JP6776729B2 - How to operate autonomous vehicles and operating devices - Google Patents

Description

The present disclosure relates to an operation method and an operation device of an autonomous driving vehicle in which an automatic driving start operation is performed from inside and outside the vehicle.

As a conventional example, a remote control control circuit for a battery forklift disclosed in Patent Document 1 is known. In this conventional example, first, a switch SW3 interlocked with the lock operation of the vehicle side control valve lever is provided, and the NC relay R14 interlocking with the switch SW3 is connected in series with the key switch SW1 of the vehicle side operation circuit. Next, the remote control side key switch SW2 is provided in series with the vehicle side brake switch SW4, and the NO relay R16 is inserted into the remote control operation circuit. After that, the NO relay R16 is controlled by the key switch SW2 and the vehicle side brake switch SW4. Here, when the switch SW3, the brake switch SW4, and the key switch SW2 are turned on, the NC relay R14 is turned off and the NO relay R16 is turned on, so that remote operation becomes possible and the vehicle side operation circuit is cut off. Therefore, even if the key switch on the vehicle side is turned on, the traveling operation and the forklift operation cannot be performed from the operation unit on the vehicle side.

Jikkenhei 6-87396

However, in the above-mentioned conventional example, the vehicle can be operated by remote control even when the worker is in the vehicle. For this reason, the vehicle operation starts due to an erroneous operation on the remote control side, such as an unintended vehicle start, even though the worker is on board or is doing some work (loading, etc.) around the vehicle. There was a problem that it could be done.

The present disclosure has focused on the above problems, and an object of the present disclosure is to prevent an unintentional start of automatic driving for an in-vehicle occupant while riding.

In order to achieve the above object, the present disclosure relates to a method of operating an autonomous vehicle.
An in-vehicle operation panel installed inside the vehicle, an outside operation panel installed outside the vehicle, one physical key for managing the in-vehicle operation panel and the outside operation panel, and a braking system for vehicle running control are provided in parallel. It is equipped with a mechanical brake mechanism that can operate the brake actuator independently .
When a physical key is inserted into the operation panel inside the vehicle, automatic operation start operation , automatic start operation, and mechanical brake operation operation from inside the vehicle are permitted.
When a physical key is inserted into the operation panel outside the vehicle, automatic operation start operation , automatic start operation, and mechanical brake operation operation from outside the vehicle are permitted.

As mentioned above, it is a mechanism that both operation panels cannot be operated at the same time, and as long as you are on board with a physical key, you can not allow third parties to operate outside the vehicle, so when you are on board, inside the vehicle It is possible to prevent the occupants from unintentionally starting automatic operation. In addition, when the self-driving vehicle needs an emergency stop, the brake can be applied independently by the mechanical braking mechanism provided in parallel with the braking system in the vehicle running control.

It is a system block diagram which shows the completed vehicle transport system of the unmanned driving correspondence vehicle to which the operation method and operation apparatus of Example 1 are applied. It is a schematic diagram which shows the unmanned driving correspondence vehicle towing the transport carriage to which the operation method and operation apparatus of Example 1 are applied. FIG. 5 is a schematic diagram showing a control system installed as an infrastructure on a traveling route of an unmanned driving compatible vehicle to which the operation method and the operation device of the first embodiment are applied. It is a schematic diagram which shows the control system (example: traffic light) installed as an infrastructure on the traveling route of the unmanned driving-adaptive vehicle to which the operation method of Example 1 and the operation device are applied. FIG. 5 is a schematic diagram showing a quick charger installed as an infrastructure on a traveling route of an unmanned driving compatible vehicle to which the operation method and the operation device of the first embodiment are applied. It is a flowchart which shows the flow of the manned automatic operation mode operation process at the time of starting the manned automatic operation from the manned manual operation executed by the completed vehicle transport system to which the operation method and operation apparatus of Example 1 are applied. It is a flowchart which shows the flow of the unmanned automatic operation mode operation process at the time of starting the unmanned automatic operation from the manned automatic operation executed by the completed vehicle transport system to which the operation method and operation apparatus of Example 1 are applied. It is a flowchart which shows the flow | flow of the emergency stop release mode operation process at the time of resetting from the emergency stop state executed in the completed vehicle transport system to which the operation method and operation apparatus of Example 1 are applied to manned manual operation. Explanation showing the operation authority of each braking device on the in-vehicle operation panel / outside operation panel and the operation authority by an automatic driving control / person (at the time of boarding) in the completed vehicle transport system to which the operation method and the operation device of the first embodiment are applied. It is a figure. It is explanatory drawing which shows the state transition in the unmanned driving correspondence vehicle in the completed vehicle transport system to which the operation method and operation apparatus of Example 1 are applied.

Hereinafter, the best embodiment for realizing the operation method and the operation device of the autonomous driving vehicle according to the present disclosure will be described with reference to the first embodiment shown in the drawings.

First, the configuration will be described.
The operation method and the operation device in the first embodiment are applied to an automatic guided vehicle that pulls a transport vehicle in an automatic guided vehicle transport system that transports a completed vehicle lined off at the factory on the factory premises using a transport vehicle. It was done. Hereinafter, the configuration of the first embodiment will be described separately as "overall system configuration", "manned automatic operation mode operation processing configuration", "unmanned automatic operation mode operation processing configuration", and "emergency stop release mode operation processing configuration".

[Overall system configuration]
FIG. 1 shows a completed vehicle transport system of an unmanned driving compatible vehicle to which the operation method and the operating device of the first embodiment are applied, and FIG. 2 shows an unmanned driving compatible vehicle that pulls a transport carriage by the completed vehicle transport system. FIG. 3 shows a control system installed as an infrastructure in a completed vehicle transport system, FIG. 4 shows a control system (eg, a traffic light) also installed as an infrastructure, and FIG. 5 shows a rapid vehicle also installed as an infrastructure. Indicates a charger. Hereinafter, the overall system configuration will be described with reference to FIGS. 1 to 5.

The unmanned driving vehicle A of the first embodiment usually sets a candidate line based on the center reference of the road (traveling lane), and automatically travels so that the center line in the front-rear direction of the own vehicle matches the tangent line of the candidate line. It is an autonomous vehicle to be controlled.

As shown in FIG. 1, the unmanned driving compatible vehicle A has a vehicle sensing system 1, an automatic driving sensing controller 2, and an automatic driving vehicle motion controller 3 set in the vehicle. Then, based on the processing of these controllers 2 and 3, unmanned driving is supported by a mechanism for controlling the accelerator actuator 4, the brake actuator 5, and the steering actuator 6 of the vehicle.

Of these, in the brake actuator 5, which is a braking system, the mechanical brake mechanism 7 and the sequencer 8 that manages the operation are set so as to be parallel to the operation system by the brake pedal 5a, that is, a dual system. .. When the sequencer 8 determines that the unmanned operation compatible vehicle A needs to make an emergency stop based on the input information to the sequencer 8, for example, the compressed air stored in the mechanical brake mechanism 7 in advance is stored in the mechanical brake mechanism 7. Push in the brake pedal 5a with the pressure to release. By this operation, the brake can be applied independently of the control of the foot brake operation system for the brake pedal 5a.

As shown in FIG. 2, the unmanned driving compatible vehicle A is a towing vehicle in which transport carriages B1, B2, and B3 are connected in a completed vehicle transport system, and the transport carriages B1, B2, and B3 are used to make 3 at a time. ~ 5 off-line completed vehicles C1, C2, C3 are towed and transported. At that time, each of the towed transport carriages B1, B2, and B3 is set with a mechanical brake actuator 9 (= carriage brake) capable of braking in conjunction with the above-mentioned mechanical brake mechanism 7.

As the input information to the sequencer 8, if the person monitoring outside the vehicle determines that there is a risk that the unmanned driving compatible vehicle A continues to run, the unmanned driving compatible vehicle A is urgently stopped from a remote location. There is an emergency stop signal from the remote controller 10. In addition to this, input using the wireless module 11, for example, remote monitoring or intervention by communication from the control system 12 (see FIG. 3), or remote control input by communication with the traffic light 13 or another vehicle 14 at an intersection or the like. (See Fig. 4) and so on. Since the vehicle A for unmanned driving is an electric vehicle, a quick charger 15 is installed as an infrastructure for a completed vehicle transport system.

At the same time as the sequencer 8 is linked with the motion controller 3 for automatic driving, the in-vehicle operation panel 16 and the out-of-vehicle operation panel 17 are provided to receive operation commands. The in-vehicle operation panel 16 is provided at a position where the occupants in the vehicle can operate it, and can be used in a manual operation mode including an operation when the unmanned driving compatible vehicle A is automatically driven by a man from the inside of the vehicle and a return after an emergency stop. Used when switching. As shown in FIG. 2, the vehicle exterior operation panel 17 is provided outside the vehicle and is used for inputting a start command command or the like when automatically driving the vehicle outside the vehicle in an unmanned state. In particular, for these two operation panels 16 and 17, a physical key 18 for giving an operation permission to each is set in common, and there is only one physical key 18. With this mechanism, it is unlikely that the in-vehicle operation panel 16 and the out-of-vehicle operation panel 17 can be operated at the same time in one unmanned driving compatible vehicle A. After inserting the physical key 18 into the in-vehicle operation panel 16, the physical key 18 cannot be removed from the in-vehicle operation panel 16 when the activation state (ON state) for accepting operations from the inside of the vehicle is set. Similarly, after inserting the physical key 18 into the outside operation panel 17, if the activation state (ON state) for accepting operations from inside the vehicle is set, the physical key 18 cannot be removed from the outside operation panel 17.

[Manned automatic operation mode operation processing configuration]
FIG. 6 shows the flow of the manned automatic operation mode operation process when the manned automatic operation is started from the manned manual operation executed in the completed vehicle transport system to which the operation method and the operation device of the first embodiment are applied. Hereinafter, each step of FIG. 6 showing the manned automatic operation mode operation processing configuration will be described.

In step S1, the physical key 18 is inserted into the in-vehicle operation panel 16, the manned automatic driving system is started, and the process proceeds to step S2.
Here, when the manned automatic driving system is started, the bogie brake: OFF, PKB: ON, shift P range, foot brake: OFF. The "PKB" means a parking brake.

In step S2, following the start-up of the manned automatic driving system in step S1, after the occupant has stepped on the foot brake, the manned automatic driving start button is turned on on the in-vehicle operation panel 16 to release the PKB, and step S3 Proceed to.
By this manned automatic operation start operation, the shift position shifts from the P range to the D range, and the bogie brake: OFF, PKB: OFF, shift D range, and foot brake: ON.

In step S3, following the manned automatic driving start operation in step S2, the occupant releases the foot brake, starts the vehicle running, and proceeds to step S4.
When the occupant loosens the foot brake and starts running the vehicle, the bogie brake: OFF, PKB: OFF, shift D range, and foot brake: OFF.

In step S4, following the determination that the vehicle running is not started in step S3 or the emergency stop in step S6, it is determined whether or not the vehicle has arrived at the automatic guided vehicle start position. If YES (arrival at the automatic guided vehicle start position), the process proceeds to step S6, and if NO (not arrived at the automatic guided vehicle start position), the process proceeds to step S5.

In step S5, following the determination that the automatic guided vehicle has not arrived at the automatic guided vehicle start position in step S4, it is determined whether or not it is an emergency stop. If YES (determined to be an emergency stop), the process proceeds to the emergency stop processing mode (FIG. 8), and if NO (determined not to be an emergency stop), the process returns to step S4.

In step S6, following the determination that the vehicle has arrived at the unmanned transport start position in step S4, the manned automatic operation system is shut down and the mode proceeds to the unmanned operation (automatic transfer) mode (FIG. 7).
Here, when the manned automatic driving system is shut down, the bogie brake: ON, PKB: ON, shift P range, and foot brake: OFF.

[Unmanned automatic operation mode operation processing configuration]
FIG. 7 shows the flow of the unmanned automatic operation mode operation process when the unmanned automatic operation is started from the manned automatic operation executed by the completed vehicle transport system to which the operation method and the operation device of the first embodiment are applied. Hereinafter, each step of FIG. 7 showing the unmanned automatic operation mode operation processing configuration will be described.

In step S7, following the start of the unmanned driving mode, it is determined whether or not the vehicle state confirmation (confirmation of the shutdown state of the manned automatic driving system) has been completed. If YES (vehicle condition confirmed), the process proceeds to step S8, and if NO (vehicle condition unconfirmed), the determination in step S7 is repeated.
Here, the "shutdown state of the manned automatic driving system" means the bogie brake: ON, PKB: ON, shift P range, foot brake: OFF.

In step S8, following the determination that the vehicle condition has been confirmed in step S7, the occupant removes the physical key 18 from the in-vehicle operation panel 16 and disembarks from the vehicle to load the completed vehicle. Then, the physical key 18 is inserted into the outside operation panel 17, the unmanned automatic operation start button is turned on, the PKB is released, and the process proceeds to step S9.
By this unmanned automatic driving start operation, the shift position shifts from the P range to the D range, and the vehicle starts running in the automatic driving mode unmanned. At this time, the bogie brake: OFF, PKB: OFF, shift D range, foot brake: OFF.

In step S9, following the determination that the vehicle is not traveling by unmanned automatic driving in step S8 or the emergency stop in step S11, it is determined whether or not the unmanned driving compatible vehicle A has arrived at the destination. If YES (arrival at the destination), the process proceeds to step S11, and if NO (non-arrival at the destination), the process proceeds to step S10.

In step S10, following the determination in step S9 that the destination has not arrived, it is determined whether or not the vehicle is in an emergency stop. If YES (determined to be an emergency stop), the process proceeds to the emergency stop processing mode (FIG. 8), and if NO (determined not to be an emergency stop), the process returns to step S9.

In step S11, following the determination that the destination has arrived in step S9, after confirming the vehicle condition, the unmanned automatic driving preparation OFF operation is performed on the outside operation panel 17, the physical key 18 is removed, and the end is completed. Proceed to.
Here, when the final processing is performed when the vehicle arrives at the destination, the bogie brake: ON, PKB: ON, shift P range, and foot brake: OFF.

[Emergency stop release mode operation processing configuration]
FIG. 8 shows the flow of the emergency stop release mode operation process when resetting from the emergency stop state executed in the completed vehicle transport system to which the operation method and the operation device of the first embodiment are applied to the manned manual operation. Hereinafter, each step of FIG. 8 showing the emergency stop release mode operation processing configuration will be described.

In step S12, following the start of the emergency stop release mode, it is determined whether or not the vehicle state confirmation (confirmation in the automatic driving control system that the following state is obtained by the emergency stop process) has been completed. If YES (vehicle condition confirmed), the process proceeds to step S13, and if NO (vehicle condition unconfirmed), the determination in step S12 is repeated.
Here, the "state due to emergency stop processing" means a bogie brake: ON, a PKB: ON, a shift P range, and a foot brake: OFF.

In step S13, following the determination that the vehicle state has been confirmed in step S12, the physical key 18 is removed from the external operation panel 17, the physical key 18 is possessed, the vehicle is boarded, and the physical key is displayed on the in-vehicle operation panel 16. 18 is inserted, and the process proceeds to step S14.
When the physical key 18 is replaced from the outside operation panel 17 to the inside operation panel 16, the bogie brake: ON, PKB: ON, shift P range, and foot brake: OFF remain.

In step S14, following the operation of replacing the physical key 18 in step S13, the abnormality flag reset process is executed by pressing the abnormality reset button on the in-vehicle operation panel 16, and the process proceeds to step S15.
In this abnormality flag reset process, the bogie brake: ON, PKB: ON, shift P range, and foot brake: OFF remain.

In step S15, following the execution of the abnormality flag reset process in step S14, the occupant steps on the foot brake, presses the mechanical brake release button on the in-vehicle operation panel 16, and proceeds to step S16.
By this foot brake operation and mechanical brake release operation, the bogie brake is changed to OFF, PKB: ON, shift P range, and foot brake: ON.

In step S16, following the foot brake operation and mechanical brake release operation in step S15, the occupant releases the parking brake, shifts from the P range to the D range, starts manual driving, and proceeds to the end. .. By proceeding to the end, you can move to the appropriate place by manual operation.
By this manual operation start operation, the bogie brake is changed to OFF, PKB: OFF, shift D range, and foot brake: OFF.

Next, the action will be described.
The actions of Example 1 include "mode transition operation processing action", "emergency stop release mode processing action", "command operation authority action for each braking device", "vehicle state transition action", and "features of automatic driving start operation". The explanation will be divided into "actions".

[Mode transition operation processing action]
The mode transition operation processing action when the mode transitions from the manned automatic operation mode to the unmanned automatic operation mode will be described with reference to the flowcharts of FIGS. 6 and 7.

When starting the manned automatic operation mode from the manual operation, the process proceeds from step S1 → step S2 → step S3 in the flowchart of FIG. In step S1, the manned automatic driving system is started up by inserting the physical key 18 into the in-vehicle operation panel 16. In step S2, the parking brake (PKB) is released by turning on the manned automatic operation start button on the in-vehicle operation panel 16 after the occupant has stepped on the foot brake. In step S3, the occupant releases the foot brake to start the vehicle running in the manned automatic driving mode.

If there is no determination of an emergency stop after the vehicle starts running in the manned automatic driving mode, the flow of steps S4 → S5 is repeated in the flowchart of FIG. 6 until the vehicle arrives at the automatic guided vehicle start position. That is, the running of the unmanned driving compatible vehicle A in the manned automatic driving mode is maintained. Then, when the vehicle arrives at the automatic guided vehicle start position, the process proceeds from step S4 to step S6, and in step S6, the manned automatic operation system is shut down. When the manned automatic driving system is shut down, the bogie brake: ON, PKB: ON, shift P range, and foot brake: OFF.

Next, when the shutdown state of the manned automatic driving system is confirmed in step S7 of FIG. 7, the process proceeds to step S8. In step S8, the occupant removes the physical key 18 from the in-vehicle operation panel 16. Then, the vehicle is disembarked from the unmanned driving compatible vehicle A, and the completed vehicles C1, C2, and C3 are loaded on the transport carriages B1, B2, and B3. Then, the parking brake (PKB) is released by inserting the physical key 18 into the outside operation panel 17 and turning on the unmanned automatic operation start button. By this unmanned automatic driving start operation, the shift position shifts from the P range to the D range, and the vehicle starts running in the unmanned automatic driving mode. At this time, the bogie brake: OFF, PKB: OFF, shift D range, foot brake: OFF.

After the vehicle running in the unmanned automatic driving mode is started, if there is no determination of an emergency stop, the flow of step S9 → step S10 is repeated in the flowchart of FIG. 7 until the vehicle arrives at the destination. That is, the running of the unmanned driving compatible vehicle A in the unmanned automatic driving mode is maintained. Then, when the vehicle arrives at the destination, the process proceeds from step S9 to step S11. In step S11, the vehicle state is confirmed by the final processing when the destination is arrived, and the unmanned automatic driving preparation is turned off on the outside operation panel 17. The operation is performed and the physical key 18 is pulled out.

In this way, when starting the manned automatic driving mode from manual driving, the physical key 18 is inserted into the in-vehicle operation panel 16 and the manned automatic operation start button is turned on on the in-vehicle operation panel 16 to perform manned automatic driving. Allowed. Then, when starting the unmanned automatic driving mode from the manned automatic driving mode, the physical key 18 removed from the in-vehicle operation panel 16 is inserted into the outside operation panel 17, and the unmanned automatic operation start button is pressed on the outside operation panel 17. Unmanned automatic operation is permitted by turning it on.

[Emergency stop release mode processing action]
An emergency stop release mode processing action for canceling an emergency stop when an emergency stop due to an abnormality is determined in the unmanned automatic driving mode and the vehicle A for unmanned driving is stopped at a place other than the destination will be described with reference to the flowchart of FIG. ..

First, in step S12, it is confirmed whether or not the vehicle is in the vehicle state of the bogie brake: ON, PKB: ON, shift P range, and foot brake: OFF by the emergency stop process. When this vehicle state is confirmed, the process proceeds from step S13 → step S14 → step S15 → step S16 in the flowchart of FIG.

In step S13, the physical key 18 is removed from the outside operation panel 17, the physical key 18 is carried and the vehicle A is boarded for unmanned driving, and the physical key 18 is inserted into the in-vehicle operation panel 16. In the next step S14, the abnormality flag reset process is executed by pressing the abnormality reset button on the in-vehicle operation panel 16. In the next step S15, the foot brake is changed from OFF to ON by the occupant stepping on the foot brake. Then, by pressing the mechanical brake release button on the in-vehicle operation panel 16, the bogie brake is changed from ON to OFF. In the next step S16, when the occupant releases the parking brake and shifts from the P range to the D range, the bogie brake is changed to OFF, PKB: OFF, shift D range, and foot brake: OFF. .. Manual driving is started by performing accelerator operation, steering operation, and foot brake operation in this vehicle state, and the unmanned driving compatible vehicle A is manually moved to an appropriate place.

In this way, when an emergency stop due to an abnormality is determined in the unmanned automatic driving mode and the unmanned driving compatible vehicle A is stopped at a place other than the destination, the physical key 18 removed from the outside operation panel 17 is transferred to the in-vehicle operation panel 16. It is permitted to release the emergency stop by performing the insertion operation. That is, by pressing the abnormal reset button on the in-vehicle operation panel 16, the abnormal flag reset process is executed. Further, the bogie brake is changed from ON to OFF by pressing the mechanical brake release button on the in-vehicle operation panel 16. Therefore, after the emergency stop is released, the occupant releases the parking brake and shifts from the P range to the D range to ensure manual driving.

[Command operation authority action for each braking device]
Next, the command operation authority for each braking device on the in-vehicle operation panel 16 and the out-of-vehicle operation panel 17 will be described with reference to FIG.

The command operation authority for each braking device on the in-vehicle operation panel 16 will be described. The mechanical brake operation and parking brake operation are realized by setting the emergency stop button. The mechanical brake is released by setting the release button. The automatic start function by releasing the parking brake (PKB) is realized by setting the automatic operation start button. The reset of the error that occurs at the time of system failure and emergency stop is realized by setting the reset button that releases the mechanical brake that always operates at the time of error. The in-vehicle operation panel 16 does not have buttons for shift operation and foot brake.

The command operation authority for each braking device on the outside operation panel 17 will be described. The mechanical brake operation and parking brake operation are realized by setting the emergency stop button. The automatic start function by releasing the parking brake (PKB) is realized by setting the automatic operation start button. The outside operation panel 17 does not have buttons for mechanical brake release, error reset, shift operation, and foot brake.

As described above, the external operation panel 17 is assigned to the emergency stop button for the mechanical brake operation function and the automatic operation start button for the automatic start function in the same manner as the in-vehicle operation panel 16. However, the external operation panel 17 is not provided with the error reset function and the mechanical brake release function of the in-vehicle operation panel 16.

Here, as shown in FIG. 9, the operation authority in the automatic driving control is enabled only in the automatic driving for the PKB, the shift operation, and the foot brake. However, it is not possible to release the mechanical brake and reset the error, and it is possible to operate the mechanical brake at the time of failure. As shown in FIG. 9, the operation authority by a person (at the time of boarding) is possible only at the time of manual operation for the mechanical brake, PKB, shift operation, and foot brake. However, the error reset can be canceled by the in-vehicle operation panel 16.

[Vehicle state transition action]
FIG. 10 shows the state transition of the unmanned driving compatible vehicle A in the first embodiment under the configuration including the unmanned driving compatible vehicle A and the infrastructure.

The state of the unmanned driving compatible vehicle A in the first embodiment is roughly classified into four types: "manual driving", "manned automatic driving", "unmanned automatic driving", and "emergency stop".

The flowchart shown in FIG. 6 shows the flow of operation processing when the mode transitions from manual operation to manned automatic operation. In FIG. 10, the mode transition from manual operation to manned automatic operation is the status in (a).

The flowchart shown in FIG. 7 shows the flow of operation processing when the mode transitions from manned automatic operation to unmanned automatic operation. In FIG. 10, the mode transition from manned automatic operation to unmanned automatic operation is the status in (b).

Further, in the first embodiment, when the function is restored in the case of falling into the emergency stop state, as shown in FIG. 10, it is premised that the mode is once returned to the manual operation mode and then the state is changed to an arbitrary state. The flowchart shown in FIG. 8 shows the flow of the emergency stop release operation process at the time of an emergency stop. In FIG. 10, the transition to the emergency stop release mode is the status in (c).

[Characteristics of automatic operation start operation]
In the first embodiment, an in-vehicle operation panel 16 installed inside the vehicle, an outside operation panel 17 installed outside the vehicle, and one physical key 18 for managing the in-vehicle operation panel 16 and the outside operation panel 17 are provided. When the physical key 18 is inserted into the in-vehicle operation panel 16, the automatic operation start operation from the inside of the vehicle is permitted. When the physical key 18 is inserted into the operation panel 17 outside the vehicle, the automatic operation start operation from outside the vehicle is permitted.

That is, the in-vehicle operation panel 16 and the out-of-vehicle operation panel 17 are managed by one physical key 18, and both operation panels cannot be operated at the same time. Therefore, as long as the passenger is in possession of the physical key 18, even if there is an operation intervention from the outside control panel 17 by a third party, it is possible to prevent the in-vehicle occupant from unintentionally starting automatic driving. ..

In the first embodiment, a mechanical brake mechanism 7 capable of independently operating the brake actuator 5 is provided in parallel with the braking system for vehicle traveling control. When the physical key 18 is inserted into the in-vehicle operation panel 16, the automatic start operation, the mechanical brake operation operation, and the mechanical brake release operation from the inside of the vehicle are permitted.

That is, the in-vehicle operation panel 16 has an automatic starting function, a mechanical brake operating function, and a mechanical brake releasing function by being operated by an occupant from inside the vehicle. Therefore, at the time of error reset, even if a phenomenon that the occupant unintentionally starts due to the mechanical brake release function occurs, the occupant in the vehicle can deal with it by the operation system for manual driving.

In the first embodiment, when the physical key 18 is inserted into the outside operation panel 17, the automatic start operation and the mechanical brake operation from outside the vehicle are permitted, but the mechanical brake release operation is not permitted.

That is, the outside operation panel 17 has an automatic start function and a mechanical brake operation function, but does not have a mechanical brake release function, so that a series of automatic driving vehicle function return operations including an error reset from the outside of the vehicle cannot be performed. .. Therefore, it is possible to prevent in advance a situation in which the unmanned driving compatible vehicle A unintentionally starts when the return operation is performed from outside the vehicle.

In the first embodiment, the terminal processing when the vehicle reaches the destination by the automatic driving driving and the terminal processing when the vehicle is stopped due to an emergency stop during the automatic driving driving have the same sequence.

That is, since the two terminal processes are in the same sequence, the status configuration of the state transitions is as simple as possible in various state transitions in the unmanned driving compatible vehicle A, as shown in FIG. Therefore, in various state transitions in the unmanned driving compatible vehicle A, the operation procedure to be remembered can be minimized.

In the first embodiment, when the destination is reached by the automatic driving,
・ Operation preparation ON → OFF
・ Mechanical brake OFF → ON
・ PKB OFF → ON
・ Perform the sequence of shift D range → P range, and make it the same as the sequence at the time of emergency stop.

That is, in the final processing for stopping the unmanned driving compatible vehicle A, the vehicle is stopped by the combined use of two types of brakes (mechanical brake, PKB) and the P range. Therefore, it is possible to reliably prevent the erroneous start of the unmanned driving compatible vehicle A due to the operation of switching to the manual driving mode after the terminal processing.

Next, the effect will be described.
In the operation method and operation device of the unmanned driving compatible vehicle A in the first embodiment, the effects listed below can be obtained.

(1) In the operation method of the autonomous driving vehicle (unmanned driving compatible vehicle A) in which the automatic driving start operation is performed from inside and outside the vehicle,
It includes an in-vehicle operation panel 16 installed inside the vehicle, an outside operation panel 17 installed outside the vehicle, and one physical key 18 for managing the in-vehicle operation panel 16 and the outside operation panel 17 (FIG. 1).
When the physical key 18 is inserted into the in-vehicle operation panel 16, the automatic operation start operation from the inside of the vehicle is permitted (FIG. 6).
When the physical key 18 is inserted into the operation panel 17 outside the vehicle, the automatic operation start operation from outside the vehicle is permitted (FIG. 7).
Therefore, it is possible to provide an operation method of an autonomous driving vehicle (unmanned driving compatible vehicle A) that prevents an in-vehicle occupant from unintentionally starting automatic driving while riding.

(2) A mechanical brake mechanism 7 capable of independently operating the brake actuator 5 is provided in parallel with the braking system for vehicle running control.
When the physical key 18 is inserted into the in-vehicle operation panel 16, the automatic start operation, the mechanical brake operation operation, and the mechanical brake release operation from the inside of the vehicle are permitted (FIG. 9).
Therefore, in addition to the effect of (1), even if a phenomenon occurs in which the occupant unintentionally starts due to the mechanical brake release function, the occupant in the vehicle can deal with it by the operation system for manual driving.

(3) When the physical key 18 is inserted into the operation panel 17 outside the vehicle, the automatic start operation and the mechanical brake operation operation from the outside of the vehicle are permitted, but the mechanical brake release operation is not permitted (FIG. 9).
Therefore, in addition to the effect of (2), it is possible to prevent a situation in which the autonomous driving vehicle (vehicle A for unmanned driving) unintentionally starts when the return operation is performed from outside the vehicle.

(4) The terminal processing when the vehicle reaches the destination by the automatic driving and the terminal processing when the vehicle is stopped due to an emergency stop during the automatic driving are the same sequence (FIG. 10).
Therefore, in addition to the effects of (2) or (3), the operation procedure to be remembered can be minimized in various state transitions in the autonomous driving vehicle (vehicle A for unmanned driving).

(5) When the destination is reached by automatic driving, the sequence of automatic driving preparation on → off, mechanical brake off → on, parking brake off → on, shift position D range → P range is carried out, and it is very difficult. The sequence is the same as when stopped (Fig. 10).
Therefore, in addition to the effect of (4), it is possible to surely prevent the erroneous start of the autonomous driving vehicle (unmanned driving compatible vehicle A) due to the operation of switching to the manual driving mode after the terminal processing.

(6) In the operating device of the autonomous driving vehicle (unmanned driving compatible vehicle A) that performs the automatic driving start operation from inside and outside the vehicle
An in-vehicle operation panel 16 installed inside the vehicle, an outside operation panel 17 installed outside the vehicle, one physical key 18 for managing the in-vehicle operation panel 16 and the outside operation panel 17, and a controller (controller for automatic driving vehicle movement). 3) and.
When the controller (autonomous driving vehicle movement controller 3) inserts the physical key 18 into the in-vehicle operation panel 16, it permits the automatic driving start operation from inside the vehicle and inserts the physical key 18 into the outside operation panel 17. Then, the automatic driving start operation from outside the vehicle is permitted (Fig. 1).
Therefore, it is possible to provide an operation device for an autonomous driving vehicle (vehicle A for unmanned driving) that prevents an in-vehicle occupant from unintentionally starting automatic driving when the vehicle is on board.

The operation method and operation device of the autonomous driving vehicle of the present disclosure have been described above based on the first embodiment. However, the specific configuration is not limited to the first embodiment, and design changes and additions are permitted as long as the gist of the invention according to each claim is not deviated from the claims.

In the first embodiment, an example is shown in which a mechanical brake mechanism 7 capable of operating the brake actuator 5 independently is provided in parallel with the braking system in vehicle running control. However, the self-driving vehicle may be an example in which the mechanical brake mechanism is not installed.

In the first embodiment, an example is shown in which the operation method and the operation device of the present disclosure are applied to an unmanned driving compatible vehicle A that pulls a transport carriage in a completed vehicle unmanned transport system. However, the operating method and operating device of the present disclosure can also be applied to, for example, an unmanned driving compatible bus in a passenger transportation system, an unmanned driving compatible truck in a luggage transportation system, and the like. In short, it can be applied as long as it is an operation method and an operation device of an automatic driving vehicle in which the automatic driving start operation is performed from inside and outside the vehicle.

A Unmanned driving vehicle (autonomous driving vehicle)
B1, B2, B3 Transport trolley C1, C2, C3 Completed vehicle 1 Vehicle sensing system 2 Automatic driving sensing controller 3 Automatic driving vehicle motion controller 4 Accelerator actuator 5 Brake actuator 5a Brake pedal 6 Steering actuator 7 Mechanical brake mechanism 8 Sequencer 9 Mechanical brake actuator (trolley brake)
10 Remote controller 11 Wireless module 12 Control system 13 Traffic light 14 Other vehicle 15 Quick charger 16 In-vehicle operation panel 17 External operation panel 18 Physical key

Claims (6)

In the operation method of the autonomous driving vehicle that performs the automatic driving start operation from inside and outside the vehicle,
An in-vehicle operation panel installed inside the vehicle, an outside operation panel installed outside the vehicle, one physical key for managing the in-vehicle operation panel and the outside operation panel, and a braking system for vehicle travel control are provided in parallel. And equipped with a mechanical brake mechanism that can operate the brake actuator independently ,
When the physical key is inserted into the in-vehicle operation panel, the automatic operation start operation , the automatic start operation, and the mechanical brake operation operation are permitted from the inside of the vehicle.
A method of operating an autonomous driving vehicle, characterized in that when the physical key is inserted into the external operation panel, the automatic driving start operation , the automatic start operation, and the mechanical brake operation operation are permitted from the outside of the vehicle. In the method of operating an autonomous vehicle according to claim 1,
When inserting the physical key for the previous SL-car operation panel, the operation method of the automatically driven vehicle, characterized in that to allow the main Kabureki release operation from the car. In the method of operating an autonomous vehicle according to claim 1 or 2 .
Wherein when inserting the physical key for the outside of the vehicle control panel, the operation method of the automatically driven vehicle, characterized in that not allowed main Kabureki release operation from outside the vehicle. In the method of operating an autonomous vehicle according to any one of claims 1 to 3 .
An operation method for an autonomous vehicle, characterized in that the terminal processing when the vehicle reaches a destination by automatic driving and the terminal processing when the vehicle is stopped due to an emergency stop during automatic driving are in the same sequence. In the method of operating an autonomous vehicle according to claim 4,
When the destination is reached by automatic driving, the sequence of automatic driving preparation on → off, mechanical brake off → on, parking brake off → on, shift position D range → P range is carried out, and at the time of emergency stop A method of operating an autonomous vehicle, characterized in that it is the same as the sequence. In the operating device of an autonomous driving vehicle that performs the automatic driving start operation from inside and outside the vehicle
An in-vehicle operation panel installed inside the vehicle, an outside operation panel installed outside the vehicle, one physical key for managing the in-vehicle operation panel and the outside operation panel, and a braking system for vehicle travel control are provided in parallel. It is equipped with a mechanical brake mechanism that can operate the brake actuator independently and a controller.
When the physical key is inserted into the in-vehicle operation panel, the controller permits the automatic driving start operation , the automatic start operation, and the mechanical brake operation operation from the inside of the vehicle, and presses the physical key into the outside operation panel. An operating device for an autonomous driving vehicle, characterized in that when inserted, the automatic driving start operation , automatic start operation, and mechanical brake operation operation from outside the vehicle are permitted.