JP6678905B1 - Self-driving car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic driving vehicle capable of safely switching before and after switching from automatic driving to manual driving due to a problem in an automatic driving function of an automatic driving vehicle on which a driver rides. . SOLUTION: When an abnormality of the automatic driving function is detected during automatic driving, when the section type determination unit determines that the section to be traveled next to the section currently traveling is a section of a curve, the driver Is informed that the manual driving is requested, and that the next scheduled traveling section is the section of the curve. [Selection diagram]

Description

  The present invention relates to an autonomous vehicle capable of manual driving and automatic driving, and particularly relates to a technique for dealing with a problem in an automatic driving function during automatic driving.

  In recent years, the development of automatic driving technology for automobiles has accelerated, and this technology has been combined with car navigation technology, advanced wireless communication technology, AI technology, etc., and has reached a level at which human operation is almost unnecessary. Patent Document 1 discloses a technique for safely retracting an autonomous vehicle when the vehicle detects an abnormality.

Japanese Unexamined Patent Publication No. 2019-8540

  In the technology described in Patent Document 1, when any abnormality that occurs in a vehicle during automatic driving is detected, the cause of the abnormality is, for example, (1) contact accident, (2) earthquake, lightning strike, or fire. It is to judge which of the disasters, such as (3) natural failure, etc., selects a travel corresponding to the cause from a plurality of different travels, and evacuates the own vehicle. In particular, for the determination of a contact accident, the surrounding environment information, for example, the distance information with a surrounding vehicle traveling around the own vehicle or the image information around the own vehicle is used. However, since the technique is to automatically evacuate the vehicle to a safe place in a state where automatic driving is possible, it cannot be applied when a problem occurs in the automatic driving function.

  An object of the present invention is to provide a self-driving vehicle in which a driver can ride with peace of mind before and after switching from automatic driving to manual driving due to a problem in the automatic driving function of the autonomous driving vehicle. To provide.

In the automobile of the invention according to claim 1, the vehicle has a car navigation function unit that detects the position of the own vehicle and guides the vehicle, and automatic driving is possible along the travel route to the destination set by the car navigation function unit. In an autonomous vehicle, a steering unit that steers the vehicle, a speed control unit that controls the traveling speed of the vehicle, a direction indicator that indicates the traveling direction of the vehicle, and an area around the vehicle for autonomous driving. An image pickup unit that picks up an image, a distance measurement unit that measures a distance between an object around the vehicle for automatic driving, and an automatic driving function unit that executes automatic driving by the image pickup unit and the distance measuring unit. An informing unit for informing traveling guidance by the car navigation function unit, an operation mode switching unit for switching automatic driving of the vehicle to manual operation, an abnormality detecting unit for detecting an abnormality in the image capturing unit or the distance measuring unit, and the driving By the mode switching unit After I switched from the dynamic operation mode to manual operation mode, in the front of the vehicle in a predetermined range on the travel route, the steering unit, whether manual intervention is required by the speed controller or the direction indicating section An operation determination unit that determines the time, a time calculation unit that calculates the time from the current vehicle position detected by the car navigation function unit to a point where the manual operation is determined to be necessary by the operation determination unit, and the car navigation function. The road detection unit that detects whether or not the road currently running is an expressway based on the vehicle position detected by the department and the abnormality detection unit detects the abnormality, and the road detection unit detects that the road currently running is high speed. If it is detected that a road, have a, a control unit for notifying to the notification unit time to the point to start the manual operation and the manual operation is determined the operation determination unit required the notification unit .

  With this configuration, when a problem occurs in performing automatic driving, by detecting that the road currently running is an expressway, the driver must perform the necessary manual operation for the problem. The time until the operation is performed is notified. That is, the driver can easily switch from the automatic operation to the manual operation by the notified time and recognize the necessary manual operation after the switching, so that the driver can cope with the problem of the automatic operation with a margin and at ease. it can. When traveling on an expressway, it is easier to recognize the point where the manual operation is required when the time is notified than when the distance to the required manual operation is notified.

Further, in the autonomous driving vehicle according to claim 2 of the present invention, the vehicle has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and along the travel route to the destination set by the car navigation function unit. In an autonomous vehicle capable of autonomous driving, a steering unit that steers the own vehicle, a speed control unit that controls the traveling speed of the own vehicle, a direction indicator that indicates the traveling direction of the own vehicle, and for autonomous driving An image capturing unit that captures an image of the surroundings of the vehicle, a distance measuring unit that measures the distance to an object around the vehicle for automatic driving, and an automatic driving that performs automatic driving by the image capturing unit and the distance measuring unit. A driving function unit, a notification unit for notifying traveling guidance by the car navigation function unit, a driving mode switching unit for switching the automatic driving of the vehicle to manual driving, and an abnormality detection for detecting an abnormality of the imaging unit or the distance measuring unit. And the above travel route Within a predetermined range in front of the vehicle, it is determined whether or not a manual operation by the steering section, the speed control section or the direction instructing section is necessary after switching from the automatic operation mode to the manual operation mode by the operation mode switching section. When the operation determination unit that detects the abnormality, the time calculation unit that calculates the time from the current vehicle position to the point where the operation determination unit determines that the manual operation is started, and the abnormality detection unit detects the abnormality The notification unit includes a control unit configured to notify the notification unit of the manual operation determined to be necessary by the operation determination unit and the time until the manual operation is started.

With this configuration, when a problem occurs in the automatic driving traveling, the driver is informed of the necessary manual operation to be performed for the problem and the time until the operation is performed. That is, the driver can switch from the automatic driving to the manual driving by the elapse of the above-noted time and easily recognize the necessary manual operation after the switching, so that the driver can operate the automatic driving with a margin and at ease. Can handle defects.

Further, the automatic driving vehicle according to claim 3 of the present invention further includes a distance calculation unit that calculates a distance from the current own vehicle position to the point where the manual operation is determined to be necessary by the operation determination unit. Then, the control unit causes the notification unit to notify the distance calculated by the distance calculation unit.

With this configuration, the driver can check the distance to the point where the required manual operation is performed in addition to the time required to perform the required operation and the required manual operation. Both the time sensation and the distance sensation can be easily recognized, which gives the driver a higher sense of security .

Further, in the autonomous driving vehicle according to claim 4 of the present invention, the vehicle has a car navigation function unit that detects the position of the own vehicle and performs travel guidance, and along the travel route to the destination set by the car navigation function unit. In an autonomous vehicle capable of autonomous driving, a steering unit that steers the own vehicle, a speed control unit that controls the traveling speed of the own vehicle, a direction indicator that indicates the traveling direction of the own vehicle, and for autonomous driving An imaging unit that images the surroundings of the vehicle, a distance measurement unit that measures the distance to an object that is present around the vehicle for autonomous driving, a traveling speed of the vehicle is detected, and the imaging unit and the An automatic driving function unit that executes automatic driving by the distance measuring unit, a traveling speed detection unit that detects the current traveling speed of the own vehicle, an informing unit that notifies traveling guidance by the car navigation function unit, and an automatic operation of the own vehicle Operation mode switching to switch to manual operation And an abnormality detection unit that detects an abnormality in the imaging unit or the distance measurement unit, and within a predetermined range in front of the vehicle on the travel route, the operation mode switching unit switches from the automatic operation mode to the manual operation mode. After that, an operation determination unit that determines whether or not a manual operation by the steering unit, the speed control unit, or the direction instructing unit is necessary, and the manual operation that the operation determination unit determines from the current vehicle position is necessary. When the distance calculation unit that calculates the distance to the point to start and the abnormality detection unit detects the abnormality, the manual operation and the manual operation that the operation determination unit determines to be necessary in the notification unit are started. And a control unit for informing the distance to.

With this configuration, when a problem occurs in performing the autonomous driving, the driver is informed of the necessary manual operation to be performed for the problem and the distance until the operation is performed. That is, the driver can switch from the automatic driving to the manual driving before reaching the informed distance and easily recognize the necessary manual operation after the switching, so that the driver can operate the automatic driving with a margin and at ease. Can handle defects.

In addition, the automatic driving vehicle according to claim 5 of the present invention further includes a time calculation unit that calculates a time from the current vehicle position to a point where the operation determination unit determines that the manual operation is started. Then, the control unit causes the notification unit to notify the calculated time .

With this configuration, the driver can check the time required to perform the required manual operation in addition to the distance required to perform the required operation and the required manual operation. Both the sense of distance and the sense of time can be easily recognized, which can give the driver a higher sense of security.

Further, in the autonomous driving vehicle according to claim 6 of the present invention, the vehicle has a car navigation function unit that detects the position of the own vehicle and performs travel guidance, and along the travel route to the destination set by the car navigation function unit. In an autonomous vehicle capable of autonomous driving, a steering unit that steers the own vehicle, a speed control unit that controls the traveling speed of the own vehicle, a direction indicator that indicates the traveling direction of the own vehicle, and for autonomous driving An imaging unit that images the surroundings of the vehicle, a distance measurement unit that measures the distance to an object that is present around the vehicle for autonomous driving, a traveling speed of the vehicle is detected, and the imaging unit and the An automatic driving function unit that executes automatic driving by the distance measuring unit, a traveling speed detection unit that detects the current traveling speed of the own vehicle, an informing unit that notifies traveling guidance by the car navigation function unit, and an automatic operation of the own vehicle Operation mode switching to switch to manual operation And an abnormality detection unit that detects an abnormality in the imaging unit or the distance measurement unit, and within a predetermined range in front of the vehicle on the travel route, the operation mode switching unit switches from the automatic operation mode to the manual operation mode. After that, an operation determination unit that determines whether or not a manual operation by the steering unit, the speed control unit, or the direction instructing unit is necessary, and the manual operation that the operation determination unit determines from the current vehicle position is necessary. The distance calculation unit that calculates the distance to the start point, the road detection unit that detects whether the road currently running is an expressway by the vehicle position detected by the car navigation function unit, and the abnormality detection unit When the abnormality is detected and the road detection unit detects that the road currently traveling is a highway, and the current traveling speed detected by the traveling speed detection unit is equal to or lower than a predetermined speed. And a control unit for notifying to the notification unit the distance to the start of the manual operation and the manual operation is determined the operation determination unit required the notification unit.

With this configuration, when a problem occurs in performing automatic driving, by detecting that the road currently running is an expressway, the driver must perform the necessary manual operation for the problem. The distance until the operation is performed is reported. That is, the driver can switch from the automatic driving to the manual driving before reaching the informed distance and easily recognize the necessary manual operation after the switching, so that the driver can operate the automatic driving with a margin and at ease. Can handle defects. When driving on a general road that is not a highway, the driving speed is usually 50 kilometers per hour or less, so it is better to notify the distance of the point where the manual operation is required than to notify the time required for the manual operation. Easy to recognize.

Further, in the autonomous driving vehicle according to claim 7 of the present invention, the vehicle has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and along the travel route to the destination set by the car navigation function unit. In an autonomous vehicle capable of autonomous driving, a steering unit that steers the own vehicle, a speed control unit that controls the traveling speed of the own vehicle, a direction indicator that indicates the traveling direction of the own vehicle, and for autonomous driving An imaging unit that images the surroundings of the vehicle, a distance measurement unit that measures the distance to an object that is present around the vehicle for autonomous driving, a traveling speed of the vehicle is detected, and the imaging unit and the An automatic driving function unit that executes automatic driving by the distance measuring unit, a notification unit that notifies traveling guidance by the car navigation function unit, a driving mode switching unit that switches automatic driving of the own vehicle to manual driving,
After switching from the automatic operation mode to the manual operation mode by the operation mode switching unit within a predetermined range in front of the vehicle on the travel route, the abnormality detection unit detecting an abnormality of the image capturing unit or the distance measuring unit , An operation determination unit that determines whether or not a manual operation by the steering unit, the speed control unit, or the direction instructing unit is necessary, and the manual operation that the operation determination unit determines from the current vehicle position is necessary. A distance calculation unit that calculates the distance to a point, a road detection unit that detects whether the road currently running is an expressway based on the vehicle position detected by the car navigation function unit, and the abnormality detection unit that detects the abnormality When the road detection unit detects that the road currently running is not a highway, the notification unit starts the manual operation and the manual operation that the operation determination unit determines to be necessary. The distance to and a control unit for notifying to said notification unit.

With this configuration, when a problem occurs in performing automatic driving, by detecting that the road currently running is an expressway, the driver must perform the necessary manual operation for the problem. The distance until the operation is performed is reported. That is, the driver can switch from the automatic driving to the manual driving before reaching the informed distance and easily recognize the necessary manual operation after the switching, so that the driver can operate the automatic driving with a margin and at ease. Can handle defects. When driving on a general road that is not a highway, the driving speed is usually 50 kilometers per hour or less, so it is better to notify the distance of the point where the manual operation is required than to notify the time required for the manual operation. Easy to recognize.

Further, in the autonomous driving vehicle according to claim 8 of the present invention, the vehicle has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and along the travel route to the destination set by the car navigation function unit. In an autonomous vehicle capable of autonomous driving, a steering unit that steers the own vehicle, a speed control unit that controls the traveling speed of the own vehicle, a direction indicator that indicates the traveling direction of the own vehicle, and for autonomous driving An image capturing unit that captures an image of the surroundings of the vehicle, a distance measuring unit that measures the distance to an object around the vehicle for automatic driving, and an automatic driving that performs automatic driving by the image capturing unit and the distance measuring unit. A driving function unit, a notification unit for notifying traveling guidance by the car navigation function unit, a driving mode switching unit for switching automatic driving of the vehicle to manual driving, and an abnormality detection for detecting an abnormality of the image pickup unit or the distance measuring unit. And the above travel route Within a predetermined range in front of the vehicle, it is determined whether or not a manual operation by the steering section, the speed control section or the direction instructing section is necessary after switching from the automatic operation mode to the manual operation mode by the operation mode switching section. Operation determination unit, a road detection unit that detects whether the road currently running is an expressway based on the vehicle position detected by the car navigation function unit, and the abnormality detection unit detects the abnormality and detects the road. When the section detects that the road on which the vehicle is currently traveling is an expressway, the operation determination section determines whether or not a manual operation for road conditions based on the characteristics of the expressway is necessary, and it is determined that the operation is necessary. And a control unit that causes the notification unit to notify the manual operation .

With this configuration, for the items to be judged by the operation judging unit, the number of items is smaller and more quickly in the case of the road condition based on the characteristics of the expressway than in the case of the road condition based on the characteristics of the general road. Since it is possible to make that judgment, it is possible to notify the driver of the immediate judgment result in the emergency situation of a malfunction of automatic driving, and it is extremely important for the driver to avoid a traffic accident due to switching from automatic driving to manual driving. Be beneficial.

Also, in the automobile of the invention of claim 9, the vehicle has a car navigation function unit that detects the position of the own vehicle and guides the vehicle, and automatic driving is performed along the travel route to the destination set by the car navigation function unit. In possible autonomous vehicles, a steering unit that steers the vehicle, a speed control unit that controls the traveling speed of the vehicle, a direction indicator that indicates the traveling direction of the vehicle, and a vehicle for autonomous driving. An image capturing unit that captures an image of the surroundings of the vehicle, a distance measuring unit that measures the distance to an object around the vehicle for autonomous driving, and an automatic driving function unit that executes automatic driving by the image capturing unit and the distance measuring unit. A traveling speed detection unit for detecting the traveling speed of the own vehicle, an informing unit for informing traveling guidance by the car navigation function unit, and an operation mode switching unit for switching the automatic operation of the own vehicle to the manual operation,
Within a predetermined range in front of the host vehicle on the travel route after switching from the automatic operation mode to the manual operation mode by the operation mode switching unit and an abnormality detection unit that detects an abnormality in the image capturing unit or the distance measuring unit In, in the steering unit, the speed control unit or the operation determining unit for determining whether a manual operation by the direction instructing unit is necessary, and the manual operation that the operation determining unit determines from the current vehicle position is necessary. When the distance calculation unit that calculates the distance to the start point and the abnormality detection unit detect the abnormality and the traveling speed detection unit detects that the current traveling speed is less than or equal to a predetermined speed, the notification And a control unit configured to notify the notification unit of the manual operation determined to be necessary by the operation determination unit and a distance to a point where the manual operation is started.

  With this configuration, when a problem occurs in performing the autonomous driving, the traveling speed of the own vehicle is equal to or lower than a predetermined speed, for example, when the vehicle is traveling at a slow speed due to a traffic accident, there is a problem in the autonomous driving. When it occurs, as the information to be notified, the distance is more accurate and useful information than the time to the point where the necessary operation is performed.

Further, in the autonomous driving vehicle according to claim 10 of the present invention, the vehicle has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and along the travel route to the destination set by the car navigation function unit. In an autonomous vehicle capable of autonomous driving, a steering unit that steers the own vehicle, a speed control unit that controls the traveling speed of the own vehicle, a direction indicator that indicates the traveling direction of the own vehicle, and for autonomous driving An image capturing unit that captures an image of the surroundings of the vehicle, a distance measuring unit that measures the distance to an object around the vehicle for automatic driving, and an automatic driving that performs automatic driving by the image capturing unit and the distance measuring unit. A driving function unit, a running speed detection unit that detects the running speed of the own vehicle, a notification unit that notifies running guidance by the car navigation function unit, a driving mode switching unit that switches automatic driving of the own vehicle to manual driving, and Of the imaging unit or the distance measuring unit The abnormality detecting section for detecting the normal state and the steering section and the speed control section after switching from the automatic operation mode to the manual operation mode by the operation mode switching section within a predetermined range in front of the vehicle on the traveling route. Alternatively, when the operation determination unit that determines whether or not the manual operation by the direction instruction unit is necessary, and the abnormality detection unit detects the abnormality, and the operation determination unit determines that a plurality of different manual operations are required, And a control unit that causes the notification unit to notify the plurality of different manual operations that the operation determination unit determines to be necessary at a time in the order in which the operation is required .

With this configuration, for example, when a plurality of different manual operations are required within a short time after switching to the manual operation, the driver can know the plurality of different manual operations by a single notification in the order of operation. Since a plurality of required operations and their order can be recognized before the switching, the driver can perform the appropriate operations while feeling a high sense of security.

  According to the present invention, when a problem occurs in the automatic driving function during the automatic driving of the automatic driving vehicle, the driver can switch from the automatic driving to the manual driving with peace of mind.

It is a block diagram of a configuration of an embodiment of an autonomous vehicle of the present invention. It is an operation | movement flowchart in embodiment of the self-driving vehicle of this invention. It is an operation | movement flowchart in embodiment of the self-driving vehicle of this invention. It is explanatory drawing in embodiment of the self-driving vehicle of this invention. It is explanatory drawing in embodiment of the self-driving vehicle of this invention. It is explanatory drawing in embodiment of the self-driving vehicle of this invention. It is explanatory drawing in embodiment of the self-driving vehicle of this invention. It is an operation | movement flowchart in embodiment of the self-driving vehicle of this invention. It is explanatory drawing in embodiment of the self-driving vehicle of this invention. It is explanatory drawing in embodiment of the self-driving vehicle of this invention. It is explanatory drawing in embodiment of the self-driving vehicle of this invention. It is a block diagram in the 2nd Embodiment of the automatic driving vehicle of this invention. It is an operation | movement flowchart in 2nd Embodiment of the self-driving vehicle of this invention. It is an operation | movement flowchart in 2nd Embodiment of the self-driving vehicle of this invention. It is explanatory drawing in 2nd Embodiment of the self-driving vehicle of this invention. It is explanatory drawing in 2nd Embodiment of the self-driving vehicle of this invention. It is explanatory drawing in 2nd Embodiment of the self-driving vehicle of this invention. It is explanatory drawing in 2nd Embodiment of the self-driving vehicle of this invention. It is a table | surface of description in 2nd Embodiment of the self-driving vehicle of this invention. It is a table | surface of description in 2nd Embodiment of the self-driving vehicle of this invention.

An embodiment of an autonomous vehicle of the present invention will be described below with reference to the drawings. The present invention is not limited to the embodiments below.

  With reference to FIG. 1, the configuration and the like of the circuit blocks in the embodiment of the autonomous vehicle of the present invention will be described in detail below. The self-driving vehicle of the present embodiment includes an accelerator unit 102 for driving in basic traveling, a speed control unit A including an engine unit 101 controlled by the accelerator unit, a brake unit 104 for braking the own vehicle, and its control. A braking unit B including a brake control unit 103 that performs a steering operation, a steering unit 106 that performs steering, and a steering unit C that includes a steering drive control unit 105 that controls the steering unit 106, and a direction indicating unit 108 that indicates a turning direction of the vehicle (right turn, left turn). , A light source D including a brake lamp (not shown) and a light unit (not shown) that is turned on when traveling at night. The speed control unit includes the drive unit A and the braking unit B.

  Furthermore, the self-driving vehicle has a manual driving function, an automatic driving function, a car navigation function, and the like. Therefore, with respect to the automatic driving function of the self-driving vehicle, the control unit 127 including an ECU (CPU) automatically drives the accelerator unit 102, the brake unit 104, the handle unit (steering unit) 106, the direction instruction unit 108, and the like. It is automatically controlled by the driving function unit 110. That is, in the self-driving vehicle, the traveling route is set by the car navigation function unit 109, and the camera unit (imaging unit) 113 and / or the radar unit (distance measuring unit) 114 controls the self-driving function unit 110 and the control unit 127. You can drive automatically along the route.

  The camera unit (imaging unit) 113 takes an image of the surroundings of the self-driving vehicle, but it can mainly take a clear image of the lane on the road, the rear part of the vehicle immediately before the own vehicle, and the surroundings. it can. The captured image is stored in the storage unit 125 and temporarily stored. Further, the driving state storage unit 115, in the automatic driving mode, how the steering, speed, and directional instruction of the autonomous vehicle are adjusted by the steering unit C, the speed control unit A, and the directional instruction unit 108 according to the road conditions under running. Whether or not it is controlled is stored for a predetermined time. Specifically, for example, how many times the steering wheel is tilted to the left or right, the speed is several kilometers per hour, the direction indicator is blinking, the light is on, and the like. The distance measuring unit (radar unit) 114 measures the distance to the object outside the vehicle, but mainly measures the distance to the vehicle immediately before and immediately after. The measurement by the distance measuring unit is a radar in the self-driving vehicle, but may be a sound wave.

  In addition, the abnormality detection unit 111 detects an abnormality (failure) in the image pickup unit 113, the distance measurement unit 114, or the automatic driving function unit 110. Regarding this abnormality, in addition to mechanical defects such as deterioration or damage of the above-mentioned respective parts, damage of the program in the control memory of each control-related part, particularly, the lens part of the image pickup part 113 or the distance measuring part 114, the laser This may be caused by rain, snow, insects, or birds covering the irradiated area. In addition to the direct abnormality of each of the above-mentioned units, the abnormality detecting unit 111 also detects an abnormality in the running of the autonomous vehicle. For example, the anomaly detection unit 111 may not be able to obtain accurate information from the image capture unit 113 or the distance measurement unit 114. The direction indicator may not blink, the lane may deviate during traveling, the legal speed or the specified speed may be exceeded. It also detects running.

  The driving mode switching unit 112 has a function of switching from manual driving to automatic driving or from automatic driving to manual driving by the driver, and specifically, a button (not shown) provided on the steering unit 106 is operated by the driver. Pressing switches to each other.

  Here, in the present embodiment, the high speed traveling mode and the general road traveling mode will be described. The high-speed traveling mode is a mode in which the image capturing unit 113 and the distance measuring unit 114 image, measure, and determine based on a plurality of road sections continuous on the road. On the other hand, the general traveling mode is based on a predetermined distance (within range) on a general road, and the image pickup unit and the distance measurement unit pick up images, measure, and judge. Therefore, the high-speed traveling mode is particularly a case of traveling on a highway. On the other hand, the general road traveling mode is not a highway but a general road traveling at a speed of 50 kilometers per hour or less.

  The road section type determination unit 116 (in the high-speed driving mode) linearly extends each road section up to a predetermined number of roads to be traveled in the future along the travel route and is on the same line as the currently traveled road section. It is determined whether it is a certain first type road section or a second type road section that makes an angle with the currently running road section in the horizontal direction. For example, referring to FIG. 4, a road section A2, which is one ahead of the road section A1 in which the vehicle is traveling, has a straight road section along the travel route and is currently traveling. It is a road section on the same line as the road section (first type section). Further, the road section A3 that is two ahead is a road section that makes an angle in the horizontal direction with the section of the road currently running (second type section). Here, the road section may be a section called a “node”, but is not limited thereto and may be any section that divides the road according to a predetermined condition. Further, the determination by the road section type determination unit 116 is based on the road information received by the car navigation function unit 109 from the reception unit (not shown) and the road information stored in the storage unit 125. Usually, the information on the node used by the car navigation function unit 125 includes the distance, width, curvature, inclination, etc. of the node (road).

  Further, the road section type determination unit 116 is the first type road section having no deceleration section or stop line in each road section up to a predetermined number of future roads along the travel route, or the above deceleration section or It is determined whether the road section is the second type road section having a stop line.

  The traveling mode switching unit 119 has a function of switching between the above-described two traveling modes (high-speed traveling mode and general road traveling mode). In this traveling mode, after the traveling route is determined by the car navigation function unit 109, the route travels on an expressway with a long straight distance, on an urban area with many left and right turns, or on a mountain road with many curves. The characteristics of each road are judged depending on whether the vehicle is running or not, and the roads are automatically switched. In addition, actually, the vehicle may be automatically switched based on the characteristics of the road section ahead while the vehicle is traveling. Further, it is possible to automatically switch between the above-mentioned two traveling modes depending on the traveling speed of the vehicle by setting in the automatic driving function unit 110.

  The operation determination unit 120 switches the automatic operation mode to the manual operation mode by the operation mode switching unit 112 within a predetermined distance range in front of the vehicle on the travel route, and then controls the accelerator unit 102 of the steering unit C and the speed control. It is determined whether manual operation of the brake unit 104 or the direction indicator 108 of the part A is necessary. This determination is based on the road information received by the car navigation function unit 109 from the receiving unit (not shown) and the road information stored in the storage unit 125, and there is a curve or a stop line ahead of the travel route. It is based on traffic information such as lane changes and speed limits due to traffic signs.

  The curve correspondence determination unit 118 determines that the road section type determination unit 116 determines that the section of the road scheduled to travel in the future is a curve section of the section of the second type, or reaches the section of the second type. It is determined whether the necessary steering of the steering section (steering section) C is for the right curve or the left curve.

  Next, the time calculation unit 117 calculates the arrival time from the current position of the own vehicle to the section that requires manual operation, and the time from the current position of the own vehicle to the second type road section (described later). Is also calculated. For example, in FIG. 4, when the road section type determination unit 116 determines that there is a curve A3 in front of the vehicle, it is necessary to operate the brake unit 104 to decelerate in the section A2 according to the current speed. Referring to FIG. 5, when the vehicle further enters section A2 from section A2, it is necessary to rotate the steering section (handle section). Therefore, the time calculation unit 117 calculates the travel time from the current position of the vehicle to the front of the section A2 (the intrusion position). In the roads shown in FIGS. 4 and 5, the section following the curve A3 is a section including a stop line or a section requiring deceleration. Is required.

  Further, the distance calculation unit 122 calculates the distance from the own vehicle before the start of the manual operation or the number of road sections from the road section in which the own vehicle is running until the start to the road section. Further, the automatic driving availability determination unit 122 determines whether or not the automatic driving is possible due to the abnormality detected by the abnormality detection unit 111 during the automatic driving of the own vehicle.

  Specifically, with reference to FIG. 6 and FIG. 7, when the own vehicle traveling in the section B1 has acquired the node information up to the section three ahead (forward), it curves ahead of the travel route. Since there is the road B3, first, the brake operation is required in the section B3, and the steering wheel operation is required in the subsequent section B4. Therefore, the time until the manual operation is started is the time until the brake operation is performed. Further, if there is a stop line in front, only the brake operation is performed, and the time until the manual operation is performed is the time until the brake operation is performed.

  Further, the display unit 124 displays the travel guidance by the car navigation function unit 109, and also displays the detection result by the abnormality detection unit 111 and the like. In addition, the speaker unit 123 also provides the traveling guidance by voice announcement. The display unit 124 and the speaker unit 123 serve as a notification unit. Further, the vibration awakening unit 107 has a function of vibrating a driver's seat (not shown) on which the driver sits. Specifically, with regard to the position adjustment function of the driver's seat (front and rear of the seat, angle of the backrest), a slight vertical movement or an angle change may be repeated in a short time, or a vibrating device is attached to the driver's seat. But it's okay. In addition to the operation of the car navigation function unit 109, the operation unit 126 can manually switch the operation mode switching unit 112, the traveling mode switching unit 119, and the like.

  Hereinafter, the operation of the self-driving vehicle of the present embodiment will be described in detail with reference to the drawings. Referring to FIG. 2, first, the driver sets a destination and a waypoint using the car navigation function unit 109. After that, the driver starts the automatic driving by the automatic driving function unit 110 (step 101). Immediately after the start of traveling, in step 102, the car navigation function unit 109 determines from the current position of the vehicle whether or not the vehicle is traveling on an expressway, and the traveling mode switching unit 119 is determined based on the result. Automatically selects the high speed traveling mode or the general traveling mode (steps 103 and 104). Next, in steps 105 and 106, the notification (display, voice announcement) from the notification unit (speaker unit 123, display unit 124) of the autonomous vehicle indicates the distance to the arrival point (“distance notification”), or Determine whether to represent time (“time notification”). The determination depends on whether or not the traveling speed of the own vehicle is a predetermined speed or more, for example, 15 kilometers per hour or more. It should be noted that this low-speed traveling is traveling when a traffic jam due to an accident or the like occurs on a highway or a general road. In this case, it is more convenient to notify the driver of "distance" than to notify "time".

  The automatic driving function unit 110 determines whether or not the current traveling speed of the own vehicle is equal to or higher than a predetermined speed. In Step 105, when traveling on the highway, if the speed is equal to or higher than a predetermined speed (for example, 15 kilometers per hour or more), the process proceeds to Step 108 and “time notification” is given. Moving to 117, "distance notification" is given. In addition, in step 106, when traveling on an ordinary road, if the speed is equal to or higher than a predetermined speed (for example, 15 km / hour or more), the process proceeds to step 109 and “time notification” is given, and if the speed is equal to or lower than the predetermined speed. Then, the process proceeds to step 110, and "distance notification" is given. The determined types of travel and notification are "high-speed distance mode (step 11)", "high-speed time mode (step 112)", "general time mode (step 113)", and "general distance mode (step 114)". And are temporarily stored in the storage unit 125.

  Next, a case where the host vehicle is in the “high speed traveling mode (high speed time mode A or high speed distance mode B)” will be described with reference to FIG. In step 201, the automatic driving is continued, and the automatic driving function part 110 confirms the current mode based on the above decision items stored in the storage part 125 (step 202). In step 203, at present, the current state of the steering section C and the speed control section (driving section A and braking section B) controlled by the automatic driving function section 110, that is, the steering wheel that controls steering is left or right. Direction, how many times the angle is turned, how many kilometers per hour the speed is, and whether or not the brake unit is stepped on, are detected at predetermined time intervals and recorded in the operating state storage unit 115. .

  Next, at step 204, when the abnormality detection unit 111 detects an abnormality during traveling in the automatic driving, or whether the automatic driving availability determination unit 122 can continue the automatic driving based on the abnormality. If it is determined that the result is no, in step 205, a voice announcement and a display saying “There is a fault in the automatic driving function. Please switch to manual driving.” Are displayed on the speaker unit 123 and the display unit 124, respectively. Is done. The abnormality is as described above. Further, the vibration by the vibration awakening unit 107 is generated before the notification so that the notification is surely transmitted to the driver. Next, in step 206, the automatic driving function unit 110 keeps traveling based on the current information of each operation unit stored in the driving state storage unit 115, that is, the abnormality detection unit 111 detects an abnormality. The vehicle automatically travels based on the driving state immediately before.

  Next, in step 207, it is determined whether or not the second type road section is detected. If detected, vibration is given to the driver by the vibration wake-up unit 107 in step 208, and in step 209, the notification unit notifies "Immediately switch to manual operation."

  Next, in step 210, if the type of notification stored in the storage unit 125 is “time notification”, the time required to reach the detected second type road section is calculated. The calculation is performed by the unit 117, and the calculation result is notified from the notification unit. Further, if the type of notification stored in the storage unit 125 is “distance notification”, the detected reaching distance to the second type road section requiring manual operation or the number of sections until reaching is detected. The distance calculation unit 121 calculates, and the calculation result is notified from the notification unit. Specifically, if the second road section is a sharp curve, the time is “20 minutes to the curve.” And the distance is “400 meters to the curve.” This notification is started immediately after the notification in step 209, and the remaining time or the remaining distance is notified every predetermined time as time passes. That is, a so-called countdown is performed by the notification unit.

  Next, in step 211, after switching to the manual operation, the operation determination unit 120 immediately determines the required manual operation (see FIG. 11) and informs the notification unit of the determination result. Specifically, in the case of time notification, if there is a steep curve ahead while traveling, the time until the time calculation unit 121 reaches the steep curve based on the current traveling speed, and the previous time. The time required for the brake operation (time when the brake operation should be started) is calculated. Therefore, for the notification in step 211, for example, "Please press the brake after 10 seconds. The curve will start after 20 seconds." It should be noted that the setting after 10 seconds is set so that the driver has a time margin in consideration of the current speed. Therefore, the setting is safe even if the brake operation is started later than the above 10 seconds.

  Further, in the case of the distance notification, if there is a sharp curve ahead while traveling, the distance until the distance calculation unit 117 reaches the sharp curve based on the current traveling speed and the previous braking operation are performed. The necessary distance from the current position (distance from the current position to the point where the brake operation should be started) is calculated. Therefore, regarding the notification in step 211, for example, "Please press the brake after 400 meters. The curve will start after 200 meters." It should be noted that the above-mentioned 400 meters after is set so that the driver has a time margin in consideration of the current speed. Therefore, the setting is safe even if the brake operation is started after traveling 400 meters.

  In step 212, it is determined whether or not the driver notices the abnormality of the automatic driving function by the above notification and switches to the manual driving.

  Further, in step 211, when the front road section is a curved road, when the curve correspondence determination unit 118 is activated, it is determined from the node information whether the curve is a right turn or a left turn, and the determination result is displayed. Notify me. Specifically, the warning is "Please step on the brake after 10 seconds and then turn left after 20 seconds because there is a left curve."

  Next, a case where the host vehicle is in the "general traveling mode (general time mode C or general distance mode D)" will be described with reference to FIG. Since steps 301 to 306 are the same operations as steps 201 to 206, the description thereof will be omitted.

  In step 307, the car navigation function unit 109 acquires node information or the like within a predetermined distance in front of the vehicle on the travel route or within a predetermined range in front (from a certain point in the front to a point after that) and the node information. The operation determination unit 120 detects a necessary operation for the above. Further, steps 308 to 309 are the same as steps 208 to 209 described above, and thus the description thereof will be omitted.

  Next, in step 310, the same operation or process as step 210 is performed. It should be noted that both the time and the distance can be notified by the operation unit 126. This notification is also a countdown of the remaining time or the remaining distance described above. Next, also in step 311, the same operation or processing as in step 211 is performed.

  In step 311, if the road section ahead is a curved road, when the curve correspondence determination unit 118 is activated, it is determined from the node information whether the curve is a right turn or a left turn, and the determination result is displayed. Notify me. Specifically, the warning is "Please step on the brake after 10 seconds and then turn left after 20 seconds because there is a left curve." In step 312, it is determined whether the driver has switched to the manual driving by the above notification.

  As another example, referring to FIG. 9, when a failure related to automatic driving is detected in C1 in which the vehicle is traveling, after the driver's seat vibrates, the driver says "failure detected, manual operation". At the same time, a stop line is detected in section C3, and a brake operation is required from 20 meters ahead because the stop line is detected in section C3 at the same time. "Notification (display and voice)" is received. As a result, the driver determines that the brake operation is necessary at the time of entering the section C2 20 meters ahead, and starts to apply the brake. Then, after a brake operation for several seconds, the self-driving vehicle can safely stop in front of the stop line L. In the above steps 212 and 312, if the operation is not switched to the manual operation, the direction indicator 108 is operated, the brake is operated, and the handle is operated, thereby approaching the left shoulder of the traveling road, Since shifting to the automatic emergency stop operation is also effective for safety, the setting can be performed by the operation unit 126.

  The second embodiment of the autonomous vehicle of the present invention will be described below with reference to the drawings. The present invention is not limited to the embodiments below.

  With reference to FIG. 12, the configuration and the like of the circuit blocks in the second embodiment of the autonomous vehicle of the present invention will be described in detail below. The self-driving vehicle of the present embodiment includes an accelerator section 402 for driving in basic traveling, a speed control section A including an engine section 401 controlled by the accelerator section, a brake section 404 for braking the own vehicle, and its control. A braking unit B including a brake control unit 403 for performing a steering operation, a steering unit 406 for performing a steering operation, and a steering unit C including a steering drive control unit 405 for controlling the steering operation unit, and a direction indicating unit 408 indicating a turning direction of the vehicle (right turn, left turn). , A light source D including a brake lamp (not shown) and a light unit (not shown) that is turned on when traveling at night. The speed control unit includes the drive unit A and the braking unit B.

  Furthermore, the self-driving vehicle has a manual driving function, an automatic driving function, a car navigation function, and the like. Therefore, for the automatic driving function of the autonomous vehicle, the control unit 427 including an ECU (CPU) or the like automatically drives the accelerator unit 402, the brake unit 404, the handle unit (steering unit) 406, the direction instructing unit 408, and the like. It is automatically controlled by the driving function unit 410. That is, in this self-driving vehicle, a travel route is set by the car navigation function unit 409, and the self-driving function unit 410 and the control unit 427 cause the camera unit (imaging unit) 414 and / or the radar unit (distance measuring unit) 415 to set the travel route. You can drive automatically along the route.

  The camera unit (imaging unit) 414 captures an image of the surroundings of the self-driving vehicle, and mainly includes lanes on the road, the front of the vehicle (particularly, traffic signals), the rear portion of the vehicle immediately before the vehicle, and The image around it can be clearly captured. The captured image is stored in the storage unit 426 and temporarily stored. In the automatic driving mode, the driving state storage unit 416 determines how steering, speed, and direction indications of the autonomous vehicle are made by the steering unit C, the speed control unit A, and the direction indication unit 408 in accordance with the road conditions under running. Whether or not it is controlled is stored for a predetermined time. Specifically, for example, how many times the steering wheel is tilted to the left or right, or how many kilometers per hour the speed is, the direction indicator indicates which one is blinking, the light is on, etc. Is. The distance measuring unit (radar unit) 415 measures the distance to the object outside the vehicle, but mainly measures the distance to the vehicle immediately before and immediately after. The measurement by the distance measuring unit is a radar in the self-driving vehicle, but may be a sound wave.

  Further, the abnormality detection unit 411 detects an abnormality (failure) in the image pickup unit 414, the distance measurement unit 415, or the automatic driving function unit 410. Regarding this abnormality, in addition to mechanical defects such as damage or deterioration of each of the units 414, 415, 410, damage of a program in the control memory of the control related unit of each of the units, particularly, the image capturing unit 414 or the distance measurement. Covering the lens portion of the portion 415, the laser irradiation portion, or the like with rain, snow, insects, or birds may cause the problem, and this state is detected. Further, the abnormality detection unit 411 detects a failure of the light unit in addition to the abnormality of each of the above units. If the light unit fails, the image capturing unit 414 cannot perform accurate image capturing in the night, heavy fog, heavy rain, or the like. That is, the abnormality detection unit 411 detects an abnormality in a portion where automatic operation cannot be performed due to a failure. While the vehicle is traveling, the hazard detector (411) blinks a hazard lamp (not shown) of the vehicle until the abnormality is detected and the driver switches to manual operation. As a result, it is possible to inform surrounding vehicles that there is an abnormality in the own vehicle.

  The driving mode switching unit 412 has a function of switching from manual driving to automatic driving or from automatic driving to manual driving by the driver, and specifically, a button (not shown) provided on the steering unit 406 is pressed by the driver. Pressing switches to each other.

  Here, in the present embodiment, the high speed traveling mode and the general road traveling mode will be described. The high-speed traveling mode is to obtain road information based on a predetermined range on the traveling route of the highway, that is, a predetermined distance or a plurality of road sections continuous on the highway, or to obtain the image capturing unit 414 and the distance measurement. This is a mode in which the unit 415 takes an image, measures it, and judges it. In addition, in this traveling mode, the time is notified as a notification format (details will be described later). On the other hand, the general traveling mode refers to obtaining road information based on a predetermined range on the traveling route of the general road, that is, a predetermined distance or a plurality of road sections continuous on the general road, or the image capturing unit 414. The distance measuring unit 415 is a mode in which an image is picked up, measured, and judged. Further, in this traveling mode, the distance is notified as a notification format (details will be described later).

  Road information includes information about the shape of the road itself, such as the distance (width), width, curvature, and slope of the node (road) for each section called "node," and whether there are pedestrian crossings, traffic lights, stop lines, etc. included. Further, the road information also includes traffic condition information acquired by the car navigation function unit 409 from the outside by wireless or the like. These pieces of information are temporarily stored in the storage unit 426.

  The operation unit 413 performs setting of the destination, waypoints and travel routes of the car navigation function unit 409, switching of other units, and the like. The driving state storage unit 416 stores the operating states of the accelerator unit 402, the brake unit 404, and the steering unit 406 immediately before the abnormality detection unit 411 detects an abnormality.

  Next, the time calculation unit 417 calculates the arrival time from the current position of the vehicle to the point or section where manual operation is required, based on the road information stored in the storage unit 426. For example, in FIG. 15, when there is a curve D4 ahead of the host vehicle, it is necessary to operate the brake unit 404 in accordance with the current speed in the section D3 to decelerate. Further, with reference to FIG. 16, when entering the section D4 from the section D3, it is necessary to rotate the steering section (handle section). Therefore, the time calculation unit 417 calculates the traveling time required from the current position of the vehicle to the front position (entry position) of the section D4.

  In addition, the distance calculation unit 418 determines, based on the road information stored in the storage unit 426, the distance from the own vehicle until the necessary manual operation is started or the road section in which the own vehicle is running until the start is performed. Calculate the number up to the road section. Furthermore, the automatic driving availability determination unit 423 determines whether or not the automatic driving traveling is possible due to the abnormality detected by the abnormality detection unit 411 during the automatic driving of the own vehicle. For example, a lane departure during traveling, traveling beyond legal speed or a prescribed speed, etc., which occurs because accurate information cannot be obtained from the image capturing unit 414 or the distance measuring unit 415, etc., are detected within a safe range. To determine if it is. It should be noted that this function may be included in the abnormality detection unit.

  The road detection unit 419 detects whether the vehicle is traveling on a highway or a general road based on the position on the road currently traveling, which is detected by the car navigation function unit 409.

  The operation determination unit 420 switches the automatic operation mode to the manual operation mode by the operation mode switching unit 412 within a predetermined range in front of the vehicle on the travel route, and thereafter, the accelerator unit 402 and the speed control unit of the steering unit C. It is determined whether or not the manual operation of the brake unit 404 or the direction indicator 408 of A is necessary. This determination is based on the road information received by the car navigation function unit 409 from the receiving unit (not shown) and the road information stored in the storage unit 426, and there is a curve or a stop line ahead of the travel route. This is based on information such as lane changes required and speed limits due to traffic signs.

  Here, with reference to FIG. 19, the road information on the expressway is road conditions based on the characteristics of the expressway, for example, in this table, there are four road conditions such as a curve, slow driving in front of a tollgate, and lane change. There is a speed limit due to traffic signs. Further, referring to FIG. 20, the road information on the general road includes road conditions based on the characteristics of the general road, for example, curves, stop lines, lane changes, departures, speed limits due to traffic signs, red traffic lights at intersections, and crosswalks. There are slow crossings and railroad crossings. Therefore, the general road has more items to be judged by the operation judging unit 420 and the judgment time is longer than that of the expressway.

  The traveling mode switching unit 421 has a function of switching between the above-described two traveling modes (high-speed traveling mode and general road traveling mode), and is automatically based on the vehicle position detected by the car navigation function unit while the vehicle is traveling. Then, the driving mode is switched. Further, the notification mode (notification method) is automatically switched according to the traveling speed of the own vehicle by setting in the automatic driving function unit 410 (details will be described later).

  Specifically, with reference to FIGS. 17 and 18, when the vehicle traveling in the section E1 has acquired road information up to the section two ahead (forward), the stop line is located in front of the travel route. Since there is a road E3 having a road, first, a brake operation is required in the section E2, and in the subsequent section B3, a steering wheel operation is required because of a curve. In this case, the distance until the manual operation is started is the distance until the brake operation, which is the first operation, is performed.

  The traveling speed detector 422 detects the current traveling speed of the vehicle. Further, the display unit 425 displays the travel guidance by the car navigation function unit 409, and also displays the detection result by the abnormality detection unit 411 and the like. Further, the speaker unit 424 also performs the traveling guidance by voice announcement and also announces the detection result. The display unit 525 and the speaker unit 424 are used as a notification unit.

  Further, the vibration awakening unit 407 has a function of vibrating a driver's seat (not shown) on which the driver sits. Specifically, with regard to the position adjustment function of the driver's seat (front and rear of the seat, angle of the backrest), a slight vertical movement or an angle change may be repeated in a short time, or a vibrating device is attached to the driver's seat. But it's okay. Further, as described above, the operation unit 413 can manually switch the operation mode switching unit 412, the traveling mode switching unit 419, etc. in addition to the operation of the car navigation function unit 409.

  Hereinafter, the operation of the self-driving vehicle of the present embodiment will be described in detail with reference to the drawings. With reference to FIG. 13, first, the driver sets a destination and a waypoint using the car navigation function unit 409. After that, the driver starts the automatic driving by the imaging unit 414, the distance measuring unit 415, and the automatic driving function unit 410 (step 401). After the start of traveling, in step 402, the car navigation function unit 409 determines from the detected current position of the own vehicle whether or not the own vehicle is traveling on the highway, and depending on the result, the traveling mode switching unit 419. Automatically determines the high speed traveling mode or the general traveling mode (steps 403 and 404). Therefore, in the high-speed traveling mode, the notification from the notification unit (speaker unit 424, display unit 425) becomes "time" (step 403), and in the general driving mode, the notification from the notification unit indicates "distance". (Step 404).

Next, in steps 405 and 406, the current traveling speed detected by the traveling speed detecting unit 422 is compared with each predetermined speed.
In step 405, the notification method is determined to be "time" in step 403 because the vehicle is in the high-speed traveling mode, but the current traveling speed of the vehicle is a predetermined speed, for example, due to an accident on a highway. When a traffic jam occurs, the speed becomes a slow speed (1 to approximately 10 kilometers per hour). When the predetermined speed is the slow speed of 5 kilometers per hour, the process proceeds to step 407, and the notification method is "distance". Is changed to. However, in step 405, if the above-mentioned 5 kilometers per hour or more, the "time" is maintained as the notification method.

  On the other hand, in step 406, although the notification method is determined to be “distance” in step 404 because the vehicle is in the general road traveling mode, the current traveling speed of the host vehicle is a predetermined speed, for example, 40. If it is equal to or more than kilometers per hour, the process proceeds to step 409, and the notification method is changed to "time". However, in step 406, if it is 40 km / h or less, the process proceeds to step 410, and the "distance" is maintained as the notification method. Further, in steps 411 to 414, the respective notification methods are temporarily stored in the storage unit 426. It should be noted that these method determinations are updated every predetermined traveling distance or every predetermined traveling time.

  In addition, the above-mentioned slow running is running when a traffic jam due to an accident or the like occurs on a highway or a general road, and in this case, the traveling speed of the own vehicle may change. It is easier and more convenient to understand the situation by notifying the "distance" than by notifying the "time". Further, the predetermined speed described above can be determined by the driver by the operation unit 413 to an arbitrary speed.

  Next, referring to FIG. 14, after the notification method is determined before or during the traveling of the vehicle, in step 501, the current traveling speed in automatic driving, braking operation, blinker (direction indicator) The operation status is temporarily stored in the storage unit 426. Then, in step 502, when the abnormality detection unit 411 detects an abnormality, the status of the driving operation stored in the storage unit 426 is maintained (step 503). Next, the automatic driving availability determination unit 423 detects the location and the degree of the abnormality, the effect of the abnormality on the automatic driving, and the like, and determines whether the automatic driving can be maintained. Therefore, if the abnormality detection unit detects an abnormality by setting the operation unit 413, and the automatic driving availability determination unit 423 cannot run in the automatic driving even if the process moves to a lower step, You may move to the step of.

  In step 504, the vibration awakening unit 407 operates to try to awaken the driver by this vibration. It should be noted that this vibration informs the abnormality of the automatic driving. After the start of this vibration, the speaker unit 424 makes a voice announcement, "There is a problem in automatic operation. Please switch to manual operation." At the same time, the display unit 425 also displays that fact.

  Further, in step 505, the operation determination unit 420 determines whether or not a point requiring a manual operation is detected within a predetermined range in front of the own vehicle based on the road information temporarily stored in the storage unit 426. Is judged. In step 506, the vibration awakening unit 407 is activated again, and the process proceeds to step 507.

  In step 507, the operation determination unit 420 determines the manual operation after switching to the manual operation, and the speaker unit 424 announces, for example, "A brake operation is required after switching to the manual operation." At the same time, the display unit 425 displays "Brake preparation".

  Next, in step 509, the control unit 427 determines whether to notify time or distance based on the notification method stored in the storage unit 426. When the notification method is “time”, the time calculation unit 417 notifies the arrival time to the point where the first operation is necessary. That is, the speaker unit 424 announces that "it takes 20 seconds until the brake is operated.", And at the same time, the display unit 425 displays "Brake" and "20 seconds remaining". Further, the distance to the point calculated by the distance calculation unit 418, for example, “200 meters” is displayed on the screen of the display unit. However, the display of the time on the display unit is a highlight display or an enlarged display, which can be recognized by the driver more quickly than the display of the distance. These notifications are updated and repeated at predetermined time intervals or at predetermined distances. This is a so-called countdown.

  When the notification method is “distance”, the distance calculation unit 418 notifies the arrival distance to the point where the first operation is necessary. That is, the speaker unit 424 announces that "50 meters are left until the brake is operated.", And at the same time, the display unit 425 displays "Brake" and "100 meters remaining". In addition, the time to the point calculated by the time calculation unit 417, for example, “20 seconds” is displayed on the screen of the display unit. However, the display of the distance on the display unit is a highlight display, and can be recognized by the driver more quickly than the display of the time. These notifications are updated and repeated at predetermined time intervals or at predetermined distances. This is a so-called countdown.

  In step 510, it is determined whether the driver has manually switched from automatic driving to manual driving. If the mode is switched to the manual operation, the notification of the notification section (speaker section, display section) is stopped in step 511. In step 511, if the operation is not switched to the manual operation up to the point immediately before the above point, the control unit may activate the automatic brake for avoiding the danger.

  INDUSTRIAL APPLICABILITY The present invention has high industrial applicability because it relates to autonomous driving of an autonomous vehicle and safety measures when an automatic driving function fails during autonomous driving.

109 Car navigation function unit 110 Automatic driving function unit 111 Abnormality detection unit 112 Driving mode switching unit 113 Imaging unit 114 Distance measuring unit 116 Section type determination unit 117 Time calculation unit 118 Curve correspondence determination unit 119 Driving mode switching unit 120 Operation determination unit 121 Distance Calculation unit 122 Automatic driving availability determination unit 407 Vibration awakening unit 409 Car navigation function unit 411 Abnormality detection unit 412 Driving mode switching unit 417 Time measurement unit 418 Distance measurement unit 419 Road detection unit 422 Travel speed detection unit

Claims (10)

In an automatic driving vehicle that has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and is capable of automatic driving along the travel route to the destination set by the car navigation function unit,
A steering unit that steers the vehicle,
A speed control unit for controlling the traveling speed of the own vehicle,
A direction indicator that indicates the traveling direction of the vehicle,
An imaging unit that images the surroundings of the vehicle for autonomous driving,
A distance measurement unit that measures the distance to an object around the vehicle for autonomous driving,
An automatic driving function unit that executes automatic driving by the imaging unit and the distance measuring unit,
An informing section for informing the traveling guidance by the car navigation function section,
A driving mode switching unit that switches automatic driving of the own vehicle to manual driving,
An abnormality detection unit that detects an abnormality in the image capturing unit or the distance measurement unit,
Within a predetermined range in front of the vehicle on the travel route, after switching from the automatic operation mode to the manual operation mode by the operation mode switching unit, the manual operation by the steering unit, the speed control unit or the direction instruction unit is performed. An operation determination unit that determines whether or not it is necessary,
A time calculation unit that calculates the time from the current vehicle position to the point at which the operation determination unit determines that the manual operation is necessary,
A road detection unit that detects whether or not the road currently traveling is a highway by the vehicle position detected by the car navigation function unit,
When the abnormality detection unit detects the abnormality and the road detection unit detects that the road currently traveling is a highway, the manual operation determined by the operation determination unit in the notification unit and the manual operation described above. A control unit that informs the time until starting the manual operation,
Self-driving car having. In an automatic driving vehicle that has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and is capable of automatic driving along the travel route to the destination set by the car navigation function unit,
A steering unit that steers the vehicle,
A speed control unit for controlling the traveling speed of the own vehicle,
A direction indicator that indicates the traveling direction of the vehicle,
An imaging unit that images the surroundings of the vehicle for autonomous driving,
A distance measurement unit that measures the distance to an object around the vehicle for autonomous driving,
An automatic driving function unit that executes automatic driving by the imaging unit and the distance measuring unit,
An informing section for informing the traveling guidance by the car navigation function section,
A driving mode switching unit that switches automatic driving of the own vehicle to manual driving,
An abnormality detection unit that detects an abnormality in the image capturing unit or the distance measurement unit,
Within a predetermined range in front of the vehicle on the travel route, after the automatic operation mode is switched to the manual operation mode by the operation mode switching unit, the manual operation by the steering unit, the speed control unit or the direction instructing unit is performed. An operation determination unit that determines whether or not it is necessary,
A time calculation unit that calculates the time from the current vehicle position to the point at which the operation determination unit determines that the manual operation is necessary,
When the abnormality detection unit detects the abnormality, a control unit for notifying the notification unit of the manual operation determined by the operation determination unit and the time until the manual operation is started,
Self-driving car having . The automatic driving vehicle according to claim 2, further comprising:
A distance calculation unit that calculates a distance from the current own vehicle position to a point where the operation determination unit determines that the manual operation is necessary,
The automatic control vehicle, wherein the control unit causes the notification unit to notify the distance calculated by the distance calculation unit. In an automatic driving vehicle that has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and is capable of automatic driving along the travel route to the destination set by the car navigation function unit,
A steering unit that steers the vehicle,
A speed control unit for controlling the traveling speed of the own vehicle,
A direction indicator that indicates the traveling direction of the vehicle,
An imaging unit that images the surroundings of the vehicle for autonomous driving,
A distance measurement unit that measures the distance to an object around the vehicle for autonomous driving,
While detecting the traveling speed of the own vehicle, an automatic driving function unit that executes automatic driving by the imaging unit and the distance measuring unit,
A traveling speed detection unit that detects the current traveling speed of the own vehicle,
An informing section for informing the traveling guidance by the car navigation function section,
A driving mode switching unit that switches automatic driving of the own vehicle to manual driving,
An abnormality detection unit that detects an abnormality in the image capturing unit or the distance measurement unit,
Within a predetermined range in front of the vehicle on the travel route, after switching from the automatic operation mode to the manual operation mode by the operation mode switching unit, the manual operation by the steering unit, the speed control unit or the direction instruction unit is performed. An operation determination unit that determines whether or not it is necessary,
A distance calculation unit that calculates a distance from the current own vehicle position to a point where the operation determination unit determines that the manual operation is necessary,
When the abnormality detection unit detects the abnormality, a control unit for notifying the distance until the manual operation and the manual operation that the operation determination unit determines to be necessary in the notification unit,
Self-driving car having . The automatic driving vehicle according to claim 4, further comprising:
A time calculation unit for calculating the time from the current own vehicle position to the point where the operation determination unit determines that the manual operation is necessary,
The automatic control vehicle , wherein the control unit causes the notification unit to notify the calculated time . In an automatic driving vehicle that has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and is capable of automatic driving along the travel route to the destination set by the car navigation function unit,
A steering unit that steers the vehicle,
A speed control unit for controlling the traveling speed of the own vehicle,
A direction indicator that indicates the traveling direction of the vehicle,
An imaging unit that images the surroundings of the vehicle for autonomous driving,
A distance measurement unit that measures the distance to an object around the vehicle for autonomous driving,
While detecting the traveling speed of the own vehicle, an automatic driving function unit that executes automatic driving by the imaging unit and the distance measuring unit,
A traveling speed detection unit that detects the current traveling speed of the own vehicle,
An informing section for informing the traveling guidance by the car navigation function section,
A driving mode switching unit that switches automatic driving of the own vehicle to manual driving,
An abnormality detection unit that detects an abnormality in the image capturing unit or the distance measurement unit,
Within a predetermined range in front of the vehicle on the travel route, after switching from the automatic operation mode to the manual operation mode by the operation mode switching unit, the manual operation by the steering unit, the speed control unit or the direction instruction unit is performed. An operation determination unit that determines whether or not it is necessary,
A distance calculation unit that calculates a distance from the current own vehicle position to a point where the operation determination unit determines that the manual operation is necessary,
A road detection unit that detects whether or not the road currently traveling is a highway by the vehicle position detected by the car navigation function unit,
In the case where the abnormality detection unit detects the abnormality and the road detection unit detects that the road currently traveling is a highway, the current traveling speed detected by the traveling speed detection unit is a predetermined value. If the speed or less, the control unit for notifying the notification unit the distance until the manual operation and the manual operation that the operation determination unit determines to be necessary,
Self-driving car having . In an automatic driving vehicle that has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and is capable of automatic driving along the travel route to the destination set by the car navigation function unit,
A steering unit that steers the vehicle,
A speed control unit for controlling the traveling speed of the own vehicle,
A direction indicator that indicates the traveling direction of the vehicle,
An imaging unit that images the surroundings of the vehicle for autonomous driving,
A distance measurement unit that measures the distance to an object around the vehicle for autonomous driving,
While detecting the traveling speed of the own vehicle, an automatic driving function unit that executes automatic driving by the imaging unit and the distance measuring unit,
An informing section for informing the traveling guidance by the car navigation function section,
A driving mode switching unit that switches automatic driving of the own vehicle to manual driving,
An abnormality detection unit that detects an abnormality in the image capturing unit or the distance measurement unit,
Within a predetermined range in front of the vehicle on the travel route, after switching from the automatic operation mode to the manual operation mode by the operation mode switching unit, the manual operation by the steering unit, the speed control unit or the direction instruction unit is performed. An operation determination unit that determines whether or not it is necessary,
A distance calculation unit that calculates a distance from the current own vehicle position to a point where the operation determination unit determines that the manual operation is necessary,
A road detection unit that detects whether or not the road currently traveling is a highway by the vehicle position detected by the car navigation function unit,
When the abnormality detection unit detects the abnormality and the road detection unit detects that the road currently running is not a highway, the manual operation and the manual operation determined by the operation determination unit in the notification unit are required. A control unit that notifies the distance until the operation is started,
Self-driving car having . In an automatic driving vehicle that has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and is capable of automatic driving along the travel route to the destination set by the car navigation function unit,
A steering unit that steers the vehicle,
A speed control unit for controlling the traveling speed of the own vehicle,
A direction indicator that indicates the traveling direction of the vehicle,
An imaging unit that images the surroundings of the vehicle for autonomous driving,
A distance measurement unit that measures the distance to an object around the vehicle for autonomous driving,
An automatic driving function unit that executes automatic driving by the imaging unit and the distance measuring unit,
An informing section for informing the traveling guidance by the car navigation function section,
A driving mode switching unit that switches automatic driving of the own vehicle to manual driving,
An abnormality detection unit that detects an abnormality in the image capturing unit or the distance measurement unit,
Within a predetermined range in front of the vehicle on the travel route, after switching from the automatic operation mode to the manual operation mode by the operation mode switching unit, the manual operation by the steering unit, the speed control unit or the direction instruction unit is performed. An operation determination unit that determines whether or not it is necessary,
A road detection unit that detects whether or not the road currently traveling is a highway by the vehicle position detected by the car navigation function unit,
When the abnormality detection unit detects the abnormality and the road detection unit detects that the road currently running is an expressway, the operation determination unit is a manual operation for road conditions based on characteristics of the expressway. For determining whether or not necessary, the control unit for notifying the notification unit of the manual operation determined to be necessary,
Self-driving car having . In an automatic driving vehicle that has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and is capable of automatic driving along the travel route to the destination set by the car navigation function unit,
A steering unit that steers the vehicle,
A speed control unit for controlling the traveling speed of the own vehicle,
A direction indicator that indicates the traveling direction of the vehicle,
An imaging unit that images the surroundings of the vehicle for autonomous driving,
A distance measurement unit that measures the distance to an object around the vehicle for autonomous driving,
An automatic driving function unit that executes automatic driving by the imaging unit and the distance measuring unit,
A traveling speed detection unit that detects the traveling speed of the vehicle,
An informing section for informing the traveling guidance by the car navigation function section,
A driving mode switching unit that switches automatic driving of the own vehicle to manual driving,
An abnormality detection unit that detects an abnormality in the image capturing unit or the distance measurement unit,
Within a predetermined range in front of the vehicle on the travel route, after switching from the automatic operation mode to the manual operation mode by the operation mode switching unit, the manual operation by the steering unit, the speed control unit or the direction instruction unit is performed. An operation determination unit that determines whether or not it is necessary,
A distance calculation unit that calculates a distance from the current own vehicle position to a point where the operation determination unit determines that the manual operation is necessary,
The abnormality detecting unit detects the abnormality, the running when the speed detecting unit detects that the current travel speed is below a predetermined speed, before Symbol the manual operation and the manual operation judgment unit determines is necessary A control unit for informing the notification unit of the distance until the operation is started,
Self-driving car having. In an automatic driving vehicle that has a car navigation function unit that detects the position of the own vehicle and provides travel guidance, and is capable of automatic driving along the travel route to the destination set by the car navigation function unit,
A steering unit that steers the vehicle,
A speed control unit for controlling the traveling speed of the own vehicle,
A direction indicator that indicates the traveling direction of the vehicle,
An imaging unit that images the surroundings of the vehicle for autonomous driving,
A distance measurement unit that measures the distance to an object around the vehicle for autonomous driving,
An automatic driving function unit that executes automatic driving by the imaging unit and the distance measuring unit,
A traveling speed detection unit that detects the traveling speed of the vehicle,
An informing section for informing the traveling guidance by the car navigation function section,
A driving mode switching unit that switches automatic driving of the own vehicle to manual driving,
An abnormality detection unit that detects an abnormality in the image capturing unit or the distance measurement unit,
Within a predetermined range in front of the vehicle on the travel route, after switching from the automatic operation mode to the manual operation mode by the operation mode switching unit, the manual operation by the steering unit, the speed control unit or the direction instruction unit is performed. An operation determination unit that determines whether or not it is necessary,
When the abnormality detection unit detects the abnormality and the operation determination unit determines that a plurality of different manual operations are required, the operation determination unit determines that the plurality of different manual operations are required in the order in which the operations are required. A control unit that causes the notification unit to notify at once,
Self-driving car having .

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