JP7048997B2 - Programs for self-driving cars and self-driving cars - Google Patents

Description

The present invention relates to a program for an autonomous vehicle and an autonomous vehicle having a manual driving mode based on a manual driving operation of a driver and an automatic driving mode for autonomous driving.

Various auxiliary devices installed in automobiles to prevent automobile accidents and ensure the safety of automobile drivers, passengers, pedestrians, drivers of other vehicles, and passengers. Has been proposed.

For example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2009-173252), in order to prevent drunk driving by a driver, an invention that determines whether or not the driver is drinking and prevents the vehicle from starting. Has been proposed. Further, Patent Document 2 (Japanese Unexamined Patent Publication No. 10-315800) is an index showing the degree of arousal of a driver (the degree of arousal of a driver (the opposite of sleepiness), and the smaller the value, the more the degree of sleepiness. It is disclosed that when the decrease of (large) is large, the vehicle is controlled by the automatic driving control means.

Japanese Unexamined Patent Publication No. 2009-173252 Japanese Unexamined Patent Publication No. 10-315800

By the way, recently, a car driver has fallen into a state of unconsciousness due to, for example, a sudden heart disease or an epileptic seizure, becomes unconscious, faints, or has a seizure. The accident has been reported.

In this case, if the driver falls into a state of unconsciousness, becomes unconscious, faints, or has a seizure, the vehicle is urgently controlled by automatic driving control means. By doing so, it is necessary to avoid accidents and solve the external problems of automobiles. However, according to the concept of the invention of Patent Document 1 and the invention of Patent Document 2, it is not possible to promptly respond to an emergency situation such as a driver's unconsciousness, unconsciousness, fainting, and seizures. The danger of an accident in such a case cannot be avoided.

In addition, even if the accident can be avoided by controlling the vehicle driving by the automatic driving control means, the destination of the vehicle is not determined. Therefore, the vehicle is controlled by the automatic driving control means to go where. It becomes unclear whether it is good or not, and the driver will be traveling on a route different from the route intended for the destination.

Furthermore, there is a problem that no countermeasures can be taken for the driver himself who has fallen into a state of unconsciousness, becomes unconscious, fainted, or has a seizure. That is, it is important for a driver who has fallen into a state of unconsciousness, unconsciousness, fainting, or has a seizure to receive medical treatment promptly at a hospital or the like. However, if the vehicle is driven indiscriminately by the vehicle driving control by the automatic driving control means, there is a problem that the appropriate response to the physical change occurring in the driver may or may not be delayed. In particular, if there is only one driver in the car, there is a problem that an appropriate response may not be taken at all. In other words, no countermeasures have been taken for the inward problems of automobiles, so to speak, regarding drivers and passengers.

In view of the above problems, the present invention solves the external problems of automobiles that avoid accidents and ensure safe driving, and at the same time, the internal problems of automobiles relating to drivers and passengers. The purpose is to provide an autonomous vehicle that can appropriately respond to the above.

In order to solve the above problems, the invention of claim 1 is
In an autonomous vehicle equipped with an autonomous driving mode that performs autonomous driving,
An incident detection means for detecting changes in the health condition of the driver and / or the passenger during the ride, and
A medical information storage unit that stores image information including eye conditions and facial expressions peculiar to various diseases and / or medical information having audio information including groaning, moaning, asthma sound, and groin.
Image information taken from one or more cameras that capture the inside of the self-driving car and / or sound pick-up voice information from a microphone that picks up the sound and voice inside the self-driving car, and the medical information storage unit. Based on the image information and / or the audio information stored in the driver, the predetermined disease causing the change in health condition caused to the driver and / or the passenger detected by the change detection means is specified. Specific means and
A destination determining means for determining a hospital with a specialist and / or a hospital with specialized equipment for the predetermined disease specified by the specific means as a destination.
A control means for controlling to move to the destination determined by the destination determination means in the automatic operation mode, and
Provided is an autonomous vehicle characterized by being equipped with.

According to the self-driving car of the invention of claim 1 of the above-mentioned configuration, the health condition of the driver and / or the passenger is changed due to a predetermined illness or symptom, and when the illness or symptom is specified, the automatic driving is performed. The driving vehicle travels in autonomous driving mode to a hospital with a specialist for the disease or symptom and / or a hospital with specialized equipment. Therefore, appropriate measures will be taken when the health condition of the driver and / or the passenger in the self-driving car changes due to a specific illness or symptom.

According to the present invention, when the driver and / or the passenger on board changes his / her health condition due to a specific illness or symptom, the hospital and / or a hospital having a specialist for the illness or symptom in the automatic driving mode and / or Move to a hospital with specialized equipment to avoid accidents and ensure safe driving When a change occurs in the health of the driver or passenger while solving the external problems of the car It is possible to provide self-driving cars that can respond appropriately to problems.

It is a block diagram which shows the structural example of the electronic control circuit part in embodiment of the autonomous driving vehicle by this invention. It is a figure which shows the example of the contents of the automatic driving switching condition table in embodiment of the automatic driving vehicle by this invention. It is a figure which shows the continuation example of the contents of the automatic operation switching condition table of FIG. It is a figure which shows the continuation example of the contents of the automatic operation switching condition table of FIG. It is a figure used for demonstrating the processing operation example of the electronic control circuit part in embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating the processing operation example of the electronic control circuit part in embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating the processing operation example of the electronic control circuit part in embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating a part of the processing operation example of the processing operation example of the electronic control circuit part in embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating a part of the processing operation example of the processing operation example of the electronic control circuit part in embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating a part of the processing operation example of the processing operation example of the electronic control circuit part in embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating a part of the processing operation example of the processing operation example of the electronic control circuit part in embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating a part of the processing operation example of the processing operation example of the electronic control circuit part in embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating a part of the processing operation example of the processing operation example of the electronic control circuit part in embodiment of the automatic driving vehicle by this invention.

FIG. 1 is a block diagram showing a hardware configuration example of the electronic control circuit unit 10 of the autonomous driving vehicle 1 according to the embodiment of the present invention. The self-driving car 1 of this embodiment is an example in the case of an electric vehicle. However, the battery is not shown in FIG.

Further, the automatic driving vehicle 1 of this embodiment has an automatic driving mode and a manual driving mode. The manual driving mode is a mode in which the driver can drive according to the accelerator pedal operation, the brake pedal operation, the shift lever operation, and the steering operation (steering wheel operation), as in the case of a normal vehicle that is not an autonomous vehicle. Further, in the automatic driving mode, even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever, or the steering operation, the self-driving car 1 itself automatically (autonomously) avoids obstacles and goes on the path. This is the driving mode to change.

In the normal state, the driver of the automatic driving vehicle 1 can switch the automatic driving vehicle 1 running in the manual driving mode to the automatic driving mode by a predetermined operation through, for example, the touch panel 112 described later, and also in the automatic driving mode. When the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering while driving in, the driver automatically returns to the manual operation mode. However, as will be described later, when the automatic driving vehicle 1 of this embodiment is forcibly switched from the manual driving mode to the automatic driving mode, the above-mentioned manual driving must be satisfied only after satisfying the predetermined cancellation conditions described later. Even if the operation to return to the mode is performed, the operation is invalidated and the vehicle is controlled to maintain the driving in the automatic driving mode.

In order to distinguish from the normal automatic operation mode that the user selects and sets through the touch panel 112 or the like, even if the operation to return to the manual operation mode after this forced switching is performed, the operation is invalidated and the automatic operation is performed. In this specification, the mode in which the mode is continued is referred to as a forced automatic operation mode, and the automatic operation mode other than the forced automatic operation mode is referred to as a normal automatic operation mode.

As shown in FIG. 1, the electronic control circuit unit 10 has a motor drive control unit 102, a steering drive control unit 103, and manual / automatic with respect to the control unit 101 configured by mounting a computer through the system bus 100. Operation mode switching control unit 104, manual operation operation detection unit 105, radar 106, camera group 107, sensor group 108, surrounding moving object grasping unit 109, current position detection unit 110, display unit 111, touch panel 112, car navigation (hereinafter, (Abbreviated as car navigation system) Function unit 113, image recognition unit 114, automatic driving switching condition determination unit 115, voice recognition unit 116, vehicle interior condition determination unit 117, mobile phone function unit 118, clock unit 119, synthetic voice generation unit 120, voice Each of the input / output units 121 is connected.

A motor drive unit 131 is connected to the motor drive control unit 102. A steering drive unit 132 is connected to the steering drive control unit 103. Further, a car navigation database 133 is connected to the car navigation function unit 113. Further, an image information storage unit 134 for storing image information of a comparative image for image recognition is connected to the image recognition unit 114. Further, an automatic operation switching condition storage unit 135 is connected to the automatic operation switching condition determination unit 115. Further, a voice information storage unit 136 for storing voice information of comparative voice for voice recognition is connected to the voice recognition unit 116. A microphone 137 and a speaker 138 are connected to the audio input / output unit 121.

Under the control of the control unit 101, the motor drive control unit 102 controls the supply of the drive signal to the motor drive unit 131 of the automatic driving vehicle 1 configured by the electric vehicle of this embodiment, and the automatic driving vehicle 1 To control the start of running, running speed control (including brake control and accelerator control), running stop, etc.

The steering drive control unit 103 controls the supply of the drive control signal to the steering drive unit 132 of the autonomous driving vehicle 1 of this embodiment under the control of the control unit 101, and controls the course change of the autonomous driving vehicle 1. To do.

The manual / automatic driving mode switching control unit 104 controls to switch the driving mode of the self-driving car 1 to either the manual driving mode or the automatic driving mode according to the selection operation input through the touch panel 112. As will be described later, control for switching the operation mode of the automatic driving vehicle 1 to either a manual driving mode, an automatic driving mode, or a forced automatic driving mode is performed according to the discrimination result of the automatic driving switching condition determination unit 115. conduct.

The manual operation detection unit 105 receives operation information of the accelerator pedal operation, the brake pedal operation, the shift lever operation, and the steering operation by the driver, and supplies the manual operation operation information to the manual / automatic operation mode switching control unit 104. do.

When the automatic driving vehicle 1 is in the manual driving mode, the manual / automatic driving mode switching control unit 104 supplies the manual driving operation information from the manual driving operation detecting unit 105 to the motor drive control unit 102 and the steering drive control unit 103. Then, the motor drive unit 131 and the steering drive unit 132 are controlled according to the driver's pedal operation, shift lever operation, and steering operation (steering operation).

Further, when the automatic driving vehicle 1 is in the automatic driving mode (including the forced automatic driving mode), the manual / automatic driving mode switching control unit 104 is described as described later in the radar 106, the camera group 107, the sensor group 108, and the surroundings. The automatic driving operation information generated by the control unit 101 based on the output of the moving body grasping unit 109 is supplied to the motor drive control unit 102 and the steering drive control unit 103, and the motor drive unit 131 and the steering drive unit 132 are supplied. Drive control is performed based on automatic driving operation information. In the automatic driving mode (including the forced automatic driving mode), the car navigation function unit 113 searches for a route from the current position to the destination (destination or attribute of the destination) set by the driver or the like, and the route is searched for. It is controlled to travel along the searched route.

Then, in this embodiment, as described above, the manual / automatic operation mode switching control unit 104 receives the matching determination result of the switching condition in the automatic operation switching condition determination unit 115, and is contrary to the driver's intention. That is, contrary to the selection setting of the operation mode by the driver, the control for automatically switching from the manual operation mode to the automatic operation mode is also performed.

In the normal automatic driving mode, which is not the forced automatic driving mode, the manual / automatic driving mode switching control unit 104 allows the driver to operate the accelerator pedal, the brake pedal, the shift lever, or the steering while driving in the automatic driving mode. When the operation (steering operation) is performed, the mode switching control is performed so as to automatically return the operation mode of the autonomous driving vehicle 1 to the manual operation mode based on the detection information of the manual operation.

However, when the driving mode of the self-driving car 1 is the forced self-driving mode, in principle, the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering operation, unless the release condition described later is satisfied. However, the manual / automatic operation mode switching control unit 104 invalidates the manual operation operation information and maintains the forced automatic operation mode.

The radar 106 is for measuring the distance to a person or an object existing around the vehicle of the autonomous driving vehicle 1, and includes a laser radar, a millimeter wave radar, and the like. Laser radars are embedded, for example near the ceiling and bumpers, and millimeter-wave radars are installed, for example, at the front and rear of the vehicle. It may have both a laser radar and a millimeter wave radar, or it may have only one.

The camera group 107 includes one or more cameras that photograph the inside of the self-driving car 1, and one or more cameras that photograph the surroundings outside the vehicle such as the front, side, and rear of the self-driving car 1. .. The camera that shoots the inside of the car is attached to the rear-view mirror (rear-view mirror, room mirror) installed between the driver's seat and the passenger seat, the upper part of the front window, etc., and the person (driver) sitting in the driver's seat. In addition to cameras that capture actions, it also includes cameras for capturing the actions of passengers (passengers) sitting in the passenger seat and rear-view seats. Further, the cameras that photograph the surroundings of the automatic driving vehicle 1 are attached to, for example, the left side and the right side of the rearview mirror, and two cameras (stereo cameras) that mainly photograph the left front and the right front of the automatic driving vehicle 1 and the like. , A camera attached to, for example, a door mirror or a fender mirror of the automatic driving vehicle 1 to photograph the left and right sides, a camera to photograph the rear of the automatic driving vehicle 1, and an omnidirectional camera attached to the roof to photograph the surroundings at a wide angle ( 360 degree camera) and fisheye camera, etc. are included.

The sensor group 108 includes an open / close detection sensor that detects the opening / closing of the door and the opening / closing of the window of the automatic driving vehicle 1, a sensor for detecting the wearing of a seat belt, and the fact that the passenger is seated in a seat such as a driver's seat or a passenger seat. In addition to the seating sensor that detects, it includes a motion sensor (infrared sensor) that detects a person near the outside of the vehicle and various sensors for acquiring information that assists automatic driving. Various sensors for acquiring auxiliary information for automatic driving include, for example, a vibration sensor for detecting the vibration of a vehicle or a tire, a rotation speed sensor for detecting the rotation speed of a tire, and a rotation speed sensor for detecting an orientation. It includes geomagnetic sensors, acceleration sensors for detecting acceleration, gyro sensors (gyroscopes) for detecting angles and angular velocities, and the like.

Further, in this embodiment, sensors such as a temperature sensor, a humidity sensor, a heat sensor, a smoke sensor, an exhalation sensor, a carbon monoxide sensor, and a hydrogen sulfide sensor, which are useful for determining the inside condition of the autonomous driving vehicle 1, are also sensors. It is included in group 108. The heat sensor and smoke sensor are for detecting the occurrence of a fire in the vehicle, the exhalation sensor is for detecting the driver's drinking, and the carbon monoxide sensor and the hydrogen sulfide sensor are. , It is for detecting that gas toxic to the human body is generated in the car.

The surrounding mobile object grasping unit 109 uses the radar 106, the sensor group 108, and the captured image of the camera group 107 to grasp the moving object (including a person) around the own vehicle. The surrounding moving object grasping unit 109 grasps surrounding obstacles and moving objects by performing processing based on, for example, Bayesian theory.

The current position detection unit 110 receives radio waves from GPS satellites and detects the current position of the own vehicle. Since the current position detection unit 110 has poor accuracy of the position detected by the radio wave from the GPS satellite, not only the information of the current position detected by the reception of the radio wave from the GPS satellite but also the information of the current position included in the sensor group 108 1 to 1. Sensor output information from a plurality of sensors, radar output information, images captured from one or more cameras included in the camera group 107 (combined with the navigation function), etc. are also used, and based on, for example, Bayesian theory. By performing the processing, the current position with higher accuracy is detected and confirmed.

In the automatic driving mode, the autonomous driving vehicle 1 has a radar 106, a camera group 107, a sensor group 108, position information acquired by receiving radio waves from a GPS satellite, and the like in the current position detection unit 110 and the surrounding moving object grasping unit 109. Various information, that is, information corresponding to information obtained from the human eye or ear is processed by Bayesian theory or the like, and based on this, the control unit 101 performs intellectual information such as changing the course of the own vehicle and avoiding obstacles. Performs processing (artificial intelligence) and control (artificial intelligence) to generate automatic driving operation information.

The display unit 111 includes, for example, an LCD (Liquid Crystal Display). The touch panel 112 is arranged by superimposing a touch sensor capable of touch input by a finger on the display screen of the display unit 111 made of an LCD. On the display screen of the display unit 111, a display image including software buttons (including a button for inputting characters on the keyboard) is displayed based on the control of the control unit 101. Then, when the touch panel 112 detects a touch by a finger on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101. The control unit 101 that receives this is configured to execute the control process corresponding to the software button.

Domestic map data and route guidance data are stored in advance in the car navigation database 133 connected to the car navigation function unit 113. The car navigation function unit 113 is a function for guiding the autonomous driving vehicle 1 to assist in moving to a designated destination based on the map data stored in the car navigation database 133 and the route guidance data. It is a part, and has not only a route search function but also a peripheral search function centered on a predetermined position. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing in the manual operation mode and the automatic operation mode.

That is, in the manual operation mode, the car navigation function unit 113 is detected and confirmed by the current position detection unit 110 on the map that explicitly displays the route to the destination on the display screen of the display unit 111. In addition to displaying an image that superimposes the position of the own vehicle, the position of the own vehicle (current position) on the map is moved as the own vehicle moves, and route guidance such as intersections and branch points on the route is provided. Give voice guidance where needed. This is the same as a normal car navigation function.

On the other hand, in the automatic driving mode, when the current position of the own vehicle is far from the route to the destination, the car navigation function unit 113 notifies the control unit 101 of the information on the separation direction and the distance, and also informs the own vehicle. When the current position of the vehicle is on the route to the destination, the control unit 101 is notified of the change instruction information of the route direction along the route in front of the intersection or the branch point on the route as the vehicle moves. To do. The control unit 101 instructs the own vehicle on the route based on the information notified from the car navigation function unit 113, the current position confirmation result of the current position detection unit 110, and the grasp result of the surrounding moving body grasping unit 109. The motor drive unit 131 is controlled through the motor drive control unit 102, and automatic driving operation information for controlling the steering drive unit 132 is generated through the steering drive control unit 103 so as to move along the route as set. .. Therefore, the self-driving car 1 can move to the destination even when the passenger is unmanned by the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode.

In addition, as will be described later, the destination attributes when the manual operation mode is switched to the automatic operation mode (or forced automatic operation mode) are, for example, "hospital", "gas station", "convenience store" (hereinafter referred to as "convenience store"). , Convenience store) ”is registered, the car navigation function unit 113 performs a peripheral search for the attribute of the destination centering on the current position detected by the current position detection unit 110. Make sure that the destination is the facility or location that is the result of the search around the area.

Further, in this embodiment, the car navigation function unit 113 refers to the map information of the car navigation database 133 from the latitude / longitude information of the current position information detected by the current position detection unit 110, thereby locating the current position. It has a function to detect names, facility names, and addresses. Then, as will be described later, the car navigation function unit 113 also has a function of transferring the detected location name, facility name, and address name of the current position to the synthetic voice generation unit 120 based on the control of the control unit 101.

The image recognition unit 114 performs matching processing between the captured image from the camera that captures the inside of the vehicle or the camera that captures the outside of the vehicle in the camera group 107 and the image information stored in the image information storage unit 134. Obtains image recognition results for determining the inside of the vehicle, such as physical abnormalities of the driver and passengers, driver's behavior such as falling asleep, eating and drinking, smoking, looking away, and looking aside, and the driver's footwear. The image recognition unit 114 transfers the obtained recognition result to the vehicle interior condition determination unit 117.

The image information storage unit 134 connected to the image recognition unit 114 stores image information of a comparative image for image recognition. As the comparative image stored in the image information storage unit 134, for comparison with the image taken from the camera taking a picture of the inside of the car, an image of the person sitting in the seat in a state of unawareness, anxiety, and fainting. Images of tantrum attacks, images of dozing (eyes closed for a certain period of time, head cocks, etc.), images of people looking away or looking aside, images of people eating and drinking , Other images of food and drink objects (rice balls, sandwiches, lunch boxes, ice cream, PET bottles and cans containing beverages (water, tea, coffee), etc., which help detect food and drink), cigarettes (smoking) Includes images of footwear (clogs, slippers, high heels, and other footwear that can lead to mishandling) and barefoot (not wearing footwear and can lead to misdriving), etc. ..

Further, as the comparative image stored in the image information storage unit 134, an image of a landscape that causes a look away or aside (for example, an image of a superb view of autumn leaves, etc.) for comparison with an image taken from a camera that shoots the outside of the vehicle. Includes images of famous places and historic sites, images of festival gods, images of fireworks, images of new store opening sales, etc.) and images of celebrities (images of famous entertainers, athletes, etc.).

The automatic operation switching condition determination unit 115 is any of the switching conditions for switching from the manual operation mode stored in the automatic operation switching condition storage unit 135, which will be described in detail later, to the automatic operation mode (including the forced automatic operation mode). In addition, it is determined whether or not the determination results of the in-vehicle condition in the in-vehicle condition determination unit 117, which will be described later, match, and when it is determined that they match, an instruction to switch from the manual driving mode to the automatic driving mode or the forced automatic driving mode is given. , Manual / automatic operation mode switching control unit 104.

The voice recognition unit 116 performs matching processing between the voice information from the microphone 137 and the voice information stored in the voice information storage unit 136, thereby causing physical changes in the driver and passengers, and the driver. Obtain voice recognition results for determining the in-vehicle conditions such as the passenger's intention to defecate and urine. The voice recognition unit 116 transfers the obtained recognition result to the vehicle interior condition determination unit 117.

The voice information storage unit 136 connected to the voice recognition unit 116 has a roar, asthma, scream, or "painful", "help", or "sound" that the driver or passenger emits when a physical abnormality occurs. Voice information such as "I feel sick", "Somehow", "I'm sick", "I'm about to vomit", "Uh", "Gee", and when the driver or passenger has a desire to defecate or urinate. The voice information of tight voices (words) such as "toilet", "dressing room", "hand wash", "limit", and "leakage" emitted from the voice recognition unit 116 is used for voice recognition by the voice recognition unit 116. It is stored for comparison. Further, the voice information storage unit 136 also pre-registers and stores a child's crying sound, a falling sound from a child's seat, a pet's bark, and the like.

The vehicle interior condition determination unit 117 includes an image recognition result from the image recognition unit 114, a voice recognition result from the voice recognition unit 116, and sensors from one or more sensors that contribute to the determination of the vehicle interior condition in the sensor group 108. From the output, the in-vehicle condition that is the switching condition for switching from the manual operation mode to the automatic operation mode is determined. Then, the vehicle interior condition determination unit 117 transfers the determination result of the vehicle interior condition to the automatic driving switching condition determination unit 115.

In this example, the mobile phone function unit 118 is built in the automatic driving vehicle 1 in advance, and is registered as a subscriber and assigned a predetermined subscriber number. The driver and passengers of the self-driving car 1 can make a mobile phone call by so-called hands-free. Then, as will be described later, when the control unit 101 of the automatic driving vehicle 1 stores a report to 119 as setting information related to the switching condition stored in the automatic driving switching condition storage unit 135, the control unit 101 is stored. It has a function to make a 119 call through the mobile phone function unit 118. The report information in the 119 call is composed of synthetic voice from the synthetic voice generation unit 120. In addition, the mobile phone function unit 118 also has a mail function and an Internet connection function.

The clock unit 119 has a calendar function, provides a current date and time, and also has a timer function for measuring a time from a predetermined timing point based on the control of the control unit 101.

The synthetic voice generation unit 120 has a built-in memory for storing voice message data to be emitted to the outside, and also has a function of converting a place name, a facility name, and an address of the current position from the car navigation function unit 113 into synthetic voice. As the voice message stored in the synthetic voice generator 120, for example, a notification of switching the operation mode such as "switched to the forced automatic operation mode" or "switched to the manual operation mode" as described later. A message and a notification message prompting the user to set a destination at the start of traveling of the autonomous driving vehicle 1 are prepared.

As described above, the microphone 137 is connected to the audio input / output unit 121, and the speaker 138 is also connected to the audio input / output unit 121. These microphones 137 and speakers 138 are used as hands-free communication transmitters / receivers using the mobile phone function unit 118. Further, the voice input / output unit 121 not only has a function of transmitting / receiving voice for hands-free calling using the mobile phone function unit 118, but also uses a microphone 137 to transmit voice information in the vehicle for determining the condition inside the vehicle. It also has a function of collecting sound and supplying it to the voice recognition unit 116, and a function of emitting a sound from the speaker 138, such as the above-mentioned operation mode switching notification message and a notification message prompting the destination setting.

In the automatic driving switching condition storage unit 135 connected to the automatic driving switching condition determination unit 115, in this embodiment, the automatic driving vehicle 1 is in the manual driving mode while the vehicle is running, parked, or stopped. Switching conditions for switching the driving mode of 1 from the manual driving mode to the normal automatic driving mode or the forced automatic driving mode, the control contents when the switching conditions are met, and the destination information in the automatic driving mode and the forced automatic driving mode. The automatic operation switching condition table TBL including the release conditions of the automatic operation mode and the forced automatic operation mode is stored.

The switching condition is defined as an in-vehicle condition in which if the driver continues to drive in the manual driving mode, the safety is hindered. That is, when the in-vehicle condition of the automatic driving vehicle 1 becomes an in-vehicle condition that meets this switching condition, there is a danger or safety is not guaranteed. Therefore, from the manual driving mode to the normal automatic driving mode. Alternatively, this switching condition is defined as a condition for switching to the forced automatic driving mode so as to maintain a safe driving state.

The control content when the switching condition is met includes the specified information of the automatic operation mode whether to switch to the normal automatic operation mode or the forced automatic operation mode when the switching condition is met, and the matching switching condition. Accordingly, the automatic driving vehicle 1 includes the control content to be performed in the automatic driving mode (including the forced automatic driving mode) after switching.

Further, the release condition is a condition in which the forced automatic operation mode may be canceled and returned to the manual operation mode, or an operation condition for switching from the automatic operation mode to the manual operation mode.

The automatic driving switching condition table TBL stored in the automatic driving switching condition storage unit 135 is written and stored in advance by the manufacturing company or the sales company of the automatic driving vehicle 1. Further, this switching condition is additionally written in the automatic driving switching condition storage unit 135 by a predetermined operation by the user of the automatic driving vehicle 1, that is, the driver or the passenger through the touch panel 112. It is said that it can be additionally stored. Then, the user of the autonomous driving vehicle 1, that is, the driver, is configured to be able to select whether or not to use some switching conditions.

Further, the automatic driving switching condition table TBL may be set and registered in advance by each automobile company, standardized by the automobile industry, or set by the Ministry of Land, Infrastructure, Transport and Tourism. In this case, the user cannot change or erase the stored contents. The automatic operation switching condition table TBL may be updated with the latest condition table from the homepage of an automobile company, the Ministry of Land, Infrastructure, Transport and Tourism, etc. by using the connection function to the Internet provided in the mobile phone function unit 118. ..

3 and 4, which are continuations of FIGS. 2 and 2, are examples of the automatic operation switching condition table TBL which is the storage content of the automatic operation switching condition storage unit 135 in this embodiment. In the examples of FIGS. 2, 3 and 4, the switching conditions are "change in the health condition of the driver or passenger 1", "change in the health condition of the driver or passenger 2", and "sleeping of the driver". , "Driving or passenger's sickness, nausea, etc.", "Driver or passenger's urge to defecate or urinate", "Overworked driving", "Driving (during red light stop, temporary stop such as crossing) (Including) Driver's drinking "," Driver's looking away, sideways driving "," Driver's eating and drinking or smoking "," Deterioration of driving environment "," Abnormal behavior of children and pets on board "," Driver's Conditions for ensuring safe driving by avoiding situations that are prone to accidents, such as "how to drive, posture" and "the driver is wearing or not wearing footwear that interferes with driving". Is illustrated. Then, corresponding to each switching condition, the designation of the automatic operation mode and the forced automatic operation mode after the switching, the control content, the destination, and the cancellation condition of the automatic operation mode are defined.

Needless to say, the switching conditions shown in FIGS. 2 and 3 are part of the storage contents of the automatic operation switching condition storage unit 135, and various other predetermined switching conditions are registered.

As shown in FIG. 2, for example, as a switching condition for "change in the health condition of the driver or the passenger 1", an emergency situation such as unconsciousness of personnel, unconsciousness, fainting, etc. is registered for the driver or the passenger. ing. The automatic driving switching condition determination unit 115 determines whether or not the switching condition for this "change in health condition 1 of the driver or passenger 1" is satisfied by using the determination result of the vehicle interior condition determination unit 117. The in-vehicle condition determination unit 117 determines whether or not the driver or passenger is in a state where physical abnormalities such as personnel unconsciousness, front-back unconsciousness, and fainting have occurred by image recognition by the image recognition unit 114. do.

For example, the case of a driver will be described. As shown in FIG. 5A, the driver 3 is photographed by the camera 107a mounted next to the rear-view mirror 2 of the autonomous driving vehicle 1. When there is no physical change in the driver 3, the captured image of the driver 3 is a moving image in which the driver 3 opens his eyes, gazes ahead, and operates the steering wheel (steering wheel) 4. It becomes. On the other hand, when the driver 3 is in a state of unconsciousness, unconsciousness, and fainting due to a physical change, the driver 3 looks at the captured image of the driver 3 as shown in FIG. 5 (B). When closed, the face turns downward (sometimes upward) without looking forward, resulting in a loose and immobile image. The vehicle interior condition determination unit 117 determines the state as shown in FIG. 5B from the recognition result from the image recognition unit 114, and transmits the state to the automatic driving switching condition determination unit 115. In addition, in order to perform more precise medical image recognition, the image information storage unit 134 may store abundantly medically characteristic and precise comparative image information.

The automatic driving switching condition determination unit 115 receives the determination result of the in-vehicle condition, and by collating the determination result with the stored content of the automatic driving switching condition storage unit 135, "the health condition of the driver or the passenger". It is determined that the switching condition for "Abnormality 1" is satisfied.

In the above description, the determination is made based only on the image recognition result of the image recognition unit 114, but in this embodiment, the vehicle interior condition determination unit 117 is the voice recognition unit 116 in addition to the image recognition result. This "change in the health condition of the driver or passenger 1" should be judged by taking into account the fact that voice recognition recognizes howling, moaning, and groin (in the case of cerebral bleeding (cerebral bleeding)). do. As a result, the accuracy of the determination in the vehicle interior condition determination unit 117 can be improved.

The control content for the switching condition of this "change in the health condition of the driver or passenger 1" is to switch to the forced automatic driving mode. A hospital is designated as the destination. The designated hospital can be selected and designated in advance by a driver or the like.

That is, a specific hospital, for example, a family hospital can be designated. In that case, the hospital name, address, and telephone number of the family hospital are stored in the automatic operation switching condition storage unit 135. The control unit 101 of the automatic driving vehicle 1 uses the telephone number of this hospital to call the hospital by the mobile phone function unit 118, tells the characteristics of the own vehicle, the name of the driver, etc., and brings the suddenly ill person. Notify the hospital that you are going. The message for this purpose is stored in advance in the synthetic voice generation unit 120. It is also possible to notify the hospital by e-mail instead of by telephone. Further, in order to accurately inform the doctors of the hospital of the medical condition of the suddenly ill person, the image information and the audio information of the suddenly ill person may be sent by e-mail as an attached file.

It is also possible to memorize the destination attribute such as "emergency hospital or general hospital near the current position" instead of a specific hospital. As will be described later, when the destination attribute is specified as the destination such as "emergency hospital or general hospital near the current position", the car navigation function unit 113 searches the surrounding area for the corresponding hospital around the current position. The destination is the search result around it. In that case, if the telephone number of the hospital can be obtained, the control unit 101 of the automatic driving vehicle 1 uses the telephone number of the hospital by the mobile phone function unit 118 as described above. Call the hospital, tell them the characteristics of your car, the driver's name, etc., and notify the hospital that you will be taking the suddenly ill. Further, as described above, the notification can be made not only by telephone but also by a communication application such as e-mail or LINE. Further, the image information and the audio information of the suddenly ill person may be emailed as an attached file.

Further, in this embodiment, instead of designating a specific destination or destination attribute as a destination, it is possible to select to stop at a road shoulder or the like and call 119. In the case of this 119 call, the characteristics of the own vehicle, the driver's name, the occurrence of a sudden illness, the location name of the current location, the address, etc. are generated from the synthetic voice generator 120, and the 119 call content is recorded. Make sure to include it.

The self-driving car 1 may be provided with a medical information storage unit (not shown) containing various medical information (medical information) and a medical database (not shown). In that case, the medical information storage unit clearly stores medical information such as disease name, symptom, and coping method for intracerebral hemorrhage, subarachnoid hemorrhage, cerebral infarction, myocardial infarction, and various other diseases. As for symptoms, image information such as eye condition and facial expression peculiar to various diseases and voice information such as groaning and moaning are memorized, and various diseases can be quickly and accurately detected with initial symptoms by image recognition and voice recognition. Be able to grasp. Of course, not only still images but also moving images are stored as image information. Therefore, when the incident 1 occurs, the control content, the coping method, and the destination of the autonomous driving vehicle 1 can be determined based on the medical information stored in the medical information storage unit.

That is, is it appropriate for the self-driving car 1 to move to the hospital when the accident 1 occurs, or is it more appropriate to stop on the shoulder of the road without moving, call 119, and wait for the arrival of the ambulance? And so on. When it is appropriate to move to the hospital, the self-driving car 1 selects the optimum running speed (for example, 30 km / h or less) that does not impose a load on the suddenly ill person, or the car navigation function unit 113 has a road in the car navigation database 133. It is also possible to provide the optimum route for smooth driving from the car navigation function unit 113 without giving vibration to the suddenly ill person as much as possible by providing the unevenness information of the car navigation system. Further, if the medical information storage unit stores the driver's or passenger's pre-existing medical history and medical history, it is possible to respond more quickly and appropriately when the incident 1 occurs.

Of course, when a disease is identified, the destination is a hospital with a specialist or a hospital with specialized equipment based on the type of disease. For example, in the case of intracerebral hemorrhage, subarachnoid hemorrhage, and cerebral infarction, the destination is a neurosurgeon specialist and specialized equipment, and in the case of myocardial infarction, the destination is a hospital equipped with cardiovascular and cardiac specialists and specialized equipment.

If the passenger (driver or passenger) is a pregnant woman and labor pains occur, it is not a state of unconsciousness, unconsciousness, fainting, etc., and it is not a disease, but it is a life-threatening emergency. Same as Incident 1. In this case, the self-driving car 1 heads to the obstetrics and gynecology department, obstetrics department, or maternity hospital of the pregnant woman so that the pregnant woman can give birth safely. If your obstetrics and gynecology department, obstetrics department, or maternity hospital is far from your current location and there is a possibility that you will not be able to give birth in time, search for an obstetrics and gynecology department, obstetrics department, or maternity hospital near your current location using the peripheral search function of the car navigation function unit 113. Then, go to the obstetrics and gynecology department, obstetrics department, or maternity hospital that you can search for. The same applies when a pregnant woman ruptures water, and the destination is the family or the nearest obstetrics and gynecology department, obstetrics department, or maternity hospital.

The condition for canceling the forced automatic driving mode corresponding to the switching condition of "change in the health condition of the driver or passenger 1" is "arrival at the destination" or "arrival of the ambulance".

Next, as a switching condition for "change in the health condition of the driver or passenger 2", the driver or passenger has not reached the state of unconsciousness, unconsciousness, fainting, etc., but convulsions and asthma. Physical abnormalities that make manual operation difficult due to seizures, vomiting, etc. are registered. The vehicle interior condition determination unit 117 uses the image recognition result of the image recognition unit 114 and the voice recognition result of the voice recognition unit 116 to determine this "change in the health condition of the driver or passenger 2". To.

The control content for the switching condition of this "change in the health condition of the driver or passenger 2" is to switch to the forced automatic driving mode, and the driver or passenger is awakened even if a physical change occurs. In this embodiment, the inquiries about the destination are made to the driver or the passenger. Then, as the destination, the driver or the like must select and specify in advance "home (including address and location information)", "hospital (including hospital name, address and location information)", and "stop on the shoulder". Can be done. In addition, the condition for canceling the forced automatic driving mode corresponding to the switching condition for "change in the health condition of the driver or passenger 2" is the time when "arriving at the destination".

When the switching condition of this "change in the health condition of the driver or passenger 2" is met, the control unit 101 may make a synthetic voice such as "Is it okay?" Based on the matching result of the automatic driving switching condition determination unit 115. A message is sent to ask for safety, and when the destination is pre-registered in the automatic operation switching condition storage unit 135, an inquiry is made asking "Do you want to make the destination the registered place?". This considers the case where the driver or passenger decides that he / she should go to the hospital based on the degree of physical abnormality even if "home" or "stop on the shoulder" is selected in the pre-registration. In this embodiment, if "stop on the shoulder" is pre-registered, it is stipulated that an inquiry "Do you want to call 119?" Is made.

When the destination is not pre-registered, inquiry messages such as "Would you like to return home?", "Would you like to go to the hospital?", "Do you want to stop?" Voice recognition of the driver's or passenger's reply such as "Yes" or "No" is performed, and the destination is determined according to the recognition result.

Further, in this embodiment, when there is no pre-registration as a destination corresponding to the switching condition of "change in the health condition of the driver or passenger 2" and there is no response to the inquiry by the synthetic voice, the control unit 101 Determines that it is in a dangerous state, searches for an emergency hospital or a general hospital near the current position by the peripheral search function of the car navigation function unit 113, and heads for the hospital that can be searched. In this case, if the hospital cannot be searched, the hospital will stop at the shoulder or the like and call 119. In the 119 call, as described above, the characteristics of the own vehicle, the driver's name, the occurrence of a sudden illness, the location name of the current position, the address, etc. are generated from the synthetic voice generator 120, and the 119 call is made. Be included in the content.

The condition for canceling the forced automatic driving mode corresponding to the switching condition of "change in the health condition of the driver or passenger 2" is "arrival at the destination" or "arrival of the ambulance".

In addition, even when the incident 2 occurs, the control content, the coping method, and the destination of the autonomous driving vehicle 1 are based on the medical information stored in the medical information storage unit (not shown) as in the above-mentioned incident 1. Of course, you can be able to decide.

Next, the switching condition "driver's doze" will be described. In this case, the vehicle interior condition determination unit 117 determines that the eyelids remain closed for a certain period of time or longer, or that the head is cocked by image recognition of the image taken by the camera 107a that captures the driver 3 by the image recognition unit 114. By recognizing it, the driver's dozing situation is determined.

The control content for the switching condition of the "driver's doze" is to switch to the normal automatic driving mode and to send a call voice (synthetic voice) to awaken the driver. This is because it can be expected that the driver will return to the awake state by the call voice. However, when the person is not awakened by the call voice (judged from image recognition), physical trouble or mental trouble is expected instead of falling asleep.

The destination for the switching condition of the "driver's doze" is the destination set at the start of traveling of the autonomous driving vehicle 1. However, if the person is not awakened by the call voice, the destination is an emergency hospital or a general hospital near the current position, which is obtained by searching with the peripheral search function of the car navigation function unit 113. Furthermore, if the hospital cannot be found by the peripheral search, the hospital will stop on the shoulder of the road and make a 119 call including the above-mentioned predetermined notification items.

The condition for canceling the normal automatic driving mode corresponding to the switching condition of "driver's doze" is "manual driving operation" when the destination is "preset destination", and the destination is other such as a hospital. In the case of, it is said to be when "arriving at the destination".

Next, the switching condition "impaired physical condition such as motion sickness and nausea of the driver or passenger" will be described. In this case, the vehicle interior condition determination unit 117 is "unpleasant", "drunk", "sick", and "vomiting" with the image recognition result of the image taken by the driver or passenger in the image recognition unit 114. From the voice recognition results of the voice recognition unit 116 such as "Yes", "Uh", and "Gee", the situation of "Driver or passenger's car sickness, nausea, etc." is determined. ..

The control content for the switching condition of "impaired physical condition such as motion sickness and nausea of the driver or passenger" is to switch to the forced automatic driving mode. And, as the destination, if the current position is on the highway, it is the nearest PA (parking area) or SA (service area), and if the current position is a general road, it is said to "stop near the shoulder". .. You can also register "Return to home" as a destination. In addition, the condition for canceling the forced automatic driving mode corresponding to the switching condition of "impaired physical condition such as motion sickness and nausea of the driver or passenger" is considered to be when "arriving at the destination".

Next, the switching condition "driver or passenger's intention to defecate or urinate" will be described. In this case, the vehicle interior condition determination unit 117 determines how the driver or passenger is groping by image recognition of the photographed image of the driver or passenger by the image recognition unit 114, and also determines that the driver or passenger is groping, and the "toilet" and "toilet". The situation of "the driver's or passenger's willingness to defecate or urinate" is determined from the voice recognition result of the voice recognition unit 116 such as "Let's leak".

The control content for the switching condition of the "driver or passenger's intention to defecate or urinate" is to switch to the forced automatic driving mode. If the current location is on a highway, the destination is the nearest PA (parking area) or SA (service area), and if the current location is a general road, the nearest "convenience store" or "gas station". It is said that there is a toilet such as ". The place where this toilet is located can be pre-registered according to the attributes of the destination such as "convenience store" or "gas station". In addition, the condition for canceling the forced automatic driving mode corresponding to the switching condition of "the driver's or passenger's intention to defecate or urinate" is the time when "arriving at the destination".

Next, the switching condition "overworked operation" will be described. The switching condition in this case is one of three types of conditions. The first condition is that one driver continuously operates for a predetermined time or more, for example, two hours or more. The second condition is that the total daily operating time for one driver is a predetermined time or more, for example, 5 hours or more. The third condition is that the number of times of switching between the manual operation mode and the automatic operation mode in a day is a predetermined number or more, for example, 20 times or more while one driver is driving. To. The situation in which any of the above three conditions is satisfied takes into consideration that the driver may be overworked, which may hinder safe driving. The conditions for determining overwork are not limited to the above-mentioned three conditions, and the facial expression of the driver taken by the camera of the camera group 107 is image-recognized to determine whether or not the facial expression is tired, or the driver's facial expression. A biometric measurement may be performed and the degree of overwork may be determined from the measured value.

The vehicle interior condition determination unit 117 determines whether one driver has continued to drive for 2 hours or more continuously and whether the total driving time has exceeded 5 hours based on the time information from the clock unit 119. , It is determined that the in-vehicle condition of the first condition or the switching condition of the second condition has been reached. Further, the in-vehicle condition determination unit 117 receives information on switching between the manual operation mode and the automatic operation mode from the manual / automatic operation mode switching control unit 104, and counts the number of times, so that one driver. By determining that the number of times of switching between the manual operation mode and the automatic operation mode in one day is 20 times or more while the vehicle is driving, the in-vehicle condition of the switching condition of the third condition can be obtained. Judge that it has become.

The control content for the switching condition of this "overworked operation" is to switch to the forced automatic operation mode. The destination for the switching condition of this "overworked driving" is the destination set at the start of traveling of the autonomous driving vehicle 1. The condition for canceling the forced automatic driving mode corresponding to the switching condition for "overworked driving" is the time when "arriving at the destination".

Next, the switching condition "driving of the driver" will be described. In this case, the vehicle interior condition determination unit 117 determines the vehicle interior condition of "driver's drinking" from the detection result of the alcohol concentration contained in the driver's exhaled breath by the breath sensor included in the sensor group 108. Further, in the vehicle of the autonomous driving vehicle 1, the image recognition unit 114 recognizes an image of the driver drinking a drink, recognizes whether the bottle or can of the drink being drunk is an alcoholic drink, and recognizes whether the drink is an alcoholic drink. Upon receiving the recognition result, the in-vehicle condition determination unit 117 determines the in-vehicle condition of "drinking of the driver".

The control content for the switching condition of this "driver's drinking" is to switch to the forced automatic driving mode. If the autonomous driving vehicle 1 is running (including a red light stop and a temporary stop such as a railroad crossing), the destination set for the switching condition of "driver's drinking" is the destination set at the start of running. It is said that. Further, if the self-driving car 1 is in a stopped state in a parking lot, a garage, or the like, it may be set to "do not start" or may be set as the destination set at the start of traveling. The condition for canceling the forced automatic driving mode corresponding to the switching condition for "driving the driver" is "arrival at the destination" or "disappearance of the switching condition". The switching condition disappears when the alcohol concentration of the driver's exhaled breath on the exhaled breath sensor becomes a predetermined value or less, or after a time when the drinking state returns to the normal state, for example, after 8 hours have elapsed.

Next, the switching condition "driver's looking away / sideways" will be described. In this embodiment, the switching condition is that the driver looks away or looks aside for a predetermined time or longer, for example, 1 minute or longer. Based on the image recognition result of the image taken by the driver by the camera, the vehicle interior condition determination unit 117 keeps the driver in a sloppy state for one minute or more, and from the direction of the line of sight, the inside of the vehicle looking away from the driver and looking aside. Try to judge the situation. By considering the continuation of the driver's wandering state for one minute or more and the direction of the line of sight, it is possible to make a distinction from the wandering by checking the left and right for safety while driving.

The following are possible situations in which looking away or looking aside is likely to occur.
・ Places of famous places, historic sites, and superb views (including autumn leaves). In such places, the driver also wants to see the landscapes and landscapes, and inadvertently looks away or aside, and there is a risk that safety cannot be ensured in the manual operation mode.
・ Extraordinary events such as festival mikoshi, fireworks, new store opening sale, etc. Such an event also makes the driver want to see it, and he or she may inadvertently look away or look aside, and it may not be possible to ensure safety in the manual operation mode.
-Celebrities, such as celebrities, athletes, and recently talked-about people. Such celebrities also want the driver to look at them, and they may look away or look aside, making it impossible to ensure safety in the manual driving mode.

In consideration of the above situations, the vehicle interior condition determination unit 117 detects the location of famous places, historic sites, and superb views (including autumn leaves) by the peripheral search function of the car navigation function unit 113, and the state of wandering by the above image recognition. In addition to the detection of, it is possible to determine the in-vehicle condition of "looking away from the driver, looking aside". In addition, the in-vehicle condition determination unit 117 accesses the Internet through the mobile phone function unit 118, searches for information on events around the current location, and detects the holding of events such as the above-mentioned festivals, fireworks, and new store opening sales. In addition to the above-mentioned image recognition detection of the sloppy state, it is possible to determine the in-vehicle condition of "looking away from the driver, looking aside". Further, by storing the image information of a famous entertainer, an athlete, or a person who has recently been talked about in the image information storage unit 134, the image information taken from the camera that photographs the outside of the autonomous driving vehicle 1 and the image information taken from the camera can be obtained. Based on the image information of those persons, the image recognition unit 114 can detect the above-mentioned prominent entertainers, athletes, and recently talked-about persons in addition to the above-mentioned image recognition to detect the state of wandering. It is possible to determine the in-vehicle condition of "looking away from the driver, looking aside".

The control content for the switching condition of this "driver's looking away, looking aside" is to switch to the forced automatic driving mode. Then, the destination for the switching condition of "looking away from the driver, looking aside" is the destination set at the start of traveling of the autonomous driving vehicle 1.

If you ask the driver if you want to stop by using a synthetic voice message and the answer is affirmative, you can also use the famous place / historic site detected by the peripheral search or the event venue detected by the Internet search as the destination. good. Alternatively, the vehicle may be stopped on the shoulder of the road for viewing.

The condition for canceling the forced automatic driving mode corresponding to the switching condition of "looking away from the driver, looking aside" is "arriving at the destination" or "disappearing the switching condition". The switching condition disappears after a predetermined time, for example, 5 minutes has passed from the state of "looking away from the driver, looking aside" disappears. Alternatively, it may be a predetermined distance, for example, 500 meters or more away from the place where the "driver's looking away, looking aside" occurs.

Next, the switching condition "driver's eating and drinking or smoking" will be described. In this embodiment, the switching condition is that the driver eats and drinks or smokes for a predetermined time or longer, for example, 3 minutes or longer. The vehicle interior condition determination unit 117 determines the state in which the driver is eating, drinking or smoking based on the image recognition result of the image taken by the driver by the camera, and the state is 3 minutes or more based on the time information of the clock unit 119. The in-vehicle condition of "driver's eating, drinking or smoking" is determined based on whether or not the vehicle continues. Eating, drinking and smoking in a short time of less than 3 minutes by the driver is considered to be acceptable to the extent of hindrance to manual driving.

In this case, the image recognition unit 114 recognizes the rice balls, sandwiches, lunch boxes, ice cream, water, tea, coffee, etc. contained in the image taken by the driver by the camera to certify the driver's eating and drinking. And if the driver has a cigarette in his hand, he can recognize the smoking status of the driver. However, in this embodiment, regarding the switching condition of this "driver's eating and drinking or smoking", when the switching condition is met, the driver's intention that the automatic driving may be started is accepted. This switching condition is valid only when the positive intention display is set.

The control content for the switching condition of the "driver's eating and drinking or smoking" is to switch to the forced automatic driving mode. Then, the destination for the switching condition of the "driver's eating and drinking or smoking" is the destination set at the start of traveling of the autonomous driving vehicle 1.

The condition for canceling the forced automatic driving mode corresponding to the "driver's eating / drinking or smoking" switching condition is "end of eating / drinking or smoking", that is, "disappearance of the switching condition".

Next, the switching condition "deterioration of the surrounding environment during operation" will be described. In this embodiment, the switching condition is that the surrounding environment during driving is backlit, dusk (sunset), or bad weather (rain, snow, etc.), making it difficult for the driver to see the surroundings. The vehicle interior condition determination unit 117 determines the vehicle interior condition of this "deterioration of the surrounding environment during driving" based on the captured image from the camera for photographing the outside and the sensor detection output of the temperature sensor and the humidity sensor. In addition, the vehicle interior condition determination unit 117 also uses the result of voice recognition by the voice recognition unit 116 that the driver shouts "difficult to see", "difficult to drive", etc., and this "during driving". The deterioration of the surrounding environment may be determined.

The control content for the switching condition of this "deterioration of the surrounding environment during operation" is to switch to the forced automatic operation mode. It should be noted that the normal automatic operation mode may be used instead of the forced automatic operation mode. The destination for the switching condition of "deterioration of the surrounding environment during driving" is the destination set at the start of traveling of the autonomous driving vehicle 1.

The condition for canceling the forced automatic operation mode corresponding to the switching condition of "deterioration of the surrounding environment during operation" is "disappearance of the switching condition" such as the improvement of the surrounding environment during operation.

Next, the switching condition "behavior of children and pets" will be described. In this embodiment, when a child or baby takes a dangerous action in the car, for example, falls off the seat or suddenly starts crying, the driver becomes anxious and turns around in that direction. Consider that safety may not be ensured in the manual operation mode. The same applies to pet behavior, such as excretion behavior and bark. Therefore, in this embodiment, these "behaviors of children and pets" are set as switching conditions.

The vehicle interior condition determination unit 117 is based on the image recognition result of the image taken from the camera that captures the passenger and the above-mentioned child's crying sound, falling sound, and pet bark as the voice recognition result by the voice recognition unit 116. The "behavior of children and pets" of the above switching condition is judged.

The control content for the switching condition of this "behavior of children and pets" is to switch to the forced automatic driving mode. The destination for the switching condition of "behavior of children and pets" is the destination set at the start of traveling of the autonomous driving vehicle 1.

The condition for canceling the forced automatic driving mode corresponding to the switching condition for the "behavior of the child or pet" is "disappearance of the switching condition" such as the state of the child or pet returning to normal.

Next, the switching condition "one-handed driving by the driver, letting go driving" will be described. In this embodiment, the state of one-handed operation by the driver continues for a predetermined time or more, for example, 2 minutes or more, or the state of letting go of the driver continues for a predetermined time or more, for example, 10 seconds or more. , It is a switching condition. The vehicle interior condition determination unit 117 determines the state in which the driver is driving with one hand or letting go based on the image recognition result of the image taken by the driver by the camera, and the state is 2 based on the time information of the clock unit 119. The in-vehicle condition of "one-handed driving by the driver, letting go driving" is determined based on whether or not the vehicle has continued for more than a minute or for more than 10 seconds.

The control content for the switching condition of "one-handed driving and letting go driving by the driver" is to switch to the forced automatic driving mode. At this time, be careful of the driver by emitting a voice message from the speaker 138, such as "One-handed driving and letting go driving are dangerous, so we switched to the automatic driving mode." To arouse.

The destination for the switching condition of "one-handed driving and letting go driving by the driver" is the destination set at the start of traveling of the autonomous driving vehicle 1. In addition, the condition for canceling the forced automatic driving mode corresponding to the switching condition of "one-handed driving and letting go driving by the driver" is that the driver stops one-handed driving and letting go driving and "the driver's driving posture is correct". When it becomes ".

Next, the switching condition "inappropriate footwear of the driver" will be described. In this embodiment, the driver's footwear is unsuitable for driving, for example, clogs, slippers, high heels, or other footwear that may be misleading, or barefoot without footwear. The case is the switching condition.

The vehicle interior condition determination unit 117 determines whether the footwear is inappropriate such as clogs, slippers, high heels, or is inappropriate such as barefoot, based on the image recognition result of the footwear (or foot) in the image taken by the driver by the camera. Judge whether it is in a good state.

The control content for the switching condition of "inappropriate footwear of the driver" is to switch to the forced automatic driving mode. At this time, a synthetic voice message to the driver, "Footwear is inappropriate for driving, please replace the footwear" or "Barefoot is inappropriate for driving, please wear shoes". To warn you of changing or wearing footwear.

The destination for the switching condition of "inappropriate footwear of the driver" is the destination set at the start of traveling of the autonomous driving vehicle 1. In addition, the condition for canceling the forced automatic driving mode corresponding to the switching condition of "inappropriate footwear of the driver" is when the driver replaces or wears the footwear with an appropriate one and the switching condition disappears. It is said that.

The storage contents of the automatic operation switching condition storage unit 135 described above are intended to store each of the switching condition, the forced automatic operation content after switching, and the cancellation condition as the corresponding processing program. For each of the switching condition, the forced automatic operation content after switching, and the cancellation condition set by the user later, the user describes the switching condition, the cancellation condition, and the control content in the forced automatic operation mode as described above. Therefore, the electronic control circuit unit 10 of the automatic driving vehicle 1 is provided with a processing function for automatically generating a corresponding processing program and storing it in the automatic operation switching condition storage unit 135.

As described above, the electronic control circuit unit 10 of the autonomous driving vehicle 1 is configured, but among the blocks shown in FIG. 1, the motor drive control unit 102, the steering drive control unit 103, and the manual / automatic operation mode switching control Each processing function of the unit 104, the surrounding moving body grasping unit 109, the current position detection unit 110, the car navigation function unit 113, the image recognition unit 114, the automatic driving switching condition determination unit 115, the voice recognition unit 116, and the vehicle interior condition determination unit 117 , The control unit 101 can be realized as software processing.

[Example of operation of switching operation mode in the automatic driving vehicle 1 of the embodiment]
FIG. 6 and FIG. 7 which is a continuation thereof are normal automatic driving by monitoring the switching condition while driving in the manual driving mode (may be parked or stopped) in the automatic driving vehicle 1 of the embodiment. It is a figure which shows the flowchart for demonstrating the flow of the processing operation at the time of switching to a mode or the forced automatic operation mode.

In the description of FIGS. 6 and 7, among the blocks shown in FIG. 1, the control unit 101 includes a motor drive control unit 102, a steering drive control unit 103, a manual / automatic operation mode switching control unit 104, and a peripheral movement. Each processing function of the body grasping unit 109, the current position detection unit 110, the car navigation function unit 113, the image recognition unit 114, the automatic driving switching condition determination unit 115, the voice recognition unit 116, and the vehicle interior condition determination unit 117 is used as software processing. It will be described as a case where it is realized. The same applies to the description of the other flowcharts described below.

In addition, in the automatic driving vehicle 1 of this embodiment, in consideration of switching to the forced automatic driving mode against the intention of the driver in the manual driving mode, the engine of the automatic driving vehicle is started and the first start is performed. , The driver is made to input the setting of the destination in the car navigation function. Therefore, after the automatic driving vehicle 1 is switched to the forced automatic driving mode, the destination is specified in the automatic driving switching condition storage unit 135 as a destination other than the preset destination at the time of starting. By the route guidance function by the car navigation function unit 113 of the above, driving control can be performed so as to go to the destination.

Therefore, the destination information of the automatic operation switching condition table TBL of FIGS. 2 to 4 described above includes the designation of the preset destination. In this way, the designation of the preset destination as the destination is specified. It is not necessary to store the information, and when there is no destination designation information for the switching condition of the automatic operation switching condition table TBL, the destination can be automatically determined as the preset destination at the time of starting.

In FIG. 6, first, the control unit 101 sends a message prompting the input of the destination (destination) (step S1). Then, the control unit 101 waits for the input setting of the destination by the driver (step S2), and when it is determined that the input of the destination has been accepted, the control unit 101 holds the input destination (step S3). When it is determined that the input of the destination is not accepted, the process returns to step S2 and the monitoring of the input of the destination is continued.

Next, the control unit 101 determines whether or not the operation mode is the manual operation mode (step S4). When it is determined in step S4 that the operation mode is not the manual operation mode but the automatic operation mode, the control unit 101 shifts to the processing routine of the automatic operation mode. In the processing routine of this automatic operation mode, the destination held in step S3 is directed to the destination in the automatic operation mode.

When it is determined in step S4 that the operation mode is the manual operation mode, the control unit 101 monitors the switching condition to the automatic operation mode stored in the automatic operation switching condition storage unit 135 (step S5). Then, the control unit 101 determines whether or not the switching condition is met as described above (step S6), and if it is determined that the switching condition is not met, the process returns to step S5 and the monitoring of the switching condition is continued.

When it is determined in step S6 that the switching condition is satisfied, the control unit 101 determines whether or not the setting of the automatic operation mode for switching from the manual operation mode according to the matched switching condition is the forced automatic operation mode (step S7). ..

When it is determined in step S7 that the setting is the forced automatic operation mode, the control unit 101 switches from the manual operation mode to the forced automatic operation mode and notifies the driver as a voice message to that effect through the speaker 138 (step S8). ). Then, the control unit 101 executes the control content after switching to the forced automatic operation mode according to the matched switching condition (step S9).

Next, the control unit 101 starts monitoring the release condition of the forced automatic operation mode (step S21 in FIG. 7). Then, the control unit 101 determines whether or not the release condition of the forced automatic operation mode is met (step S22), and if it is determined that the condition is not met, the process is returned to step S21 and the monitoring of the release condition is continued. do.

When it is determined in step S22 that the condition for canceling the forced automatic operation mode is satisfied, the control unit 101 switches the operation mode to the normal automatic operation mode and notifies the driver as a voice message to that effect through the speaker 138. Step S23). Then, the control unit 101 determines whether or not the manual operation is detected (step S24), and when it is determined that the manual operation is not detected, the control unit 101 continues this step S24 and waits for the manual operation. ..

Then, when it is determined in step S24 that the manual driving operation has been detected, the control unit 101 switches from the normal automatic driving mode to the manual driving mode, and notifies the driver as a voice message to that effect through the speaker 138 (step). S25). Then, the control unit 101 returns the process to step S5, and repeats the process after this step S5.

Further, when it is determined in step S7 that the setting is not the forced automatic operation mode but the normal automatic operation mode, the control unit 101 switches from the manual operation mode to the normal automatic operation mode, and to that effect through the speaker 138. Notify the driver as a voice message (step S10). Then, the control unit 101 executes the control content after switching to the normal automatic operation mode according to the matched switching condition (step S11).

Next, the control unit 101 shifts the process to step S24, determines whether or not a manual operation operation has been detected (step S24), and when it determines that the manual operation operation has not been detected, performs this step S24. Continue to wait for manual operation. Then, when it is determined in step S24 that the manual driving operation has been detected, the control unit 101 switches from the normal automatic driving mode to the manual driving mode, and notifies the driver as a voice message to that effect through the speaker 138 (step). S25). Then, the control unit 101 returns the process to step S5, and repeats the process after this step S5.

In the above process, when the condition for canceling the forced automatic operation mode is met, the forced automatic operation mode is switched to the manual operation mode via the normal automatic operation mode. However, the forced automatic operation mode is changed to the normal automatic operation mode. You may switch to the manual operation mode directly without going through the mode.

The above is a description of the rough operation flow of the main part of the operation mode switching process in the automatic driving vehicle 1 of this embodiment. Next, refer to the flowcharts of FIGS. 8 to 13 for an example of the processing operation of the portion from the monitoring of the switching condition in step S5 of FIG. 6 to the processing of the control content in the automatic operation mode of step S9 or step S11. However, I will explain in more detail.

That is, the control unit 101 photographs the driver and the passenger with a camera that photographs the inside of the vehicle in the camera group 107, and recognizes and analyzes the captured image (step S31). The processing in step S31 corresponds to the image recognition processing of the image recognition unit 114 and the processing of the image recognition result in the vehicle interior condition determination unit 117.

Next, the control unit 101 picks up the sound and voice in the vehicle by the microphone 137, and recognizes and analyzes the picked up sound and voice (step S32). The processing in step S32 corresponds to the voice recognition processing of the voice recognition unit 116 and the processing of the voice recognition result in the vehicle interior condition determination unit 117.

Next, the control unit 101 captures and analyzes the output of a sensor that contributes to the determination of the vehicle interior condition, such as the exhalation sensor provided in the vehicle interior of the sensor group 108, and captures other information necessary for the vehicle interior condition determination. (Step S33). Here, other information necessary for determining the in-vehicle condition includes time information from the clock unit 119, information on peripheral search results from the car navigation function unit 113, information acquired from the Internet through the mobile phone function unit 118, and manual / automatic. There is operation mode switching information from the operation mode switching control unit 104.

Next, the control unit 101 determines the vehicle interior condition from the analysis result of the above information (step S34). The process of step S34 corresponds to the process of the vehicle interior condition determination unit 117.

Next, the control unit 101 compares and refers to the in-vehicle condition determined in step S34 and the switching condition stored in the automatic driving switching condition storage unit 135 (step S35), and based on the comparison reference, the in-vehicle condition. Determines whether or not "change 1 in the health condition of the driver or the passenger" among the switching conditions is satisfied (step S36).

When it is determined in step S36 that the vehicle interior condition matches the switching condition "change 1 in the health condition of the driver or passenger", the control unit 101 is stored in the automatic driving switching condition storage unit 135. In accordance with the control content of the switching condition "change in the health condition of the driver or passenger 1", the mode is switched to the forced automatic driving mode, and the driver is notified to that effect (step S37).

Next, the control unit 101 reads out the destination information of the "change in the health condition of the driver or the passenger 1" of the switching condition stored in the automatic operation switching condition storage unit 135 (step S38), and the destination. It is determined whether or not it is a specific hospital designated as (step S41 in FIG. 9). When it is determined in step S41 that the destination is designated as a specific hospital, the control unit 101 searches for a route from the current position to the designated hospital, and sets the destination as the hospital (the destination). Step S42). At this time, when the telephone number of the hospital is stored in the automatic operation switching condition storage unit 135, the control unit 101 calls the hospital through the mobile phone function unit 118 to determine the characteristics of the own vehicle and the driver. Tell the hospital your name, etc., and generate a synthetic voice message to take the suddenly ill person. After this step S42, the control unit 101 proceeds to step S21 in FIG. 7.

Further, when it is determined in step S41 that the hospital designated as the destination is not a specific hospital, the control unit 101 determines whether or not the hospital near the current position is designated as the destination (step S43). When it is determined in step S43 that a hospital close to the current position is designated as the destination, the control unit 101 searches around the current position for an emergency hospital or a general hospital close to the current position (step S44). , Search for a route from the current position to the emergency hospital or general hospital detected by the peripheral search, and set the destination to the hospital (step S45). At this time, when the telephone number of the hospital can be obtained by the peripheral search, the control unit 101 calls the hospital through the mobile phone function unit 118, tells the characteristics of the own vehicle, the name of the driver, and the like, and suddenly. Generate a synthetic voice message to notify the hospital of the sick person. After this step S45, the control unit 101 proceeds to step S21 in FIG. 7.

When it is determined in step S43 that the hospital near the current position is not designated as the destination, the control unit 101 determines whether or not the 119 call is designated (step S46). When it is determined in step S46 that the 119 call is designated, the control unit 101 stops the own vehicle at a place where the vehicle can be parked or stopped (step S47), and the control unit 101 passes through the mobile phone function unit 118. Call 119 (step S48). In this 119 call, the characteristics of the own vehicle, the driver's name, the driver's unconsciousness, unconsciousness, fainting, etc., the place name of the current position, the address, etc. are generated as synthetic voice and notified. The destination in this case is a place to stop the own vehicle. In this case, the process ends in step S48.

When it is determined in step S46 that the 119 call is not specified, the control unit 101 causes step S44 to jump the process.

If the emergency hospital or general hospital existing in the vicinity of the current position cannot be detected by the peripheral search in step S44, the process may be jumped to step S47 to call 119.

Next, in step S36 of FIG. 8, when it is determined that the vehicle interior condition does not match the switching condition "change 1 in the health condition of the driver or passenger", the control unit 101 determines that the switching condition "change 1". It is determined whether or not the condition matches the change in the health condition of the driver or the passenger 2 ”(step S51 in FIG. 10).

When it is determined in step S51 that the switching condition "change in the health condition of the driver or the passenger 2" is satisfied, the control unit 101 is stored in the automatic operation switching condition storage unit 135. According to the control content of the condition "change in health condition of driver or passenger 2", the mode is switched to the forced automatic driving mode, and the driver is notified to that effect (step S52).

Next, the control unit 101 is registered with reference to the destination information of the "change in the health condition of the driver or passenger 2" of the switching condition stored in the automatic operation switching condition storage unit 135. It is determined whether or not the destination is specified (step S53). When it is determined in step S53 that the registered destination is specified, the control unit 101 sends out a voice inquiry as to whether or not the registered destination is acceptable (step S54). At this time, an inquiry is made so that the registered destination can be known.

Next, the control unit 101 determines whether or not a response that the registered destination is acceptable in response to this inquiry has been received (step S55). When it is determined in step S55 that the registered destination is acceptable, the control unit 101 performs processing according to the registered destination, such as step S42, step S44, and step S45 described above (step). S56). Then, after the processing, the control unit 101 proceeds to the processing in step S21 of FIG.

When receiving a reply that the destination is other than the registered destination in step S55, the control unit 101 generates a synthetic voice message inquiring the driver or passenger about the destination, and emits a sound through the speaker 138 (step S57).

When it is determined in step S53 that the registered destination is not specified, the control unit 101 proceeds to step S57. Then, the control unit 101 determines whether or not the response to the inquiry in step S57 has been received (step S58), and when it is determined that the response has been received, the control unit 101 voice-recognizes the voice information of the response and the designated destination. (Step S59). In specifying the destination at this time, not only when a specific destination is specified, but also when the attribute of the destination such as "nearby hospital" is specified. Then, the control unit 101 then performs processing on the designated destination according to the specified destination such as step S42, step S44, and step S45 described above (step S60). Then, after the processing, the control unit 101 proceeds to the processing in step S21 of FIG.

When it is determined in step S58 that there is no response to the inquiry in step S57, the control unit 101 stops the own vehicle at a place where the vehicle can be parked or stopped (step S61), and the control unit 101 passes through the mobile phone function unit 118. Call 119 (step S62). In this 119 call, the characteristics of the own vehicle, the occurrence of a sudden illness, the place name of the current position, the address, etc. are generated as synthetic voice and notified. The destination in this case is a place to stop the own vehicle. In this case, the process ends in step S62.

When it is determined in step S51 that the vehicle interior condition does not match the switching condition "change in the health condition of the driver or passenger 2", the control unit 101 determines that the vehicle interior condition is the switching condition "driver's". It is determined whether or not "sleeping" matches (step S71 in FIG. 11). Then, in step S71, when it is determined that the in-vehicle condition matches the "driver's doze" of the switching condition, the control unit 101 is stored in the automatic driving switching condition storage unit 135. Switch to the automatic driving mode (step S72) according to the control content of the condition "driver's doze", and generate a synthetic voice of a call to awaken the driver, such as "get up" or "dangerous" at a loud volume. Then, the driver is made to emit sound from the speaker 138 (step S73). As a means for awakening the driver, in addition to the synthetic voice sound of the call, blinking of the light to the driver, vibration of the driver's seat, or vibration of the steering wheel may be used, or a combination of these may be used. May be good.

Next, the control unit 101 confirms whether or not the driver has been awakened by this call voice from the image recognition result of the image taken by the driver by the camera and the voice recognition result of the voice of the reply from the driver ( Step S74). When it is determined in step S74 that the driver's awakening has been confirmed, the control unit 101 advances the process to step S24 of FIG.

Further, when it is determined in step S74 that the driver's awakening could not be confirmed, the control unit 101 determines that the driver is not simply dozing, but that a physical abnormality has occurred in the driver. , The own vehicle is stopped at a place where the vehicle can be parked or stopped (step S75), and the number 119 is reported through the mobile phone function unit 118 (step S76). In this 119 call, the characteristics of the own vehicle, the occurrence of a sudden illness, the place name of the current position, the address, etc. are generated as synthetic voice and notified. The destination in this case is a place to stop the own vehicle. In this case, the process ends in step S76.

When it is determined in step S71 that the in-vehicle condition does not match the switching condition "driver's doze", the control unit 101 determines that the in-vehicle condition is the switching condition "driver or passenger's poor physical condition". (Step S81 in FIG. 12). When it is determined in step S81 that the in-vehicle condition matches the switching condition "poor physical condition of the driver or passenger", the control unit 101 is stored in the automatic driving switching condition storage unit 135. According to the control content of the switching condition "poor physical condition of the driver or passenger", the mode is switched to the forced automatic driving mode, and the driver is notified to that effect (step S82).

Next, the control unit 101 refers to the destination information of the "driver or passenger's poor physical condition" of the switching condition stored in the automatic driving switching condition storage unit 135, and the home is registered as the destination. It is determined whether or not it is (step S83). When it is determined in step S83 that the home is registered as the destination, the control unit 101 generates a synthetic voice of an inquiry as to whether or not to return to the home, and emits a sound from the speaker 138 (step S84).

The control unit 101 determines whether or not to return to the home depending on whether or not a positive answer (voice) is obtained from the driver to this inquiry (step S85). When it is determined in step S85 that a positive answer to the inquiry has been obtained and it is determined to return to the home, the control unit 101 searches for a route to return to the home from the current position at the destination, and the forced automatic driving mode. Return to home by (step S86). In this case, the process ends in step S86.

When it is determined in step S85 that the user will not return to his / her home because a positive answer to the inquiry has not been obtained, the control unit 101 advances the process to step S87. Further, even when it is determined in step S83 that the home is not registered as the destination, the control unit 101 advances the process to step S87.

In step S87, the control unit 101 determines whether or not the current position is on the highway, and when it is determined that the current position is on the highway, the control unit 101 determines the nearest PA (parking area) or SA (service area) in the traveling direction. The search is performed, and the PA (parking area) or SA (service area) of the search result is set as the destination (step S88). Then, in this step S88, this processing routine is terminated.

Further, when it is determined in step S87 that the current position is not on the expressway but on a general road, the control unit 101 stops the own vehicle at a place where the vehicle can be parked, such as a shoulder (step S89). Then, in this step S88, this processing routine is terminated.

When it is determined in step S81 that the vehicle interior condition does not match the switching condition "driver or passenger's poor physical condition", the control unit 101 determines that the vehicle interior condition is the switching condition "driver or passenger's physical condition". It is determined whether or not the patient has a desire to defecate or urinate (step S91 in FIG. 13). When it is determined in step S91 that the in-vehicle condition is the "driver's or passenger's intention to defecate or urinate", the control unit 101 is stored in the automatic driving switching condition storage unit 135. According to the control content of the condition "driver or passenger's intention to defecate or urinate", the mode is switched to the forced automatic driving mode, and the driver is notified to that effect (step S92).

Next, the control unit 101 refers to the destination information of the "driver or passenger's urge to defecate or urinate" stored in the automatic driving switching condition storage unit 135, and the current position is the expressway. It is determined whether or not it is above (step S93), and when it is determined that it is on an expressway, the nearest PA (parking area) or SA (service area) in the traveling direction is searched, and the PA (parking area) of the search result is searched. ) Or SA (service area) as the destination (step S94). Then, in this step S94, this processing routine is terminated.

Further, when it is determined in step S93 that the current position is not on the expressway but on a general road, the control unit 101 searches for a place with a toilet such as the nearest convenience store or a gas station, and as a result of the search, The detected location is set as the destination (step S95). Then, in this step S95, this processing routine is terminated.

Further, when it is determined in step S91 that the in-vehicle condition is not the "driver's or passenger's intention to defecate or urinate", the control unit 101 is stored in the automatic driving switching condition storage unit 135. "Overworked driving", "Drunk driver", "Driving by looking away, driving aside", "Driving by eating and drinking or smoking", "Deterioration of driving environment", "Abnormal behavior of children and pets riding", "Driving" It is determined whether or not other switching conditions such as "driving method and posture of the driver" and "the driver is wearing or not wearing shoes that interfere with driving" are satisfied (step S96). When it is determined in step S96 that the vehicle interior condition does not match the other switching conditions, the control unit 101 returns the process to step S31 in FIG. 8 and repeats the processes after this step S31.

Further, when it is determined in step S96 that any of the other switching conditions stored in the automatic operation switching condition storage unit 135 is met, the control unit 101 is stored corresponding to the matching switching condition. The control content is executed, and the destination is determined based on the destination information stored corresponding to the matching switching condition (step S97). Then, the control unit 101 advances the process to step S21 of FIG.

[Effect of embodiment]
According to the autonomous driving vehicle of the embodiment described above, the destination set in advance by the driver even when the manual driving mode is forcibly switched to the automatic driving mode in order to prevent the occurrence of a traffic accident or the like. Since the autonomous driving vehicle 1 travels in the autonomous driving mode with the destination as the destination, the autonomous driving vehicle 1 does not travel on a route different from the route to the destination intended by the driver.

Further, according to the self-driving car of the above-described embodiment, while ensuring safety so that the occurrence of a traffic accident or the like can be avoided, in response to a physical change occurring in the driver or a passenger, It has the remarkable effect of being able to direct self-driving cars to the right destination. In other words, even if the driver falls into a state of unconsciousness, becomes unconscious, or faints, the hospital is set as the destination, so that the driver can deal with physical changes that occur. It can be expected that appropriate measures will be taken promptly. In particular, even if only one driver is in the car, it is remarkable that the automatic driving vehicle of this embodiment will take appropriate measures by transporting the driver to a hospital or the like. It has a great effect.

[Other embodiments or modifications]
In the above description of the embodiment, as the switching conditions of the automatic driving switching condition table TBL of FIGS. 2, 3 and 4, "change in the health condition of the driver or the passenger 1" and "health of the driver or the passenger". Changes in condition 2 ”,“ Driver's doze ”,“ Driver or passenger's sickness, nausea, etc. ”,“ Driver or passenger's urge to defecate or urinate ”,“ Overworked driving ”,“ Driver "Drinking", "Driving away by the driver, driving aside", "Eating and drinking or smoking by the driver", "Deterioration of driving environment", "Abnormal behavior of children and pets on board", "Driving style and attitude of the driver" , "The driver is wearing footwear that interferes with driving, or is not wearing footwear." The conditions for ensuring safe driving by avoiding situations that are likely to cause an accident are illustrated. These switching conditions are used when driving, parking, or stopping in the manual driving mode. Among these switching conditions, "driver's doze", "driver's look away, sideways driving""," Eating and drinking or smoking by the driver "," Deterioration of the driving environment "," Abnormal behavior of children and pets riding in the car "," Driving method and posture of the driver ", etc. Since there is basically no effect on safety, it is possible to set the switching condition only when the vehicle is running and not to set the switching condition when the vehicle is parked or stopped.

In addition, regarding "change in the health condition of the driver or passenger 1" and "change in the health condition of the driver or passenger 2", urgently head to the hospital or call 119 and stop on the shoulder. Since it is necessary to wait for the arrival of an ambulance, it is not only when driving in manual driving mode, parked or stopped, but also when driving in normal automatic driving mode, parked or stopped. However, it can be a switching condition. For "driver or passenger's motion sickness, nausea, etc." and "driver's or passenger's urge to defecate or urinate", the nearest PA (parking area) or SA (service area) or gas station destination Since it is necessary to move to, use the toilet, or take a break, it may be a switching condition even when the vehicle is running, parked, or stopped in the normal automatic driving mode.

In the above description of the embodiment, the switching condition is sequentially (serially) discriminated, but the discriminating process may be performed in parallel (parallel).

Further, in the above description of the embodiment, the in-vehicle condition of the switching condition causes a physical change of the driver or the passenger, or a situation in which the manual driving of the vehicle based on the behavior or behavior of the driver or the passenger is hindered. Was set as the in-vehicle condition as the switching condition, but the in-vehicle condition including external factors generated in the vehicle may be set as the switching condition.

For example, based on a fire or anomaly occurring in an autonomous vehicle, the switching condition may be that the driver or passenger has been burned or injured, and the destination may be, for example, a hospital. In addition, in order to prevent the passenger from bringing briquettes into the vehicle and committing suicide, the concentration of carbon monoxide in the vehicle has exceeded the specified level, and the passenger is not driving and is in a state of immobility. May be set as the switching condition. In this case, the carbon monoxide concentration can be detected by the carbon monoxide concentration sensor, and the fact that the occupant is not driving and is in a stationary state is the image captured by the camera included in the camera group 107. It can be detected by image recognition. In this case, the destination is a hospital, and the self-driving car in a stopped state is started to transport the passenger, or call 119 and stop on the shoulder of the road to wait for the arrival of the ambulance. At the same time, open windows to reduce carbon monoxide concentration. These cancellation conditions are when "arriving at the destination (hospital)" or "arrival of an ambulance".

Further, it is also possible to set the switching condition that the passenger cannot get off because the door lock cannot be released due to the breakdown of the self-driving car. The detection of the in-vehicle condition in this case can be performed based on the detection that the passenger utters "help" and "cannot exit" and the detection output of the door sensor. In this case, the destination is, for example, an automobile maintenance shop or an automobile sales company, and the door lock is released there. The unlocking condition is when "the door lock is unlocked" or "arrival at the destination (automobile maintenance shop, etc.)".

If the self-driving car causes a fire in the car and the fire cannot be extinguished, it is dangerous to drive, so call 119 with that as a switching condition and stop on the shoulder of the road where there is no danger of ignition. Drivers and passengers should get off the self-driving car and wait for the arrival of the fire engine. This can be applied even if the autonomous vehicle is unmanned (autonomous driving). The cancellation condition is when "fire extinguishing is completed" or "fire engine arrives".

If an abnormality or breakdown occurs during unmanned driving (autonomous driving) of an autonomous vehicle, change the destination to a place where the abnormality or breakdown can be recovered or repaired, such as an automobile maintenance shop or an automobile sales company, with that as a switching condition. .. Depending on the degree and content of the abnormality or breakdown, you may contact JAF (Japan Automobile Federation) to stop on the shoulder or wait for the arrival of JAF. The cancellation condition is "recovery / repair of abnormality or failure" or "arrival at the destination (automobile maintenance shop, etc.)". If there is a problem related to refueling or battery, or if the remaining fuel is low, you can use it as a switching condition to go to the gas station or charging station. The cancellation condition is when "recovery of trouble or completion of refueling" or "arrival at a destination (gas station, etc.)".

Further, the present invention can also be applied to measures against temperature and heat stroke in automobiles in summer. A tragic incident such as the death or serious injury of an infant or child in a car while a parent is shopping at a supermarket or department store while leaving the baby or child in the car, or playing pachinko at a pachinko parlor. Has been reported. The temperature inside a car in the summer is much higher than the outside temperature and can exceed 50 ° C.

In view of such danger, the self-driving car is equipped with a temperature sensor (thermometer) and parked in the sun on the condition that the temperature (for example, 35 ° C) or higher continues for a predetermined time (for example, 3 minutes) or longer. Self-driving cars that are inside or stopped can be moved to the shade and parked or stopped. If you can't find the shade, look for a place with the lowest possible outside temperature and park or stop there. Further, the cooling of the air conditioner may be activated. As a result, the inside of the self-driving car is maintained at a comfortable temperature. The cancellation condition is when "the temperature inside the vehicle drops below a predetermined temperature", "parks or stops in the shade", or "parks or stops in a place where the outside temperature is low".

Furthermore, the passenger (the person remaining in the vehicle) is imaged by the cameras included in the camera group 107, and the sweating state, facial expression, and body movement are image-recognized, or the voice emitted by the passenger is recorded by a microphone. The sound is picked up at 137, and by recognizing words such as "hot", "painful", and "help", moaning, and pant voice, the danger of heat stroke is detected. With the risk of heat stroke of the passenger as a switching condition, the driver can be notified of the abnormal situation by mobile phone, and the passenger can be transferred to the hospital as the destination. You may also call 119 and stop on the shoulder of the road to wait for the arrival of an ambulance. The cancellation condition in this case is "recovery from a dangerous condition such as heat stroke (recovery)" or "arrival at the destination (hospital)" or "arrival of an ambulance".

Further, instead of using the temperature inside the automatic driving vehicle, a risk assessment index such as WBGT (Wet Bulb Globe Temperature) called a heat index may be used. WBGT can be applied by equipping the self-driving car with a WBGT index meter. The calculation method of WBGT is
Outdoor: 0.7 x wet ball temperature + 0.2 x black ball temperature + 0.1 x dry ball temperature Indoor: 0.7 x wet ball temperature + 0.3 x black ball temperature. The WBGT in the self-driving car is calculated according to the outdoor in the case of the open car type and the indoor in the other cases. WBGT is
31 ° C or higher Danger 28 ° C to 31 ° C Strict caution 25 ° C to 28 ° C Warning 21 ° C to 25 ° C Caution Less than 21 ° C Almost safe and guidelines are stipulated.

When using WBGT, the vehicle is parked or stopped in the sun on the condition that the predetermined WBGT (for example, 25 ° C.) or more continues for a predetermined time (for example, 10 minutes) or more, or exceeds the predetermined WBGT (for example, 30 ° C.). You can move the self-driving car inside in the shade and park or stop. As with the temperatures above, if no shade is found, look for a location with the lowest possible outside temperature and park or stop there. Further, the cooling of the air conditioner may be activated. As a result, the inside of the self-driving car is maintained in a comfortable WBGT. Further, as described above, the passenger can be transferred with the destination as a hospital under the condition of switching the dangerous state of the passenger, or the passenger may be called 119 and stopped on the shoulder or the like to wait for the arrival of the ambulance. .. The cancellation conditions are the same as described above.

Infants have an underdeveloped thermoregulatory function, and under high temperatures, the body temperature rises in a short time, which may lead to death. In addition, since it is not possible to open the window by oneself, it is necessary to set the temperature and WBGT of the switching condition to be lower than those of healthy adults in anticipation of safety. In addition, since the body temperature regulation function of the elderly also deteriorates with aging, it is also dangerous, and the set temperature of the switching condition and the WBGT should be set low. The age of the occupant may be input in advance, or the age may be estimated by image recognition, and the above-mentioned predetermined temperature, predetermined WBGT, and predetermined time may be variable based on the age. In addition, since a sick person with weakened physical strength and immunity also has a high risk of heat stroke, the setting temperature of the switching condition and the WBGT should be set low.

Further, although the above explanation is for measures against heat, it can of course be applied to measures against cold. In the case of measures against the cold, contrary to the measures against the heat, the self-driving car parked or stopped in the shade is moved to the sun. Of course, the air conditioner activates heating, not cooling.

The present invention can also be applied to a case where the ingestion state of a addictive drug such as a drug or a stimulant by a driver or a passenger is a switching condition and the corresponding destination is a police or a hospital. The determination of the in-vehicle condition corresponding to the switching condition in this case is, for example, by recognizing the ingestion (injection or suction operation) of a addictive drug such as a drug or a stimulant by the driver or passenger by recognizing the image taken by the camera. It can be carried out.

In the self-driving car of the above-described embodiment, various databases and various storage units are configured to be mounted on the own vehicle, but the present invention is not limited to this, and it is of course possible that the vehicle may be on the cloud. As for the camera group 107, not only the one mounted on the own vehicle, but also the automatically driven vehicle obtains the image from the surveillance camera installed in the traffic light, the street light, etc. by communication, and the image from the camera of another vehicle is obtained by vehicle-to-vehicle communication. You may get it.

In addition, when recognizing and judging the in-vehicle conditions such as physical changes of the driver and passengers, the image information and audio information in the vehicle can be sent to specialists (for example, doctors) or uploaded to the cloud. Then, the recognition result and the determination result can be obtained.

In the self-driving car of the above-described embodiment, the mobile phone function unit 118 is built in the self-driving car in advance and registered as a subscriber, but a mobile phone, a smartphone, or a tablet owned by the driver or a passenger is used. Can be attached to the storage pocket (station) of the self-driving car and connected to the self-driving car to have the same function as the built-in mobile phone function unit 118.

Further, instead of determining whether or not the determination result of the in-vehicle condition determination unit 117 while driving, parking, or stopping in the manual driving mode matches the switching condition, the vehicle is parked while driving in the normal automatic driving mode. It is determined whether or not the judgment result of the in-vehicle condition judgment unit 117 matches the switching condition while the vehicle is in or stopped, and if it matches, the destination is changed to the hospital set according to the matching switching condition. You may stop at the road shoulder or the like and call 119. In this case, the normal automatic driving mode may be continued or the forced automatic driving mode may be switched even when the in-vehicle condition matches the switching condition. However, in this case, since the self-driving car does not have a manual driving mode, the forced automatic driving mode does not accept the manual driving operation for switching to the manual driving mode, but the in-vehicle condition is the switching condition. In the matched state, this mode does not accept changes in the destination by the driver or passengers.

This example is particularly effective when the self-driving car does not have a manual driving mode but only an automatic driving mode. According to this example, even when the vehicle is running in the normal automatic driving mode, parked, or stopped, when a physical condition occurs in the vehicle such as when the driver or passenger has a physical change. You can change your destination to a hospital, or stop at the shoulder of the road and call 119.

Further, although the self-driving vehicle of the above-described embodiment is an electric vehicle, the present invention can be applied to a gasoline vehicle, a hybrid vehicle, a fuel cell vehicle, and other drive type vehicles.

Furthermore, the present invention is not limited to ordinary vehicles and light vehicles, but also trucks, buses, taxis, police cars, ambulances, fire engines, training vehicles, tractors, dump trucks, excavators, forklifts, single-person vehicles, motorcycles, and automatic vehicles. It can be applied even to a three-wheeled vehicle.

1 ... Self-driving car, 10 ... Electronic control circuit unit, 101 ... Control unit, 104 ... Manual / automatic operation mode switching control unit, 105 ... Manual operation operation detection unit, 107 ... Camera group, 108 ... Sensor group, 114 ... Image Recognition unit, 115 ... Automatic operation switching condition determination unit, 116 ... Voice recognition unit, 117 ... Vehicle interior status determination unit, 118 ... Mobile phone function unit, 119 ... Clock unit, 120 ... Synthetic voice generation unit, 134 ... Image information storage unit , 135 ... Automatic operation switching condition storage unit, 136 ... Voice information storage unit

Claims (34)

In an autonomous vehicle equipped with an autonomous driving mode that performs autonomous driving,
An incident detection means for detecting changes in the health condition of the driver and / or the passenger during the ride, and
A medical information storage unit that stores image information including eye conditions and facial expressions peculiar to various diseases and / or medical information having audio information including groaning, moaning, asthma sound, and groin.
Image information taken from one or more cameras that capture the inside of the self-driving car and / or sound pick-up voice information from a microphone that picks up the sound and voice inside the self-driving car, and the medical information storage unit. Based on the image information and / or the audio information stored in the driver, the predetermined disease causing the change in health condition caused to the driver and / or the passenger detected by the change detection means is specified. Specific means and
A destination determining means for determining a hospital with a specialist and / or a hospital with specialized equipment for the predetermined disease specified by the specific means as a destination.
A control means for controlling to move to the destination determined by the destination determination means in the automatic operation mode, and
Self-driving car characterized by being equipped with. The medical information storage unit stores medical information including eye conditions peculiar to various diseases, image information including facial expressions, and voice information including groaning, moaning, asthma sound, and groin.
The specific means includes image information taken from one or a plurality of cameras that take a picture of the inside of the self-driving car, sound pick-up sound information from a microphone that picks up the sound and sound in the car of the self-driving car, and the above-mentioned. Based on the image information and the sound information stored in the medical information storage unit, the predetermined disease causing the change in health condition caused to the driver and / or the passenger detected by the change detection means. Identify
The self-driving car according to claim 1. The abnormality detecting means is either image information taken from the plurality of cameras, sound pick- up voice information from the microphone , or sensor information from one or a plurality of sensors provided in the autonomous driving vehicle. Alternatively, the autonomous driving vehicle according to claim 1 or 2 , wherein the change in the health condition is detected based on the combination of the captured image information, the sound pick -up voice information, and the sensor information. Based on the memory information of the medical information storage unit , the control means may or may not move to the hospital having a specialist for the specified disease and / or to the hospital having specialized equipment. The autonomous driving vehicle according to any one of claims 1 to 3, wherein it is determined whether parking or stopping is appropriate on the shoulder of the road, and control is performed according to the determination result. Equipped with mobile phone function,
The control means is characterized in that when it is determined that it is appropriate to park or stop on the shoulder of the road without moving, the mobile phone function is used to call 119 and wait for the arrival of an ambulance. The self-driving car according to claim 4 . It has a mobile phone function and
The mobile phone function is provided with a notification means for notifying the hospital having a specialist for the specified disease and / or the hospital having specialized equipment to take the driver and / or the passenger. The self-driving vehicle according to any one of claims 1 to 5 , wherein the self-driving car is characterized in that. Claim 5 or claim 6 is characterized in that the mobile phone function is configured by electrically connecting an electronic device having a mobile phone function owned by the driver or the passenger to the own vehicle. Self-driving car described in. The self-driving vehicle according to any one of claims 1 to 7, further comprising a wireless communication means, wherein the medical information storage unit is provided in a cloud connected through the wireless communication means. Equipped with wireless communication means
Through the wireless communication means, image information taken from one or more cameras that capture the inside of the self-driving car and / or sound pick-up voice information from a microphone that picks up the sound and voice inside the self-driving car. Any of claims 1 to 8 , wherein the information transmitted to a specialist including a doctor and obtained from the specialist through the wireless communication means is used by the abnormality detecting means and / or the specific means. Self-driving car described in Crab. Any of claims 1 to 9 , wherein when the predetermined disease is identified by the specific means, the driver and / or the passenger does not accept the change of the destination of the own vehicle. Self-driving car described in Crab. Equipped with a manual operation mode
Claims 1 to claim 1, wherein when the own vehicle is in the manual driving mode when the predetermined disease is identified by the specific means, the manual driving mode is switched to the automatic driving mode. The self-driving car according to any one of 10 . The automatic driving mode includes a manual driving mode, and the automatic driving mode is a normal automatic driving mode in which the driver can switch to the manual driving mode based on a predetermined operation of the driver, and even if there is the predetermined operation by the driver. It is equipped with a forced automatic operation mode that continues the automatic operation mode without being switched to the manual operation mode.
Any of claims 1 to 11 , wherein when the own vehicle is in the manual driving mode , the manual driving mode is switched to the forced automatic driving mode when the predetermined disease is identified by the specific means. Self-driving car described in Crab. The claim is characterized in that when the predetermined disease is identified by the specific means, the vehicle is switched from the normal automatic driving mode to the forced automatic driving mode even when the own vehicle is in the normal automatic driving mode. The self-driving car according to 12 . Provided with means for the driver and / or the passenger to make inquiries to the hospital having a specialist for the disease identified by the specific means and / or the hospital having specialized equipment.
The destination determination means uses the response of the driver and / or the passenger to the inquiry to automatically perform the hospital with a specialist for the identified disease and / or the hospital with specialized equipment. The self-driving vehicle according to any one of claims 1 to 13 , wherein the destination is determined in the driving mode. Equipped with car navigation means
The car navigation means searches for the hospital with a specialist for the identified disease and / or the hospital with specialized equipment near the current location.
The self-driving car according to any one of claims 1 to 14 , wherein the control means moves the own vehicle to the hospital that can be searched by the navigation means. The car navigation means holds information on the unevenness of the road, and based on the information on the unevenness of the road, the route takes into consideration the vibration given to the driver and / or the passenger when moving the own vehicle to the hospital. The self-driving vehicle according to claim 15 , wherein the vehicle is provided. If the disease identified by the specific means is intracerebral hemorrhage, subarachnoid hemorrhage, or cerebral infarction, move to a hospital with a specialist in neurosurgery and / or specialized equipment as the destination, and in the case of myocardial infarction, circulate. The automatic driving vehicle according to any one of claims 1 to 16 , wherein the destination is a hospital equipped with a specialist in vessels and heart and / or specialized equipment. The specific means also identifies the symptoms of the driver and / or the passenger.
6 . Self-driving car. If the destination is the pregnant woman's family obstetrics and gynecology department, obstetrics department, or maternity hospital, it is judged whether or not the pregnant woman's transfer to the obstetrics and gynecology department, obstetrics department, or maternity hospital will be in time for childbirth. The automatic driving vehicle according to claim 18 , wherein the patient is moved to an obstetrics and gynecology department, an obstetrics department, or a maternity hospital close to the current position. The present invention according to any one of claims 1 to 19 , wherein when the symptom identified by the specific means is a water rupture of a pregnant woman, the obstetrics and gynecology department, the obstetrics department, or the maternity hospital is moved as the destination. The self-driving car described. If the destination is the pregnant woman's family obstetrics and gynecology department, obstetrics department, or maternity hospital , and the pregnant woman's family obstetrics and gynecology department, obstetrics department, or maternity hospital is far from the current position, the obstetrics and gynecology department close to the current position The self-driving car according to claim 20 , wherein the vehicle is moved to a department, obstetrics department, or maternity hospital. When the specified illness is identified by the specific means for the passengers remaining in the vehicle, the destination is a hospital with a specialist for the specified illness and / or a hospital with specialized equipment. The self-driving vehicle according to any one of claims 1 to 21 . Equipped with mobile phone function,
Any of claims 1 to 22 , wherein when the predetermined illness is identified by the specific means for the passenger remaining in the vehicle, the driver is contacted by using the mobile phone function. Self-driving car described in Crab. The self-driving car according to claim 5 to 7 , wherein the mobile phone function is built in the own vehicle. A means for determining a release condition for determining whether or not the release condition for canceling the forced automatic operation mode is satisfied is provided.
The 12 or The self-driving car according to claim 13 . The self-driving vehicle according to claim 25 , wherein the cancellation condition is to arrive at the destination determined by the destination determination means. Provided with a safety confirmation means for asking the driver and / or the passenger for safety.
Claims 1 to 26 , wherein the safety confirmation means confirms the safety of the driver and / or the occupant when the abnormality of the health condition is detected by the abnormality detecting means. Self-driving car listed in either. The self-driving car according to claim 27 , wherein the safety confirmation means is performed by transmitting synthetic voice. Equipped with car navigation means
When there is no response from the driver and / or the passenger in the safety confirmation means, the control means searches for an emergency hospital near the current position by the car navigation means, and sets the own vehicle in the searchable emergency hospital. The self-driving vehicle according to claim 27 or 28 , characterized in that the vehicle is directed. Equipped with a carbon monoxide concentration sensor,
The specific means is defined when the carbon monoxide concentration in the vehicle measured by the carbon monoxide concentration sensor is equal to or higher than a predetermined value and the driver and / or the occupant is in a state of immobility. The self-driving vehicle according to any one of claims 1 to 29 , which is characterized by identifying a disease or a symptom. Equipped with a thermometer or heat index meter,
In the specific means, a state in which the temperature inside the vehicle measured by the thermometer is equal to or higher than a predetermined temperature, or a state in which the heat index measured by the heat index meter is equal to or higher than a predetermined value continues for a predetermined time or longer. It is characterized by identifying heat stroke when the driver and / or the passenger recognizes the sweating state, facial expression, body movement, call for help, moaning, and pant voice. The self-driving vehicle according to any one of claims 1 to 30 . Equipped with wireless communication means
The incident detection means obtains photographed image information taken by a surveillance camera installed outdoors and / or photographed image information taken by a camera of another vehicle inside the own vehicle by using the wireless communication means. The automatic driving vehicle according to any one of claims 1 to 31 , wherein the change in the health condition is detected based on the obtained photographed image information. Equipped with wireless communication means
The specific means obtains photographed image information of the inside of the own vehicle taken by a surveillance camera installed outdoors and / or photographed image information of the inside of the own vehicle taken by a camera of another vehicle by using the wireless communication means. The automatic driving vehicle according to any one of claims 1 to 32 , wherein the predetermined disease is identified based on the obtained photographed image information. It is equipped with an automatic driving mode for autonomous driving, and stores image information including eye conditions and facial expressions peculiar to various diseases and / or medical information including voice information including groaning, moaning, asthma, and groin. A computer equipped with an autonomous vehicle equipped with a medical information storage unit ,
Anomaly detecting means for detecting anomalies in the health condition of the driver and / or the passenger while riding ,
Image information taken from one or more cameras that capture the inside of the self-driving car and / or sound pick-up voice information from a microphone that picks up the sound and voice inside the self-driving car, and the medical information storage unit. Based on the image information and / or the audio information stored in the driver, the predetermined disease causing the change in health condition caused to the driver and / or the passenger detected by the change detection means is specified. Specific means,
A destination determination means for determining a hospital with a specialist and / or a hospital with specialized equipment for the predetermined disease specified by the specific means as a destination.
A control means for controlling the destination determined by the destination determination means so as to move in the automatic operation mode.
A program for self-driving cars to function as.

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