track generation unit 147 generates a track to be traveled by the own vehicle M based on the action plan generated by the action plan generation unit 144.

<Switching control unit 150>
As shown in FIG. 2, the switching control unit 150 switches between the automatic operation mode and the manual operation mode based on the signal input from the automatic operation changeover switch 71 (see FIG. 3) and the like. Further, the switching control unit 150 switches the automatic operation mode at that time to a lower operation mode based on the operation of instructing acceleration, deceleration, or steering of the components of the operation operation system in the HMI 35. For example, when the operation amount indicated by the signal input from the component of the operation operation system in the HMI 35 continues to exceed the threshold value for the reference time or longer, the switching control unit 150 lowers the automatic operation mode at that time. Switch to mode (override).

Further, the switching control unit 150 returns to the original automatic operation mode when no operation on the components of the operation operation system in the HMI 35 is detected for a predetermined time after switching to the lower operation mode by overriding. Switching control may be performed.

<Driving control unit 160>
The travel control unit 160 includes a travel driving force output device 200, a steering device 210, and a steering device 210 so that the own vehicle M passes the track to be traveled by the own vehicle M generated by the track generation unit 147 on time. By controlling the brake device 220, the traveling control of the own vehicle M is performed.

<HMI control unit 170>
When the driving support control unit 120 notifies the HMI control unit 170 of the setting information related to the automatic driving mode of the own vehicle M, the HMI control unit 170 refers to the mode-specific operation availability information 184 (FIG. 2) and sets the automatic driving mode. The HMI 35 is controlled according to the above. The mode-specific operation enable / disable information 184 is information indicating a device (a part or all of the navigation device 20 and the HMI 35) that is permitted to be used for each operation mode and a device that is not permitted to be used.

As shown in FIG. 2, the HMI control unit 170 is permitted to be used based on the driving mode information of the own vehicle M acquired from the driving support control unit 120 and by referring to the mode-specific operation availability information 184. Devices (a part or all of the navigation device 20 and the HMI 35) and devices that are not permitted to be used are discriminated from each other. Further, the HMI control unit 170 controls whether or not the driver operation regarding the HMI 35 of the driving operation system or the navigation device 20 can be accepted based on the determination result.

For example, when the operation mode executed by the vehicle control device 100 is the manual operation mode, the HMI control unit 170 uses the HMI 35 of the operation system (for example, the accelerator pedal 41, the brake pedal 47, the shift lever 51, the steering wheel 55, etc.). Accepts driver operations related to (see Fig. 3).
The HMI control unit 170 includes a display control unit 171.

<Display control unit 171>
The display control unit 171 controls the display of the internal display device 61 and the external display device 83. Specifically, for example, when the driving mode executed by the vehicle control device 100 is an automatic driving mode with a high degree of automation, the display control unit 171 alerts / warns the traffic participants existing around the own vehicle M. -Controlling the display of information such as driving assistance on the internal display device 61 and / or the external display device 83 is performed. This will be described in detail later.

<Memory unit 180>
Information such as high-precision map information 181, target lane information 182, action plan information 183, and mode-specific operation availability information 184 is stored in the storage unit 180. The storage unit 180 is realized by a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), a flash memory, or the like. The program executed by the processor may be stored in the storage unit 180 in advance, or may be downloaded from an external device via an in-vehicle Internet facility or the like. Further, the program may be installed in the storage unit 180 by mounting a portable storage medium in which the program is stored in a drive device (not shown).

The high-precision map information 181 is high-precision map information as compared with the map information normally provided in the navigation device 20. The high-precision map information 181 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. The boundary of the lane includes the type, color, length, road width, road shoulder width, main line width, lane width, boundary position, boundary type (guardrail, planting, curb), zebra zone, etc. of the lane mark. Boundaries are included in the high-precision map.
Further, the high-precision map information 181 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. Road information includes information indicating the type of road such as highways, toll roads, national roads, and prefectural roads, the number of lanes of the road, the width of each lane, the slope of the road, and the position of the road (longitudinal, latitude, height). Includes 3D coordinates), lane curve curvature, lane confluence and branch point locations, road signs and other information. Traffic regulation information includes information that lanes are blocked due to construction work, traffic accidents, traffic jams, and the like.

[Traveling driving force output device 200, steering device 210, and brake device 220]
As shown in FIG. 2, the vehicle control device 100 controls the driving of the traveling driving force output device 200, the steering device 210, and the braking device 220 in accordance with the traveling control command by the traveling control unit 160.

<Traveling driving force output device 200>
The traveling driving force output device 200 outputs a driving force (torque) for the own vehicle M to travel to the driving wheels. The traveling driving force output device 200 is, for example, an engine ECU (Electronic Control Unit: any of) that controls an internal combustion engine engine, a transmission, and an internal combustion engine engine when the own vehicle M is an automobile powered by an internal combustion engine engine. Not shown).

Further, the traveling driving force output device 200 includes a traveling motor and a motor ECU (both not shown) for controlling the traveling motor and the traveling motor when the own vehicle M is an electric vehicle powered by an electric motor.
Further, the traveling driving force output device 200 includes an internal combustion engine engine, a transmission, an engine ECU, a traveling motor, and a motor ECU (all not shown) when the own vehicle M is a hybrid vehicle.

When the traveling driving force output device 200 includes only the internal combustion engine, the engine ECU adjusts the throttle opening, the shift stage, and the like of the internal combustion engine engine according to the information input from the traveling control unit 160, which will be described later.
When the traveling driving force output device 200 includes only a traveling motor, the motor ECU adjusts the duty ratio of the PWM signal given to the traveling motor according to the information input from the traveling control unit 160.

When the traveling driving force output device 200 includes an internal combustion engine engine and a traveling motor, the engine ECU and the motor ECU cooperate with each other to control the traveling driving force according to the information input from the traveling control unit 160.

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

<Brake device 220>
The brake device 220 is, for example, an electric servo brake device (not shown) including a brake caliper, a cylinder for transmitting hydraulic pressure to the brake caliper, an electric motor for generating flood pressure in the cylinder, and a braking control unit. The braking control unit of the electric servo brake device controls the electric motor according to the information input from the traveling control unit 160 so that the brake torque corresponding to the braking operation is output to each wheel. The electric servo brake device may include a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal to the cylinder via the master cylinder as a backup.

The brake device 220 is not limited to the electric servo brake device described above, and may be an electronically controlled hydraulic brake device. The electronically controlled hydraulic brake device controls the actuator according to the information input from the traveling control unit 160 to transmit the oil pressure of the master cylinder to the cylinder. Further, the braking device 220 may include a regenerative brake by a traveling motor that can be included in the traveling driving force output device 200.

[Vehicle operation right management device 36]
FIG. 6 is a functional block diagram illustrating the functions of the vehicle operation right management device 36 (FIG. 2). The vehicle operation right management device 36 includes a person identification unit 301, an operation authority management unit 302, a permission reception unit 303, a power stop detection unit 304, a timekeeping unit 305, a seat direction detection unit 306, and a driver's seat setting unit 307. And have. The vehicle operation right management device 36 is a device that operates based on a predetermined program and realizes a vehicle operation right management method that is the following processing. The predetermined program in this case implements the program of the present invention, and the predetermined vehicle operation right management method described below implements the vehicle operation right management method of the present invention.
The person identification unit 301 identifies the passenger of the own vehicle M. Specifically, based on the image data captured by the vehicle interior camera 81 (FIG. 3), an image of the passenger's face in the vehicle interior of the own vehicle M is taken out, and the passenger's face is taken out based on the image. The features of the above are extracted and the predetermined face recognition is performed. The face recognition may be completed by the process of the person identification unit 301, but the image data captured by the vehicle interior camera 81 is transmitted to an external predetermined server via the communication device 25, and the image is imaged by the server. An image of the passenger's face may be taken out from the data, facial features may be extracted, face recognition may be performed, and the result may be received by the person identification unit 301.

Further, the person identification unit 301 collects sound in the vehicle interior with the microphone 86 (FIG. 3), and extracts a person's voice from the voice data. Then, the movement of the mouth in the face of the person in the image data of the vehicle interior camera 81 is used to identify which voice belongs to which passenger, and the features are extracted from the voice data of the voice to perform predetermined voice authentication. conduct. Note that these processes may be performed by transmitting voice data to the predetermined server via the communication device 25 and executing the processing on the server, and receiving the result in the person identification unit 301. In addition, the identification of the passenger may be other ecological certification or the like, and is not limited to a specific means.

By such processing, the person identification unit 301 can recognize the face and voice of each passenger, and can perform face authentication and voice authentication of each passenger as needed.
The operation authority management unit 302 is an original operation authority (for example,) who originally has the operation authority of the driving parameters of the operation of the own vehicle M by the vehicle control device 100 (FIG. 2) which is an automatic operation control unit for automatically controlling the own vehicle M. , The owner of the own vehicle M) is recognized by the person identification unit 301, and the original operation authority is granted the operation authority of the driving parameter. Further, when the person identification unit 301 recognizes a passenger other than the original operating authority in the driver's seat of the own vehicle M, the passenger is granted the operating authority.

The person identification unit 301 collects facial features and voice features of the original operation authority, and these data are registered in advance as those of the original operation authority. Then, when the original operation authority person sits in the driver's seat of the own vehicle M, the person identification unit 301 performs face authentication based on the data, and authenticates that the person is the original operation authority person. Further, since the operation of the driving parameters and the like is performed by the voice instruction, when the original operation authority person is sitting in the driver's seat of the own vehicle M, the person identification unit 301 authenticates the voice of the original operation authority person by voice authentication. However, it is possible to determine whether or not the driving parameter operation instruction is given by the original operation authority.

In addition, the driving parameters can be operated by voice, and the operation authority management unit 302 recognizes the voice by voice, analyzes the recognized words by AI (Artificial Intelligence), and what kind of instruction is given. You can judge. Speech recognition and AI analysis may also be performed on an external server. The traveling parameters that can be operated here are the traveling acceleration setting, the inter-vehicle distance setting, the lane change, and the like of the own vehicle M.
When the passenger in the driver's seat is a passenger other than the original operation authority, the person identification unit 301 recognizes that the passenger in the driver's seat is a passenger other than the original operation authority by face authentication. In this case, the person identification unit 301 registers the facial features of the passenger, recognizes the voice collected by the microphone 86 from the movement of the passenger's mouth as that of the passenger, and registers the features. do. Then, the person identification unit 301 recognizes the voice having the characteristics of the passenger by voice authentication, and the operation authority management unit 302 gives an instruction of the traveling parameters of the own vehicle M from the passenger to the original operation authority person. Recognize in the same way as in the case of.

In this way, when the vehicle operation right management device 36 instructs the vehicle control device 100 to recognize the instruction of the driving parameter from the original operation authority or a passenger other than the original operation authority, the vehicle operation right management device 36 instructs the vehicle control device 100 to perform the action of the vehicle control device 100. The plan generation unit 144 changes the driving parameters registered in the action plan information 183.
When the operation authority management unit 302 grants the operation authority of the own vehicle M to the passengers in the driver's seat other than the original operation authority, the operation authority does not grant the operation authority to the original operation authority. Specifically, when the person identification unit 301 registers the facial features of the passengers in the driver's seat other than the original operation authority as described above, the faces of the passengers in the driver's seat other than the original operation authority It is determined from the movement of the mouth whether or not the passenger has verbally instructed to change the traveling parameters. Then, the operation authority management unit 302 does not accept the instruction when it is the original operation authority person who verbally instructed the change of the traveling parameter. Further, when a passenger in the driver's seat other than the original operation authority speaks, the person identification unit 301 registers the characteristics of the voice, and thereafter, the person identification unit 301 uses voice recognition to recognize the driver's seat other than the original operation authority. When it is determined that the passenger has instructed to change the driving parameters, the operation authority management unit 302 accepts the change of the driving parameters from the passengers in the driver's seat other than the original operation authority.

In this case, the permission reception unit 303 may accept permission (first permission) from the original operation authority to grant the driver's seat passengers other than the original operation authority the permission to operate the driving parameters. .. That is, when the original operation authority gives a voice instruction to give the first permission, the person identification unit 301 voice-authenticates the voice of the original operation authority, and the permission reception unit 303 gives the content of the instruction. Analyze with AI. Then, when the content of the instruction is permission to grant the operation authority of the driving parameter to the passengers in the driver's seat other than the original operation authority, the permission reception unit 303 approves the change of the operation authority. That is, thereafter, the permission reception unit 303 grants the passengers in the driver's seat other than the original operation authority the right to operate the driving parameters, and does not grant the original operation authority. However, even after the driving parameter operation authority has been changed from the original operation authority to a passenger in the driver's seat other than the original operation authority, the original operation authority can request the change of operation authority. Often, when the request is made, the operating authority returns to the original operating authority.

The power supply stop detection unit 304 detects that the main power supply of the own vehicle M is stopped. The main power supply is stopped when the ignition key (not shown) of the own vehicle M is turned off. When the ignition key is turned off, the power of the own vehicle M is turned off, but it is rare in recent automobiles that it is completely turned off, and the power of some electronic devices such as the keyless entry function (not shown) is turned off. Maintains the ON state as standby power. In the present invention, the state in which the ignition key of the own vehicle M is turned off and most of the power supply of the own vehicle M is turned off is expressed as "the main power supply is stopped".

When the operation authority management unit 302 detects that the main power supply is stopped by the power supply stop detection unit 304, the operation is permitted to the passengers in the driver's seat other than the original operation authority after the next activation of the main power supply. Release the authority. The next activation of the main power supply means that the ignition key is turned on next time.
When the operation authority is granted to a passenger in the driver's seat other than the original operation authority, the facial and voice features of the passenger are registered as the characteristics of the person who has the operation authority, as described above. This data registration is stored in a predetermined volatile storage device so that when the main power supply is turned off, that is, when the ignition key is turned off, the power supply of the volatile storage device is also turned off. If it is set to, the power supply stop detection unit 304 is not particularly required. In this case, when the ignition key is turned off, the features of the face and voice of the passenger in the driver's seat other than the original operation authority and the data indicating that the passenger has the operation authority are deleted. .. Therefore, after that, when the ignition key is turned ON, the person who has the operation authority of the own vehicle M is set to the original operation authority person.

When the operation authority management unit 302 grants the operation authority to the passengers in the driver's seat other than the original operation authority person, the timekeeping unit 305 clocks the elapsed time thereafter. Then, when the elapsed time measured by the timekeeping unit 305 has elapsed a preset time, the operation authority management unit 302 returns the operation authority of the own vehicle M to the original operation authority person. Therefore, after that, as a general rule, passengers in the driver's seat other than the original operation authority are not granted the operation authority of the own vehicle M.
The permission reception unit 303 permits the passenger in the driver's seat other than the original operation authority to return the operation authority of the own vehicle M to the original operation authority. (Second permission) can be accepted. This permission also authenticates the voices of passengers in the driver's seat other than the original operation authority who has the operation authority of the own vehicle M, AI analyzes the contents of the words, and gives the original operation authority the original operation authority of the own vehicle M. The permission reception unit 303 can determine that the permission is to return the operation authority. Of course, an external server may be allowed to perform processing such as analysis by the AI.

Then, when such a second permission is received, the operation authority management unit 302 recognizes the operation authority of the own vehicle M to the original operation authority person, and thereafter, to the passengers in the driver's seat other than the original operation authority person. The operation authority of the own vehicle M is not recognized.
The seat direction detection unit 306 detects the direction of the seat of the own vehicle M. The sheet direction detection unit 306 detects the direction only for the sheet that can be rotated in the horizontal direction. Since the own vehicle M is capable of automatic driving at the automatic driving level 4 defined by SAE (Society of Automotive Engineers) International, the driver does not need to monitor the surrounding conditions during driving. Therefore, the driver's seat and the passenger seat can be rotated, and these seats can be turned backward so as to face the rear seats.

Then, the driver's seat setting unit 307 can see the front from the inside of the own vehicle M based on the direction of the seat of the own vehicle M detected by the seat direction detection unit 306, and the steering operator, that is, the steering wheel 55 (FIG. 3) can be seen. Set the existing seat as the driver's seat.

Next, an example of the flow of processing executed by the vehicle operation right management device 36 will be described. 7 to 9 are flowcharts illustrating the processing executed by the vehicle operation right management device 36.
FIG. 7 is a flowchart of the process of determining the operation authority of the own vehicle M. First, when the permission reception unit 303 receives the first permission given by the original operation authority (Yes in S1), the power supply stop detection unit 304 determines whether or not the main power supply has stopped (S2). When the main power supply is not stopped (N in S2), the time measuring unit 305 determines whether or not a preset time has elapsed (S3). When the preset time has not elapsed (No in S3), the permission receiving unit 303 determines whether or not the second permission for returning the operation authority to the original operation authority has been accepted (S4). If the second permission is not accepted (No in S4), the process proceeds to S5.

In S5, the operation authority management unit 302 grants the operation authority of the own vehicle M to the passengers in the driver's seat other than the original operation authority person. On the other hand, in this case, the operation authority management unit 302 does not grant the operation authority of the own vehicle M to the original operation authority person. It should be noted that the reference time of the time of S3 is from the time when the passenger in the driver's seat other than the original operation authority is first granted the operation authority of the own vehicle M, and in S3, the elapsed time from that time is determined. ..
On the other hand, when the permission receiving unit 303 does not accept the first permission (No in S1), the first permission is accepted, but after that, when the power supply stop detecting unit 304 determines that the main power supply has stopped (Yes in S2). ), When the timing unit 305 determines that the preset time has elapsed (Yes in S3), or when the permission reception unit 303 accepts the second permission (Yes in S4), the process proceeds to S6.

In S6, the operation authority management unit 302 returns the operation authority of the own vehicle M to the original operation authority person. On the other hand, in this case, the operation authority management unit 302 does not grant the operation authority of the own vehicle M to the passengers in the driver's seat other than the original operation authority person.
As described above, the information indicating that the passengers in the driver's seat other than the original operation authority are allowed to operate the own vehicle M, and the information on the features of the passenger's face and voice are stored in the volatile memory. When the storage device stores the information and the power supply is cut off due to the main power supply being stopped, the storage device does not have to make the judgment of S2.

FIG. 8 is a flowchart of the process of changing the traveling parameters of the own vehicle M. First, when the operation authority management unit 302 detects a voice in the vehicle interior with the microphone 86 (Yes in S11), the operation authority management unit 302 performs voice authentication and boarding the vehicle M whose operation authority is recognized by S5 or S6. It is determined whether or not the voice is a person's voice (S12). When the operation authority management unit 302 is the voice of a passenger whose operation authority of the own vehicle M is authorized by S5 or S6 (Yes in S12), is the voice an instruction to operate the own vehicle M by AI? It is determined whether or not (S12). When the voice is an instruction to operate the own vehicle M (Yes in S12), the operation authority management unit 302 instructs the vehicle control device 100 to change the traveling parameters of the own vehicle M according to the instruction. (S14).

FIG. 9 is a flowchart of setting the driver's seat of the own vehicle M. The seat direction detection unit 306 determines whether or not the direction of the seat (reference numerals 401 and 402 in FIG. 12) of the own vehicle M is a predetermined direction (S21). The predetermined direction is when the driver's seat or the passenger's seat is turned backward and faces the rear seat. When the direction of the seat of the own vehicle M is a predetermined direction (Yes in S21), the driver's seat setting unit 307 is the seat on the side where the steering wheel 55 serving as the steering operator can be seen from the inside of the own vehicle M. Is set as the driver's seat. For example, when the driver's seat or the passenger seat is turned backward and faces the rear seat, the rear seat behind the driver's seat is the driver's seat. Such changes in the driver's seat depending on the situation affect the processing shown in FIG. 7. In the process of FIG. 7, in S5, the passengers in the driver's seat other than the original operation authority are granted the operation authority of the own vehicle M, but if the driver's seat is changed, the original operation authority is granted the operation authority of the own vehicle M. This is because the passengers in the driver's seats other than the above will also change.

10 to 12 are conceptual diagrams illustrating the processes of FIGS. 7 and 8. In each figure, the own vehicle M is forward in the direction of the arrow, and shows the driver's seat 401, the passenger seat 402, and the rear seat 403 in the vehicle. The passenger seat 402 is seated by the original operating authority A, and the driver's seat 401 is seated by the passenger B who is not the original operating authority A (FIGS. 10 to 12). In FIG. 12, a passenger C who is not the original operation authority A sits in the rear seat 403.

In FIG. 10, the permission reception unit 303 receives the first permission (Yes in S1), the operation authority of the own vehicle M is transferred to the passenger B in the driver's seat other than the original operation authority A, and the original operation authority A This is a case where the operation authority of the own vehicle M is lost (S5).

In FIG. 11, after that, due to a change in the situation (S2 to S4), the operation authority of the own vehicle M is returned to the original operation authority A, and the operation authority of the own vehicle M is returned to the passenger B in the driver's seat other than the original operation authority A. This is the case when the authority is lost (S6). As for the changes in the situation, the main power supply of the own vehicle M was stopped (Yes in S2), the preset time had passed since the operation authority of the own vehicle M was transferred in S5 (Yes in S3), and permission was accepted. Unit 303 has accepted the second permission (Yes in S4).

In FIG. 12, the driver's seat 401, the passenger seat 402, and the rear seat 403 face each other (Yes in S21), and the operation authority of the own vehicle M held by the original operation authority A is the driver's seat 401 of the rear seat 403. This shows a case where the operation authority of the own vehicle M is transferred to the passenger C sitting behind the vehicle (S22). This is because the seat of passenger C is set as the driver's seat. In this way, when the driver's seat is changed based on the seat layout change or the like, the operation authority may be automatically transferred to the passenger C regardless of who is the operation authority immediately before. Only when the passenger B who was sitting in the driver's seat had the operation authority before the change of the driver's seat, the operation authority is transferred to the passenger C, and the operation authority is possessed before the change of the driver's seat. If it was the original operation authority A, the operation authority was not automatically transferred to the passenger C, and if the operation authority was to be transferred to the passenger C, the processing shown in Fig. 7 was required again. May be good. Further, if the passenger B sitting in the driver's seat has the operation authority before the change of the driver's seat occurs, the specification may be such that the operation authority is once returned to the original operation authority A.

[Action and effect of this embodiment]
According to the present embodiment, in principle, the original operation authority A who originally has the operation authority of the own vehicle M during automatic driving is granted the operation authority of the own vehicle M, and the original operation authority A is assigned to the driver's seat 401 of the own vehicle M. When a passenger B other than the above is recognized, the passenger B is granted the operation authority of the own vehicle M (S5, S6). In this way, the operation authority of the own vehicle M is not given to anyone, but is limited to the original operation authority A or the passenger B other than the original operation authority A of the driver's seat 401. It is possible to prevent the traveling parameters of the own vehicle M from being randomly changed by being given the operation authority of the M. On the other hand, the original operation authority A can transfer the operation authority to another passenger B to the passenger B who may be given the operation authority of the own vehicle M.

In this case, when the passengers in the driver's seat 401 other than the original operation authority A are granted the operation authority of the own vehicle M, the original operation authority A is not granted the operation authority (S5). Therefore, in addition to the passenger B of the driver's seat 401 other than the original operation authority A, the original operation authority A is also granted the operation authority of the own vehicle M to prevent the driving parameters of the own vehicle M from being randomly changed. can.
Further, in this case, when the passenger B of the driver's seat 401 other than the original operation authority A is granted the operation authority of the own vehicle M, the permission (first permission) of the original operation authority A is required (S1). Yes, S5). Further, when the passenger B of the driver's seat 401 other than the original operation authority A is granted the operation authority of the own vehicle M, the original operation authority A is not granted the operation authority (S5). Therefore, it is possible to prevent the operation authority of the own vehicle M from being unconditionally given to other passengers and the traveling parameters of the own vehicle M from being randomly changed.

Further, even if the passenger B of the driver's seat 401 other than the original operation authority A is granted the operation authority of the own vehicle M, after the main power supply of the own vehicle M is stopped (Yes in S2), the original operation is performed. The operation authority of the own vehicle M is returned to the authorized person A (S6). Therefore, the convenience can be ensured by allowing the change of the operation authority of the own vehicle M only during one drive and then returning the operation authority of the own vehicle M to the original operation authority A.
Moreover, even if the passenger B of the driver's seat 401 other than the original operation authority A is granted the operation authority of the own vehicle M once, when the preset time elapses after that (Yes in S3), the original operation authority The operation authority of the own vehicle M is returned to the person A (S6). Therefore, the convenience can be ensured by allowing the change of the operation authority of the own vehicle M only during, for example, one day's drive, and then returning the operation authority of the own vehicle M to the original operation authority A.

Further, even if the passenger B of the driver's seat 401 other than the original operation authority A is granted the operation authority of the own vehicle M, when the permission reception unit 303 accepts the second permission (Yes in S4), The operation authority of the own vehicle M is returned to the original operation authority A (S6). Even if a passenger B of the driver's seat 401 other than the original operation authority A who has the operation authority of the own vehicle M gets off the own vehicle M, the original operation authority A does not move the seat to the driver's seat 401. The operation authority of the own vehicle M can be acquired.
If the seat layout can be changed, the seat on the side where the front can be seen from the inside of the own vehicle M and the steering operator is present is set as the driver's seat based on the direction of the seat (FIG. 9). As a result, the passengers in the driver's seat other than the original operation authority A are also changed to the passenger C, so that the passengers who acquire the operation authority of the own vehicle M also change. According to this process, the operation authority of the own vehicle M can be delegated to the passenger C who can confirm the traveling direction of the own vehicle M.

Needless to say, the above-mentioned embodiment is not a person who limits the present invention. For example, in the above example, the operation of the own vehicle M is performed by voice, and the delegation of the operation authority of the own vehicle M is performed by changing the voice of a person who can operate the own vehicle M. However, by preparing an operation panel such as a touch panel type that can operate the own vehicle M in front of each passenger and activating only the operation panel in front of the passenger who has the operation authority of the own vehicle M, the own vehicle It is also possible to transfer the operation authority of M.

100 Vehicle control device (automatic driving control unit)
301 Person identification unit 302 Operation authority management unit 303 Permit reception unit 304 Power stop detection unit 305 Timekeeping unit 306 Seat direction detection unit 307 Driver's seat setting unit 401 Driver's seat A Passenger B Original operation authority C Passenger M Own vehicle

Claims (9)

A person identification unit that identifies the passengers of the own vehicle,
The person identification unit recognizes the original operation authority who originally has the operation authority for driving the own vehicle by the automatic driving control unit that automatically controls the own vehicle, and grants the operation authority to the original operation authority. Vehicle operation characterized in that the driver's seat of the own vehicle is provided with an operation authority management unit that grants the passenger the operation authority when the person identification unit recognizes a passenger other than the original operation authority. Rights management device. Claim 1 is characterized in that, when the operation authority management unit grants the operation authority to a passenger in the driver's seat other than the original operation authority, the operation authority is not granted to the original operation authority. The vehicle operation right management device described in. It is provided with a permission reception unit that receives the first permission from the original operation authority to grant the operation authority to the passengers in the driver's seat other than the original operation authority.
The operation authority management unit grants the operation authority to the passengers in the driver's seat other than the original operation authority, provided that the first permission is received by the permission reception unit, and the operation authority is granted to the original operation authority. The vehicle operation right management device according to claim 1, wherein the operation authority is not recognized. It is equipped with a power supply stop detection unit that detects that the main power supply of the own vehicle is stopped.
When the power supply stop detection unit detects that the main power supply is stopped, the operation authority management unit informs the passengers in the driver's seat other than the original operation authority person after the next activation of the main power supply. The vehicle operation right management device according to claim 3, wherein the recognized operation authority is released. When the operation authority management unit grants the operation authority to a passenger in the driver's seat other than the original operation authority person, a timekeeping unit for measuring the elapsed time thereafter is provided.
3. The vehicle operation right management device described in. The permission receiving unit accepts a second permission to return the operation authority from the passenger to the original operation authority when the passenger in the driver's seat other than the original operation authority is granted the operation authority. ,
The vehicle according to any one of claims 3 to 5, wherein when the operation authority management unit receives the second permission, the operation authority is granted to the original operation authority person. Operation right management device. A seat direction detecting unit for detecting the direction of the seat of the own vehicle is provided.
The driver's seat setting unit is characterized in that the seat on the side where the front can be seen from the inside of the own vehicle and the steering operator is present is set as the driver's seat based on the direction of the seat detected by the seat direction detection unit. The vehicle operation right management device according to any one of claims 1 to 6. A person identification unit that identifies the passengers of the own vehicle,
The person identification unit recognizes the original operation authority who originally has the operation authority for driving the own vehicle by the automatic driving control unit that automatically controls the own vehicle, and grants the operation authority to the original operation authority. When the person identification unit recognizes a passenger other than the original operation authority in the driver's seat of the own vehicle, the vehicle operation right is executed with the operation authority management unit that grants the passenger the operation authority. Management method. A program for causing a computer to function as a vehicle operation right management device according to any one of claims 1 to 7.

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