JP2021170318A5 - - Google Patents
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- JP2021170318A5 JP2021170318A5 JP2021031852A JP2021031852A JP2021170318A5 JP 2021170318 A5 JP2021170318 A5 JP 2021170318A5 JP 2021031852 A JP2021031852 A JP 2021031852A JP 2021031852 A JP2021031852 A JP 2021031852A JP 2021170318 A5 JP2021170318 A5 JP 2021170318A5
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- 230000009471 action Effects 0.000 claims description 100
- 238000013459 approach Methods 0.000 claims description 51
- 238000000034 method Methods 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 14
- 230000006399 behavior Effects 0.000 claims description 4
- 231100000136 action limit Toxicity 0.000 claims 2
- 238000012544 monitoring process Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Description
上記目的を達成するため、開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御装置であって、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為をドライバに許可した状態が継続するか否かを判断する継続判断部（７２）と、継続判断部により特定行為の許可状態が継続しないと判断された場合に、ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限し、継続判断部により特定行為の許可状態が継続すると判断された場合に、コンテンツの表示を継続しつつ、緊急車両の接近を報知する提供制限部（７４）と、を備える制御装置とされる。
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御装置であって、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為をドライバに許可した状態が継続するか否かを判断する継続判断部（７２）と、継続判断部により特定行為の許可状態が継続しないと判断された場合に、ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限する提供制限部（７４）と、を備え、継続判断部は、自車への緊急車両の接近が検知された場合に、自動運転が継続するか否かをさらに判断し、提供制限部は、継続判断部により自動運転が継続しないと判断された場合に、自動運転が継続すると判断された場合よりも、コンテンツの表示を制限し、特定行為の継続の可否及び自動運転の継続の可否の少なくとも一方は、緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断され、緊急車レーンに隣接する隣接レーン（Ｌｎａ）を自車が走行する場合、特定行為の継続が制限され、且つ、自動運転の継続が許可される制御装置とされる。
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御装置であって、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為をドライバに許可した状態が継続するか否かを判断する継続判断部（７２）と、継続判断部により特定行為の許可状態が継続しないと判断された場合に、ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限する提供制限部（７４）と、を備え、継続判断部は、自車への緊急車両の接近が検知された場合に、自動運転が継続するか否かをさらに判断し、提供制限部は、継続判断部により自動運転が継続しないと判断された場合に、自動運転が継続すると判断された場合よりも、コンテンツの表示を制限し、特定行為の継続の可否及び自動運転の継続の可否の少なくとも一方は、自車が走行する道路の状況に基づき判断され、道路に含まれるレーンのうちで自車が走行する自車レーンが渋滞しており、且つ、緊急車両が走行可能な非渋滞レーン（Ｌｎｐ）が道路に存在する場合、特定行為の継続が制限され、且つ、自動運転の継続が許可される制御装置とされる。
In order to achieve the above object, one disclosed aspect is a control device used in a vehicle (Am) capable of performing automatic driving without the driver's obligation to monitor the surroundings, a continuation judgment unit (72) for judging whether or not the state in which the driver is permitted to perform a specific action other than driving continues when the approach of an emergency vehicle (Qs) to the own vehicle is detected; , when the continuation determination unit determines that the permitted state of the specific action does not continue, the display of the content (CTV) provided to the driver is restricted , and the continuation determination unit determines that the permitted state of the specific action continues. In this case, the controller includes a provision restricting unit (74) that notifies the approach of an emergency vehicle while continuing to display the content .
Further, one aspect disclosed is a control device used in a vehicle (Am) capable of performing automatic driving without the duty of monitoring the surroundings by the driver, wherein during an automatic driving period in which automatic driving is performed, the vehicle itself A continuation determination unit (72) that determines whether or not the state in which the driver is permitted to perform a specific action other than driving continues when an emergency vehicle (Qs) approaching the vehicle is detected; a provision restriction unit (74) for restricting the display of the content (CTV) provided to the driver when it is determined that the permission state of the action will not continue; When the approach is detected, the provision restriction unit further determines whether or not the automatic operation will continue, and the provision restriction unit determines that the automatic operation will continue when the continuation determination unit determines that the automatic operation will not continue. The display of content is restricted more than in the case of an emergency, and at least one of whether to continue the specific action and whether to continue automatic driving is determined based on the relative position of the emergency vehicle lane (Lnq) in which the emergency vehicle travels. The control device restricts the continuation of the specific action and permits the continuation of the automatic driving when the own vehicle travels in the adjacent lane (Lna) adjacent to the vehicle lane.
Further, one aspect disclosed is a control device used in a vehicle (Am) capable of performing automatic driving without the duty of monitoring the surroundings by the driver, wherein during an automatic driving period in which automatic driving is performed, the vehicle itself A continuation determination unit (72) that determines whether or not the state in which the driver is permitted to perform a specific action other than driving continues when an emergency vehicle (Qs) approaching the vehicle is detected; a provision restriction unit (74) for restricting the display of the content (CTV) provided to the driver when it is determined that the permission state of the action will not continue; When the approach is detected, the provision restriction unit further determines whether or not the automatic operation will continue, and the provision restriction unit determines that the automatic operation will continue when the continuation determination unit determines that the automatic operation will not continue. At least one of whether to continue the specific action and whether to continue automatic driving is determined based on the conditions of the road on which the vehicle is traveling, and the lanes included in the road When the lane in which the vehicle is traveling is congested and there is a non-congested lane (Lnp) on which emergency vehicles can travel, the continuation of the specific action is restricted and the continuation of automatic driving is a control device that permits
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御プログラムであって、少なくとも一つの処理部（１１）に、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為をドライバに許可した状態が継続するか否かを判断し（Ｓ１５５）、特定行為の許可状態が継続しないと判断した場合に、ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限し（Ｓ１５８，Ｓ１５９）、特定行為の許可状態が継続すると判断した場合に、コンテンツの表示を継続しつつ、緊急車両の接近を報知する（Ｓ１５６）、ことを含む処理を実行させる制御プログラムとされる。
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御プログラムであって、少なくとも一つの処理部（１１）に、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為をドライバに許可した状態が継続するか否かを判断し（Ｓ１５５）、特定行為の許可状態が継続しないと判断した場合に、ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限し（Ｓ１５８，Ｓ１５９）、自車への緊急車両の接近が検知された場合に、自動運転が継続するか否かをさらに判断し（Ｓ１５７）、自動運転が継続しないと判断した場合に、自動運転が継続すると判断した場合よりも、コンテンツの表示を制限し、特定行為の継続の可否及び自動運転の継続の可否の少なくとも一方を、緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断し、緊急車レーンに隣接する隣接レーン（Ｌｎａ）を自車が走行する場合、特定行為の継続を制限し、且つ、自動運転の継続が許可する、ことを含む処理を実行させる制御プログラムとされる。
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御プログラムであって、少なくとも一つの処理部（１１）に、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為をドライバに許可した状態が継続するか否かを判断し（Ｓ１５５）、特定行為の許可状態が継続しないと判断した場合に、ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限し（Ｓ１５８，Ｓ１５９）、自車への緊急車両の接近が検知された場合に、自動運転が継続するか否かをさらに判断し（Ｓ１５７）、自動運転が継続しないと判断した場合に、自動運転が継続すると判断した場合よりも、コンテンツの表示を制限し、特定行為の継続の可否及び自動運転の継続の可否の少なくとも一方を、自車が走行する道路の状況に基づき判断し、道路に含まれるレーンのうちで自車が走行する自車レーンが渋滞しており、且つ、緊急車両が走行可能な非渋滞レーン（Ｌｎｐ）が道路に存在する場合、特定行為の継続を制限し、且つ、自動運転の継続を許可する、ことを含む処理を実行させる制御プログラムとされる。
In addition, one aspect disclosed is a control program used in a vehicle (Am) capable of performing automatic driving without the obligation of the driver to monitor the surroundings, wherein at least one processing unit (11) performs automatic driving. When the approach of an emergency vehicle (Qs) to the own vehicle, which is a vehicle, is detected during the automatic driving period, it is determined whether or not the state in which the driver is permitted to perform specific actions other than driving continues (S155). When it is determined that the permission state of the specific action does not continue, the display of the content (CTV) provided to the driver is restricted (S158, S159), and when it is determined that the permission state of the specific action continues , the display of the content is restricted. It is a control program for executing processing including continuing the display and announcing the approach of an emergency vehicle (S156) .
In addition, one aspect disclosed is a control program used in a vehicle (Am) capable of performing automatic driving without the obligation of the driver to monitor the surroundings, wherein at least one processing unit (11) performs automatic driving. When the approach of an emergency vehicle (Qs) to the own vehicle, which is a vehicle, is detected during the automatic driving period, it is determined whether or not the state in which the driver is permitted to perform specific actions other than driving continues (S155). , when it is determined that the permission state of the specific action will not continue, the display of the content (CTV) provided to the driver is restricted (S158, S159), and when the approach of the emergency vehicle to the own vehicle is detected, It is further determined whether or not the automatic operation will continue (S157), and if it is determined that the automatic operation will not continue, the display of the content will be restricted more than when it is determined that the automatic operation will continue, and the continuation of the specific action will be restricted. When at least one of whether or not to continue automated driving is determined based on the relative position of the emergency vehicle lane (Lnq) in which the emergency vehicle is traveling, and the own vehicle travels in the adjacent lane (Lna) adjacent to the emergency vehicle lane. , restricts continuation of a specific action and permits continuation of automatic driving.
In addition, one aspect disclosed is a control program used in a vehicle (Am) capable of performing automatic driving without the obligation of the driver to monitor the surroundings, wherein at least one processing unit (11) performs automatic driving. When the approach of an emergency vehicle (Qs) to the own vehicle, which is a vehicle, is detected during the automatic driving period, it is determined whether or not the state in which the driver is permitted to perform specific actions other than driving continues (S155). , when it is determined that the permission state of the specific action will not continue, the display of the content (CTV) provided to the driver is restricted (S158, S159), and when the approach of the emergency vehicle to the own vehicle is detected, It is further determined whether or not the automatic operation will continue (S157), and if it is determined that the automatic operation will not continue, the display of the content will be restricted more than when it is determined that the automatic operation will continue, and the continuation of the specific action will be restricted. At least one of whether to proceed or not to continue automated driving is determined based on the conditions of the road on which the vehicle is traveling, and the lane on which the vehicle is traveling is congested among the lanes included in the road, and If there is a non-congested lane (Lnp) where emergency vehicles can travel on the road, the control program executes processing including restricting the continuation of the specific action and permitting the continuation of automatic driving.
加えて、開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御装置であって、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近の有無を判定する接近判定部（６１）と、接近判定部により緊急車両の接近が判定された場合に、自動運転の継続の可否と、運転以外の特定行為がドライバに許可された状態の継続の可否とを、緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断する継続判断部（６２）と、を備える制御装置とされる。
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御装置であって、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近の有無を判定する接近判定部（６１）と、接近判定部により緊急車両の接近が判定された場合に、自動運転の継続の可否と、運転以外の特定行為がドライバに許可された状態の継続の可否とを判断する継続判断部（６２）と、を備え、特定行為の継続の可否及び自動運転の継続の可否の少なくとも一方は、緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断され、緊急車レーンに隣接する隣接レーン（Ｌｎａ）を自車が走行する場合、特定行為の継続が制限され、且つ、自動運転の継続が許可される制御装置とされる。
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御装置であって、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近の有無を判定する接近判定部（６１）と、接近判定部により緊急車両の接近が判定された場合に、自動運転の継続の可否と、運転以外の特定行為がドライバに許可された状態の継続の可否とを判断する継続判断部（６２）と、を備え、特定行為の継続の可否及び自動運転の継続の可否の少なくとも一方は、自車が走行する道路の状況に基づき判断され、道路に含まれるレーンのうちで自車が走行する自車レーンが渋滞しており、且つ、緊急車両が走行可能な非渋滞レーン（Ｌｎｐ）が道路に存在する場合、特定行為の継続が制限され、且つ、自動運転の継続が許可される制御装置とされる。
In addition, one disclosed aspect is a control device used in a vehicle (Am) capable of performing automatic driving without a driver's obligation to monitor the surroundings, wherein during an automatic driving period in which automatic driving is performed, An approach determination unit (61) that determines whether or not an emergency vehicle (Qs) is approaching a certain own vehicle; and a continuation determination unit (62) that determines whether or not to continue the state in which the driver is permitted to perform the specific action based on the relative position of the emergency vehicle lane (Lnq) in which the emergency vehicle travels. .
Further, one aspect disclosed is a control device used in a vehicle (Am) capable of performing automatic driving without the duty of monitoring the surroundings by the driver, wherein during an automatic driving period in which automatic driving is performed, the vehicle itself An approach determination unit (61) that determines whether or not an emergency vehicle (Qs) is approaching the vehicle, and if the approach determination unit determines that the emergency vehicle is approaching, whether to continue automatic driving or not, and specify other than driving. A continuation determination unit (62) that determines whether or not to continue the state in which the action is permitted for the driver, and at least one of whether to continue the specific action and whether to continue automatic driving is determined by the emergency vehicle running. It is determined based on the relative position of the emergency vehicle lane (Lnq), and when the own vehicle travels in the adjacent lane (Lna) adjacent to the emergency vehicle lane, the continuation of the specific action is restricted and the continuation of automatic driving is permitted. It is considered to be a control device that
Further, one aspect disclosed is a control device used in a vehicle (Am) capable of performing automatic driving without the duty of monitoring the surroundings by the driver, wherein during an automatic driving period in which automatic driving is performed, the vehicle itself An approach determination unit (61) that determines whether or not an emergency vehicle (Qs) is approaching the vehicle, and if the approach determination unit determines that the emergency vehicle is approaching, whether to continue automatic driving or not, and specify other than driving. a continuation determination unit (62) that determines whether or not to continue the state in which the action is permitted for the driver, and at least one of whether to continue the specific action and whether to continue automatic driving is determined by the vehicle running. When it is determined based on the road conditions that the lane in which the vehicle is traveling is congested among the lanes included in the road, and the road has a non-congested lane (Lnp) in which emergency vehicles can travel. , the continuation of the specific action is restricted and the continuation of the automatic driving is permitted.
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御プログラムであって、少なくとも一つの処理部（５１）に、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近の有無を判定し（Ｓ１０１，Ｓ１３１）と、緊急車両の接近を判定した場合に、自動運転の継続の可否と、運転以外の特定行為がドライバに許可された状態の継続の可否とを、緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断する（Ｓ１０６～Ｓ１０９，Ｓ１３６～Ｓ１３９）、ことを含む処理を実行させる制御プログラムとされる。
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御プログラムであって、少なくとも一つの処理部（５１）に、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近の有無を判定し（Ｓ１０１，Ｓ１３１）と、緊急車両の接近を判定した場合に、自動運転の継続の可否と、運転以外の特定行為がドライバに許可された状態の継続の可否とを判断し（Ｓ１０６～Ｓ１０９，Ｓ１３６～Ｓ１３９）、特定行為の継続の可否及び自動運転の継続の可否の少なくとも一方を、緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断し、緊急車レーンに隣接する隣接レーン（Ｌｎａ）を自車が走行する場合、特定行為の継続を制限し、且つ、自動運転の継続を許可する、ことを含む処理を実行させる制御プログラムとされる。
また開示された一つの態様は、ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御プログラムであって、少なくとも一つの処理部（５１）に、自動運転が行われる自動走行期間にて、車両である自車への緊急車両（Ｑｓ）の接近の有無を判定し（Ｓ１０１，Ｓ１３１）と、緊急車両の接近を判定した場合に、自動運転の継続の可否と、運転以外の特定行為がドライバに許可された状態の継続の可否とを判断し（Ｓ１０６～Ｓ１０９，Ｓ１３６～Ｓ１３９）、特定行為の継続の可否及び自動運転の継続の可否の少なくとも一方を、自車が走行する道路の状況に基づき判断し、道路に含まれるレーンのうちで自車が走行する自車レーンが渋滞しており、且つ、緊急車両が走行可能な非渋滞レーン（Ｌｎｐ）が道路に存在する場合、特定行為の継続を制限し、且つ、自動運転の継続を許可する、ことを含む処理を実行させる制御プログラムとされる。
In addition, one aspect disclosed is a control program used in a vehicle (Am) capable of performing automatic driving without the obligation of the driver to monitor the surroundings, wherein at least one processing unit (51) performs automatic driving. In the automatic driving period, it is determined whether or not an emergency vehicle (Qs) is approaching the own vehicle (S101, S131), and if it is determined that the emergency vehicle is approaching, whether or not automatic driving can be continued, Determining whether to continue the state in which the driver is permitted to perform specific actions other than driving based on the relative position of the emergency vehicle lane (Lnq) in which the emergency vehicle travels (S106 to S109, S136 to S139). A control program that executes processing.
In addition, one aspect disclosed is a control program used in a vehicle (Am) capable of performing automatic driving without the obligation of the driver to monitor the surroundings, wherein at least one processing unit (51) performs automatic driving. In the automatic driving period, it is determined whether or not an emergency vehicle (Qs) is approaching the own vehicle (S101, S131), and if it is determined that the emergency vehicle is approaching, whether or not automatic driving can be continued, It is determined whether or not to continue the state in which the driver is permitted to perform specific actions other than driving (S106 to S109, S136 to S139), and at least one of whether to continue the specific action and whether to continue automatic driving is determined by the emergency vehicle. is determined based on the relative position of the emergency vehicle lane (Lnq) in which the vehicle is traveling, and when the own vehicle runs in the adjacent lane (Lna) adjacent to the emergency vehicle lane, restrict the continuation of the specific action and continue automatic driving is a control program that executes a process including permitting
In addition, one aspect disclosed is a control program used in a vehicle (Am) capable of performing automatic driving without the obligation of the driver to monitor the surroundings, wherein at least one processing unit (51) performs automatic driving. In the automatic driving period, it is determined whether or not an emergency vehicle (Qs) is approaching the own vehicle (S101, S131), and if it is determined that the emergency vehicle is approaching, whether or not automatic driving can be continued, It is determined whether or not to continue the state in which the driver is permitted to perform specific actions other than driving (S106-S109, S136-S139), and at least one of whether to continue the specific action and whether to continue automatic driving is determined by the own vehicle. determines based on the conditions of the road on which the vehicle is traveling, and among the lanes included in the road, the own vehicle lane on which the vehicle is traveling is congested, and the non-congested lane (Lnp) on which the emergency vehicle can travel is on the road If it exists, it is a control program that executes processing including restricting the continuation of the specific action and permitting the continuation of automatic driving.
ＨＣＵ１００は、ＨＭＩシステムにおいて、メータディスプレイ２１、ＣＩＤ２２、ＨＵＤ２３及びオーディオ装置２４を制御する車載コンピュータである。ＨＣＵ１００は、ドライバへ向けた情報提示を統合的に管理する制御装置として機能する。ＨＣＵ１００は、処理部１１、ＲＡＭ１２、記憶部１３、入出力インターフェース１４及びこれらを接続するバス等を備えた制御回路を主体として含む構成である。 HCU 100 is an in-vehicle computer that controls meter display 21, CID 22, HUD 23 and audio device 24 in the HMI system. The HCU 100 functions as a control device that comprehensively manages the presentation of information to the driver. The HCU 100 mainly includes a control circuit including a processing unit 11, a RAM 12 , a storage unit 13, an input/output interface 14, and a bus connecting them.
以上の継続判断結果を受けて、ＣＩＤ２２の表示モードは、図１９に示すように、制限なしのセカンドタスクモードＤＭｎに設定される。この場合、動画コンテンツＣＴＶの一部と重なるように、緊急車両通知ＭＷｑが一時的に表示される。緊急車両通知ＭＷｑは、制限表示モードＤＭｒ１と同様に、メイン表示域ＤＡ１の上縁近傍に横長の帯状に表示される。緊急車両通知ＭＷｑには、対向レーンを走行する緊急車両Ｑｓの存在を報知するように、例えば「緊急車両が前方から接近しています」等のメッセージが含まれている。緊急車両Ｑｓが前方から接近している場合の緊急車両通知ＭＷｑの表示は、所定時間（例えば、数秒程度）の経過によって終了される。こうした短時間の表示であっても、ドライバは、動画コンテンツＣＴＶの視聴を継続しつつ、言い替えれば、周辺監視を実施することなく、緊急車両通知ＭＷｑを通じて車外の状態を把握できる。故に、緊急車両通知ＭＷｑは、ドライバに安心感を与えることができる。 In response to the result of the continuation determination, the display mode of the CID 22 is set to the unlimited second task mode DMn as shown in FIG. In this case, the emergency vehicle notification MWq is temporarily displayed so as to overlap with part of the video content CTV. The emergency vehicle notification MWq is displayed in a horizontally long band near the upper edge of the main display area DA1, as in the restricted display mode DMr1. The emergency vehicle notification MWq includes, for example, a message such as "an emergency vehicle is approaching from the front" so as to report the presence of an emergency vehicle Qs traveling in the oncoming lane. The display of the emergency vehicle notification MWq when the emergency vehicle Qs is approaching from the front ends after a predetermined period of time (for example, about several seconds) elapses. Even with such a short-time display, the driver can grasp the state outside the vehicle through the emergency vehicle notification MWq while continuing to view the video content CTV, in other words, without monitoring the surroundings. Therefore, the emergency vehicle notification MWq can give the driver a sense of security.
Ｓ１０１では、自車への緊急車両Ｑｓの接近の有無を判定する。Ｓ１０１にて、緊急車両Ｑｓが接近していないと判定した場合、Ｓ１１０に進み、レベル３の自動運転を継続させると判断し、Ｓ１０１に戻る。一方、Ｓ１０１にて、緊急車両Ｑｓが接近していると判定した場合、Ｓ１０２に進む。Ｓ１０２では、ロケータ情報、車速情報、及び自車周囲の認識情報等、自車に関連する最新の自車情報を取得し、Ｓ１０３に進む。Ｓ１０３では、緊急車情報を取得し、Ｓ１０４に進む。 In S101, it is determined whether or not an emergency vehicle Qs is approaching the host vehicle. When it is determined in S101 that the emergency vehicle Qs is not approaching, the process proceeds to S110 , determines to continue the level 3 automatic driving, and returns to S101. On the other hand, when it is determined in S101 that the emergency vehicle Qs is approaching, the process proceeds to S102. In S102, the latest vehicle information related to the vehicle, such as locator information, vehicle speed information, and recognition information around the vehicle, is acquired, and the process proceeds to S103. In S103, emergency vehicle information is acquired, and it progresses to S104.
対して、Ｓ１５７にて、自動運転が継続しないと判断した場合、Ｓ１５９に進む。Ｓ１５９では、制限表示モードＤＭｒ３（図７参照）への切り替えにより、動画コンテンツＣＴＶの提供を終了させると共に、メイン表示域ＤＡ１及びサブ表示域ＤＡ２のコンテンツを入れ替える表示レイアウトの変更を実施し、Ｓ１６０に進む。Ｓ１６０では、メータディスプレイ２１及びＨＵＤ２３の少なくとも一方に緊急車両警告ＭＷａを表示させて、緊急車両Ｑｓの接近をドライバに警告し、表示制御処理を一旦終了する。 On the other hand, if it is determined in S157 that the automatic operation will not continue, the process proceeds to S159. In S159, by switching to the restricted display mode DMr3 (see FIG. 7), the provision of the moving image content CTV is terminated, and the display layout is changed by exchanging the content in the main display area DA1 and the sub display area DA2. move on. In S160, an emergency vehicle warning MWa is displayed on at least one of the meter display 21 and the HUD 23 to warn the driver of the approach of the emergency vehicle Qs, and the display control process is once terminated.
本開示に記載の制御部及びその手法は、コンピュータプログラムにより具体化された一つ乃至は複数の機能を実行するようにプログラムされたプロセッサを構成する専用コンピュータにより、実現されてもよい。あるいは、本開示に記載の装置及びその手法は、専用ハードウェア論理回路により、実現されてもよい。もしくは、本開示に記載の装置及びその手法は、コンピュータプログラムを実行するプロセッサと一つ以上のハードウェア論理回路との組み合わせにより構成された一つ以上の専用コンピュータにより、実現されてもよい。また、コンピュータプログラムは、コンピュータにより実行されるインストラクションとして、コンピュータ読み取り可能な非遷移有形記録媒体に記憶されていてもよい。
ここまで説明した実施形態及び変形例から把握される技術的思想を、付記１～２３として以下に記載する。
（付記１）
ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御装置であって、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為を前記ドライバに許可した状態が継続するか否かを判断する継続判断部（７２）と、
前記継続判断部により前記特定行為の許可状態が継続しないと判断された場合に、前記ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限する提供制限部（７４）と、
を備える制御装置。
（付記２）
前記提供制限部は、前記コンテンツの表示を制限した場合、少なくとも一つの解除条件が成立するまで前記コンテンツの表示の制限を継続する付記１に記載の制御装置。
（付記３）
前記提供制限部は、前記緊急車両が前記自車を追い抜いた後の所定時間の経過を前記解除条件とし、前記所定時間の経過まで前記コンテンツの表示の制限を継続する付記２に記載の制御装置。
（付記４）
前記提供制限部は、前記自車を追い抜いた前記緊急車両が所定距離（ＤＳｑ）以上離れたことを前記解除条件とし、前記緊急車両が前記所定距離以上離れるまで前記コンテンツの表示の制限を継続する付記２又は３に記載の制御装置。
（付記５）
前記提供制限部は、前記自車の周囲を走行する他車両の挙動が落ち着いたことを前記解除条件とし、前記他車両の挙動が落ち着くまで前記コンテンツの表示の制限を継続する付記２～４のいずれか一項に記載の制御装置。
（付記６）
前記提供制限部は、前記緊急車両が前記自車を追い抜いた後、前記自車が再び前記緊急車両を追い抜いたことを前記解除条件とし、前記緊急車両を再び追い抜くまで前記コンテンツの表示の制限を継続する付記２～５のいずれか一項に記載の制御装置。
（付記７）
前記ドライバが睡眠状態にあるか否かを推定する睡眠推定部（７３）、をさらに備え、
前記継続判断部は、前記ドライバに睡眠を許可した状態が継続するか否かを判断し、
前記提供制限部は、前記ドライバが睡眠状態にあると推定された条件下、前記緊急車両の接近によって睡眠の許可状態が継続しないと判断された場合に、前記ドライバに覚醒を促す報知を実施する付記１～６のいずれか一項に記載の制御装置。
（付記８）
前記提供制限部は、睡眠状態にある前記ドライバに覚醒を促す報知を、覚醒状態にある前記ドライバに前記緊急車両の接近を知らせる報知よりも早いタイミングで実施する付記７に記載の制御装置。
（付記９）
前記提供制限部は、対向レーンを走行する前記緊急車両が前記自車の前方から接近する場合、前記緊急車両の接近を報知する付記１～８のいずれか一項に記載の制御装置。
（付記１０）
前記継続判断部は、前記自車への前記緊急車両の接近が検知された場合に、前記自動運転が継続するか否かをさらに判断し、
前記提供制限部は、前記継続判断部により前記自動運転が継続しないと判断された場合に、前記自動運転が継続すると判断された場合よりも、前記コンテンツの表示を制限する付記１～９のいずれか一項に記載の制御装置。
（付記１１）
ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御装置であって、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近の有無を判定する接近判定部（６１）と、
前記接近判定部により前記緊急車両の接近が判定された場合に、前記自動運転の継続の可否と、運転以外の特定行為が前記ドライバに許可された状態の継続の可否とを判断する継続判断部（６２）と、
を備える制御装置。
（付記１２）
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方は、前記緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断される付記１０又は１１に記載の制御装置。
（付記１３）
前記緊急車レーンに隣接する隣接レーン（Ｌｎａ）を前記自車が走行する場合、前記特定行為の継続が制限され、且つ、前記自動運転の継続が許可される付記１２に記載の制御装置。
（付記１４）
前記自動運転の継続が許可された場合、前記自動運転に設定される前記車両の走行速度が前記緊急車両の接近以前よりも低く変更される付記１３に記載の制御装置。
（付記１５）
前記緊急車レーンに隣接する隣接レーン（Ｌｎａ）を前記自車が走行する場合、前記自動運転の継続が制限され、且つ、前記緊急車両の存在が前記ドライバに報知される付記１２に記載の制御装置。
（付記１６）
前記緊急車レーンから離れた離間レーン（Ｌｎｚ）を前記自車が走行する場合、前記特定行為の継続が許可され、且つ、前記緊急車両の存在が前記ドライバに報知される付記１２～１５のいずれか一項に記載の制御装置。
（付記１７）
前記緊急車レーンを前記自車が走行する場合、前記特定行為の継続が制限され、且つ、前記自動運転の継続が制限される付記１２～１６のいずれか一項に記載の制御装置。
（付記１８）
前記自車が前記緊急車レーンとは異なるレーンを走行し、かつ、前記自車の周囲に他車両が存在しない場合、睡眠の許可状態が継続される付記１２～１７のいずれか一項に記載の制御装置。
（付記１９）
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方は、前記自車が走行する道路の状況に基づき判断される付記１０～１８のいずれか一項に記載の制御装置。
（付記２０）
前記道路に含まれる全てのレーンが渋滞している場合、前記特定行為の継続が許可され、且つ、前記緊急車両の存在が前記ドライバに報知される付記１９に記載の制御装置。
（付記２１）
前記道路に含まれるレーンのうちで前記自車が走行する自車レーンが渋滞しており、且つ、前記緊急車両が走行可能な非渋滞レーン（Ｌｎｐ）が前記道路に存在する場合、前記特定行為の継続が制限され、且つ、前記自動運転の継続が許可される付記１９又は２０に記載の制御装置。
（付記２２）
ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御プログラムであって、
少なくとも一つの処理部（１１）に、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為を前記ドライバに許可した状態が継続するか否かを判断し（Ｓ１５５）、
前記特定行為の許可状態が継続しないと判断した場合に、前記ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限する（Ｓ１５８，Ｓ１５９）、
ことを含む処理を実行させる制御プログラム。
（付記２３）
ドライバによる周辺監視義務のない自動運転を実施可能な車両（Ａｍ）において用いられる制御プログラムであって、
少なくとも一つの処理部（５１）に、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近の有無を判定し（Ｓ１０１，Ｓ１３１）と、
前記緊急車両の接近を判定した場合に、前記自動運転の継続の可否と、運転以外の特定行為が前記ドライバに許可された状態の継続の可否とを判断する（Ｓ１０６～Ｓ１０９，Ｓ１３６～Ｓ１３９）、
ことを含む処理を実行させる制御プログラム。
The controller and techniques described in this disclosure may be implemented by a special purpose computer comprising a processor programmed to perform one or more functions embodied by a computer program. Alternatively, the apparatus and techniques described in this disclosure may be implemented by dedicated hardware logic circuitry. Alternatively, the apparatus and techniques described in this disclosure may be implemented by one or more special purpose computers configured in combination with a processor executing a computer program and one or more hardware logic circuits. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.
Technical ideas understood from the embodiments and modifications described so far are described below as Appendices 1 to 23.
(Appendix 1)
A control device used in a vehicle (Am) capable of performing automatic driving without a driver's obligation to monitor the surroundings,
In the automatic driving period in which the automatic driving is performed, when the approach of the emergency vehicle (Qs) to the own vehicle, which is the vehicle, is detected, whether the state in which the driver is permitted to perform a specific action other than driving continues a continuation determination unit (72) that determines whether
a provision restriction unit (74) for restricting display of content (CTV) provided to the driver when the continuation determination unit determines that the permission state of the specific action will not continue;
A control device comprising:
(Appendix 2)
The control device according to supplementary note 1, wherein, when the display of the content is restricted, the provision restriction unit continues to restrict the display of the content until at least one cancellation condition is satisfied.
(Appendix 3)
The control device according to Supplementary note 2, wherein the provision restriction unit sets the release condition to the elapse of a predetermined time after the emergency vehicle overtakes the own vehicle, and continues to restrict the display of the content until the elapse of the predetermined time. .
(Appendix 4)
The provision restriction unit sets the cancellation condition that the emergency vehicle that overtook the own vehicle has left a predetermined distance (DSq) or more, and continues to restrict the display of the content until the emergency vehicle moves away from the vehicle by the predetermined distance or more. The control device according to appendix 2 or 3.
(Appendix 5)
The provision restriction unit sets the cancellation condition that the behavior of the other vehicle running around the own vehicle has calmed down, and continues to restrict the display of the content until the behavior of the other vehicle calms down. A controller according to any one of the preceding claims.
(Appendix 6)
After the emergency vehicle overtakes the own vehicle, the provision restriction unit sets the release condition to that the own vehicle overtakes the emergency vehicle again, and restricts the display of the content until the emergency vehicle overtakes the emergency vehicle again. 6. A control device according to any one of the continuing claims 2-5.
(Appendix 7)
A sleep estimation unit (73) that estimates whether the driver is in a sleeping state,
The continuation determination unit determines whether the state in which the driver is permitted to sleep continues,
When it is determined that the sleep permission state will not continue due to the approach of the emergency vehicle under the condition that the driver is estimated to be in a sleep state, the provision restriction unit issues a notification to prompt the driver to wake up. The control device according to any one of Appendices 1 to 6.
(Appendix 8)
7. The control device according to Supplementary note 7, wherein the provision restriction unit issues a notification to the driver who is in a sleeping state to wake up earlier than a notification to notify the driver who is in a wakeful state that the emergency vehicle is approaching.
(Appendix 9)
9. The control device according to any one of supplementary notes 1 to 8, wherein the provision restricting unit notifies the approach of the emergency vehicle when the emergency vehicle traveling in the oncoming lane approaches from the front of the own vehicle.
(Appendix 10)
The continuation determination unit further determines whether or not the automatic operation continues when the approach of the emergency vehicle to the own vehicle is detected,
The provision restriction unit restricts the display of the content more than when it is determined that the automatic operation will continue when the continuation determination unit determines that the automatic operation will not continue. or the control device according to claim 1.
(Appendix 11)
A control device used in a vehicle (Am) capable of performing automatic driving without a driver's obligation to monitor the surroundings,
an approach determination unit (61) that determines whether or not an emergency vehicle (Qs) is approaching the own vehicle, which is the vehicle, during an automatic driving period in which the automatic driving is performed;
When the approach determination unit determines that the emergency vehicle is approaching, a continuation determination unit that determines whether to continue the automatic driving and whether to continue the state in which the driver is permitted to perform a specific action other than driving. (62) and
A control device comprising:
(Appendix 12)
12. The control device according to appendix 10 or 11, wherein at least one of whether to continue the specific action and whether to continue the automatic driving is determined based on the relative position of an emergency vehicle lane (Lnq) in which the emergency vehicle travels.
(Appendix 13)
13. The control device according to appendix 12, wherein continuation of the specific action is restricted and continuation of the automatic driving is permitted when the own vehicle travels in an adjacent lane (Lna) adjacent to the emergency vehicle lane.
(Appendix 14)
14. The control device according to supplementary note 13, wherein when the continuation of the automatic operation is permitted, the traveling speed of the vehicle set to the automatic operation is changed to be lower than before the approach of the emergency vehicle.
(Appendix 15)
Control according to Supplementary Note 12, wherein when the own vehicle travels in an adjacent lane (Lna) adjacent to the emergency vehicle lane, continuation of the automatic operation is restricted and the presence of the emergency vehicle is notified to the driver. Device.
(Appendix 16)
Any of appendices 12 to 15, wherein when the own vehicle travels in a separate lane (Lnz) away from the emergency vehicle lane, the continuation of the specific action is permitted, and the presence of the emergency vehicle is notified to the driver. or the control device according to claim 1.
(Appendix 17)
17. The control device according to any one of appendices 12 to 16, wherein continuation of the specific action is restricted and continuation of the automatic driving is restricted when the own vehicle travels in the emergency vehicle lane.
(Appendix 18)
18. The sleep permission state is continued when the own vehicle travels in a lane different from the emergency vehicle lane and there are no other vehicles around the own vehicle. controller.
(Appendix 19)
19. The control device according to any one of appendices 10 to 18, wherein at least one of whether to continue the specific action and whether to continue the automatic driving is determined based on the conditions of the road on which the vehicle travels.
(Appendix 20)
19. The control device according to appendix 19, wherein, when all the lanes included in the road are congested, the continuation of the specific action is permitted and the presence of the emergency vehicle is notified to the driver.
(Appendix 21)
When the vehicle lane in which the vehicle travels among the lanes included in the road is congested and the road has a non-congested lane (Lnp) in which the emergency vehicle can travel, the specific action 21. The control device according to appendix 19 or 20, in which continuation of is restricted and continuation of the automatic operation is permitted.
(Appendix 22)
A control program used in a vehicle (Am) capable of performing automatic driving without the driver's obligation to monitor the surroundings,
in at least one processing unit (11),
In the automatic driving period in which the automatic driving is performed, when the approach of the emergency vehicle (Qs) to the own vehicle, which is the vehicle, is detected, whether the state in which the driver is permitted to perform a specific action other than driving continues determine whether or not (S155),
limiting the display of the content (CTV) provided to the driver when it is determined that the permitted state of the specific action will not continue (S158, S159);
A control program that causes a process to be executed, including
(Appendix 23)
A control program used in a vehicle (Am) capable of performing automatic driving without the driver's obligation to monitor the surroundings,
in at least one processing unit (51),
In the automatic driving period in which the automatic driving is performed, it is determined whether or not an emergency vehicle (Qs) is approaching the own vehicle, which is the vehicle (S101, S131);
When it is determined that the emergency vehicle is approaching, it is determined whether or not to continue the automatic driving and whether or not to continue the state in which the driver is permitted to perform specific actions other than driving (S106 to S109, S136 to S139). ,
A control program that causes a process to be executed, including
Claims (50)
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為を前記ドライバに許可した状態が継続するか否かを判断する継続判断部（７２）と、
前記継続判断部により前記特定行為の許可状態が継続しないと判断された場合に、前記ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限し、前記継続判断部により前記特定行為の許可状態が継続すると判断された場合に、前記コンテンツの表示を継続しつつ、前記緊急車両の接近を報知する提供制限部（７４）と、
を備える制御装置。 A control device used in a vehicle (Am) capable of performing automatic driving without a driver's obligation to monitor the surroundings,
In the automatic driving period in which the automatic driving is performed, when the approach of the emergency vehicle (Qs) to the own vehicle, which is the vehicle, is detected, whether the state in which the driver is permitted to perform a specific action other than driving continues a continuation determination unit (72) that determines whether
When the continuation determination unit determines that the permission state of the specific action does not continue, the display of the content (CTV) provided to the driver is restricted , and the continuation determination unit continues the permission state of the specific action. a provision restriction unit (74) that notifies the approach of the emergency vehicle while continuing to display the content when it is determined that the emergency vehicle is approaching ;
A control device comprising:
前記提供制限部は、前記継続判断部により前記自動運転が継続しないと判断された場合に、前記自動運転が継続すると判断された場合よりも、前記コンテンツの表示を制限する請求項１に記載の制御装置。 The continuation determination unit further determines whether or not the automatic operation continues when the approach of the emergency vehicle to the own vehicle is detected,
2. The provision restriction unit according to claim 1 , wherein when the continuation determination unit determines that the automatic operation will not continue, the display of the content is restricted more than when the automatic operation is determined to continue. Control device.
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為を前記ドライバに許可した状態が継続するか否かを判断する継続判断部（７２）と、
前記継続判断部により前記特定行為の許可状態が継続しないと判断された場合に、前記ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限する提供制限部（７４）と、を備え、
前記継続判断部は、前記自車への前記緊急車両の接近が検知された場合に、前記自動運転が継続するか否かをさらに判断し、
前記提供制限部は、前記継続判断部により前記自動運転が継続しないと判断された場合に、前記自動運転が継続すると判断された場合よりも、前記コンテンツの表示を制限し、
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方は、前記緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断され、
前記緊急車レーンに隣接する隣接レーン（Ｌｎａ）を前記自車が走行する場合、前記特定行為の継続が制限され、且つ、前記自動運転の継続が許可される制御装置。 A control device used in a vehicle (Am) capable of performing automatic driving without a driver's obligation to monitor the surroundings,
In the automatic driving period in which the automatic driving is performed, when the approach of the emergency vehicle (Qs) to the own vehicle, which is the vehicle, is detected, whether the state in which the driver is permitted to perform a specific action other than driving continues a continuation determination unit (72) that determines whether
a provision restriction unit (74) that restricts display of content (CTV) provided to the driver when the continuation determination unit determines that the permission state of the specific action will not continue ,
The continuation determination unit further determines whether or not the automatic operation continues when the approach of the emergency vehicle to the own vehicle is detected,
When the continuation determination unit determines that the automatic operation will not continue, the provision restriction unit restricts the display of the content more than when it is determined that the automatic operation will continue,
At least one of whether to continue the specific action and whether to continue the automatic driving is determined based on the relative position of the emergency vehicle lane (Lnq) in which the emergency vehicle travels,
A control device that restricts continuation of the specific action and permits continuation of the automatic driving when the own vehicle travels in an adjacent lane (Lna) adjacent to the emergency vehicle lane .
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為を前記ドライバに許可した状態が継続するか否かを判断する継続判断部（７２）と、
前記継続判断部により前記特定行為の許可状態が継続しないと判断された場合に、前記ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限する提供制限部（７４）と、を備え、
前記継続判断部は、前記自車への前記緊急車両の接近が検知された場合に、前記自動運転が継続するか否かをさらに判断し、
前記提供制限部は、前記継続判断部により前記自動運転が継続しないと判断された場合に、前記自動運転が継続すると判断された場合よりも、前記コンテンツの表示を制限し、
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方は、前記自車が走行する道路の状況に基づき判断され、
前記道路に含まれるレーンのうちで前記自車が走行する自車レーンが渋滞しており、且つ、前記緊急車両が走行可能な非渋滞レーン（Ｌｎｐ）が前記道路に存在する場合、前記特定行為の継続が制限され、且つ、前記自動運転の継続が許可される制御装置。 A control device used in a vehicle (Am) capable of performing automatic driving without a driver's obligation to monitor the surroundings,
In the automatic driving period in which the automatic driving is performed, when the approach of the emergency vehicle (Qs) to the own vehicle, which is the vehicle, is detected, whether the state in which the driver is permitted to perform a specific action other than driving continues a continuation determination unit (72) that determines whether
a provision restriction unit (74) that restricts display of content (CTV) provided to the driver when the continuation determination unit determines that the permission state of the specific action will not continue ,
The continuation determination unit further determines whether or not the automatic operation continues when the approach of the emergency vehicle to the own vehicle is detected,
When the continuation determination unit determines that the automatic operation will not continue, the provision restriction unit restricts the display of the content more than when it is determined that the automatic operation will continue,
At least one of whether to continue the specific action and whether to continue the automatic driving is determined based on the conditions of the road on which the vehicle travels,
When the vehicle lane in which the vehicle travels among the lanes included in the road is congested and the road has a non-congested lane (Lnp) in which the emergency vehicle can travel, the specific action is restricted and the continuation of the automatic operation is permitted .
前記継続判断部は、前記ドライバに睡眠を許可した状態が継続するか否かを判断し、
前記提供制限部は、前記ドライバが睡眠状態にあると推定された条件下、前記緊急車両の接近によって睡眠の許可状態が継続しないと判断された場合に、前記ドライバに覚醒を促す報知を実施する請求項１～２６のいずれか一項に記載の制御装置。 A sleep estimation unit (73) that estimates whether the driver is in a sleeping state,
The continuation determination unit determines whether the state in which the driver is permitted to sleep continues,
When it is determined that the sleep permission state will not continue due to the approach of the emergency vehicle under the condition that the driver is estimated to be in a sleep state, the provision restriction unit issues a notification to prompt the driver to wake up. Control device according to any one of claims 1-26 .
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近の有無を判定する接近判定部（６１）と、
前記接近判定部により前記緊急車両の接近が判定された場合に、前記自動運転の継続の可否と、運転以外の特定行為が前記ドライバに許可された状態の継続の可否とを、前記緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断する継続判断部（６２）と、
を備える制御装置。 A control device used in a vehicle (Am) capable of performing automatic driving without a driver's obligation to monitor the surroundings,
an approach determination unit (61) that determines whether or not an emergency vehicle (Qs) is approaching the own vehicle, which is the vehicle, during an automatic driving period in which the automatic driving is performed;
When the approach determination unit determines that the emergency vehicle is approaching, the emergency vehicle determines whether to continue the automatic driving and whether to continue the state in which the driver is permitted to perform a specific action other than driving. a continuation determination unit (62) that determines based on the relative position of the running emergency vehicle lane (Lnq) ;
A control device comprising:
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近の有無を判定する接近判定部（６１）と、
前記接近判定部により前記緊急車両の接近が判定された場合に、前記自動運転の継続の可否と、運転以外の特定行為が前記ドライバに許可された状態の継続の可否とを判断する継続判断部（６２）と、を備え、
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方は、前記緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断され、
前記緊急車レーンに隣接する隣接レーン（Ｌｎａ）を前記自車が走行する場合、前記特定行為の継続が制限され、且つ、前記自動運転の継続が許可される制御装置。 A control device used in a vehicle (Am) capable of performing automatic driving without a driver's obligation to monitor the surroundings,
an approach determination unit (61) that determines whether or not an emergency vehicle (Qs) is approaching the own vehicle, which is the vehicle, during an automatic driving period in which the automatic driving is performed;
When the approach determination unit determines that the emergency vehicle is approaching, a continuation determination unit that determines whether to continue the automatic driving and whether to continue the state in which the driver is permitted to perform a specific action other than driving. ( 62) and
At least one of whether to continue the specific action and whether to continue the automatic driving is determined based on the relative position of the emergency vehicle lane (Lnq) in which the emergency vehicle travels,
A control device that restricts continuation of the specific action and permits continuation of the automatic driving when the own vehicle travels in an adjacent lane (Lna) adjacent to the emergency vehicle lane .
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近の有無を判定する接近判定部（６１）と、
前記接近判定部により前記緊急車両の接近が判定された場合に、前記自動運転の継続の可否と、運転以外の特定行為が前記ドライバに許可された状態の継続の可否とを判断する継続判断部（６２）と、を備え、
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方は、前記自車が走行する道路の状況に基づき判断され、
前記道路に含まれるレーンのうちで前記自車が走行する自車レーンが渋滞しており、且つ、前記緊急車両が走行可能な非渋滞レーン（Ｌｎｐ）が前記道路に存在する場合、前記特定行為の継続が制限され、且つ、前記自動運転の継続が許可される制御装置。 A control device used in a vehicle (Am) capable of performing automatic driving without a driver's obligation to monitor the surroundings,
an approach determination unit (61) that determines whether or not an emergency vehicle (Qs) is approaching the own vehicle, which is the vehicle, during an automatic driving period in which the automatic driving is performed;
When the approach determination unit determines that the emergency vehicle is approaching, a continuation determination unit that determines whether to continue the automatic driving and whether to continue the state in which the driver is permitted to perform a specific action other than driving. ( 62) and
At least one of whether to continue the specific action and whether to continue the automatic driving is determined based on the conditions of the road on which the vehicle travels,
When the vehicle lane in which the vehicle travels among the lanes included in the road is congested and the road has a non-congested lane (Lnp) in which the emergency vehicle can travel, the specific action is restricted and the continuation of the automatic operation is permitted .
少なくとも一つの処理部（１１）に、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為を前記ドライバに許可した状態が継続するか否かを判断し（Ｓ１５５）、
前記特定行為の許可状態が継続しないと判断した場合に、前記ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限し（Ｓ１５８，Ｓ１５９）、
前記特定行為の許可状態が継続すると判断した場合に、前記コンテンツの表示を継続しつつ、前記緊急車両の接近を報知する（Ｓ１５６）、
ことを含む処理を実行させる制御プログラム。 A control program used in a vehicle (Am) capable of performing automatic driving without the driver's obligation to monitor the surroundings,
in at least one processing unit (11),
In the automatic driving period in which the automatic driving is performed, when the approach of the emergency vehicle (Qs) to the own vehicle, which is the vehicle, is detected, whether the state in which the driver is permitted to perform a specific action other than driving continues determine whether or not (S155),
limiting the display of content (CTV) provided to the driver when it is determined that the permission state of the specific action does not continue (S158, S159);
When it is determined that the permission state of the specific action will continue, the approach of the emergency vehicle is notified while continuing to display the content (S156);
A control program that causes a process to be executed, including
少なくとも一つの処理部（１１）に、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為を前記ドライバに許可した状態が継続するか否かを判断し（Ｓ１５５）、
前記特定行為の許可状態が継続しないと判断した場合に、前記ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限し（Ｓ１５８，Ｓ１５９）、
前記自車への前記緊急車両の接近が検知された場合に、前記自動運転が継続するか否かをさらに判断し（Ｓ１５７）、
前記自動運転が継続しないと判断した場合に、前記自動運転が継続すると判断した場合よりも、前記コンテンツの表示を制限し、
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方を、前記緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断し、
前記緊急車レーンに隣接する隣接レーン（Ｌｎａ）を前記自車が走行する場合、前記特定行為の継続を制限し、且つ、前記自動運転の継続が許可する、
ことを含む処理を実行させる制御プログラム。 A control program used in a vehicle (Am) capable of performing automatic driving without the driver's obligation to monitor the surroundings,
in at least one processing unit (11),
In the automatic driving period in which the automatic driving is performed, when the approach of the emergency vehicle (Qs) to the own vehicle, which is the vehicle, is detected, whether the state in which the driver is permitted to perform a specific action other than driving continues determine whether or not (S155),
limiting the display of content (CTV) provided to the driver when it is determined that the permission state of the specific action does not continue (S158, S159);
further determining whether or not the automatic driving is to be continued when the approach of the emergency vehicle to the own vehicle is detected (S157);
When it is determined that the automatic operation will not continue, restricting the display of the content more than when it is determined that the automatic operation will continue,
At least one of whether to continue the specific action and whether to continue the automatic driving is determined based on the relative position of the emergency vehicle lane (Lnq) in which the emergency vehicle travels,
When the own vehicle travels in an adjacent lane (Lna) adjacent to the emergency vehicle lane, the continuation of the specific action is restricted and the continuation of the automatic operation is permitted.
A control program that causes a process to be executed, including
少なくとも一つの処理部（１１）に、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近が検知された場合に、運転以外の特定行為を前記ドライバに許可した状態が継続するか否かを判断し（Ｓ１５５）、
前記特定行為の許可状態が継続しないと判断した場合に、前記ドライバに提供されるコンテンツ（ＣＴＶ）の表示を制限し（Ｓ１５８，Ｓ１５９）、
前記自車への前記緊急車両の接近が検知された場合に、前記自動運転が継続するか否かをさらに判断し（Ｓ１５７）、
前記自動運転が継続しないと判断した場合に、前記自動運転が継続すると判断した場合よりも、前記コンテンツの表示を制限し、
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方を、前記自車が走行する道路の状況に基づき判断し、
前記道路に含まれるレーンのうちで前記自車が走行する自車レーンが渋滞しており、且つ、前記緊急車両が走行可能な非渋滞レーン（Ｌｎｐ）が前記道路に存在する場合、前記特定行為の継続を制限し、且つ、前記自動運転の継続を許可する、
ことを含む処理を実行させる制御プログラム。 A control program used in a vehicle (Am) capable of performing automatic driving without the driver's obligation to monitor the surroundings,
in at least one processing unit (11),
In the automatic driving period in which the automatic driving is performed, when the approach of the emergency vehicle (Qs) to the own vehicle, which is the vehicle, is detected, whether the state in which the driver is permitted to perform a specific action other than driving continues determine whether or not (S155),
limiting the display of content (CTV) provided to the driver when it is determined that the permission state of the specific action does not continue (S158, S159);
further determining whether or not the automatic driving is to be continued when the approach of the emergency vehicle to the own vehicle is detected (S157);
When it is determined that the automatic operation will not continue, restricting the display of the content more than when it is determined that the automatic operation will continue,
determining at least one of whether to continue the specific action and whether to continue the automatic driving based on the conditions of the road on which the vehicle travels;
When the vehicle lane in which the vehicle travels among the lanes included in the road is congested and the road has a non-congested lane (Lnp) in which the emergency vehicle can travel, the specific action limit the continuation of and allow the continuation of the automatic operation,
A control program that causes a process to be executed, including
少なくとも一つの処理部（５１）に、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近の有無を判定し（Ｓ１０１，Ｓ１３１）と、
前記緊急車両の接近を判定した場合に、前記自動運転の継続の可否と、運転以外の特定行為が前記ドライバに許可された状態の継続の可否とを、前記緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断する（Ｓ１０６～Ｓ１０９，Ｓ１３６～Ｓ１３９）、
ことを含む処理を実行させる制御プログラム。 A control program used in a vehicle (Am) capable of performing automatic driving without the driver's obligation to monitor the surroundings,
in at least one processing unit (51),
In the automatic driving period in which the automatic driving is performed, it is determined whether or not an emergency vehicle (Qs) is approaching the own vehicle, which is the vehicle (S101, S131);
When it is determined that the emergency vehicle is approaching, the emergency vehicle lane where the emergency vehicle travels ( Lnq) (S106-S109, S136-S139),
A control program that causes a process to be executed, including
少なくとも一つの処理部（５１）に、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近の有無を判定し（Ｓ１０１，Ｓ１３１）と、
前記緊急車両の接近を判定した場合に、前記自動運転の継続の可否と、運転以外の特定行為が前記ドライバに許可された状態の継続の可否とを判断し（Ｓ１０６～Ｓ１０９，Ｓ１３６～Ｓ１３９）、
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方を、前記緊急車両が走行する緊急車レーン（Ｌｎｑ）の相対位置に基づき判断し、
前記緊急車レーンに隣接する隣接レーン（Ｌｎａ）を前記自車が走行する場合、前記特定行為の継続を制限し、且つ、前記自動運転の継続を許可する、
ことを含む処理を実行させる制御プログラム。 A control program used in a vehicle (Am) capable of performing automatic driving without the driver's obligation to monitor the surroundings,
in at least one processing unit (51),
In the automatic driving period in which the automatic driving is performed, it is determined whether or not an emergency vehicle (Qs) is approaching the own vehicle, which is the vehicle (S101, S131);
When it is determined that the emergency vehicle is approaching, it is determined whether or not to continue the automatic driving and whether or not to continue the state in which the driver is permitted to perform specific actions other than driving (S106 to S109, S136 to S139). ,
At least one of whether to continue the specific action and whether to continue the automatic driving is determined based on the relative position of the emergency vehicle lane (Lnq) in which the emergency vehicle travels,
When the own vehicle travels in an adjacent lane (Lna) adjacent to the emergency vehicle lane, restricting the continuation of the specific action and permitting the continuation of the automatic operation;
A control program that causes a process to be executed, including
少なくとも一つの処理部（５１）に、
前記自動運転が行われる自動走行期間にて、前記車両である自車への緊急車両（Ｑｓ）の接近の有無を判定し（Ｓ１０１，Ｓ１３１）と、
前記緊急車両の接近を判定した場合に、前記自動運転の継続の可否と、運転以外の特定行為が前記ドライバに許可された状態の継続の可否とを判断し（Ｓ１０６～Ｓ１０９，Ｓ１３６～Ｓ１３９）、
前記特定行為の継続の可否及び前記自動運転の継続の可否の少なくとも一方を、前記自車が走行する道路の状況に基づき判断し、
前記道路に含まれるレーンのうちで前記自車が走行する自車レーンが渋滞しており、且つ、前記緊急車両が走行可能な非渋滞レーン（Ｌｎｐ）が前記道路に存在する場合、前記特定行為の継続を制限し、且つ、前記自動運転の継続を許可する、
ことを含む処理を実行させる制御プログラム。 A control program used in a vehicle (Am) capable of performing automatic driving without the driver's obligation to monitor the surroundings,
in at least one processing unit (51),
In the automatic driving period in which the automatic driving is performed, it is determined whether or not an emergency vehicle (Qs) is approaching the own vehicle, which is the vehicle (S101, S131);
When it is determined that the emergency vehicle is approaching, it is determined whether or not to continue the automatic driving and whether or not to continue the state in which the driver is permitted to perform specific actions other than driving (S106 to S109, S136 to S139). ,
determining at least one of whether to continue the specific action and whether to continue the automatic driving based on the conditions of the road on which the vehicle travels;
When the vehicle lane in which the vehicle travels among the lanes included in the road is congested and the road has a non-congested lane (Lnp) in which the emergency vehicle can travel, the specific action limit the continuation of and allow the continuation of the automatic operation,
A control program that causes a process to be executed, including
Priority Applications (4)
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| PCT/JP2021/010173 WO2021210316A1 (en) | 2020-04-16 | 2021-03-12 | Control device and control program |
| DE112021002344.6T DE112021002344T5 (en) | 2020-04-16 | 2021-03-12 | CONTROL DEVICE AND CONTROL PROGRAM |
| US17/963,677 US20230030288A1 (en) | 2020-04-16 | 2022-10-11 | Control device and control program product |
| JP2023143254A JP2023160924A (en) | 2020-04-16 | 2023-09-04 | Control device and control program |
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| JP2020073643 | 2020-04-16 | ||
| JP2020073643 | 2020-04-16 |
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| JP2023143254A Division JP2023160924A (en) | 2020-04-16 | 2023-09-04 | Control device and control program |
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