JP6962566B2 - Information transmitters, programs, and management systems - Google Patents

Description

The present invention relates to an information transmission device that transmits information about automatic operation from a level 5 mobile body equipped with an automatic operation device, a program executed by the information transmission device, and a management system including the information transmission device.

Currently, a mobile body that can travel on the road without human operation is being developed. Such a moving body is called an autonomous vehicle or the like. In the following, a moving body that can travel on a road without being operated by a person will be referred to as an autonomous vehicle.

Self-driving cars collect information such as the surrounding environment and location. Information is collected by using GPS antennas that receive position information from GPS satellites, wireless communication devices used for ETC, radars that detect surrounding objects using radio waves, and surrounding objects using light. It is considered to be performed using a detection LIDAR, a camera that captures the surroundings, and various other sensors. The collected information is input to the automatic driving device mounted on the automatic driving vehicle. The automatic driving device includes a CPU that executes an automatic driving program and a memory that stores map information and the like. The autonomous driving program uses the input information and the map information stored in the memory to drive the autonomous driving vehicle. For example, the autonomous driving device inputs a drive signal to a driving device such as a motor that drives the steering, and controls the steering angle of the steering wheels of the autonomous driving vehicle via the steering.

For driving an autonomous vehicle by an automatic driving device, an automatic driving device from level 1 to level 4 that can be driven by a person (see, for example, Patent Document 1) and a level 5 that is not driven by a person are used. An autonomous driving device is defined.

Japanese Unexamined Patent Publication No. 2017-151782

The inventors of the present application think that when an accident occurs in an autonomous vehicle, it is necessary to investigate the cause of the accident, and the drive signal output by the automatic driving device at the time of the accident and the actual operation of the steering wheel, accelerator pedal, etc. I got the idea that it would be easier to investigate the cause of the accident if the amount of operation was known.

However, the configurations of the self-driving cars from level 1 to level 4 and the self-driving cars of level 5 are different. Specifically, in a level 5 autonomous vehicle, there is a possibility that a human-operated steering wheel, accelerator pedal, or the like may not be provided in the first place.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a means for collecting information that can be used for elucidating the cause of an accident in a level 5 autonomous vehicle.

(1) The information transmission device according to the present invention is mounted on a mobile body. The moving body is driven by a vehicle body, a plurality of wheels rotatably held by the vehicle body, an automatic driving device mounted on the vehicle body, and a first drive signal input from the automatic driving device, and is driven by the wheels. The output value changes according to the first drive device that changes the steering angle and the second drive signal output by the automatic drive device, the second drive device that drives the wheels, and the third drive input from the automatic drive device. To the output of the third drive device that applies a load to at least one of the wheel and the member interlocking with the wheel by a signal, the first sensor that detects a value according to the steering angle of the wheel, and the output of the second drive device. A second sensor that detects a corresponding value and a third sensor that outputs a value corresponding to a load applied to at least one of the wheel and a member interlocking with the wheel are provided. The information transmission device includes a first input unit into which the automatic operation device inputs determination information as a reference for generating the first drive signal, the second drive signal, and the third drive signal, and the automatic operation device. A second input unit to which the first drive signal, the second drive signal, and the third drive signal are input, and a sensor output by the first sensor, the second sensor, and the third sensor. A third input unit for inputting information, a memory for storing an identification symbol, the identification symbol, the determination information, the first drive signal, the second drive signal, the third drive signal, and the sensor information. It is provided with a wireless communication unit that is associated and output as management information. The above-mentioned determination information is information indicating the position and speed of the other vehicle, and includes information on the other vehicle that is not an image.

The identification code for identifying the vehicle, the judgment information used as the reference for the judgment when the automatic driving device generates the drive signal, the drive signal output by the automatic driving device, and the first sensor, the second sensor, and the third sensor. Is transmitted in association with the sensor information output by. Therefore, if an accident or an abnormal approach to another vehicle (hereinafter, also referred to as an accident) occurs in a vehicle equipped with the information transmission device according to the present invention, it may be a problem in the determination of the automatic driving device or the vehicle may move. It is easy to determine whether there is a problem with the drive system of the body or other causes.

(2) The information transmitting device according to the present invention may further include the first sensor, the second sensor, and the third sensor.

The information transmitting device according to the present invention may be provided as a set with the first sensor, the second sensor, and the third sensor.

(3) The first input unit is the position information received by the antenna mounted on the vehicle body, the traffic information received by the antenna mounted on the vehicle body, and the road condition received by the antenna mounted on the vehicle body. information, the map information storage device mounted on the upper Symbol vehicle body is stored, and road condition information in which the storage device stores a speed information is mounted on the vehicle body input from a sensor for detecting the speed of the vehicle , The rotation speed information input from the sensor that detects the rotation speed of the engine mounted on the vehicle body, the rotation speed information input from the sensor that detects the rotation speed of the motor mounted on the vehicle body, and the rotation speed information mounted on the vehicle body. The gear information input from the sensor that detects the in-use gear in the transmission, the battery information output by the voltmeter that detects the voltage of the battery mounted on the vehicle body, and the cover around the vehicle body mounted on the vehicle body. The object to be detected information input from the sensor that detects the detector, the image information captured by the camera mounted on the vehicle body, the outside temperature information output by the temperature sensor mounted on the vehicle body, and the outside temperature information mounted on the vehicle body. The humidity information output by the humidity sensor, the illuminance information output by the illuminance sensor mounted on the vehicle body, the ambient sound information output by the microphone mounted on the vehicle body, and the acceleration sensor mounted on the vehicle body are output. It may be possible to input the above-mentioned determination information including at least one information of the acceleration information to be performed and the inclination information mounted on the vehicle body and output by the inclination sensor for detecting the inclination of the vehicle body.

According to the above configuration, it becomes easier to investigate the cause of an accident or the like.

(4) In addition to the first drive signal, the second drive signal, and the third drive signal, the second input unit is a fourth drive signal instructing switching of a transmission gear by a transmission mounted on the vehicle body. The fifth drive signal input to the lighting device for lighting the light source of the direction indicator light mounted on the vehicle body, and the sixth drive input to the lighting device for lighting the headlight mounted on the vehicle body. A signal, a seventh drive signal input to a lighting device for lighting an auxiliary light mounted on the vehicle body, and an eighth drive signal input to a lighting device for lighting a vehicle side light mounted on the vehicle body. The ninth drive signal input to the lighting device for lighting the brake light mounted on the vehicle body, the tenth drive signal input to the lighting device for lighting the tail light mounted on the vehicle body, and the tenth drive signal mounted on the vehicle body. The audio signal input to the speaker, the eleventh drive signal input to the fourth drive device for opening and closing the window of the vehicle body, and the fifth drive signal input to the fifth drive device for injecting the cleaning liquid injected into the window. The 12 drive signal, the 13th drive signal input to the 6th drive device that drives the wiper that sweeps the window, the 14th drive signal input to the air conditioner mounted on the vehicle body, and the window are heated. It may be possible to input at least one of the fifteenth drive signal input to the heating device.

According to the above configuration, it becomes easier to investigate the cause of an accident or the like.

(5) In addition to the sensor information, the third input unit detects the speed information input from the speed sensor mounted on the vehicle body and detects the speed of the vehicle body, and the rotation speed of the engine mounted on the vehicle body. The rotation speed information input from the rotation speed sensor, the rotation speed information input from the rotation speed sensor for detecting the rotation speed of the motor mounted on the vehicle body, and the in-use gear in the transmission mounted on the vehicle body are detected. The gear information input from the gear sensor, the detected object information input from the sensor mounted on the vehicle body and detecting the detected object around the vehicle body, and the sound output from the speaker mounted on the vehicle body are used as audio information. The voice information input from the microphone to be converted, the acceleration information output by the acceleration sensor mounted on the vehicle body, the tilt information mounted on the vehicle body and output by the tilt sensor that detects the tilt of the vehicle body, and the above. Lighting information input from an optical sensor that receives the light of the direction indicator mounted on the vehicle body, lighting information input from the optical sensor that receives the light of the headlight mounted on the vehicle body, and mounting on the vehicle body. Lighting information input from the light sensor that receives the light of the auxiliary light, lighting information input from the light sensor that receives the light of the side light mounted on the vehicle body, and light of the brake light mounted on the vehicle body. The lighting information input from the optical sensor that receives light, the lighting information input from the optical sensor that receives the light of the tail light mounted on the vehicle body, and the remaining amount sensor that detects the value according to the injection amount of the cleaning liquid. The remaining amount information, the wiper information input from the wiper sensor that detects the value according to the operation of the wiper mounted on the vehicle body, the vehicle interior temperature information input from the vehicle interior temperature sensor that detects the temperature inside the vehicle body, and the vehicle interior. At least one of the in-vehicle humidity information input from the in-vehicle humidity sensor that detects the internal humidity and the window temperature information input from the window temperature sensor that detects the temperature of the window of the vehicle body may be input. ..

According to the above configuration, it becomes easier to investigate the cause of an accident or the like.

(6) The management system according to the present invention includes the above-mentioned information transmitting device and a program executed by an information processing device to which the above-mentioned management information transmitted by the above-mentioned information transmitting device is input. In the management information, the program determines whether or not the difference between the steering angle of the wheel corresponding to the first drive signal and the steering angle of the wheel indicated by the sensor information of the first sensor is within an appropriate range. In the first determination process for determination, in the management information, the output of the second drive device corresponding to the second drive signal, and the second drive device indicated by the sensor signal output by the second sensor in the management information. The second judgment process for determining whether or not the difference from the output of the above is within the appropriate range, the value corresponding to the third drive signal in the management information, and the sensor information output by the third sensor of the management information. The third judgment process for determining whether or not the difference from the value according to the value is within the appropriate range, and the first error information is stored in the storage device according to the determination that the difference is not within the appropriate range in the first judgment process. The first storage process, the second storage process for storing the second error information in the storage device according to the determination that the second error information is not within the appropriate range in the second determination process, and the third determination process must be within the appropriate range. A third storage process for storing the third error information in the storage device is executed according to the determination.

When the steering angle of the wheel instructed by the automatic driving device and the actual steering angle do not substantially match, the first error information indicating that the steering angle does not substantially match is stored in the storage device. Further, when the output of the second drive device instructed by the automatic operation device and the actual output do not substantially match, the second error information indicating that the output does not substantially match is stored in the storage device. Furthermore, when the magnitude of the brake load instructed by the automatic driving device and the actual load do not substantially match, the third error information indicating that the actual load does not substantially match is stored in the storage device. Therefore, in the event of an accident or the like, it becomes easy to determine whether or not there is a problem in the drive system of the moving body.

(7) The management system according to the present invention includes the above-mentioned information transmitting device and a program executed by an information processing device to which the above-mentioned management information transmitted by the above-mentioned information transmitting device is input. The program applies the determination information contained in the management information to the same automatic operation program as the automatic operation program possessed by the automatic operation device, executes the program, and outputs the first drive signal output by the executed automatic operation program. , The difference between the first simulation process for acquiring the second drive signal and the third drive signal, the first drive signal acquired in the first simulation process, and the first drive signal in the management information is appropriate. It is determined whether or not the difference between the fourth determination process for determining whether or not it is within the range and the difference between the second drive signal acquired in the first simulation process and the second drive signal of the management information is within an appropriate range. The fifth determination process, the sixth determination process for determining whether or not the difference between the third drive signal acquired in the first simulation process and the third drive signal in the management information is within an appropriate range, and the third determination process. 4 The fourth storage process for storing the fourth error information in the storage device according to the determination that the judgment process is not within the appropriate range, and the fifth according to the determination that the fifth determination process is not within the appropriate range. The fifth storage process for storing the error information in the storage device and the sixth storage process for storing the sixth error information in the storage device according to the determination in the sixth determination process that the error information is not within the appropriate range. Run.

According to the above configuration, when an accident or the like occurs in the moving body, it becomes easy to determine whether or not there is a problem in the automatic driving device mounted on the moving body.

(8) The management system according to the present invention includes the above-mentioned information transmitting device and a program executed by an information processing device to which the above-mentioned management information transmitted by the above-mentioned information transmitting device is input. The program outputs the judgment information contained in the management information by causing a comparison program that is different from the automatic operation program of the automatic operation device and capable of executing automatic operation to execute the determination information. The second simulation process for acquiring the first drive signal, the second drive signal, and the third drive signal, the first drive signal acquired in the second simulation process, and the first drive signal for the management information. Whether the difference between the 7th judgment process for determining whether or not the difference between the two is within the appropriate range, the second drive signal acquired by the second simulation process, and the second drive signal of the management information is within the appropriate range. The eighth judgment process for determining whether or not, and the ninth determination for determining whether or not the difference between the third drive signal acquired in the second simulation process and the third drive signal in the management information is within an appropriate range. The processing, the 7th storage process for storing the 7th error information in the storage device in response to the determination that the 7th determination process is not within the appropriate range, and the determination that the 8th determination process is not within the appropriate range. The eighth storage process for storing the eighth error information in the storage device according to the above, and the ninth error information for storing the ninth error information in the storage device according to the determination that the ninth error information is not within the appropriate range in the ninth determination process. Execute storage processing.

The comparison program is, for example, a program that can replace the automatic driving program. According to the above configuration, when an accident or the like occurs in a moving body, it can be easily determined whether or not there is a problem in the automatic driving program of the automatic driving device mounted on the moving body in which the accident or the like has occurred.

(9) The management system according to the present invention may further include an information processing device that executes the above-mentioned program.

The management system according to the present invention may be provided as a set of an information processing device for executing a program and an information transmission device.

(10) The control program according to the present invention includes a vehicle body, a plurality of wheels rotatably held by the vehicle body, an automatic driving device mounted on the vehicle body, and a first drive signal input from the automatic driving device. The first drive device that is driven by the wheel to change the steering angle of the wheels, the second drive device that drives the wheels by changing the output value according to the second drive signal output by the automatic driving device, and the automatic driving A third drive device that applies a load to at least one of the wheel and a member interlocking with the wheel by a third drive signal input from the device, a first sensor that detects a value according to the steering angle of the wheel, and the above. It includes a second sensor that detects a value corresponding to the output of the second driving device, and a third sensor that outputs a value corresponding to a load applied to at least one of the wheel and a member interlocking with the wheel. It is executed by the information transmission device mounted on the moving body. The program has a first acquisition process for acquiring determination information to be input to the automatic operation device, and a second acquisition process for acquiring the first drive signal, the second drive signal, and the third drive signal output by the automatic operation device. The acquisition process, the third acquisition process for acquiring the sensor information output by the first sensor, the second sensor, and the third sensor, the identification symbol stored in the memory of the information transmission device, and the first The determination information acquired in the acquisition process, the first drive signal, the second drive signal, the third drive signal acquired in the second acquisition process, and the sensor information acquired in the third acquisition process. And the transmission process of transmitting as management information in association with each other.

(11) The information transmitting device according to the present invention includes a vehicle body, a plurality of wheels rotatably held by the vehicle body, an automatic driving device mounted on the vehicle body, and a first drive input from the automatic driving device. A first drive device that is driven by a signal to change the steering angle of the wheels, a second drive device whose output value changes according to a second drive signal output by the automatic driving device, and a second drive device that drives the wheels, and the automatic A third drive device that applies a load to at least one of the wheel and a member interlocking with the wheel by a third drive signal input from the driving device, and a first sensor that detects a value according to the steering angle of the wheel. A second sensor that detects a value corresponding to the output of the second driving device and a third sensor that outputs a value corresponding to a load applied to at least one of the wheel and a member interlocking with the wheel. It is mounted on the moving body to be equipped. The information transmission device includes a first input unit into which the automatic operation device inputs determination information as a reference for generating the first drive signal, the second drive signal, and the third drive signal, and the automatic operation device. A second input unit to which the first drive signal, the second drive signal, and the third drive signal are input, and a sensor output by the first sensor, the second sensor, and the third sensor. A third input unit for inputting information, a memory for storing an identification symbol, the identification symbol, the determination information, the first drive signal, the second drive signal, the third drive signal, and the sensor information. It is provided with a wireless communication unit that is associated and output as management information. The determination information includes tilt information output by a tilt sensor mounted on the vehicle body and detecting the tilt of the vehicle body.

According to the present invention, it is possible to easily investigate the cause of an accident or the like in a level 5 autonomous vehicle.

FIG. 1 is a configuration diagram of the management system 10. FIG. 2 is a configuration diagram of the fully autonomous driving vehicle 20. FIG. 3A is a configuration diagram of the information transmission device 11, FIG. 3B is a configuration diagram of the sensor group 100, and FIG. 3C is a configuration diagram of the information processing device 12. FIG. 4 is a flowchart of the management information transmission process executed by the control program 93 of the information transmission device 11. FIG. 5 is a flowchart of the first cause investigation process executed by the program 123 of the information processing apparatus 12. FIG. 6 is a flowchart of the second cause investigation process executed by the program 123 of the information processing apparatus 12. FIG. 7 is a flowchart of the third cause investigation process executed by the program 123 of the information processing apparatus 12. FIG. 8 is a flowchart of the fourth cause investigation process executed by the program 123 of the information processing apparatus 12.

Hereinafter, embodiments of the present invention will be described. It goes without saying that the embodiments described below are merely examples of the present invention, and the embodiments of the present invention can be appropriately changed without changing the gist of the present invention.

In this embodiment, the management system 10 shown in FIG. 1 will be described. The management system 10 includes an information transmission device 11 mounted on the fully autonomous vehicle 20 and an information processing device 12 into which information transmitted from the information transmission device 11 is input.

The fully autonomous vehicle 20 means a moving body that can travel on a road without being operated by a person. That is, the fully automatic driving vehicle 20 of the present embodiment means a vehicle capable of so-called level 5 automatic driving. It should be noted that the operation of a person other than running, such as the operation of a person who opens and closes the window of the fully automatic driving vehicle 20, is not included in the operation (steering) by the automatic driving. The fully autonomous vehicle 20 is an example of the "moving body" of the present invention.

Further, the fully autonomous driving vehicle 20 includes all vehicles traveling on the road, such as ordinary passenger cars, buses, trucks, and taxis, regardless of the vehicle type and use. In addition, fully automatic driving vehicles include vehicles having an internal combustion engine that burns fuel such as gasoline, light oil, and alcohol to generate power (so-called internal combustion engine vehicle), and traveling motors that are rotationally driven by the power supplied from the battery. (So-called EV vehicle), a vehicle having both an internal combustion engine and a traveling motor (so-called hybrid vehicle), and the like may be used. Hereinafter, an example in which the fully autonomous driving vehicle 20 is an EV vehicle will be described.

The management system 10 collects information related to automatic driving from the fully automatic driving vehicle 20 by the information transmitting device 11 and transmits it to the outside of the vehicle, inputs the information transmitted by the information transmitting device 11 to the information processing device 11, and is fully automatic. This is a system in which the information processing device 12 manages information related to the automatic driving of the driving vehicle 20. The details will be described below.

The fully autonomous vehicle 20 is rotationally driven by a vehicle body 21, a plurality of wheels 22 rotatably held by the vehicle body 21, a battery 23 mounted on the vehicle body 21, and electric power supplied from the battery 23, and the wheels 22. It is provided with a traveling motor 24 for rotating the wheel. In the illustrated example, the fully autonomous vehicle 20 includes four wheels 22. However, the fully autonomous vehicle 20 may be a vehicle having three wheels 22 or five or more wheels 22.

The battery 23 outputs a DC voltage having a predetermined voltage value such as 12V, 24V, or 48V. The battery 23 may be a rechargeable secondary battery or a fuel cell.

The fully autonomous vehicle 20 includes a power supply circuit 30 that converts the DC voltage output by the battery 23 into a DC voltage having one or a plurality of stable predetermined voltage values such as 12V and 5V. The power supply circuit 30 is a DC-DC converter such as a switching regulator. The power supply circuit 30 applies a DC voltage having a predetermined voltage value to a drive device such as a determination information acquisition unit 60, a sensor group 100, a first drive device 41, a traveling motor 24, lighting devices 51 to 56, which will be described later. , The speaker 37, the air conditioner 29, the automatic operation device 80, the information transmission device 11, and the like are supplied as a drive voltage. In FIG. 2, the power supply line from the power supply circuit 30 to each part is not shown.

The traveling motor 24 may be a DC motor or an AC motor such as a brushless motor. When the traveling motor 24 is a DC motor, a pulse current or a continuous DC current is input to the traveling motor 24. When a pulse current is input, the output defined by the rotation speed and torque of the traveling motor 24 is determined by the duty ratio of the pulse current. The duty ratio means the on-time in one cycle of a pulse current having a constant frequency. The output of the traveling motor 24 is controlled by changing the duty ratio by PWM control or the like. When a continuous direct current is input to the traveling motor 24, the output of the traveling motor 24 is controlled by changing the voltage value. When the traveling motor 24 is an AC motor, the effective value and the maximum value of the input three-phase AC are changed by changing the frequency of the three-phase AC input to the traveling motor 24. Controls the output of the traveling motor 24. A drive circuit (drive circuit) (not shown) that inputs a pulse current, a continuous direct current, or a three-phase alternating current to the traveling motor 24 is driven by a second drive signal (FIG. 2) input from the automatic driving device 80. It has a switching element. That is, the output of the traveling motor 24 can be controlled by the automatic driving device 80.

Further, as shown in FIG. 2, the fully automatic driving vehicle 20 includes a transmission 26 that transmits the rotational driving force of the traveling motor 24 to the wheels 22. The transmission 26 has a plurality of transmission gears and a selection mechanism (not shown) for selecting one transmission gear from the plurality of transmission gears. The plurality of transmission gears have different gear ratios with respect to the main gear that rotates in conjunction with the traveling motor 24.

The selection mechanism connects one selected transmission gear to the main gear and the gear that rotates in conjunction with the wheel 22. The gear interlocking with the wheel 22 is rotated at a rotation speed and torque according to the gear ratio of the connected transmission gear. The transmission gear connected to the main gear is an example of the "in-use gear" of the present invention.

The selection mechanism of the transmission 26 is, for example, an electric actuator such as an electric motor or an electric cylinder. The electric motor is a DC motor, a stepping motor, or the like. That is, the selection mechanism is an electric actuator that drives in response to an input drive signal. The selection mechanism selects one transmission gear from the plurality of transmission gears according to the fourth drive signal input from the automatic driving device 80 described later, and connects the selection mechanism to the main gear. That is, the transmission gear connected to the main gear can be controlled by the automatic driving device 80.

The rotational driving force of the traveling motor 24 is transmitted to the wheels 22 via the transmission 26. The wheels 22 that are rotationally driven by transmitting the rotational driving force of the traveling motor 24 are so-called driving wheels. Hereinafter, the wheels 22 that are rotationally driven by transmitting the rotational driving force of the traveling motor 24 will be described as driving wheels 22A (FIG. 2). The drive wheels 22A may be all wheels 22 or some wheels 22 such as front wheels or rear wheels. The traveling motor 24 that rotationally drives the drive wheels 22A is an example of the "second drive device" of the present invention.

Further, the fully automatic driving vehicle 20 includes a first driving device 41 that operates the steering angle of the wheels 22. The first drive device 41 applies a force to the wheels 22 to change the direction of the wheels 22. The angle formed by the front of the fully autonomous vehicle 20 and the direction in which the wheels 22 face is the steering angle of the wheels 22. For example, the steering angle is set to "0" when the fully automatic driving vehicle 20 moves forward, "positive" when the fully automatic driving vehicle 20 turns to the left, and the fully automatic driving vehicle 20 turns to the right. The case is defined as "negative".

The first drive device 41 is, for example, an actuator such as a hydraulic motor, an electric motor, a hydraulic cylinder, or an electric cylinder. When the first drive device 41 is a hydraulic motor or a hydraulic cylinder, the first drive device 41 drives in response to a first drive signal input to an electromagnetic valve that controls the pilot pressure of the hydraulic motor or the hydraulic cylinder. When the first drive device 41 is an electric motor or an electric cylinder, the first drive device 41 is driven by a DC voltage or an AC voltage output from a drive circuit (drive circuit). The drive circuit includes a switching element that operates by a first drive signal input from the automatic driving device 80. That is, the operation of the first drive device 41 can be controlled by the first drive signal output by the automatic driving device 80. The automatic driving device 80 operates the steering angle of the wheels 22 of the fully automatic driving vehicle 20 by outputting the first drive signal.

The wheels 22 whose steering angle is controlled by the first driving device 41 are so-called steering wheels. Hereinafter, the steering wheel 22B whose steering angle is controlled by the first driving device 41 will be described and described. The steering wheel 22B may be all wheels 22 or some wheels 22 such as front wheels.

Further, the fully automatic driving vehicle 20 includes a brake member 25 and a third drive device 43 for operating the brake member 25.

The brake member 25 is a member that directly or indirectly applies a load to the wheel 22 to suppress the rotation of the wheel 22 or stop the wheel 22. The brake member 25 is, for example, a brake pad included in a so-called disc brake or a shoe included in a so-called drum brake. However, the brake member 25 is not limited to the brake pad and the shoe as long as the rotation of the wheel 22 can be suppressed and stopped. A disc or a drum is an example of the "member linked to a wheel" of the present invention.

The third drive device 43, for example, presses the brake member 25 against the disc or the drum to suppress the rotation of the wheels 22. The third drive device 43 is, for example, an actuator such as a hydraulic cylinder or a hydraulic motor, a pneumatic cylinder operated by a hydraulic pressure, an electric motor, or an electric cylinder. Further, the third drive device 43 may be an electromagnet that generates a magnetic field. The third drive device 43 presses the brake member 25 having at least a part of the magnetic material against the disc or the drum by the generated magnetic field.

When the third drive device 43 is a hydraulic cylinder or a hydraulic motor, the drive is controlled by inputting a third drive signal to the solenoid valve of the hydraulic cylinder or the hydraulic motor. Further, in the case of an electric motor or an electric cylinder, the third drive device 43 is driven by controlling the drive by inputting a third drive signal to the switching element of the drive circuit (drive circuit). When the third drive device 43 is an electromagnet, the third drive device 43 has an exciting coil. The exciting coil is energized by a drive circuit having a switching element. The drive of the third drive device 43 is controlled by the third drive signal input to the switching element. That is, the drive of the third drive device 43 is controlled by the automatic operation device 80. The automatic driving device 80 controls the force for pressing the brake member 25 against the disc or the drum (hereinafter, also referred to as the braking force) by outputting the third drive signal.

Further, the fully automatic driving vehicle 20 includes lighting devices 51 to 56 and lights 31 to 36 lit by the lighting devices 51 to 56.

The direction indicator light 31 is a light indicating the direction in which the fully autonomous vehicle 20 turns. The direction indicator light 31 is also referred to as a direction indicator. For example, a pair of left and right direction indicator lights 31 are provided at both ends of the fully automatic driving vehicle 20 in the width direction (left-right direction). A plurality of pairs of direction indicator lights 31 may be provided at the front or rear of the fully automatic driving vehicle 20.

As the direction indicator lamp 31, various light sources such as an incandescent lamp, a fluorescent lamp, an HID lamp, an LED lamp (light emitting diode), and an organic EL lamp can be used. Similarly, various light sources can be used for the lamps 32 to 36 described later.

The lighting device 51 for lighting the direction indicator light 31 is selected according to the type of the direction indicator light 31. For example, when the direction indicator lamp 31 is an incandescent lamp, an LED lamp, or an organic EL lamp, the lighting device 51 is a constant voltage circuit, a constant current circuit, or the like. When the direction indicator lamp 31 is a fluorescent lamp or an HID lamp, the lighting device 51 is an inverter circuit or the like. The same applies to the lighting devices 52 to 56 described later.

The lighting device 51, which is a constant current circuit, a constant voltage circuit, an inverter circuit, or the like, has a switching element that is driven (on / off) by a fourth drive signal output from the automatic operation device 80. The lighting device 51 turns on or off the direction indicator light 31 according to the fifth drive signal input from the automatic driving device 80. That is, the automatic driving device 80 controls the lighting and extinguishing of the direction indicator light 31 by the fourth drive signal. The same applies to the lamps 32 to 36 described later.

The headlight 32 is a so-called headlight and is installed in the front part of the fully autonomous driving vehicle 20. The headlight 32 is turned on by the lighting device 52. The headlight 32 illuminates the front of the fully autonomous vehicle 20. The headlight 32 is turned on or off according to the sixth drive signal input from the automatic driving device 80 to the lighting device 52.

The auxiliary light 33 is a so-called fog lamp, and is installed at the front or rear of the fully automatic driving vehicle 20. The auxiliary light 33 is turned on by the lighting device 53. The auxiliary light 33 is turned on when visibility is poor. The auxiliary light 33 is turned on or off according to the seventh drive signal input from the automatic operation device 80 to the lighting device 53.

The vehicle side lamp 34 is a so-called small lamp, and is installed on both the left and right sides of the front portion and the rear portion of the fully automatic driving vehicle 20. The vehicle side light 34 is turned on by the lighting device 54. The vehicle side light 34 makes other vehicles traveling in front and behind recognize the existence and width of the fully autonomous vehicle 20. The vehicle side light 34 is turned on or off according to the eighth drive signal input from the automatic driving device 80 to the lighting device 54.

The brake lamp 35 is a so-called brake lamp and is installed at the rear of the fully automatic driving vehicle 20. The brake light 35 is turned on by the lighting device 55. The brake light 35 causes other vehicles traveling behind to recognize that the brake has been activated. The brake light 35 is turned on or off according to the ninth drive signal input from the automatic driving device 80 to the lighting device 55.

The tail light 36 is a so-called tail lamp, and is installed at the rear of the fully automatic driving vehicle 20. The taillight 36 is lit by the lighting device 56. The taillight 36 causes another vehicle traveling behind the fully autonomous vehicle 20 to recognize the existence of the fully autonomous vehicle 20. The taillight 36 is turned on or off according to the tenth drive signal input from the automatic driving device 80 to the lighting device 56. The tail light 36 and the brake light 35 may be used in combination. In that case, the brightness when the brake light 35 emits light is about five times the brightness when the tail light 36 emits light.

Further, the fully automatic driving vehicle 20 includes a speaker 37. The speaker 37 is driven by a DC voltage supplied from the power supply circuit 30. The speaker 37 outputs a voice corresponding to the voice signal input from the fully automatic driving device 80. The speaker 37 outputs voices and sounds that call attention to pedestrians and other vehicles, such as horn sounds.

The fully autonomous vehicle 20 controls the operation of the speaker 37 by the voice signal input to the speaker 37 and the drive signal input to the switching element of the drive circuit that supplies the drive current to the speaker 37.

Further, the fully automatic driving vehicle 20 includes a window 27 that opens and closes by a slide or the like, and a fourth drive device 44 that opens and closes the window 27. The fourth drive device 44 is, for example, an actuator such as a hydraulic cylinder or a hydraulic motor, a pneumatic cylinder which is operated by air pressure, an electric motor, or an electric cylinder. Similarly to the above, the fully automatic driving vehicle 20 controls the driving of the fourth driving device 44 by the eleventh driving signal input to the solenoid valve and the driving circuit, and controls the opening and closing of the window 27 and the position of the window 27. ..

Further, the fully automatic driving vehicle 20 includes a fifth driving device 45 that injects a cleaning liquid onto the outer surface of the window 27. The fifth drive device 45 is, for example. It has a pump that supplies the cleaning liquid stored in the tank to the injection chamber, and an openable / closable valve provided in the injection chamber. The cleaning liquid supplied to the injection chamber by the pump and stored in the injection chamber at a pressure higher than the atmospheric pressure is injected to the outside from the injection port communicating with the valve by opening the valve in the closed state. The pump is an example of the "injection device" of the present invention.

The pump and valve of the fifth drive device 45 are operated by a drive circuit (drive circuit) such as a constant voltage circuit or a constant current circuit. This drive circuit has a switching element that is driven (on / off) by a twelfth drive signal input from the automatic driving device 80. The automatic operation device 80 controls the drive of the fifth drive device 45 by the eleventh drive signal to eject the cleaning liquid.

Further, the fully automatic driving vehicle 20 includes a wiper 28 that sweeps the outer surface of the window 27, and a sixth drive device 46 that operates the wiper 28. The sixth drive device 46 is, for example, an electric actuator such as an electric motor or an electric cylinder. The sixth drive device 46 is operated by a drive circuit (drive circuit) such as a constant voltage circuit or a constant current circuit. This drive circuit has a switching element that is driven (on / off) by a thirteenth drive signal input from the automatic driving device 80. The automatic operation device 80 controls the drive of the sixth drive device 46 by the twelfth drive signal to operate the wiper 28.

Further, the fully automatic driving vehicle 20 includes an air conditioner 29. Since the configuration of the air conditioner 29 is known, detailed description thereof will be omitted, but the air conditioner 29 operates in response to the 14th drive signal input from the automatic operation device 80. Specifically, the air conditioner 29 controls the temperature and humidity inside the fully autonomous vehicle 20 according to the input 14th drive signal. The automatic driving device 80 is fully automatic driving according to the outside temperature of the vehicle included in the judgment information input from the judgment information acquisition unit 60, which will be described later, or according to an operation signal input from an input device (not shown) operated by the user. The temperature and humidity inside the vehicle 20 are set, and the 14th drive signal is generated and output.

Further, the fully automatic driving vehicle 20 has a heating device 47 that heats the window 27 to prevent dew condensation on the window 27. That is, the heating device 47 is a so-called deflogger. The heating device 47 is, for example, a heater wire made of a resistor, and generates heat according to the supplied electric power. The sixth drive device 46 is operated by a drive circuit (drive circuit) such as a constant voltage circuit or a constant current circuit. This drive circuit has a switching element that is driven (on / off) by a fifteenth drive signal input from the automatic driving device 80. The automatic operation device 80 controls the drive of the heating device 47 by the fifteenth drive signal to heat the window 27.

The automatic driving device 80 drives the fully automatic driving vehicle 20 by outputting the above-mentioned first drive signal to fifteenth drive signal and audio signal. That is, the automatic driving device 80 operates the fully automatic driving vehicle 20 by using the so-called drive-by-wire (DBW). Hereinafter, the configuration of the automatic driving device 80 will be described in detail.

The automatic operation device 80 includes a CPU 81 which is a central arithmetic processing unit, a storage device 82, and a power supply circuit 87. The power supply circuit 87 is a conversion circuit that converts a predetermined DC voltage such as 12V supplied from the power supply circuit 30 into a predetermined DC voltage such as 5V or 3.3V and outputs the conversion circuit. The power supply circuit 87 is, for example, a DC-DC converter such as a switching regulator, a constant voltage circuit using a Zener diode or the like, or the like.

The storage device 82 stores the automatic driving program 83, the map information 84, the road condition information 85, and the destination information. The map information is information indicating a road on which the fully autonomous vehicle 20 travels, and is information stored in advance before traveling. The road condition information 85 is information indicating a road condition such as a road surface condition and a road width indicated by map information, and is information stored before or during traveling. The road condition information may include information such as a speed limit on each road. The destination information is information indicating the destination of the fully autonomous driving vehicle 20, and is input by the user before traveling, for example.

The storage device 82 includes, for example, a ROM or EEPROM for storing the automatic driving program 83, the map information 84, and the road condition information 85, a RAM, a buffer, a USB memory, etc., which is a work area in which the automatic driving program 83 is executed. External memory etc.

The automatic operation program 83 stored in the storage device 82 is executed by the CPU 81. For example, the automatic operation program 83 is executed by processing the instructions described in the automatic operation program 83 by the CPU 81 in the order of addresses.

The automatic driving program 83 is a drive signal or an audio signal to the first driving device 41, the lighting devices 51 to 56, and the like based on the judgment information input to the automatic driving device 80 from the judgment information acquisition unit 60 mounted on the vehicle body 21. Is output to control the running of the fully autonomous vehicle 20 and the like. Hereinafter, the judgment information acquisition unit 60 will be described in detail.

The determination information acquisition unit 60 includes a GPS antenna 61, a wireless communication antenna 62, a speed sensor 63, a rotation speed sensor 64, a gear sensor 65, a steering angle sensor 66, a battery voltmeter 67, a radar 68, and a laser. It includes a sensor 69, an outside temperature sensor 70, an outside humidity sensor 71, an outside illuminance sensor 72, a microphone 73, a motion sensor 74, and a camera 75. The fully autonomous vehicle 20 does not have to have all the above-mentioned sensors.

The GPS antenna 61 receives the position information transmitted by the communication satellite (FIG. 1). The position information is information indicating the position of the fully autonomous vehicle 20, for example, information indicating latitude and longitude. The position information received by the GPS antenna 61 is input to the automatic driving device 80 as one of the determination information. The GPS antenna 61 is an example of the "antenna" of the present invention.

Further, the GPS antenna 61 may receive congestion information, accident information, construction information, etc. transmitted by a communication satellite. The traffic congestion information includes the current number of vehicles traveling on the road on which the fully autonomous vehicle 20 is scheduled to travel, the estimated number of vehicles traveling on the road on which the fully autonomous vehicle 20 is scheduled to travel, and the like. The accident information is information indicating the occurrence status of an accident or the like on the road on which the fully autonomous vehicle 20 is scheduled to travel. The construction information is information on the construction of the road on which the fully autonomous vehicle 20 is scheduled to travel. The other vehicle traveling on the road may be a fully autonomous vehicle or a human-operated vehicle.

The wireless communication antenna 62 is an antenna that transmits information such as its own position and speed to other vehicles traveling around it, and receives information on other vehicles such as the position and speed of the vehicle from the other vehicle. ..

The wireless communication antenna 62 may perform wireless communication with a base station of a communication company to receive the above-mentioned congestion information, accident information, construction information, and the like. Further, the wireless communication antenna 62 may acquire information such as the position and speed of another vehicle traveling around by performing wireless communication with the base station of the communication company. Further, the wireless communication antenna 62 may also be used as the GPS antenna 61.

The other vehicle information indicating the position and speed of another vehicle traveling around the surroundings received by the wireless communication antenna 62 is input to the automatic driving device 80 as one of the determination information. The wireless communication antenna 62 is an example of the “antenna” of the present invention. Congestion information, accident information, and construction information are examples of the "traffic information" of the present invention. The road condition information 85 stored in the storage device 82 may be received by the wireless communication antenna 62 and stored in the storage device 82.

The speed sensor 63 is a sensor that detects the speed of the fully autonomous vehicle 20. The speed sensor 63 may be a rotary encoder that detects the number of rotations of the encoder disk that rotates in conjunction with the wheels 22. The speed sensor 63 inputs speed information indicating the speed of the fully autonomous driving vehicle 20 to the automatic driving device 80 as one of the determination information. That is, the speed sensor 63 is a sensor that detects the actual speed of the fully autonomous driving vehicle 20 instead of the speed instructed by the automatic driving device 80.

The speed sensor 63 may also be used as the laser sensor 69 described later. That is, the speed sensor 63, which is the laser sensor 69, measures the distance to the fixed target on the side of the road at predetermined time intervals, and inputs the distance information as speed information to the automatic driving device 80. In the automatic driving device 80, the speed is calculated by dividing the difference between the two input distance information by the above-mentioned predetermined time interval. Further, the speed sensor 63 may also be used as the camera 75 described later. The speed sensor 63, which is the camera 75, inputs image information indicating the captured image to the automatic driving device 80 as speed information. The automatic driving device 80 performs image processing on the input image data to calculate the speed of the fully automatic driving vehicle 20. For example, the automatic driving device 80 calculates the enlargement ratio per unit time of the fixed target on the side of the road from the plurality of input image data, and calculates the speed from the calculated enlargement ratio. In addition, the speed sensor 63 may be any sensor as long as it can detect a value corresponding to the speed of the fully autonomous vehicle 20. Further, the speed information input to the automatic driving device 80 does not have to be the speed itself of the fully automatic driving vehicle 20, but may be other information such as distance information and image information as long as the speed can be calculated. .. That is, the speed information input to the automatic driving device 80 may be information corresponding to the speed of the fully automatic driving vehicle 20.

The rotation speed sensor 64 is a sensor that detects and outputs the rotation speed (that is, the rotation speed) of the traveling motor 24 per unit time. The rotation speed sensor 64 is, for example, a rotary encoder that detects the rotation speed of an encoder disk that rotates in conjunction with the shaft of the traveling motor 24. That is, the rotation speed sensor 64 is a sensor that detects the actual rotation speed of the traveling motor 24, not the rotation speed instructed by the automatic driving device 80. The rotation speed sensor 64 inputs the rotation speed information indicating the rotation speed of the traveling motor 24 to the automatic operation device 80 as one of the determination information.

The rotation speed sensor 64 may be any sensor as long as it can detect a value corresponding to the rotation speed of the traveling motor 24. Further, the rotation speed information input to the automatic operation device 80 does not have to be the rotation speed itself of the traveling motor 24, but may be other information as long as the rotation speed can be calculated. That is, the rotation speed information input to the automatic operation device 80 may be information corresponding to the rotation speed of the traveling motor 24.

The gear sensor 65 is a sensor that outputs gear information indicating the type of transmission gear selected in the transmission 26. For the gear sensor 65, for example, a plurality of photocouplers that output signal voltages of different levels (low level / high level) depending on whether or not each transmission gear is in a predetermined position can be used. The predetermined position means a standby position in which the transmission gear is not connected to the main gear of the traveling motor 24. That is, the transmission gear that is not in the standby position is connected to the traveling motor 24. The gear sensor 65 is a sensor that detects the type of the transmission gear actually connected to the main gear, not the type of the transmission gear indicated by the automatic driving device 80. The gear information output by the gear sensor 65 is input to the automatic driving device 80 as one of the determination information.

The gear sensor 65 may be any sensor as long as it can detect a value that can determine the transmission gear connected to the main gear of the traveling motor 24. Further, the gear information input to the automatic driving device 80 is not the information itself indicating the transmission gear connected to the main gear, but any of the information as long as the type of the transmission gear connected to the main gear can be determined. It may be such information. That is, the gear information input to the automatic driving device 80 may be information corresponding to the type of the transmission gear connected to the main gear of the traveling motor 24.

The steering angle sensor 66 is a sensor that detects the steering angle of the steering wheel 22B. As the steering angle sensor 66, for example, a magnetic sensor or a laser sensor that detects the position of a member whose position changes in conjunction with the steering angle of the steering wheel 22B or the steering wheel 22B can be used. That is, the steering angle sensor 66 is a sensor that detects the actual steering angle of the steering wheel 22B, not the steering angle instructed by the automatic driving device 80. The steering angle information indicating the steering angle detected by the steering angle sensor 66 is input to the automatic driving device 80 as one of the determination information. As the steering angle sensor 66, any sensor other than the magnetic sensor and the laser sensor may be used as long as the steering angle of the steering wheel 22B can be detected. Further, the steering angle information may be any information as long as it is information indicating the steering angle of the steering wheel 22B.

The battery voltmeter 67 is a voltmeter that outputs the output voltage of the battery 23. The battery voltmeter 67, for example, divides the voltage between the output end of the battery 23 and the vehicle body (ground voltage) by a voltage dividing resistor and outputs it as battery information. The battery information is input to the automatic operation device 80 as one of the determination information. The battery voltmeter 67 may have another configuration as long as it can output a value corresponding to the output voltage of the battery 23. Further, the battery information may be any information as long as it is information indicating the voltage of the battery 23.

The radar 68 irradiates radio waves and sound waves around the fully autonomous vehicle 20, receives reflected waves reflected by other vehicles and obstacles traveling around the vehicle, and provides information according to the received reflected waves. The detected object information is input to the automatic driving device 80 as one of the determination information. The detected object information indicates a position including the direction and distance of other vehicles and obstacles traveling around the fully autonomous vehicle 20. The information to be detected may be any information as long as it indicates the position of another vehicle or obstacle traveling around the fully autonomous driving vehicle 20. Other vehicles and obstacles traveling around are examples of the "detected object" of the present invention.

The laser sensor 69 irradiates the surroundings of the fully autonomous vehicle 20 with laser light, receives scattered light scattered by other vehicles or obstacles traveling around the vehicle, and provides information according to the received scattered light. The detected object information is input to the automatic driving device 80 as one of the determination information. The detected object information indicates a position including the direction and distance of other vehicles and obstacles traveling around the fully autonomous vehicle 20. The information to be detected may be any information as long as it indicates the position of another vehicle or obstacle traveling around the fully autonomous driving vehicle 20. Further, only one of the laser sensor 69 and the radar 68 may be mounted on the fully automatic driving vehicle 20, or both may be mounted on the fully automatic driving vehicle 20. The radar 68 and the laser sensor 69 are examples of the "sensor" of the present invention.

The vehicle outside temperature sensor 70 is a sensor that detects the temperature outside the vehicle of the fully autonomous driving vehicle 20 and inputs it to the automatic driving device 80 as outside air temperature information which is one of the judgment information. The vehicle exterior temperature sensor 70 is, for example, a thermistor. However, the vehicle exterior temperature sensor 70 may be a sensor other than the thermistor. Further, the outside air temperature information may be any information as long as it is information indicating the temperature outside the fully automatic driving vehicle 20.

The vehicle outside humidity sensor 71 is a sensor that detects the humidity outside the vehicle of the fully autonomous driving vehicle 20 and inputs it to the automatic driving device 80 as vehicle outside humidity information which is one of the judgment information. As the vehicle exterior humidity sensor 71, for example, a resistance type humidity sensor in which electrodes are attached to a humidity sensitive sheet made of a polymer polymer, or a capacitance type humidity sensor in which a humidity sensitive sheet is sandwiched between electrodes can be used. However, a humidity sensor other than the resistance type or the capacitance type may be used for the vehicle exterior humidity sensor 71. Further, the humidity information outside the vehicle may be any information as long as it indicates the humidity outside the vehicle of the fully autonomous driving vehicle 20. The humidity information outside the vehicle is an example of the "humidity information" of the present invention.

The illuminance sensor 72 outside the vehicle is a sensor that detects the illuminance outside the vehicle of the fully autonomous driving vehicle 20 and outputs it as illuminance information outside the vehicle, which is one of the judgment information. As the vehicle exterior illuminance sensor 72, for example, an illuminance sensor using a photodiode that outputs a voltage corresponding to the intensity of the incident light can be used. However, other types of illuminance sensors may be used as the vehicle exterior illuminance sensor 72. Further, the illuminance information outside the vehicle may be any information as long as it is information indicating the illuminance outside the vehicle of the fully autonomous driving vehicle 20. The illuminance information outside the vehicle is an example of the "illuminance information" of the present invention.

The microphone 73 is a sensor that detects the sound outside the fully automatic driving vehicle 20 and inputs it to the automatic driving device 80 as ambient sound information which is one of the judgment information.

The motion sensor 74 is an acceleration sensor or a three-axis gyro sensor. The motion sensor 74 inputs acceleration information indicating the acceleration of the fully autonomous driving vehicle 20 to the automatic driving device 80 as one of the determination information. Further, the motion sensor 74 inputs the inclination information indicating the inclination of the fully automatic driving vehicle 20 with respect to the horizontal direction to the automatic driving device 80 as one of the determination information. As the motion sensor 74, a sensor other than an acceleration sensor or a three-axis gyro sensor may be used as long as it can detect the acceleration and inclination of the fully autonomous vehicle 20. Further, the acceleration information and the inclination information may be any information as long as it is information indicating the acceleration and inclination of the fully automatic driving vehicle 20. The motion sensor 74 is an example of the "accelerometer" and the "tilt sensor" of the present invention.

The camera 75 takes an image of the surroundings of the fully automatic driving vehicle 20, and inputs image information indicating the captured image to the fully automatic driving vehicle 20 as one of the determination information.

The image information is used, for example, to generate information on a detected object indicating another vehicle or obstacle traveling around the fully autonomous vehicle 20. However, the image information is not limited to being used for generating the detected object information. The image information may be used for generating determination information that is the basis for the automatic driving device 80 to generate a drive signal by image analysis or the like.

The automatic driving program 83 of the automatic driving device 80 generates and outputs the above-mentioned drive signal and audio signal by using the input determination information. Judgment information is roughly classified into two types. One is surrounding information such as other vehicle information, traffic information, traffic jam information, detected object information, position information, ambient sound information, temperature information, humidity information, and image information. The other is operation information related to a device in which the fully autonomous vehicle 20 controls driving, such as speed information, rotation speed information, gear information, steering angle information, battery information, and acceleration information. The automatic driving program 83 determines the speed, the steering angle, and the like based on the surrounding information and the map information, generates a drive signal, and performs feedback control based on the operated information.

The judgment information output by the judgment information acquisition unit 60, the first drive signal to the fifteenth drive signal (hereinafter, also simply referred to as a drive signal) and the voice signal generated by the automatic driving device 80 are input to the information transmission device 11. Will be done. Hereinafter, the information transmission device 11 will be described in detail.

As shown in FIG. 2, the information transmission device 11 has a first input unit 14 for inputting determination information, a second input unit 15 for inputting a drive signal and an audio signal, and a second input unit 15 for inputting sensor information. 3 Input unit 16 is provided.

Further, as shown in FIG. 3A, the information transmission device 11 includes a CPU 91, which is a central arithmetic processing unit, a memory 92, a power supply circuit 95, a clock module 96, a wireless communication module 97, and wireless communication. It is equipped with an antenna 98.

The wireless communication antenna 98 is an antenna that wirelessly transmits to a base station of a communication company or the like. The wireless communication antenna 98 is formed, for example, by the pattern foil of the control board included in the wireless communication module 97. Alternatively, the wireless communication antenna 98 is provided as a pole antenna or the like in the housing of the information transmission device 11. Further, the wireless communication antenna 98 may also be used as the wireless communication antenna 62 included in the fully autonomous driving vehicle 20. The wireless communication module 97 uses the wireless communication antenna 98 to transmit management information described later to a base station of a communication company or the like. The wireless communication module 97 is an example of the "wireless communication unit" of the present invention.

The clock module 96 outputs date and time information. The date and time information is information including "date" and "time".

The power supply circuit 95 converts a DC voltage of a predetermined voltage such as 12V input from the power supply circuit 30 of the fully automatic driving vehicle 20 into a DC voltage of a predetermined voltage such as 5V or 3.3V, and converts the DC voltage of the predetermined voltage such as 5V or 3.3V into the CPU 91 or a DC voltage described later. This is a circuit that supplies the sensor group 100.

The memory 92 stores the control program 93 and the identification code 94. The memory 92 is a ROM or EEPROM that stores the control program 93 and the identification symbol 94, a RAM that is a work area in which the control program 93 is executed, a buffer, an external USB memory, or the like.

The identification code 94 is a symbol for identifying the fully autonomous vehicle 20. One identification code 94 is assigned to one information transmitting device 11.

The information transmission device 11 inputs sensor information from the sensor group 100 (FIG. 3B) in addition to the determination information and the drive signal.

As shown in FIG. 3B, the sensor group 100 includes a speed sensor 101, a rotation speed sensor 102, a gear sensor 103, a steering angle sensor 104, a battery voltmeter 105, a braking force sensor 106, and light. The sensor group 107, the microphone 108, the window position sensor 109, the cleaning liquid remaining amount sensor 110, the wiper sensor 111, the vehicle interior temperature sensor 112, the vehicle interior humidity sensor 113, and the window temperature sensor 114 are provided.

The speed sensor 101, the rotation speed sensor 102, the gear sensor 103, the steering angle sensor 104, the battery voltmeter 105, and the microphone 108 are the speed sensor 63, the rotation speed sensor 64, the gear sensor 65, and the steering angle sensor 66 of the judgment information acquisition unit 60. It may also be used as a battery voltmeter 67 or a microphone 73, or is provided separately from the speed sensor 63, the rotation speed sensor 64, the gear sensor 65, the steering angle sensor 66, the battery voltmeter 67, and the microphone 73 of the judgment information acquisition unit 60. May be done.

The speed sensor 101, the rotation speed sensor 102, the gear sensor 103, the steering angle sensor 104, the battery voltmeter 105, and the microphone 108 are the speed sensor 63, the rotation speed sensor 64, the gear sensor 65, the steering angle sensor 66, and the battery of the judgment information acquisition unit 60. It is desirable that the voltmeter 67 and the microphone 73 be provided separately. By separately providing it, it is possible to determine whether or not the speed sensor 63, the rotation speed sensor 64, the gear sensor 65, the steering angle sensor 66, the battery voltmeter 67, and the microphone 73 of the determination information acquisition unit 60 have failed. That is, by providing the speed sensor 101 or the like separately from the speed sensor 63 or the like of the judgment information acquisition unit 60, the automatic operation device 80 outputs an erroneous drive signal based on the judgment information input from the failed speed sensor 63 or the like. It can be determined whether or not it has been generated. In the following, the speed sensor 101, the rotation speed sensor 102, the gear sensor 103, the steering angle sensor 104, the battery voltmeter 105, and the microphone 108 are the speed sensor 63, the rotation speed sensor 64, the gear sensor 65, and the steering angle sensor of the judgment information acquisition unit 60. An example provided separately from the 66, the battery voltmeter 67, and the microphone 73 will be described.

The configuration of the speed sensor 101, the rotation speed sensor 102, the gear sensor 103, the steering angle sensor 104, the battery voltmeter 105, and the microphone 108 is the speed sensor 63, the rotation speed sensor 64, the gear sensor 65, and the steering angle sensor of the judgment information acquisition unit 60. The configuration is the same as that of 66, the battery voltmeter 67, and the microphone 73. The steering angle sensor 104 is an example of the "first sensor" of the present invention. The rotation speed sensor 102 is an example of the "second sensor" of the present invention.

The speed sensor 101 inputs speed information, which is one of the sensor information, to the information transmission device 11. The rotation speed sensor 102 inputs rotation speed information, which is one of the sensor information, to the information transmission device 11. The gear sensor 103 inputs gear information, which is one of the sensor information, to the information transmission device 11. The steering angle sensor 104 inputs steering angle information, which is one of the sensor information, to the information transmission device 11. The battery voltmeter 105 inputs battery information, which is one of the sensor information, to the information transmission device 11. The microphone 108 inputs voice information, which is one of the sensor information, to the information transmission device 11.

The braking force sensor 106 is a sensor that detects a value corresponding to the magnitude of the load applied by the brake member 25 to the wheel 22 or the drum or brake disc that is interlocked with the wheel 22. That is, the braking force sensor 106 is not a braking force instructed by the automatic driving device 80 to the braking member 25 via the third driving device 43, but a value corresponding to the braking force actually applied to the wheels 22 by the braking member 25. It is a sensor to detect.

The braking force sensor 106 may be, for example, a pressure sensor that detects and outputs a pressing force on the brake disc or drum of the brake member 25, which is a brake pad or shoe. Further, the braking force sensor 106 may be a temperature sensor that detects the temperature of the brake member 25. More specifically, the brake member 25 converts the kinetic energy of the fully autonomous vehicle 20 into thermal energy to suppress the rotation of the wheels 22. Therefore, the brake member 25 is heated according to the suppressed rotation of the wheel 22. The braking force sensor 106 detects the temperature of the braking member 25 as a value corresponding to the load applied to the wheels 22 by the braking member 25.

The braking force sensor 106 inputs the detected pressure and temperature to the information transmitting device 11 as brake information which is one of the sensor information. The braking force sensor 106 is an example of the "third sensor" of the present invention.

The optical sensor group 107 is a sensor that detects whether or not the lights 31 to 36 such as the direction indicator light 31 are turned on. The optical sensor group 107 is, for example, a plurality of photodiodes to which the light of the lamps 31 to 36 is incident. Each photodiode outputs a signal with a voltage corresponding to the incident light. That is, the optical sensor group 107 is a sensor that detects whether or not the lights 31 to 36 are actually turned on, not whether or not the automatic operation device 80 has instructed the lights 31 to 36 to be turned on. The signal output by the optical sensor group 107 is input to the information transmission device 11 as lighting information which is one of the sensor signals. A sensor other than the photodiode may be used for the optical sensor group 107 as long as it can detect whether or not the lamps 31 to 36 are turned on. Further, the lighting information may be any information as long as it can be determined whether or not the lights 31 to 36 are turned on. The individual photodiodes of the optical sensor group 107 are examples of the "optical sensor" of the present invention.

The window position sensor 109 is a sensor that detects the position of the window 27 opened and closed by the automatic driving device 80. For example, an encoder that reads a mark provided on a member that moves in conjunction with the opening and closing of the window 27 is used as the window position sensor 109. Alternatively, a magnetic sensor or a laser sensor that detects the position of a member that moves in conjunction with the opening and closing of the window 27 is used as the window position sensor 109. That is, the window position sensor 109 is a sensor that detects the actual position of the window 27, not the position of the window 27 instructed by the automatic driving device 80. The window position information corresponding to the position of the window 27 output by the window position sensor 109 is input to the information transmission device 11 as one of the sensor information.

The cleaning liquid remaining amount sensor 110 is a sensor that detects the remaining amount of the cleaning liquid in the tank that stores the cleaning liquid sprayed on the window 27. The cleaning liquid remaining amount sensor 110 is, for example, a weight sensor that detects the weight of the tank, an optical sensor that detects the position of the float floating on the liquid surface of the tank, and the like. That is, the cleaning liquid remaining amount sensor 110 is a sensor that detects a value corresponding to the actual injection amount of the cleaning liquid ejected by the fifth drive device 45, not the amount of the cleaning liquid ejected indicated by the automatic operation device 80. The cleaning liquid remaining amount sensor 110 may be a sensor that detects the injection amount of the cleaning liquid ejected by the fifth drive device 45, not the remaining amount of the cleaning liquid. The remaining amount information indicating the remaining amount of the cleaning liquid output by the cleaning liquid remaining amount sensor 110 is input to the information transmitting device 11 as one of the sensor information.

The wiper sensor 111 is a sensor that detects whether or not the wiper 28 is operating. The wiper sensor 111 is, for example, a proximity sensor that detects that the wiper 28 is close to each other, or a photocoupler in which a member that moves in conjunction with the movement of the operating wiper moves in and out of the optical path. That is, the wiper sensor 111 is a sensor that detects the actual operation of the wiper 28, not the drive of the wiper 28 instructed by the automatic driving device 80. The wiper information indicating the operation of the wiper 28 output by the wiper sensor 111 is input to the information transmission device 11 as one of the sensor information.

The vehicle interior temperature sensor 112 is a sensor that detects the temperature inside the vehicle of the fully autonomous driving vehicle 20. The configuration of the vehicle interior temperature sensor 112 is the same as the configuration of the vehicle exterior temperature sensor 70 of the judgment information acquisition unit 60. That is, the vehicle interior temperature sensor 112 is a sensor that detects the actual temperature inside the vehicle of the fully autonomous driving vehicle 20 instead of the temperature instructed by the automatic driving device 80 to the air conditioner 29. The vehicle interior temperature information output by the vehicle interior temperature sensor 112 is input to the information transmission device 11 as one of the sensor information.

The vehicle interior humidity sensor 113 is a sensor that detects the humidity inside the vehicle of the fully autonomous driving vehicle 20. The configuration of the vehicle interior humidity sensor 113 is the same as the configuration of the vehicle exterior humidity sensor 71 of the judgment information acquisition unit 60. That is, the in-vehicle humidity sensor 113 is a sensor that detects the actual humidity inside the fully automatic driving vehicle 20 instead of the humidity instructed by the automatic driving device 80 to the air conditioner 29. The vehicle interior humidity information output by the vehicle interior humidity sensor 113 is input to the information transmission device 11 as one of the sensor information.

The window temperature sensor 114 is a sensor that detects the temperature of the window 27. The configuration of the window temperature sensor 114 is the same as that of the vehicle interior temperature sensor 112 and the vehicle exterior temperature sensor 70. That is, the window temperature sensor 114 is a sensor that detects the actual temperature of the window 27, not the temperature indicated by the automatic operation device 80 to the heating device 47. The window temperature information, which is the temperature of the window 27 output by the window temperature sensor 114, is input to the information transmission device 11 as one of the sensor information.

The information transmission device 11 wirelessly transmits the input sensor information, determination information, and drive signal as management information in a management information transmission process (FIG. 4) described later. The transmitted management information is input to the information processing device 12 (FIG. 1).

As shown in FIG. 3C, the information processing device 12 includes a CPU 121, which is a central processing unit, and a storage device 122. The information processing device 12 is a server connected to a communication network such as the Internet.

The storage device 122 stores the program 123. The storage device 122 has, for example, a hard disk for storing the program 123, a RAM as a work area for executing the program 123, a buffer, and the like.

Hereinafter, a process executed by the control program 93 of the information transmission device 11 and a process executed by the program 123 of the information processing device 12 will be described.

[Management information transmission process]

The control program 93 of the information transmission device 11 executes the management information transmission process shown in FIG. First, the control program 93 stores the determination information input from the determination information acquisition unit 60 in the memory 92 in association with the date and time information output by the clock module 96 when the determination information is input (S11). The process of step S11 is an example of the "first acquisition process" of the present invention.

Further, the control program 93 stores the drive signal and the voice signal input from the automatic operation device 80 in the memory 92 in association with the date and time information output by the clock module 96 when the drive signal and the voice signal are input (S12). ). The process of step S12 is an example of the "second acquisition process" of the present invention.

Further, the control program 93 stores the sensor information input from the sensor group 100 in the memory 92 in association with the date and time information output by the clock module 96 when the sensor information is input (S13). The process of step S13 is an example of the "third acquisition process" of the present invention.

The process of step S11 is executed every time the determination information is input. The process of step S12 is executed every time a drive signal or an audio signal is input. The process of step S13 is executed every time sensor information is input.

Next, the control program 93 determines whether or not the transmission timing has come (S14). The transmission timing is, for example, 0.5 second intervals. That is, the control program 93 transmits management information at intervals of, for example, 0.5 seconds. The control program 93 determines whether or not the date and time information output by the clock module 96 has reached a predetermined date and time, or counts the wave number of the clock frequency and determines whether or not the count value has reached a predetermined value. By judging, it is judged whether or not the transmission timing has come.

When the control program 93 determines that the transmission timing has not come (S14: No), the control program 93 continues to acquire the determination information, the date and time information, and the sensor information and store them in the memory 92. When the control program 93 determines that the transmission timing has come (S14: Yes), the control program 93 associates the determination information, the date and time information, the sensor information, the date and time information, and the identification code 94 stored in the memory 92 with the wireless communication module as management information. Wireless transmission is performed using 97 (S15). At that time, the control program 93 includes the determination information, the date and time information, and the sensor information input after the previously transmitted management information in the management information and transmits the control program 93. The process of step S15 is an example of the "transmission process" of the present invention.

The management information transmitted by the information transmission device 11 is input to the information processing device 12 through a communication network such as a base station of a communication company or the Internet. The information processing device 12 into which the management information has been input stores the management information in the storage device 122. Further, the information processing apparatus 12 uses the input management information in response to the operator's instruction to perform the first cause investigation process (FIG. 5), the second cause investigation process (FIG. 6), and the third cause investigation process (FIG. 7). ) And the fourth cause investigation process. For example, the operator executes the first cause investigation process, the second cause investigation process, the third cause investigation process, and the fourth cause investigation process in response to an accident or the like occurring in the fully autonomous driving vehicle 20. Instruct 12

[First cause investigation process]

The first cause investigation process shown in FIG. 5 is a process for determining whether or not the cause of the accident or the like is in the traveling motor 24, the transmission 26, or the third drive device 43.

First, the program 123 of the information processing device 12 executes the first drive signal analysis process for determining the indicated steering angle, which is the steering angle of the steering wheel 22B indicated by the first drive signal included in the management information (S21). For example, a table showing the relationship between the type of the first drive signal pattern and the indicated steering angle is stored in the storage device 122 in advance. The program 123 determines the indicated steering angle according to the type of the first drive signal from the table.

Next, in the program 123, the difference between the indicated steering angle determined in step S21 and the steering angle indicated by the steering angle information which is one of the sensor information included in the management information (hereinafter, referred to as the detected steering angle) is , It is determined whether or not it is within a predetermined appropriate range stored in advance in the storage device 122 (S22). The predetermined appropriate range is, for example, 1 °. The process of step S22 is an example of the "first determination process" of the present invention.

If the program 123 determines that the difference between the indicated steering angle and the detected steering angle is not within the appropriate range (S22: No), it indicates that there is a possibility that the first drive device 41 or the steering wheel 22B has a problem. The first error information is stored in the storage device 122, and the process proceeds to step S24. More specifically, if the difference between the indicated steering angle and the detected steering angle is not within the appropriate range, there is a possibility that the first driving device 41 is not operating the steering angle of the steering wheel 22B in response to the instruction of the automatic driving device 80. , There is a possibility that the steering wheel 22B itself has a problem. If the program 123 determines that the difference between the indicated steering angle and the detected steering angle is not within the appropriate range (S22: No), it indicates that there is a possibility that the first drive device 41 or the steering wheel 22B has a problem. The first error information is stored in the storage device 122 (S23). The process of step S23 is an example of the "first storage process" of the present invention.

On the other hand, when the program 123 determines that the difference between the indicated steering angle and the detected steering angle is within the appropriate range (S22: Yes), the process of step S23 is skipped and the process proceeds to step S24.

In step S24, the program 123 executes the second drive signal analysis process for determining the indicated rotation speed, which is the rotation speed of the shaft of the traveling motor 24 indicated by the second drive signal included in the management information. For example, a table showing the relationship between the duty ratio of the second drive signal, the frequency and execution value of the three-phase alternating current, and the indicated rotation speed is stored in advance in the storage device 122. The program 123 determines the indicated rotation speed according to the second drive signal from the table.

In the program 123, the difference between the indicated rotation speed determined in step S24 and the rotation speed information (hereinafter referred to as the detected rotation speed) which is one of the sensor information included in the management information is stored in the storage device 122 in advance. It is determined whether or not it is within the predetermined appropriate range (S25). The process of step S25 is an example of the "second determination process" of the present invention.

If the program 123 determines that the difference between the indicated rotation speed and the detected rotation speed is not within the appropriate range (S25: No), there is a possibility that the drive circuit of the traveling motor 24 or the traveling motor 24 has a problem. The second error information indicating that is stored in the storage device 122 (S26), and the process proceeds to step S27. More specifically, if the difference between the indicated rotation speed and the detected rotation speed is not within the appropriate range, it is possible that the drive circuit is not driving the traveling motor 24 in response to the instruction of the automatic driving device 80, or the traveling motor 24. There may be a problem with itself. If the program 123 determines that the difference between the indicated rotation speed and the detected rotation speed is not within the appropriate range, the program 123 indicates that the drive motor 24 or the drive circuit of the travel motor 24 may have a problem. The error information is stored in the storage device 122. The process of step S26 is an example of the "second storage process" of the present invention.

On the other hand, when the program 123 determines that the difference between the indicated rotation speed and the detected rotation speed is within the appropriate range (S25: Yes), the process of step S26 is skipped and the process proceeds to step S27.

In step S27, the program 123 executes a third drive signal analysis process for determining the indicated braking force indicated by the third drive signal included in the management information. For example, a table showing the relationship between the type of the third drive signal and the indicated braking force is stored in advance in the storage device 122. The program 123 determines the indicated braking force according to the third drive signal from the table. The table of the storage device 122 stores a braking force of the same type as the braking information included in the management information. Specifically, when the brake information included in the management information is a value indicating pressure, the storage device 122 stores the pressure corresponding to the type of the third drive signal. When the brake information included in the management information is a value indicating the temperature of the brake member 25, the storage device 122 stores the temperature corresponding to the type of the third drive signal.

In the program 123, the difference between the indicated braking force determined in step S27 and the braking force indicated by the braking information (hereinafter, referred to as the detected braking force), which is one of the sensor information included in the management information, is stored in the storage device 122. It is determined whether or not it is within the predetermined appropriate range stored in advance in (S28). The process of step S28 is an example of the "third determination process" of the present invention.

If the program 123 determines that the difference between the indicated braking force and the detected braking force is not within the appropriate range (S28: No), it indicates that the third drive device 43 or the brake member 25 may have a problem. The third error information is stored in the storage device 122 (S29). More specifically, if the difference between the indicated braking force and the detected braking force is not within the appropriate range, there is a possibility that the third driving device 43 is not operating the braking member 25 properly in response to the instruction of the automatic driving device 80. There is a possibility that the brake member 25 itself has a problem. If the program 123 determines that the difference between the indicated braking force and the detected braking force is not within the appropriate range, the program 123 provides third error information indicating that the third drive device 43 or the brake member 25 may have a problem. It is stored in the storage device 122. The process of step S29 is an example of the "third storage process" of the present invention.

On the other hand, when the program 123 determines that the difference between the indicated rotation speed and the detected rotation speed is within the appropriate range (S25: Yes), the process of step S29 is skipped and the first cause investigation process is terminated.

Although not shown in the flowchart, the program 123 includes drive signals and voice signals other than the first drive signal, the second drive signal, and the third drive signal, as well as steering angle information and rotation speed information included in the management information. And the error judgment may be performed by using the sensor information other than the braking force information. The details will be described below.

The program 123 determines the transmission gear indicated by the fourth drive signal included in the management information. For example, a table showing the relationship between the type of the fourth drive signal and the type of the transmission gear is stored in the storage device 122 in advance. The program 123 determines the transmission gear corresponding to the fourth drive signal from the table.

The program 123 determines whether or not the determined transmission gear and the transmission gear indicated by the gear information, which is one of the sensor information included in the management information (hereinafter, referred to as the detection transmission gear), match. When the program 123 determines that the determined transmission gear and the detection transmission gear do not match, the storage device 122 stores error information indicating that the transmission 26 may have a problem.

Further, the program 123 determines whether or not the fifth drive signal to the tenth drive signal included in the management information indicate that the lights 31 to 36 are lit. When the program 123 determines that the fifth drive signal to the tenth drive signal indicate the lighting of the lights 31 to 36, the lights 31 to 36 instructed to light are actually turned on by using the lighting information included in the management information. Judge whether or not it lights up. When the program 123 determines that the lights 31 to 36 are not actually lit even though the fifth drive signal to the tenth drive signal indicate that the lights 31 to 36 are lit, the lights 31 to 36 and the lights are lit. The storage device 122 stores error information indicating that the devices 51 to 56 may have a problem. The defect is determined for each of the lights 31, 32, 33, 34, 35, and 36, and error information is stored in the storage device 122 for each of the lights 31, 32, 33, 34, 35, and 36. ..

Further, the program 123 determines whether or not the voice indicated by the voice signal included in the management information and the voice indicated by the voice information which is one of the sensor information included in the management information substantially match. That is, whether or not the speaker 37 emits the sound instructed by the automatic driving device 80 is determined by the sound detected by the microphone 108. When the program 123 determines that the sound indicated by the information signal and the sound indicated by the voice information do not match, the storage device 122 stores error information indicating that there may be a problem with the speaker.

Further, the program 123 determines the position of the window 27 indicated by the eleventh drive signal included in the management information. For example, a table showing the correspondence between the eleventh drive signal and the position of the window 27 is stored in the storage device 122 in advance. The program 123 determines the position of the window 27 corresponding to the eleventh drive signal included in the management information from the table. The program 123 determines whether or not the determined position of the window 27 matches the position of the window 27 indicated by the window position information, which is one of the sensor information included in the management information. If the program 123 determines that the determined position of the window 27 and the position of the window 27 indicated by the window position information do not match, the program 123 provides error information indicating that the fourth drive device 44 may have a problem. It is stored in the storage device 122.

Further, the program 123 determines the injection amount of the cleaning liquid indicated by the twelfth drive signal included in the management information. For example, a table showing the correspondence between the twelfth drive signal and the injection amount is stored in the storage device 122 in advance. The program 123 determines the injection amount corresponding to the twelfth drive signal included in the management information from the table. Further, the program 123 determines the actual injection amount of the cleaning liquid from the remaining amount information which is one of the sensor information included in the management information. Specifically, the difference in the remaining amount of the cleaning liquid indicated by the remaining amount information before and after the injection of the cleaning liquid is determined to determine the actual injection amount of the cleaning liquid (hereinafter, referred to as the detected injection amount). The program 123 determines whether or not the difference between the injection amount determined from the 12th drive signal and the detected injection amount is within the appropriate range stored in the storage device 122. If the program 123 determines that the difference between the injection amount determined from the 12th drive signal and the detected injection amount is not within the appropriate range, the program 123 stores error information indicating that the fifth drive device 45 may have a problem. Store in 122.

Further, the program 123 determines whether or not the thirteenth drive signal included in the management information indicates the drive of the wiper 28. When the program 123 determines that the thirteenth drive signal indicates the drive of the wiper 28, the program 123 determines whether or not the wiper information, which is one of the sensor information included in the management information, indicates the actual drive of the wiper 28. do. If the program 123 determines that the wiper 28 is not actually driven even though the thirteenth drive signal indicates that the wiper 28 is being driven, there is a possibility that the sixth drive device 46 or the wiper 28 has a problem. The storage device 122 stores error information indicating that there is a possibility.

The program 123 also determines the temperature and humidity indicated by the 14th drive signal included in the management information. For example, a table showing the correspondence between the 14th drive signal and the temperature and humidity is stored in the storage device 122 in advance. In the program 123, the temperature and humidity indicated by the 14th drive signal and the temperature indicated by the vehicle interior temperature information and the humidity indicated by the vehicle interior humidity information, which is one of the sensor information included in the management information, are stored in the storage device 122. Determine if it is within the proper range. If the program 123 determines that the temperature and humidity indicated by the 14th drive signal and the temperature indicated by the temperature information inside the vehicle and the humidity indicated by the humidity information inside the vehicle are not within an appropriate range, there is a possibility that the air conditioner 29 has a problem. The error information indicating the above is stored in the storage device 122.

Further, the program 123 determines the rate of change of the temperature of the window 27 per unit time by driving the heating device 47 by the fifteenth drive signal included in the management information. For example, a table showing the correspondence between the type of the 15th drive signal and the rate of change in the temperature of the window 27 is stored in the storage device 122 in advance. Further, the program 123 describes the actual rate of change of the temperature of the window 27 per unit time (hereinafter referred to as the detected rate of change) based on the temperature indicated by the window temperature information which is one of the sensor information included in the management information. ) Is determined. The program 123 determines whether or not the difference between the rate of change determined from the 15th drive signal and the detected rate of change is within an appropriate range stored in the storage device 122. If the program 123 determines that the difference between the rate of change determined from the 15th drive signal and the rate of change detected is not within the appropriate range, the program 123 stores error information indicating that the heating device 47 may have a problem. Store in 122.

[Second cause investigation process]

The second cause investigation process shown in FIG. 6 is a process for determining whether or not the cause of the accident or the like lies in the automatic driving device 80.

First, the program 123 executes the first simulation process and acquires a simulated drive signal (S31). More specifically, the program 123 inputs judgment information into the same program 83 as the automatic operation program 83 at the timing indicated by the date and time information, virtually executes the automatic operation program 83, and outputs the automatic operation program 83. The first drive signal, the second drive signal, and the third drive signal are acquired as the simulated first drive signal, the simulated second drive signal, and the simulated third drive signal.

The program 123 determines the steering angle indicated by the acquired simulated first drive signal as the simulated steering angle. Further, the program 123 determines the indicated steering angle from the first drive signal included in the management information, as described above. The program 123 determines whether or not the difference between the determined indicated steering angle and the simulated steering angle is within the appropriate range stored in advance in the storage device 122 (S32). Further, the program 123 determines whether or not the difference between the timing at which the simulated first drive signal is output and the timing at which the first drive signal is output is within an appropriate range (S32). The process of step S32 is an example of the "fourth determination process" of the present invention.

The program 123 determines that the difference between the indicated steering angle and the simulated steering angle is not within the appropriate range, or the difference between the timing at which the simulated first drive signal is output and the timing at which the simulated first drive signal is output is appropriate. If it is determined that it is not within the range (S32: No), the storage device 122 stores the fourth error information indicating that a defect may have occurred in the portion of the automatic operation device 80 that generates the first drive signal (S32: No). S33). The process of step S33 is an example of the "fourth storage process" of the present invention.

The program 123 determines that the difference between the indicated steering angle and the simulated steering angle is within the appropriate range, and the difference between the timing at which the simulated first drive signal is output and the timing at which the simulated first drive signal is output is If it is determined that the range is within the appropriate range (S32: Yes), the process of step S33 is skipped and the process of step S34 is executed.

In step S34, the program 123 determines the rotation speed of the traveling motor 24 indicated by the acquired simulated second drive signal as the simulated rotation speed. Further, the program 123 determines the indicated rotation speed from the second drive signal included in the management information in the same manner as described above. The program 123 determines whether or not the difference between the determined indicated rotation speed and the simulated rotation speed is within the appropriate range stored in advance in the storage device 122 (S34). Further, the program 123 determines whether or not the difference between the timing at which the simulated second drive signal is output and the timing at which the second drive signal is output is within an appropriate range (S34). The process of step S34 is an example of the "fifth determination process" of the present invention.

The program 123 determines that the difference between the indicated rotation speed and the simulated rotation speed is not within the appropriate range, or the difference between the timing at which the simulated second drive signal is output and the timing at which the simulated second drive signal is output is appropriate. If it is determined that the information is not within the range (S34: No), the fifth error information is stored in the storage device 122 (S35). The process of step S35 is an example of the "fifth storage process" of the present invention.

The program 123 determines that the difference between the indicated rotation speed and the simulated rotation speed is within the appropriate range, and the difference between the timing at which the simulated second drive signal is output and the timing at which the simulated second drive signal is output is If it is determined that the range is within the appropriate range (S34: Yes), the process of step S35 is skipped and the process of step S36 is executed.

In step S36, the program 123 determines the braking force of the traveling motor 24 indicated by the acquired simulated third drive signal as the simulated braking force. Further, the program 123 determines the indicated braking force from the second drive signal included in the management information, as described above. The program 123 determines whether or not the difference between the determined indicated braking force and the simulated braking force is within the appropriate range stored in advance in the storage device 122 (S36). Further, the program 123 determines whether or not the difference between the timing at which the simulated third drive signal is output and the timing at which the third drive signal is output is within an appropriate range (S36). The process of step S36 is an example of the "sixth determination process" of the present invention.

The program 123 determines that the difference between the indicated braking force and the simulated braking force is not within the appropriate range, or the difference between the timing at which the simulated third drive signal is output and the timing at which the simulated third drive signal is output is appropriate. When it is determined that the range is not within the range (S36: No), the sixth error information is stored in the storage device 122 (S37), and the second cause investigation process is terminated. The process of step S37 is an example of the "sixth storage process" of the present invention.

Program 123 determines that the difference between the indicated braking force and the simulated braking force is within the appropriate range, and the difference between the timing at which the simulated third drive signal is output and the timing at which the simulated third drive signal is output is If it is determined that the range is within the appropriate range (S35: Yes), the process of step S37 is skipped, and the second cause investigation process is terminated.

Although not shown in the flowchart, the program 123 includes a simulated drive signal other than the simulated first drive signal, the simulated second drive signal, and the simulated third drive signal, and the first drive signal and the second drive signal included in the management information. An error determination may be made using a drive signal and a drive signal other than the third drive signal. That is, the drive signal output by the automatic operation device 80 based on the input determination information and the timing at which the drive signal is output, and the automatic operation device 80 virtually executed based on the determination information in the information processing device 12 It is determined whether or not the output simulated drive signal and the timing at which the simulated drive signal is output are within the appropriate range stored in the storage device 122. If it is determined that the range is not within the proper range, the error information is stored in the storage device 122.

[Third cause investigation process]

The third cause investigation process shown in FIG. 7 is a process for determining whether or not the cause of the accident or the like is a program defect (bug or the like) of the automatic driving program 83.

First, the program 123 executes the second simulation process and acquires the simulated drive signal (S41). More specifically, the program 123 inputs judgment information into the comparison program, which is a program equivalent to the automatic operation program 83, at the timing indicated by the date and time information, virtually executes the comparison program, and outputs the comparison program. The 1st drive signal, the 2nd drive signal, and the 3rd drive signal are acquired as the simulated 1st drive signal, the simulated 2nd drive signal, and the simulated 3rd drive signal.

The program 123 determines the steering angle indicated by the acquired simulated first drive signal as the simulated steering angle. The determination of the simulated steering angle is performed in the same manner as the determination of the indicated steering angle described above. Further, the program 123 determines the indicated steering angle from the first drive signal included in the management information, as described above. The program 123 determines whether or not the difference between the determined indicated steering angle and the simulated steering angle is within the appropriate range stored in advance in the storage device 122 (S42). Further, the program 123 determines whether or not the difference between the timing at which the simulated first drive signal is output and the timing at which the first drive signal is output is within an appropriate range (S42). The process of step S42 is an example of the "seventh determination process" of the present invention.

The program 123 determines that the difference between the indicated steering angle and the simulated steering angle is not within the appropriate range, or the difference between the timing at which the simulated first drive signal is output and the timing at which the simulated first drive signal is output is appropriate. If it is determined that the information is not within the range (S42: No), the seventh error information is stored in the storage device 122 (S43). The seventh error information is information indicating that there is a possibility that there is a defect such as a bug in the process of generating the first drive signal in the automatic operation program 83. The process of step S43 is an example of the "seventh storage process" of the present invention.

The program 123 determines that the difference between the indicated steering angle and the simulated steering angle is within the appropriate range, and the difference between the timing at which the simulated first drive signal is output and the timing at which the simulated first drive signal is output is If it is determined that the range is within the appropriate range (S42: Yes), the process of step S43 is skipped and the process of step S44 is executed.

In step S44, the program 123 determines the rotation speed of the traveling motor 24 indicated by the acquired simulated second drive signal as the simulated rotation speed. The determination of the simulated rotation speed is performed in the same manner as the determination of the indicated rotation speed described above. Further, the program 123 determines the indicated rotation speed from the second drive signal included in the management information in the same manner as described above. The program 123 determines whether or not the difference between the determined indicated rotation speed and the simulated rotation speed is within the appropriate range stored in advance in the storage device 122 (S44). Further, the program 123 determines whether or not the difference between the timing at which the simulated second drive signal is output and the timing at which the second drive signal is output is within an appropriate range (S44). The process of step S44 is an example of the "eighth determination process" of the present invention.

The program 123 determines that the difference between the indicated rotation speed and the simulated rotation speed is not within the appropriate range, or the difference between the timing at which the simulated second drive signal is output and the timing at which the simulated second drive signal is output is appropriate. If it is determined that the information is not within the range (S34: No), the eighth error information is stored in the storage device 122 (S45). The eighth error information is information indicating that there is a possibility that there is a defect such as a bug in the process of generating the second drive signal in the automatic operation program 83. The process of step S45 is an example of the "eighth storage process" of the present invention.

The program 123 determines that the difference between the indicated rotation speed and the simulated rotation speed is within the appropriate range, and the difference between the timing at which the simulated second drive signal is output and the timing at which the simulated second drive signal is output is If it is determined that the range is within the appropriate range (S44: Yes), the process of step S45 is skipped and the process of step S46 is executed.

In step S46, the program 123 determines the braking force of the traveling motor 24 indicated by the acquired simulated third drive signal as the simulated braking force. The determination of the simulated braking force is performed in the same manner as the determination of the indicated braking force described above. Further, the program 123 determines the indicated braking force from the second drive signal included in the management information, as described above. The program 123 determines whether or not the difference between the determined indicated braking force and the simulated braking force is within the appropriate range stored in advance in the storage device 122 (S46). Further, the program 123 determines whether or not the difference between the timing at which the simulated third drive signal is output and the timing at which the third drive signal is output is within an appropriate range (S46). The process of step S37 is an example of the "ninth determination process" of the present invention.

The program 123 determines that the difference between the indicated braking force and the simulated braking force is not within the appropriate range, or the difference between the timing at which the simulated third drive signal is output and the timing at which the simulated third drive signal is output is appropriate. If it is determined that the information is not within the range (S46: No), the ninth error information is stored in the storage device 122 (S47). The ninth error information is information indicating that there is a possibility that there is a defect such as a bug in the process of generating the third drive signal in the automatic operation program 83. The process of step S47 is an example of the "ninth storage process" of the present invention.

Program 123 determines that the difference between the indicated braking force and the simulated braking force is within the appropriate range, and the difference between the timing at which the simulated third drive signal is output and the timing at which the simulated third drive signal is output is When it is determined that the range is within the appropriate range (S46: Yes), the process of step S47 is skipped, and the third cause investigation process is terminated.

Although not shown in the flowchart, the program 123 includes a simulated drive signal other than the simulated first drive signal, the simulated second drive signal, and the simulated third drive signal, and the first drive signal and the second drive signal included in the management information. An error determination may be made using a drive signal and a drive signal other than the third drive signal. That is, the drive signal output by the automatic operation device 80 based on the input determination information and the timing at which the drive signal is output are output by the comparison program virtually executed based on the determination information in the information processing device 12. It is determined whether or not the drive signal and the timing at which the drive signal is output are within the appropriate range stored in the storage device 122. If it is determined that the range is not within the proper range, the error information is stored in the storage device 122. That is, in the automatic operation program 83, it is possible to determine which drive signal is generated, such as a bug or a defect.

[Fourth cause investigation process]

The fourth cause investigation process shown in FIG. 8 is a process for determining whether or not the cause of the accident or the like is a malfunction of the sensor of the determination information acquisition unit 60.

First, the program 123 determines whether or not the difference between the speed indicated by the speed information included in the determination information and the speed indicated by the speed information included in the sensor information is within an appropriate range (S51). When the program 123 determines that the difference between the speed indicated by the speed information included in the determination information and the speed indicated by the speed information included in the sensor information is not within an appropriate range (S51: No), the speed sensor 63 or the speed sensor 101 The tenth error information indicating that there is a possibility of failure is stored in the storage device 122 (S52). On the other hand, when the program 123 determines that the difference between the speed indicated by the speed information included in the determination information and the speed indicated by the speed information included in the sensor information is within an appropriate range (S51: Yes), the process of step S52. Is skipped, and the process of step S53 is executed.

In step S53, the program 123 determines whether or not the difference between the rotation speed indicated by the rotation speed information included in the determination information and the rotation speed indicated by the rotation speed information included in the sensor information is within an appropriate range ( S51). When the program 123 determines that the difference between the rotation speed indicated by the rotation speed information included in the determination information and the rotation speed indicated by the rotation speed information included in the sensor information is not within an appropriate range (S53: No), the rotation speed sensor The storage device 122 stores the eleventh error information indicating that 64 or the rotation speed sensor 102 may have failed (S54). On the other hand, when the program 123 determines that the difference between the rotation speed indicated by the rotation speed information included in the determination information and the rotation speed indicated by the rotation speed information included in the sensor information is within an appropriate range (S53: Yes), The process of step S54 is skipped, and the process of step S55 is executed.

In step S55, the program 123 determines whether or not the difference between the steering angle indicated by the steering angle information included in the determination information and the steering angle indicated by the steering angle information included in the sensor information is within an appropriate range ( S55). When the program 123 determines that the difference between the rotation speed indicated by the steering angle information included in the determination information and the steering angle indicated by the steering angle information included in the sensor information is not within an appropriate range (S55: No), the steering angle sensor The storage device 122 stores the twelfth error information indicating that the 66 or the rotation speed sensor 102 may have failed (S56). On the other hand, when the program 123 determines that the difference between the steering angle indicated by the steering angle information included in the determination information and the steering angle indicated by the steering angle information included in the sensor information is within an appropriate range (S55: Yes), The process of step S56 is skipped, and the fourth cause investigation process is terminated.

Although not shown in the flowchart, the program 123 may determine whether or not the gear sensor 65 and the gear sensor 103 are out of order in the same manner as described above.

[Action and effect of the embodiment]

In the present embodiment, the judgment information used by the automatic driving device 80 to generate the drive signal, the drive signal generated and output by the automatic driving device 80, the sensor information detected by the sensor group 100, the judgment information, and the drive signal. , And the date and time information output by the clock module 96 when the sensor information is input, and the identification symbol 94 are associated and transmitted. Therefore, when an accident or the like occurs in the fully autonomous driving vehicle 20, it becomes easy to investigate the cause of the accident or the like.

Further, in the present embodiment, whether or not the difference between the indicated steering angle instructed by the automatic driving device 80 and the detected steering angle actually detected by the steering angle sensor 104 in the first cause investigation process is within an appropriate range. Therefore, it becomes easy to determine whether or not there is a problem with the first driving device 41 for driving the steering wheel 22B or the steering wheel 22B.

Further, in the present embodiment, whether or not the difference between the indicated rotation speed instructed by the automatic operation device 80 and the detected rotation speed actually detected by the rotation speed sensor 102 in the first cause investigation process is within an appropriate range. Therefore, it becomes easy to determine whether or not there is a defect in the traveling motor 24 or the drive circuit (drive circuit) of the traveling motor 24.

Further, in the present embodiment, whether or not the difference between the indicated braking force instructed by the automatic driving device 80 and the detected braking force actually detected by the braking force sensor 106 in the first cause investigation process is within an appropriate range. Therefore, it becomes easy to determine whether or not there is a defect in the third drive device 43 for operating the brake member 25 or the brake member 25.

Further, in the present embodiment, in the second cause investigation process, the indicated steering angle indicated by the first drive signal generated by the automatic operation program 83 and the automatic operation program 83 virtually executed by the information processing device 12 are generated. It is determined whether or not the difference from the indicated steering angle indicated by the simulated first drive signal is within an appropriate range. Therefore, in the automatic driving device 80, it becomes easy to determine whether or not there is a defect related to the portion that generates the first drive signal.

Further, in the present embodiment, in the second cause investigation process, the indicated rotation speed indicated by the second drive signal generated by the automatic operation program 83 and the automatic operation program 83 virtually executed by the information processing device 12 are generated. It is determined whether or not the difference from the indicated rotation speed indicated by the simulated second drive signal is within an appropriate range. Therefore, in the automatic driving device 80, it becomes easy to determine whether or not there is a defect related to the portion that generates the second drive signal.

Further, in the present embodiment, in the second cause investigation process, the instruction braking force instructed by the third drive signal generated by the automatic driving program 83 and the automatic driving program 83 virtually executed in the information processing device 12 are generated. It is determined whether or not the difference from the indicated braking force indicated by the simulated third drive signal is within an appropriate range. Therefore, in the automatic driving device 80, it becomes easy to determine whether or not there is a defect related to the portion that generates the third drive signal.

Further, in the present embodiment, in the third cause investigation process, the indicated steering angle indicated by the first drive signal generated by the automatic operation program 83 and the simulated first drive generated by the comparison program executed by the information processing device 12 It is determined whether or not the difference from the indicated steering angle indicated by the signal is within an appropriate range. Therefore, in the automatic operation program 83, it becomes easy to determine whether or not there is a defect such as a bug in the part related to the process of generating the first drive signal.

Further, in the present embodiment, in the third cause investigation process, the indicated rotation speed indicated by the second drive signal generated by the automatic operation program 83 and the simulated second drive generated by the comparison program executed by the information processing apparatus 12 It is determined whether or not the difference from the indicated rotation speed indicated by the signal is within an appropriate range. Therefore, in the automatic operation program 83, it becomes easy to determine whether or not there is a defect such as a bug in the part related to the process of generating the second drive signal.

Further, in the present embodiment, in the third cause investigation process, the instruction braking force instructed by the third drive signal generated by the automatic operation program 83 and the simulated third drive generated by the comparison program executed in the information processing device 12 It is determined whether or not the difference from the indicated braking force indicated by the signal is within an appropriate range. Therefore, in the automatic operation program 83, it becomes easy to determine whether or not there is a defect such as a bug in the part related to the process of generating the third drive signal.

Further, in the present embodiment, by executing the fourth cause investigation process, the speed sensors 63, 101, the rotation speed sensors 64, 102, the steering angle sensors 66, 104, and the gear sensors 65, 103 fail. It is possible to easily judge whether or not it is present.

[Modification example]

In the above-described embodiment, an example in which the sensor group 100 is not included in the information transmission device 11 has been described. However, the sensor group 100 may be included in the information transmission device 11. That is, the information transmission device 11 and the sensor group 100 may be provided to the user as a set. Only the information transmission device 11 may be provided to the user, a set of the information transmission device 11 and the sensor group 100 may be provided to the user, or the program 123 of the information transmission device 11 and the information processing device 12. May be provided to the user as a set, or a set of the information transmitting device 11 and the information processing device 12 may be provided to the user.

Further, in the above-described embodiment, an example in which the fully autonomous driving vehicle 20 is an EV vehicle has been described. However, the fully autonomous vehicle 20 may be an internal combustion engine vehicle including an engine that burns fuel such as gasoline, light oil, or alcohol. In that case, the automatic operation device 80 outputs a drive signal for controlling the amount of fuel supplied to the engine, a drive signal for opening and closing the intake / exhaust valves, and the like, instead of the second drive signal for driving the traveling motor 24. .. Further, the determination information acquisition unit 60 and the sensor group 100 are provided with rotation speed sensors for detecting the rotation speed of the engine, respectively, in place of the rotation speed sensors 64 and 102 for detecting the rotation speed of the traveling motor 24.

Further, in the above-described embodiment, an example in which all the judgment information input to the automatic operation device 80 is input to the information transmission device 11, and all the judgment information is included in the management information and transmitted from the information transmission device 11. explained. However, one or a plurality of judgment information selected from the judgment information input to the information transmission device 11 may be included in the management information and transmitted from the information transmission device 11.

Further, in the above-described embodiment, all the drive signals and the like input to the automatic operation device 80 are input to the information transmission device 11, and all the drive signals are included in the management information and transmitted from the information transmission device 11. Explained. However, one or a plurality of drive signals selected from the drive signals input to the information transmission device 11 may be included in the management information and transmitted from the information transmission device 11.

Further, in the above-described embodiment, all the sensor information input to the automatic operation device 80 is input to the information transmission device 11, and all the sensor information is included in the management information and transmitted from the information transmission device 11. explained. However, one or a plurality of sensor information selected from the sensor information input to the information transmission device 11 may be included in the management information and transmitted from the information transmission device 11.

Further, in the above-described embodiment, an example in which the first cause investigation process, the second cause investigation process, the third cause investigation process, and the fourth cause investigation process are executed in the information processing apparatus 12 has been described. However, the first cause investigation process, the second cause investigation process, the third cause investigation process, and the fourth cause investigation process may be executed in an information processing device different from the information processing device 12. That is, the management information stored in the storage device 122 of the information processing device 12 is transferred to another information processing device, and the other information processing device performs the first cause investigation process, the second cause investigation process, and the third cause investigation. The process and the fourth cause investigation process may be executed. That is, the storage of the management information and the analysis of the management information may be executed by different information processing devices.

Further, in the above-described embodiment, an example in which a load is applied to the wheel 22 by using the brake member 25 has been described. However, the traveling motor 24 may be used instead of the brake member 25 or together with the brake material 25. That is, a so-called regenerative brake may be used. More specifically, the traveling motor 24 is used as a drive device and a generator for rotationally driving the wheels 22. When the traveling motor 24 is used as a generator, the supply of electric power from the power supply circuit 30 is stopped. The shaft of the traveling motor 24 is rotated by the wheels 22. The rotating shaft causes the traveling motor 24 to generate and output an AC voltage. The generated AC voltage is converted into a DC voltage by an AC-DC converter such as a chopper circuit. The converted DC voltage charges the battery 23. That is, the kinetic energy of the fully autonomous vehicle 20 is converted into electrical energy and absorbed by the battery 23. The traveling motor 24 causes a load on the wheels 22 when generating electricity. In this case, the braking force sensor 106 detects the converted DC voltage value and outputs the detected DC voltage value as "braking force". The DC voltage value output by the braking force sensor 106 is an example of the "value according to the load" of the present invention. Further, the traveling motor 24 that causes a load on the wheels 22 is an example of the "third drive device" of the present invention. Instead of using the traveling motor 24 as a generator, a generator having a shaft that is rotated in conjunction with the wheels 22 may be provided.

Further, a retarder may be used instead of the brake member 25 or together with the brake material 25. The retarder suppresses the rotation of a member that rotates in conjunction with the wheel 22 by using a fluid or a magnet. When a fluid is used, a propeller shaft that rotates in conjunction with the wheels 22 is housed in a room through which the fluid can flow. When the fluid flows into the room, the rotation of the propeller shaft is suppressed by the fluid. On the other hand, when a magnet is used, a magnet attached to a member that rotates in conjunction with the wheel 22 and a metal plate that forms a magnetic field are provided on the vehicle body 21. When the magnet rotates in the magnetic field, a force that hinders the change in the magnetic field acts on the magnet. The force suppresses the rotation of the member that rotates in conjunction with the wheel 22. When a retarder is used, as a braking force sensor, a flow sensor that detects the amount of liquid flowing into the chamber, an ammeter that detects the current value that is energized on the metal plate, and a voltage value that is energized on the metal plate are used. A voltmeter to measure is used. The braking force sensor detects the amount of liquid flowing into the chamber, the current value, and the voltage value as the braking force.

Further, in the above-described embodiment, an example in which a load is applied to the wheel 22 by using the brake member 25 has been described, but if it is possible to suppress and stop the rotation of the wheel 22 in addition to the above-mentioned configuration and the regenerative brake. , Any mechanism or device may be used. Mechanisms and devices that reduce the speed of the fully autonomous vehicle 20 are included in the concept of "brake" of the present invention. Further, the braking force sensor may be a sensor that measures physical quantities such as a force that reduces the speed of the fully autonomous vehicle 20 and a temperature or a current value by the mechanism or device.

10 ... Management system 11 ... Information transmission device 12 ... Information processing device 14 ... First input unit 15 ... Second input unit 16 ... Third input unit 20 ... Fully automatic Driving vehicle 21 ... Body 22 ... Wheels 23 ... Battery 24 ... Traveling motor 25 ... Brake member 26 ... Transmission 41 ... First drive unit 43 ... Third drive Device 83 ... Automatic operation program 92 ... Memory 93 ... Control program 94 ... Identification code 97 ... Wireless communication module 102 ... Rotation speed sensor 104 ... Steering angle sensor 106 ... Brake force sensor 122 ・ ・ ・ Storage device 123 ・ ・ ・ Program

Claims (11)

The steering angle of the wheels is changed by being driven by the vehicle body, a plurality of wheels rotatably held in the vehicle body, an automatic driving device mounted on the vehicle body, and a first drive signal input from the automatic driving device. The output value changes depending on the first drive device and the second drive signal output by the automatic driving device, and the wheels are driven by the second drive device that drives the wheels and the third drive signal input from the automatic driving device. A third drive device that applies a load to at least one of the members interlocking with the wheels, a first sensor that detects a value according to the steering angle of the wheels, and a value corresponding to the output of the second drive device. It is mounted on a moving body including a second sensor for detecting and a third sensor for outputting a value corresponding to a load applied to at least one of the wheel and a member interlocking with the wheel.
A first input unit to which the determination information as a reference for generating the first drive signal, the second drive signal, and the third drive signal by the automatic driving device is input.
A second input unit to which the first drive signal, the second drive signal, and the third drive signal output by the automatic driving device are input, and
The first sensor, the second sensor, and the third input unit into which the sensor information output by the third sensor is input, and
A memory that stores the identification code and
It is provided with the identification code, the determination information, the first drive signal, the second drive signal, the third drive signal, and the wireless communication unit that outputs the sensor information in association with each other as management information .
The above-mentioned determination information is information indicating the position and speed of another vehicle, and is an information transmission device including information on other vehicles that is not an image. The information transmitting device according to claim 1, further comprising the first sensor, the second sensor, and the third sensor. The first input unit is
The position information received by the antenna mounted on the vehicle body and
Traffic information received by the antenna mounted on the vehicle body and
Road condition information received by the antenna mounted on the vehicle body and
A map information storage device mounted on the upper Symbol vehicle body is stored,
Road condition information stored in the above storage device and
The speed information input from the sensor mounted on the vehicle body and detecting the speed of the vehicle body,
The rotation speed information input from the sensor that detects the rotation speed of the engine mounted on the vehicle body,
The rotation speed information input from the sensor that detects the rotation speed of the motor mounted on the vehicle body,
Gear information input from a sensor that detects the gear in use in the transmission mounted on the vehicle body,
Battery information output by a voltmeter that detects the voltage of the battery mounted on the vehicle body,
Detected object information that is mounted on the vehicle body and input from a sensor that detects the detected object around the vehicle body,
Image information captured by the camera mounted on the vehicle body and
The outside air temperature information output by the temperature sensor mounted on the vehicle body and
Humidity information output by the humidity sensor mounted on the vehicle body and
The illuminance information output by the illuminance sensor mounted on the vehicle body and
Ambient sound information output by the microphone mounted on the vehicle body and
Accelerometer information output by the acceleration sensor mounted on the vehicle body and
The information transmission device according to claim 1 or 2, which is mounted on the vehicle body and can input the above-mentioned determination information including at least one information of the inclination information output by the inclination sensor that detects the inclination of the vehicle body. .. The second input section is
In addition to the first drive signal, the second drive signal, and the third drive signal,
The fourth drive signal instructing the switching of the transmission gear by the transmission mounted on the vehicle body and
The fifth drive signal input to the lighting device that lights the light source of the direction indicator light mounted on the vehicle body, and
The sixth drive signal input to the lighting device that lights the headlights mounted on the vehicle body,
The 7th drive signal input to the lighting device that lights the auxiliary light mounted on the vehicle body,
The eighth drive signal input to the lighting device that lights the side lights mounted on the vehicle body,
The ninth drive signal input to the lighting device that lights the brake light mounted on the vehicle body and
The tenth drive signal input to the lighting device that lights the taillight mounted on the vehicle body and
The audio signal input to the speaker mounted on the vehicle body and
The eleventh drive signal input to the fourth drive device that opens and closes the window of the vehicle body, and
The twelfth drive signal input to the fifth drive device for injecting the cleaning liquid injected into the window, and the twelfth drive signal.
The thirteenth drive signal input to the sixth drive device that drives the wiper that sweeps the window, and
The 14th drive signal input to the air conditioner mounted on the vehicle body and
The information transmitting device according to any one of claims 1 to 3, wherein at least one of a fifteenth drive signal input to the heating device for heating the window can be input. The third input section is
In addition to the above sensor information
The speed information input from the speed sensor mounted on the vehicle body and detecting the speed of the vehicle body,
The rotation speed information input from the rotation speed sensor that detects the rotation speed of the engine mounted on the vehicle body,
The rotation speed information input from the rotation speed sensor that detects the rotation speed of the motor mounted on the vehicle body,
Gear information input from the gear sensor that detects the gear in use in the transmission mounted on the vehicle body,
Detected object information that is mounted on the vehicle body and input from a sensor that detects the detected object around the vehicle body,
Voice information input from a microphone that converts the voice output by the speaker mounted on the vehicle body into voice information, and
Accelerometer information output by the acceleration sensor mounted on the vehicle body and
The tilt information that is mounted on the vehicle body and is output by the tilt sensor that detects the tilt of the vehicle body,
Lighting information input from an optical sensor that receives the light of the direction indicator light mounted on the vehicle body,
Lighting information input from an optical sensor that receives the light of the headlights mounted on the vehicle body,
Lighting information input from the optical sensor that receives the light of the auxiliary light mounted on the vehicle body and
Lighting information input from an optical sensor that receives the light of the side lights mounted on the vehicle body,
Lighting information input from the optical sensor that receives the light of the brake light mounted on the vehicle body,
Lighting information input from an optical sensor that receives the light of the taillight mounted on the vehicle body,
The remaining amount information input from the remaining amount sensor that detects the value according to the injection amount of the cleaning liquid, and
The wiper information input from the wiper sensor that detects the value according to the operation of the wiper mounted on the vehicle body and
The vehicle interior temperature information input from the vehicle interior temperature sensor that detects the temperature inside the vehicle body,
In-vehicle humidity information input from the in-vehicle humidity sensor that detects the humidity inside the vehicle body, and
The information transmitting device according to any one of claims 1 to 4, wherein the window temperature information input from the window temperature sensor that detects the temperature of the window of the vehicle body and at least one piece of information can be input. The information transmitting device according to any one of claims 1 to 5.
It includes a program executed by an information processing device to which the management information transmitted by the information transmitting device is input.
The above program
In the management information, it is determined whether or not the difference between the steering angle of the wheel corresponding to the first drive signal and the steering angle of the wheel indicated by the sensor information of the first sensor is within an appropriate range. Judgment processing and
In the management information, the output of the second driving device according to the second driving signal, the difference is proper range of the output of the second driving device in which the second sensor signal the sensor outputs is shown in the management information The second judgment process to judge whether it is inside or not, and
In the management information, a third determination process for determining whether or not the difference between the value corresponding to the third drive signal and the value corresponding to the sensor information output by the third sensor in the management information is within an appropriate range. When,
The first storage process for storing the first error information in the storage device according to the determination that the error is not within the appropriate range in the first judgment process.
A second storage process for storing the second error information in the storage device according to the determination that the second error information is not within the appropriate range in the second determination process.
A management system that executes a third storage process for storing the third error information in the storage device according to the determination that the third error information is not within the appropriate range in the third determination process. The information transmitting device according to any one of claims 1 to 5.
It includes a program executed by an information processing device to which the management information transmitted by the information transmitting device is input.
The above program
The first drive signal, the second The first simulation process for acquiring the drive signal and the third drive signal, and
A fourth determination process for determining whether or not the difference between the first drive signal acquired in the first simulation process and the first drive signal in the management information is within an appropriate range, and
A fifth determination process for determining whether or not the difference between the second drive signal acquired in the first simulation process and the second drive signal in the management information is within an appropriate range, and
The sixth determination process for determining whether or not the difference between the third drive signal acquired in the first simulation process and the third drive signal in the management information is within an appropriate range, and
The fourth storage process of storing the fourth error information in the storage device according to the determination that the error is not within the appropriate range in the fourth judgment process.
The fifth storage process for storing the fifth error information in the storage device according to the determination that the fifth judgment process is not within the appropriate range, and the fifth storage process.
A management system that executes the sixth storage process of storing the sixth error information in the storage device in response to the determination that the sixth determination process is not within the appropriate range. The information transmitting device according to any one of claims 1 to 5.
It includes a program executed by an information processing device to which the management information transmitted by the information transmitting device is input.
The above program
The first drive output by the comparison program by causing the comparison program, which is an automatic operation program different from the automatic operation program of the automatic operation device and capable of executing automatic operation, to execute the determination information contained in the management information. The second simulation process for acquiring the signal, the second drive signal, and the third drive signal, and
A seventh determination process for determining whether or not the difference between the first drive signal acquired in the second simulation process and the first drive signal in the management information is within an appropriate range, and
The eighth determination process for determining whether or not the difference between the second drive signal acquired in the second simulation process and the second drive signal in the management information is within an appropriate range, and
The ninth determination process for determining whether or not the difference between the third drive signal acquired in the second simulation process and the third drive signal in the management information is within an appropriate range, and
The 7th storage process of storing the 7th error information in the storage device according to the determination that the 7th judgment process is not within the appropriate range, and the 7th storage process.
The eighth storage process for storing the eighth error information in the storage device according to the determination that the error is not within the appropriate range in the eighth determination process.
A management system that executes the ninth storage process of storing the ninth error information in the storage device in response to the determination that the ninth error information is not within the appropriate range in the ninth determination process. The management system according to any one of claims 6 to 8, further comprising an information transmitting device for executing the above program. The steering angle of the wheels is changed by being driven by the vehicle body, a plurality of wheels rotatably held in the vehicle body, an automatic driving device mounted on the vehicle body, and a first drive signal input from the automatic driving device. The output value changes depending on the first drive device and the second drive signal output by the automatic driving device, and the wheels are driven by the second drive device that drives the wheels and the third drive signal input from the automatic driving device. A third drive device that applies a load to at least one of the members interlocking with the wheels, a first sensor that detects a value according to the steering angle of the wheels, and a value corresponding to the output of the second drive device. Executed by an information transmission device mounted on a moving body including a second sensor for detection and a third sensor for outputting a value corresponding to a load applied to at least one of the wheel and a member interlocking with the wheel. The control program to be used
The first acquisition process for acquiring the judgment information to be input to the automatic driving device, and
The second acquisition process for acquiring the first drive signal, the second drive signal, and the third drive signal output by the automatic driving device, and
A third acquisition process for acquiring sensor information output by the first sensor, the second sensor, and the third sensor, and
The identification symbol stored in the memory of the information transmitting device, the determination information acquired in the first acquisition process, the first drive signal acquired in the second acquisition process, the second drive signal, and the third. A control program that executes a transmission process of associating a drive signal with the sensor information acquired in the third acquisition process and transmitting the information as management information. The steering angle of the wheels is changed by being driven by the vehicle body, a plurality of wheels rotatably held in the vehicle body, an automatic driving device mounted on the vehicle body, and a first drive signal input from the automatic driving device. The output value changes depending on the first drive device and the second drive signal output by the automatic driving device, and the wheels are driven by the second drive device that drives the wheels and the third drive signal input from the automatic driving device. A third drive device that applies a load to at least one of the members interlocking with the wheels, a first sensor that detects a value according to the steering angle of the wheels, and a value corresponding to the output of the second drive device. It is mounted on a moving body including a second sensor for detecting and a third sensor for outputting a value corresponding to a load applied to at least one of the wheel and a member interlocking with the wheel.
A first input unit to which the determination information as a reference for generating the first drive signal, the second drive signal, and the third drive signal by the automatic driving device is input.
A second input unit to which the first drive signal, the second drive signal, and the third drive signal output by the automatic driving device are input, and
The first sensor, the second sensor, and the third input unit into which the sensor information output by the third sensor is input, and
A memory that stores the identification code and
It is provided with the identification code, the determination information, the first drive signal, the second drive signal, the third drive signal, and the wireless communication unit that outputs the sensor information in association with each other as management information .
The determination information is an information transmission device including tilt information output by a tilt sensor mounted on the vehicle body and detecting the tilt of the vehicle body.

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