JP6809353B2 - Autonomous driving device - Google Patents

Description

The present invention relates to an automatic driving device.

There are vehicles that can switch between a manual driving state in which the driver performs a driving operation and an automatic driving state in which the vehicle is automatically driven. For example, Patent Document 1 provides information for supporting the running of a vehicle, such as a situation around the vehicle, depending on whether the driving state of the vehicle is a manual driving state or an automatic driving state. The device is described.

Japanese Unexamined Patent Publication No. 2006-318446

Here, in a vehicle capable of traveling in an automatic driving state, depending on the characteristics of the occupants in the vehicle, such as whether the occupants in the vehicle interior are occupants in the driver's seat or in seats other than the driver's seat. It is hoped that the service will be provided.

The present invention is an automatic driving device that executes automatic driving control for automatically driving a vehicle, and the driving state of the vehicle is determined based on the detection results of the occupant detection unit that detects the occupants in the vehicle and the occupant detection unit. , Automatic driving control is executed when there is an occupant in the driver's seat, or automatic driving control is executed when there is no occupant in the driver's seat and there is an occupant in a seat other than the driver's seat. According to the driving state determination unit that determines whether the vehicle is in the driving state or the driving state in which the automatic driving control is executed when there is no occupant in the vehicle, and the driving state determined by the driving state determination unit. It is equipped with a service provision department that provides services.

In the automatic driving device, the driving state determination unit determines the driving state of the vehicle based on whether or not there is an occupant in the driver's seat, whether or not there is an occupant in a seat other than the driver's seat, and the like. That is, when there is an occupant in the vehicle, the driving state is determined based on whether the occupant is a driver or an occupant other than the driver. The service providing unit provides services according to various operating conditions determined by the operating state determining unit. As a result, the autonomous driving device can provide services according to the characteristics of the occupants in the vehicle.

According to the present invention, it is possible to provide a service according to the characteristics of an occupant in a vehicle.

It is a figure which shows the schematic structure of the automatic driving apparatus which concerns on embodiment. It is a flowchart which shows the flow of process which provides the 1st to 4th services.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are designated by the same reference numerals, and duplicate description will be omitted.

As shown in FIG. 1, the automatic driving device 100 of the present embodiment switches the driving state of the vehicle V to the automatic driving state or the manual driving state. The automatic driving state is a driving state in which the vehicle V automatically travels without the need for the driver to perform a driving operation. The automatic driving state is a driving state in which automatic driving control including speed control and steering control of the vehicle V is executed by the automatic driving device 100. The automatic driving device 100 automatically travels the vehicle V with no occupants in the vehicle V and the manned automatic driving control for automatically traveling the vehicle V with the occupants in the vehicle V. It is possible to execute unmanned automatic driving control. The manual driving state is a driving state in which the driving operation by the driver is reflected in the running of the vehicle V.

As shown in FIG. 1, the automatic driving device 100 includes an ECU [Electronic Control Unit] 10 for executing automatic driving control. The ECU 10 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. In the ECU 10, for example, various functions are realized by loading the program stored in the ROM into the RAM and executing the program loaded in the RAM in the CPU. The ECU 10 may be composed of a plurality of electronic control units. In addition, some of the functions of the ECU 10 described below may be executed by a computer or a mobile information terminal of a facility such as an information management center capable of communicating with the vehicle V.

An external sensor 1, a GPS receiver 2, an internal sensor 3, a map database 4, an occupant detection sensor (occupant detection unit) 5, a navigation system 6, an actuator 7, and an HMI [Human Machine Interface] 8 are connected to the ECU 10. There is.

The external sensor 1 is a detection device that detects the situation around the vehicle V. The external sensor 1 includes at least one of a camera and a radar sensor. The camera is an imaging device that captures the external situation of the vehicle V. The camera is provided behind the windshield of the vehicle V. The camera transmits the imaging information regarding the external condition of the vehicle V to the ECU 10. The camera may be a monocular camera or a stereo camera. A stereo camera has two imaging units arranged to reproduce binocular parallax. The imaging information of the stereo camera also includes information in the depth direction.

The radar sensor is a detection device that detects obstacles around the vehicle V by using radio waves (for example, millimeter waves) or light. Radar sensors include, for example, millimeter-wave radar or lidar [LIDAR: Light Detection and Ranging]. The radar sensor transmits radio waves or light to the vicinity of the vehicle V, and detects an obstacle by receiving the radio waves or light reflected by the obstacle. The radar sensor transmits the detected obstacle information to the ECU 10. Obstacles include fixed obstacles such as guardrails and buildings, as well as moving obstacles such as pedestrians, bicycles, and other vehicles.

The GPS receiving unit 2 is mounted on the vehicle V and functions as a position measuring unit for measuring the position of the vehicle V. The GPS receiving unit 2 measures the position of the vehicle V (for example, the latitude and longitude of the vehicle V) by receiving signals from three or more GPS satellites. The GPS receiving unit 2 transmits the measured position information of the vehicle V to the ECU 10.

The internal sensor 3 is a detection device that detects the traveling state of the vehicle V. The internal sensor 3 includes at least one of a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the vehicle V. As the vehicle speed sensor, a wheel speed sensor that is provided on the wheel of the vehicle V or a drive shaft that rotates integrally with the wheel and detects the rotation speed of the wheel is used. The vehicle speed sensor transmits the detected vehicle speed information to the ECU 10.

The acceleration sensor is a detector that detects the acceleration of the vehicle V. The acceleration sensor includes a front-rear acceleration sensor that detects the acceleration of the vehicle V in the front-rear direction and a lateral acceleration sensor that detects the lateral acceleration of the vehicle V. The acceleration sensor transmits the acceleration information of the vehicle V to the ECU 10. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the vehicle V. As the yaw rate sensor, for example, a gyro sensor can be used. The yaw rate sensor transmits the detected yaw rate information of the vehicle V to the ECU 10.

The map database 4 is a database that stores map information. The map database 4 is formed in the HDD [Hard Disk Drive] mounted on the vehicle V. Map information includes, for example, road position information, road shape information, intersection and branch point position information, and road speed limits. The road shape information includes, for example, a curve, a type of straight line portion, a curvature of a curve, a slope of a road surface (uphill, downhill), and the like. The map database 4 may be stored in a server capable of communicating with the vehicle V.

The occupant detection sensor 5 is a detector that detects an occupant in the vehicle V. Further, the occupant detection sensor 5 may detect not only whether or not there is an occupant in the vehicle V, but also the place where the occupant is in the vehicle V (the place where the vehicle is seated) when the occupant is in the vehicle V. it can. In the present embodiment, the occupant detection sensor 5 includes a plurality of seating sensors. A plurality of seating sensors are installed in each of the driver's seat and each seat other than the driver's seat (passenger seat, rear seat, etc.). The seating sensor detects whether or not the occupant is seated in the seat. As the seating sensor, various sensors such as a sensor that outputs a signal when pressed are used. The occupant detection sensor 5 outputs the occupant detection result to the ECU 10.

The navigation system 6 is mounted on the vehicle V and sets a target route on which the vehicle V travels by automatic driving. The navigation system 6 determines a target route from the position of the vehicle V to the destination based on the preset destination, the position of the vehicle V measured by the GPS receiver 2, and the map information of the map database 4. Calculate. The destination of the automatic driving control is set, for example, by the occupant of the vehicle V operating an input button (or touch panel) provided in the navigation system 6. Further, the navigation system 6 acquires a destination from, for example, a user of the vehicle V (a person who plans to use the vehicle) or a management center via wireless communication or the like, and uses the acquired destination as a destination for automatic driving control. Set. The target route is set by distinguishing the lanes that make up the road. The navigation system 6 can set a target route by a well-known method. The navigation system 6 notifies the occupants of the vehicle V of the target route by the display of the display and the voice output of the speaker. The navigation system 6 outputs information on the target route of the vehicle V to the ECU 10.

The actuator 7 is a device that executes traveling control of the vehicle V. The actuator 7 includes at least a throttle actuator, a brake actuator, and a steering actuator. The throttle actuator controls the amount of air supplied to the engine (throttle opening degree) in response to the control signal from the ECU 10, and controls the driving force of the vehicle V. When the vehicle V is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the ECU 10 is input to the motor as a power source to control the driving force. When the vehicle V is an electric vehicle, a control signal from the ECU 10 is input to a motor as a power source to control the driving force. The motor as a power source in these cases constitutes the actuator 7.

The brake actuator controls the brake system in response to the control signal from the ECU 10 and controls the braking force applied to the wheels of the vehicle V. As the braking system, a hydraulic braking system can be used. The steering actuator controls the drive of the assist motor that controls the steering torque in the electric power steering system according to the control signal from the ECU 10. As a result, the steering actuator controls the steering torque of the vehicle V.

The HMI 8 is an interface for outputting and inputting information between the occupant of the vehicle V and the automatic driving device 100. The HMI 8 includes, for example, a display that displays image information to the occupant, a speaker that outputs sound, an input button or touch panel for the occupant to perform an input operation, a voice input device, and the like. The HMI 8 transmits the information input by the occupant to the ECU 10. Further, the HMI 8 displays image information on the display and outputs sound from the speaker in response to the control signal from the ECU 10.

Next, the functional configuration of the ECU 10 will be described. The ECU 10 includes a vehicle position recognition unit 11, an external situational awareness unit 12, a traveling state recognition unit 13, a traveling plan generation unit 14, a traveling control unit 15, a driving state determination unit 16, and a service providing unit 17. Some of the functions of the ECU 10 may be executed by a server capable of communicating with the vehicle V.

The vehicle position recognition unit 11 recognizes the position of the vehicle V on the map based on the position information of the GPS receiving unit 2 and the map information of the map database 4. The vehicle position recognition unit 11 recognizes the position of the vehicle V by the existing SLAM technology by using the position information of fixed obstacles such as utility poles and the detection result of the external sensor 1 included in the map information of the map database 4. You may.

The external situation recognition unit 12 recognizes the external situation of the vehicle V based on the detection result of the external sensor 1. The external situation recognition unit 12 recognizes the external situation of the vehicle V including the position of the obstacle around the vehicle V by a well-known method based on the image captured by the camera and / or the obstacle information of the radar sensor.

The traveling state recognition unit 13 recognizes the traveling state of the vehicle V including the vehicle speed and direction of the vehicle V based on the detection result of the internal sensor 3. Specifically, the traveling state recognition unit 13 recognizes the vehicle speed of the vehicle V based on the vehicle speed information of the vehicle speed sensor. The traveling state recognition unit 13 recognizes the direction of the vehicle V based on the yaw rate information of the yaw rate sensor.

The travel plan generation unit 14 includes a target route set by the navigation system 6, map information of the map database 4, an external situation of the vehicle V recognized by the external situation recognition unit 12, and a vehicle recognized by the travel state recognition unit 13. A travel plan for vehicle V is generated based on the travel condition of V. This travel plan is a travel plan from the current position of the vehicle V to the vehicle reaches a preset destination.

The travel plan includes a control target value of the vehicle V according to the position of the vehicle V on the target route. The position on the target route is the position on the map in the extending direction of the target route. The position on the target route means a set vertical position set at predetermined intervals (for example, 1 m) in the extending direction of the target route. The control target value is a value that becomes a control target of the vehicle V in the travel plan. The control target value is set in association with each set vertical position on the target route. The travel plan generation unit 14 generates a travel plan by setting set vertical positions at predetermined intervals on the target route and setting control target values (for example, target horizontal position and target vehicle speed) for each set vertical position. .. The set vertical position and the target horizontal position may be set together as one position coordinate. The set vertical position and the target horizontal position mean the vertical position information and the horizontal position information set as targets in the travel plan.

The travel control unit 15 automatically operates the vehicle V including speed control and steering control based on the position on the map of the vehicle V recognized by the vehicle position recognition unit 11 and the travel plan generated by the travel plan generation unit 14. Take control. The travel control unit 15 executes automatic driving control by transmitting a control signal to the actuator 7. When the travel control unit 15 executes the automatic driving control, the driving state of the vehicle V becomes the automatic driving state.

Here, the travel control unit 15 has manned automatic driving control for automatically traveling the vehicle V with a occupant in the driver's seat, and a vehicle with no occupant in the driver's seat and a occupant in a seat other than the driver's seat. Manned automatic driving control that automatically runs V and unmanned automatic driving control that automatically runs vehicle V when there are no occupants in the vehicle V are executed.

Further, the traveling control unit 15 starts executing the automatic driving control according to various conditions. For example, when the vehicle V is in the manual driving state and the external condition of the vehicle V satisfies a predetermined condition, the traveling control unit 15 may start the execution of the automatic driving control. As a result, the travel control unit 15 can execute manned automatic driving control with an occupant in the driver's seat.

Further, the travel control unit 15 may start the execution of the automatic driving control based on the input operation by the occupant of the vehicle V. In this case, switches and the like for performing the input operation are provided in the vicinity of the driver's seat, the passenger seat, the rear seat, and the like of the vehicle V so that the occupant of the vehicle V can perform the input operation. Since the switch is provided near the driver's seat, the travel control unit 15 can execute manned automatic driving control with an occupant in the driver's seat. By providing a switch near at least one of the passenger seat and the rear seat, the traveling control unit 15 controls manned automatic driving in a state where there is no occupant in the driver's seat and a occupant is in a seat other than the driver's seat. Can be executed. It is not essential that the switches are provided near the passenger seat and the rear seats, and only one switch may be provided near the driver's seat. Further, the switch is not limited to receiving the execution start instruction of the automatic operation control, and the reception unit other than the switch may accept the execution start instruction.

In addition, when the occupant in the driver's seat performs a driving operation or the like while the occupant in the driver's seat is executing the manned automatic driving control, the traveling control unit 15 switches the driving state of the vehicle V to the manual driving state. May be good. Then, the traveling control unit 15 satisfies the predetermined conditions such as the external condition of the vehicle V when the vehicle V is in the manual driving state, or the driving state of the vehicle V is based on an input operation by the occupant of the vehicle V. May be switched from the manual operation state to the automatic operation state.

Further, the traveling control unit 15 automatically controls the driving based on the execution start instruction acquired from the user outside the vehicle V (the person who is planning to get on the vehicle V) or the management center or the like via wireless communication or the like. May start executing. That is, the travel control unit 15 may start the execution of the automatic driving control by remote control. As a result, the travel control unit 15 can execute unmanned automatic driving control without an occupant in the vehicle V.

The driving state determination unit 16 determines the driving state of the vehicle V based on the detection result of the occupant detection sensor 5 and the presence / absence of execution of the automatic driving control by the driving control unit 15. Specifically, the driving state determination unit 16 determines whether the driving state of the vehicle V is an automatic driving state in which manned automatic driving control is executed with a occupant (driver) in the driver's seat, or a driver's seat. Manned automatic driving control is being executed with no occupants and occupants in seats other than the driver's seat, or unmanned automatic driving control is being executed with no occupants in the vehicle V. It is determined whether the vehicle is in the automatic driving state or in the manual driving state in which the driving operation is performed by the occupant (driver) in the driver's seat.

The service providing unit 17 provides a service according to the operating state determined by the operating state determining unit 16. The service providing unit 17 provides services according to the operating state by controlling the operation of various devices such as the navigation system 6 and the HMI 8. The service providing unit 17 provides any one of the first service, the second service, the third service, and the fourth service according to the determined operating state. The details of each service will be described below.

(First service)
The first service is provided when it is determined by the driving state determination unit 16 that the manned automatic driving control is being executed with a occupant (driver) in the driver's seat. The first service is a useful service for the driver of the vehicle V, and the vehicles and pedestrians around the vehicle V. For example, the first service useful for the driver of the vehicle V includes a service for allowing the driver to confirm the external condition of the vehicle V, the state of the vehicle V, and the like. For example, the first service useful for vehicles and pedestrians around the vehicle V includes a service for notifying the vehicles and pedestrians around the vehicle V of the existence of the vehicle V and the like.

Specifically, for example, a first service useful to the driver includes opening the door mirrors so that the driver can use the door mirrors. For example, a first service useful to the driver includes turning on a light on the instrument panel to notify the driver of the status of the vehicle V. For example, the first service useful for the driver includes display of route guidance and the like by the navigation system 6 and voice output. For example, the first service useful for a vehicle or the like around the vehicle V includes turning on the front light, the rear light, or the like of the vehicle V to notify the surroundings of the existence of the vehicle V. For example, the first service useful for the driver and the vehicle around the vehicle V is a car alarm (for theft prevention) for preventing the vehicle V from being stolen when the vehicle V is stopped or the like. Sound output) is included.

(Second service)
The second service is determined by the driving state determination unit 16 to be an automatic driving state in which manned automatic driving control is executed with no occupant in the driver's seat and occupants in seats other than the driver's seat. Provided in case. The second service is a useful service for occupants in seats other than the driver's seat of vehicle V, as well as vehicles and pedestrians in the vicinity of vehicle V. For example, the second service useful for the occupant in a seat other than the driver's seat includes a service for allowing the occupant to confirm the external condition of the vehicle V and the state of the vehicle V. For example, the second service useful for vehicles and pedestrians around the vehicle V includes a service for notifying the vehicles and pedestrians around the vehicle V of the existence of the vehicle V and the like.

Specifically, for example, a second service useful for an occupant in a seat other than the driver's seat includes turning on a light on the instrument panel to notify the occupant of the state of the vehicle V. For example, a second service useful for occupants in seats other than the driver's seat includes display of route guidance and the like by the navigation system 6 and voice output. For example, a second service useful for a vehicle or the like around the vehicle V includes turning on the front light, the rear light, or the like of the vehicle V to notify the surroundings of the existence of the vehicle V. For example, a second service that is useful for passengers in seats other than the driver's seat and vehicles around the vehicle V is to prevent the vehicle V from being stolen when the vehicle V is stopped or the like. Includes car alarm (sound output to prevent theft).

Here, when there is no driver, the service whose provision is restricted due to the presence of the driver can be provided as the second service. Specifically, for example, as a second service that can be provided because there is no driver, there is a service that accepts an input operation of the navigation system 6 even while the vehicle V is traveling. Here, in general, the input operation of the navigation system 6 is prohibited while the vehicle V is traveling. This is to allow the driver to concentrate on the driving operation of the vehicle V. However, when automatic driving control is executed without a driver, if the occupant in the passenger seat or the like can operate the navigation system 6, the destination can be changed even while the vehicle V is traveling. It is convenient because it is possible to carry out research using the navigation system 6. Therefore, as a second service, the travel control unit 15 provides a service that accepts an input operation of the navigation system 6 even while the vehicle V is traveling.

For example, as a second service that can be provided because there is no driver, there is a service of turning on a room light or the like in the vehicle V even when the vehicle V is running when the surroundings of the vehicle V are dark. Here, if the room light or the like in the vehicle V is lit when the surroundings of the vehicle V are dark, it is conceivable that the visibility of the driver is lowered due to the room light being reflected on the windshield or the like. However, when the automatic driving control is executed without a driver, if the room light or the like in the vehicle V is turned on, the degree of freedom of the occupant's action such as the passenger seat can be improved. Therefore, as a second service, the travel control unit 15 provides a service of turning on the room light or the like when the surroundings of the vehicle V are dark.

For example, as a second service that can be provided because there is no driver, there is a service of covering the window glass with a sunshade installed on the window of the vehicle V. This sunshade is installed to cover the window glass so that the inside of the vehicle V cannot be seen from the outside. Here, if the window glass is covered with the sunshade when there is a driver, the visibility of the driver is lowered. However, when automatic driving control is executed without a driver, if the window glass is covered with a sunshade, the air-conditioning efficiency of vehicle V may be improved, or the passenger seat occupants may change clothes. By making it possible, it is possible to improve the freedom of movement of the occupants. By improving the efficiency of the air conditioner, the fuel efficiency of the vehicle V can also be improved. Therefore, the travel control unit 15 provides a service of covering the window glass with a sunshade as a second service. It is effective that this service is provided, for example, in the midsummer daytime.

The door mirror of the vehicle V is used by the driver of the vehicle V. That is, when there is no driver in the vehicle V, it is not necessary to open the door mirror. Therefore, unlike the first service provided when there is an occupant (driver) in the driver's seat, the second service provided when there is no occupant (driver) in the driver's seat opens the door mirror. Service is not included. In the second service, by not opening (keeping the door mirror closed) the door mirror, the air resistance of the vehicle V during traveling is reduced, and the fuel efficiency of the vehicle V can be improved.

(Third service)
The third service is provided when the driving state determination unit 16 determines that the vehicle is in an automatic driving state in which unmanned automatic driving control is executed without an occupant in the vehicle V. The third service is a useful service for vehicles and pedestrians around the vehicle V. For example, a third service useful for vehicles and pedestrians around vehicle V includes a service for notifying vehicles and pedestrians and the like around vehicle V of the existence of vehicle V and the like.

Specifically, for example, as a third service useful for vehicles and the like around the vehicle V, the front light and the rear light of the vehicle V are turned on to notify the surroundings of the existence of the vehicle V. Is included. For example, a third service useful for vehicles around the vehicle V is a car alarm (sound output for theft prevention) for preventing the vehicle V from being stolen when the vehicle V is stopped or the like. ) Is included.

(Fourth service)
The fourth service is provided when the driving state determination unit 16 determines that the driving state is a manual driving state in which the driving operation is performed by the occupant (driver) in the driver's seat. The fourth service is a useful service for the driver of the vehicle V, and the vehicles and pedestrians around the vehicle V. For example, the fourth service useful for the driver of the vehicle V includes a service for allowing the driver to confirm the external condition of the vehicle V, the state of the vehicle V, and the like. For example, the fourth service useful for vehicles and pedestrians around the vehicle V includes a service for notifying the vehicles and pedestrians around the vehicle V of the existence of the vehicle V and the like.

Here, the first service described above includes a service useful for the driver. In the present embodiment, the fourth service content is the same as the first service content described above. However, the fourth service content is not limited to the same as the first service content, and services useful for the driver who manually performs the driving operation may be further added.

As described above, the first to fourth services include vehicles in the vicinity of vehicle V regardless of the presence or absence of occupants in the driver's seat, the presence or absence of occupants in seats other than the driver's seat, and whether or not the vehicle is in an automatic driving state. It includes services that are useful for such as. In the first to fourth services, services other than services useful for vehicles and the like around the vehicle V are different from each other depending on the presence or absence of a occupant in the driver's seat.

Next, a flow of processing for providing the first to fourth services executed by the automatic driving device 100 will be described. FIG. 2 is a flowchart showing a flow of processing for providing the first to fourth services. The processing of the flowchart shown in FIG. 2 is executed while the vehicle V is traveling. When the processing reaches the end, the processing of the flowchart shown in FIG. 2 is restarted from the start after a predetermined time. Further, the processing of the flowchart shown in FIG. 2 ends even if the processing is in progress when the traveling of the vehicle V ends, for example, when the vehicle arrives at the destination.

As shown in FIG. 2, the occupant detection sensor 5 detects an occupant in the vehicle V (S101). The driving state determination unit 16 determines whether or not the driving state of the vehicle V is the automatic driving state based on whether or not the driving control unit 15 executes the automatic driving control (S102). When the vehicle V is in the automatic driving state (S102: YES), the driving state determination unit 16 determines whether or not there is an occupant in the driver's seat based on the detection result of the occupant detection sensor 5 (S103). When there is an occupant in the driver's seat (S103: YES), the driving state determination unit 16 determines that the driving state of the vehicle V is automatic driving in which manned automatic driving control is executed with the occupant (driver) in the driver's seat. Judge that it is in a state. Then, the service providing unit 17 provides the first service because it is in the automatic driving state in which the manned automatic driving control is executed with the occupant (driver) in the driver's seat (S104).

When it is determined in the process of S103 that there is no occupant in the driver's seat (S103: NO), the driving state determination unit 16 determines whether or not there is an occupant in a seat other than the driver's seat based on the detection result of the occupant detection sensor 5. Judgment (S105). When there is an occupant in a seat other than the driver's seat (S105: YES), the driving state determination unit 16 is manned when the driving state of the vehicle V is a state in which there is no occupant in the driver's seat and a occupant is in a seat other than the driver's seat. It is determined that the automatic operation control is being executed. Then, the service providing unit 17 provides a second service because it is in an automatic driving state in which manned automatic driving control is executed in a state where there is no occupant in the driver's seat and a occupant is in a seat other than the driver's seat. (S106).

When it is determined in the process of S105 that there are no occupants in the seats other than the driver's seat (S105: NO), the driving state determination unit 16 automatically operates the vehicle V in an unmanned automatic driving state in a state where there are no occupants in the vehicle V. It is determined that the control is being executed in the automatic operation state. Then, the service providing unit 17 provides a third service because it is in an automatic driving state in which the unmanned automatic driving control is executed in a state where there is no occupant in the vehicle V (S107).

When it is determined in the process of S102 that the driving state of the vehicle V is not the automatic driving state (S102: NO), the driving state determination unit 16 determines that the driving state of the vehicle V is determined by the occupant (driver) in the driver's seat. It is determined that the operation is in the manual operation state. Then, the service providing unit 17 provides a fourth service because it is in a manual driving state in which the driving operation is performed by the occupant (driver) in the driver's seat (S108).

As described above, the driving state determination unit 16 in the automatic driving device 100 determines the driving state of the vehicle V based on whether or not there is an occupant in the driver's seat, whether or not there is an occupant in a seat other than the driver's seat, and the like. .. That is, when there is an occupant in the vehicle V, the driving state is determined based on whether the occupant is a driver or an occupant other than the driver. The service providing unit 17 provides services according to various operating states determined by the operating state determining unit 16. As a result, the automatic driving device 100 can provide services according to the characteristics of the occupants in the vehicle V.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. For example, the occupant detection sensor 5 may include a camera that images the interior of the vehicle V. In this case, the driving state determination unit 16 may determine the presence or absence of passengers and the location of passengers from the camera image by applying a well-known image processing technique to the camera image captured by the occupant detection sensor 5. Good. Further, the occupant detection sensor 5 is not limited to the seating sensor and the camera, and other devices may be used as long as it is possible to detect passengers in the vehicle V.

Specific examples of the above-mentioned first to fourth services are examples, and are not limited to the above-mentioned examples.

5 ... Crew detection sensor (occupant detection unit), 16 ... Driving state determination unit, 17 ... Service provision unit, 100 ... Automatic driving device, V ... Vehicle.

Claims (2)

It is an automatic driving device that executes automatic driving control that automatically drives the vehicle.
An occupant detection unit that detects occupants in the vehicle and
Based on the detection result of the occupant detection unit, the driving state of the vehicle is a driving state in which the automatic driving control is executed with an occupant in the driver's seat, or a state in which there is no occupant in the driver's seat. wherein either automatic operation control is operation state running is the operating condition in which the automatic operation control in a state where no occupant before Symbol the vehicle is running in a state where there are passenger seat other than the driver's seat Or , the driving state determination unit that determines whether the driving state is such that the automatic driving control is not performed and the manual driving is performed by the occupant .
An automatic driving device including a service providing unit that provides a service according to the operating state determined by the operating state determining unit. When the service providing unit is in a driving state in which the automatic driving control is executed in a state where there is no occupant in the driver's seat and a occupant is in a seat other than the driver's seat, the service providing unit is running the vehicle. Also accepts input operations of the navigation system, turns on the room light even while the vehicle is running, covers the window glass with a sunshade installed on the window of the vehicle, and closes the door mirror of the vehicle. The automatic driving device according to claim 1, which provides at least one of the services.

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