JP7221145B2 - Operation cooperation device, operation cooperation method, and operation cooperation program - Google Patents

Description

TECHNICAL FIELD The present invention relates to an inter-vehicle driving cooperation device, a driving cooperation method, and a driving cooperation program.

Autonomous driving technology that allows a vehicle to drive autonomously includes fully automated driving technology that does not require any driver operation by the driver under any circumstances, and fully automated driving technology that allows autonomous driving under certain circumstances, but depending on the situation. Autonomous driving technology that requires manual driving by a passenger. For example, of the automated driving levels 0 to 5 defined by the Society of Automotive Engineers (SAE), fully automated driving corresponds to automated driving level 4 (advanced driving automation) and automated driving level 5 (complete driving automation). , Automated driving that requires manual driving corresponds to automated driving level 3 (conditional automated driving) or lower.

Autonomous vehicles, which have been developed in recent years, are based on the latter autonomous driving technology, and may switch from autonomous driving to manual driving in the event of a disturbance, failure, or the like. In this self-driving vehicle, the occupants sitting in the driver's seat are always restricted in their actions and states in preparation for particularly urgent changes. Therefore, if the driver is unable to drive immediately, the self-driving vehicle has no choice but to stop.

The vehicle control system according to Patent Literature 1 reads information about the driving aptitude of each passenger who has boarded the own vehicle, and when the driving mode of the own vehicle switches from automatic driving to manual driving, one of the passengers who boarded the own vehicle is selected for driving. Choose the right crew for

JP 2017-24653 A

In the vehicle control system according to Patent Document 1, the target for selecting a driver is only the occupants who have boarded the own vehicle. If not (eg no driver's license, drowsy, or under the influence of alcohol), the driver cannot be selected. In such a case, there is still a problem that the vehicle must stop.

SUMMARY OF THE INVENTION The present invention has been made to solve the problems described above, and an object of the present invention is to enable switching from automatic driving to manual driving even when there is no occupant suitable for driving the own vehicle.

A driving coordinating device according to the present invention acquires occupant information indicating the driving aptitudes of occupants in a vehicle and occupants in other vehicles within a predetermined distance from the vehicle. a priority determination unit that determines priority as a driver of the vehicle for each passenger riding in the vehicle and other vehicles based on the passenger information acquired by the passenger information acquisition unit; Based on the priority determined by the priority determination unit, a candidate for driving the vehicle is determined from among the occupants in the vehicle and other vehicles, and the occupants in the vehicle drive the other vehicles. Candidate management department that acquires and manages information indicating whether or not the candidate is a candidate for driving from other vehicles a driving control unit that receives a driving operation of the vehicle by the driving candidate determined by the driver management unit and controls the vehicle.

According to the present invention, the driving candidate is determined from among the occupants on board the own vehicle and other vehicles. Even if there is no occupant suitable for driving the own vehicle, an occupant riding in another vehicle and suitable for driving the own vehicle can be made to perform the driving operation of the own vehicle.

1 is a diagram showing an overview of a driving coordinating device according to Embodiment 1; FIG. 2 is a hardware configuration diagram of a driving coordinating device according to Embodiment 1. FIG. 2 is a block diagram showing a configuration example of a driving coordinating device according to Embodiment 1; FIG. 4 is a flow chart showing an example of processing for determining driving candidates by the driving coordinating device according to Embodiment 1; FIG. 3 is a diagram showing an example of priority judgment items according to Embodiment 1; FIG. FIG. 7 is a flowchart showing an example of passenger priority determination processing by the driving coordinating device according to Embodiment 1. FIG. 4 is a diagram showing an example of conditions for crew score calculation in Embodiment 1. FIG. FIG. 4 is a diagram showing an example of conditions for calculating a weighting factor of a vehicle according to Embodiment 1; FIG. 7 is a flow chart showing an example of a process performed by the driving cooperation device according to Embodiment 1 when notifying driving candidates and switching driving modes. 7 is a flowchart showing an example of update processing of driving candidates by the driving coordinating device according to Embodiment 1; 9 is a flowchart showing another example of update processing of driving candidates by the driving coordinating device according to Embodiment 1. FIG. 7 is a flow chart showing an example of a process of correcting the route of the host vehicle by the driving coordinating device according to Embodiment 1. FIG.

Embodiment 1.
FIG. 1 is a diagram showing an overview of a driving coordinating device 10 according to Embodiment 1. As shown in FIG. FIG. 2 is a hardware configuration diagram of the driving coordinating device 10 according to the first embodiment. FIG. 3 is a block diagram showing a configuration example of the driving coordinating device 10 according to Embodiment 1. As shown in FIG. A driving cooperation device 10 is mounted on the vehicle 1A. Similarly, each of the vehicles 1B and 1C is also equipped with the driving cooperation device 10 . The driving cooperation device 10 of the vehicle 1A and the driving cooperation device 10 of the vehicle 1B are in a state where vehicle-to-vehicle communication is possible, and the driving cooperation device 10 of the vehicle 1A and the driving cooperation device 10 of the vehicle 1C are also in a state where vehicle-to-vehicle communication is possible. is. Here, the vehicle 1A is called "own vehicle 1A", and the vehicles 1B and 1C are called "other vehicles 1B and 1C".

The driving cooperation device 10 of the own vehicle 1A provides own vehicle occupant information indicating the driving aptitude of the occupants 1A-1 and 1A-2 riding the own vehicle 1A, and the occupant 1B riding the other vehicles 1B and 1C. -1, 1B-2, 1C-1, 1C-2, and 1C-3, other vehicle occupant information and the like indicating the driving aptitude. Then, based on the acquired information, the driving cooperation device 10 of the own vehicle 1A determines whether each of the passengers 1A-1, 1A-2, 1B-1, 1B-2, 1C-1, 1C-2, 1C-3 A priority as a driver of the vehicle 1A is determined, a list of driving candidates is created based on the priority, and driving candidates of the own vehicle 1A are determined from the passengers included in the driving candidate list. When the self-vehicle 1A switches from automatic driving to manual driving, the driving cooperation device 10 of the self-vehicle 1A causes the determined driving candidate to manually drive. At this time, if the driving candidate is an occupant sitting in a seat other than the driver's seat of the own vehicle 1A, or if the candidate is an occupant of the other vehicles 1B, 1C, the driving cooperation device 10 of the own vehicle 1A remotely Information on the driving operation of the own vehicle 1A by the driving candidate accepted by the operation device 117 is acquired from the remote operation device 117, and the own vehicle 1A is controlled.

For example, in FIG. 1, the candidate list for driving the own vehicle 1A has the first priority for the driver 1B-2, the second priority for the driver 1C-1, the third priority for the driver 1C-2, and the fourth priority for the driver 1B-1. shall be Since the crew members 1A-1 and 1C-3 are dozing off, they are out of the driving candidate list. Crew member 1A-2 does not carry a driver's license and is therefore outside the driver candidate list. In this situation, the vehicle 1A has no driver, so conventionally, it has to stop when switching from automatic driving level 4 or higher, which does not require manual driving at all, to automatic driving level 3 or lower, which requires manual driving. do not get In contrast, in the first embodiment, the passenger 1B-2 of the other vehicle 1B, which has the highest priority on the driving candidate list, uses the remote control device 117 to control the own vehicle 1A as a driving candidate for the own vehicle 1A. Operate remotely. As a result, the own vehicle 1A does not stop depending on the driving aptitude of the occupants 1A-1 and 1A-2 of the own vehicle 1A. Autonomous driving can continue.

Next, the details of the driving cooperation device 10 will be described.
Here, it is assumed that the driving cooperation device 10 is mounted on the own vehicle 1A.
As shown in the hardware configuration diagram of FIG. 2 , the driving cooperation device 10 includes a processor 101 , a memory 102 and an in-vehicle network IF (Interface) 103 . In addition, the driving cooperation device 10 communicates with a communication device 111 mounted on the own vehicle 1A, an in-vehicle camera 112, a heartbeat sensor 113, an exterior camera 114, a driving control ECU (Electronic Control Unit ) 115 , navigation device 116 , remote control device 117 and output device 118 . Note that the remote control device 117 may be connected to the driving cooperation device 10 of the own vehicle 1A by wireless communication instead of the communication bus 110 .

The communication device 111 transmits and receives information to and from other vehicles present in the vicinity of the own vehicle 1A, more specifically, within a predetermined distance range centering on the own vehicle 1A. The communication device 111 may communicate with other vehicles through vehicle-to-vehicle communication, or may communicate with other vehicles via the Internet or the like.
In the following description, the communication device 111 communicates with other vehicles within a predetermined distance from the host vehicle 1A by inter-vehicle communication. The predetermined distance is the communicable distance for inter-vehicle communication.
Further, it is assumed that the other vehicle is equipped with a driving cooperation device 10 having the same configuration as the driving cooperation device 10 of the own vehicle 1A.

The in-vehicle camera 112 images the interior of the vehicle 1A. The heartbeat sensor 113 measures the heartbeat of the occupant of the own vehicle 1A. The image captured by the in-vehicle camera 112 and the heartbeat measurement result of the heartbeat sensor 113 are used in the driving cooperation device 10 as information indicating the driving aptitude of the occupant of the own vehicle 1A. The information indicating the driving aptitude is not limited to the image captured by the in-vehicle camera 112 and the heartbeat measurement result of the heartbeat sensor 113, but may be biological information such as the alcohol concentration in blood or breath of the occupant.

The vehicle exterior camera 114 images the surroundings of the own vehicle 1A. The operation control ECU 115 controls the operation of the own vehicle 1A by controlling the steering angle, vehicle speed, and the like of the own vehicle 1A. The navigation device 116 manages the position of the own vehicle 1A, driving lanes, routes, destinations, waypoints, and the like. The remote control device 117 receives a driving operation of the own vehicle 1A performed by the occupant of the own vehicle 1A or a driving operation of another vehicle performed by the occupant of the own vehicle 1A. The remote control device 117 is, for example, a tablet PC (Personal Computer) having a touch display, such as the one held in the hand of the crew member 1B-2 in FIG. -2 displays information necessary for remote operation of own vehicle 1A, and information on driving operation of own vehicle 1A such as accelerator operation, brake operation, steering operation, and blinker operation by this crew member 1B-2. accept. The output device 118 outputs a notification to the occupant of the own vehicle 1A. Output device 118 is, for example, a display, speakers, or both a display and speakers.

As shown in the block diagram of FIG. 3, the driving coordinating device 10 includes a driving control unit 11, an own vehicle occupant information acquisition unit 12, an other vehicle occupant information acquisition unit 13, an other vehicle information acquisition unit 14, and a priority determination unit 15. , a candidate management unit 16 , a vehicle information management unit 17 , a notification unit 18 , and a route setting unit 19 . 3, illustration of a configuration corresponding to the in-vehicle network IF 103 of FIG. 2 is omitted.
The own vehicle occupant information acquisition unit 12 and the other vehicle occupant information acquisition unit 13 correspond to the "occupant information acquisition unit".

Operation control unit 11, own vehicle occupant information acquisition unit 12, other vehicle occupant information acquisition unit 13, other vehicle information acquisition unit 14, priority determination unit 15, candidate management unit 16, vehicle information management unit 17, notification unit 18, and the function of the route setting unit 19 are implemented by the processor 101 and the memory 102 . That is, the operation control unit 11, the own vehicle occupant information acquisition unit 12, the other vehicle occupant information acquisition unit 13, the other vehicle information acquisition unit 14, the priority determination unit 15, the candidate management unit 16, the vehicle information management unit 17, the notification unit 18 and the path setting unit 19 are implemented by software, firmware, or a combination of software and firmware. Software or firmware is written as a program and stored in memory 102 . The processor 101 reads out and executes programs stored in the memory 102 to achieve the functions of each unit. That is, the driving coordinating device 10 includes a memory 102 for storing a program that, when executed by the processor 101, results in the execution of steps shown in a flow chart such as FIG. 4, which will be described later. In addition, this program includes an operation control unit 11, an own vehicle occupant information acquisition unit 12, an other vehicle occupant information acquisition unit 13, an other vehicle information acquisition unit 14, a priority determination unit 15, a candidate management unit 16, a vehicle information management unit. 17, notification unit 18, and route setting unit 19 are executed by a computer.

Here, the processor 101 is a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, or the like.
The memory 102 may be a nonvolatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), or flash memory, or a hard disk or flexible disk. or an optical disc such as a CD (Compact Disc) or a DVD (Digital Versatile Disc).

The operation control unit 11 calculates the steering angle and vehicle speed of the own vehicle 1A so that the own vehicle 1A travels along the route included in the own vehicle information managed by the vehicle information management unit 17, and controls the calculated steering angle of the own vehicle 1A. The automatic driving control of the own vehicle 1A is performed by instructing the driving control ECU 115 about the angle, vehicle speed, and the like. The driving control unit 11 switches between automatic driving and manual driving of the own vehicle 1A as necessary. When switching from automatic driving to manual driving, the driving control unit 11 controls the driving information of the own vehicle 1A managed by the vehicle information management unit 17 (for example, , image of front field of view of own vehicle 1A captured by outside camera 114 and vehicle speed) to remote control device 117, and receives from remote control device 117 the driving operation performed by the driving candidate. If the driver candidate for own vehicle 1A is an occupant of another vehicle, driving control unit 11 receives the driving information for own vehicle 1A managed by vehicle information management unit 17 via communication device 111 for remote operation of the other vehicle. The data is output to the device 117 , and the driving operation performed by the driving candidate is received from the remote control device 117 of the other vehicle via the communication device 111 . The operation control unit 11 controls the operation of the own vehicle 1A by instructing the operation control ECU 115 with information based on the operation received from the remote control device 117 of the own vehicle 1A or another vehicle. When an occupant sitting in the driver's seat of the own vehicle 1A manually drives the own vehicle 1A, the operation control ECU 115 controls the operation of the own vehicle 1A based on the operation of the steering wheel, the brake, the accelerator, etc. performed by the occupant. Control operation.

When the occupant of the own vehicle 1A is a candidate for driving another vehicle, the driving control unit 11 receives driving information (for example, an image of the front view of the other vehicle and the vehicle speed) from the other vehicle via the communication device 111. It acquires and outputs to the remote control device 117 of the own vehicle 1A. Then, the driving control unit 11 receives the driving operation of the other vehicle performed by the driving candidate from the remote control device 117 of the own vehicle 1A. The driving control unit 11 outputs the driving operation information received from the remote control device 117 of the host vehicle 1A to the other vehicle via the communication device 111 .

The own vehicle occupant information acquisition unit 12 uses, for example, the image captured by the in-vehicle camera 112 to identify each occupant riding in the own vehicle 1A, and determines whether each occupant has a driver's license, age, and driving status. Judge experience, etc. In addition, the own vehicle occupant information acquisition unit 12 uses biological information such as the image captured by the in-vehicle camera 112 and the heartbeat measurement result of the heartbeat sensor 113 to determine whether each occupant riding in the own vehicle 1A is drunk or drunk. , fatigue, dozing, and the like. The own vehicle occupant information acquisition unit 12 outputs the determination result of each occupant to the priority determination unit 15 as own vehicle occupant information indicating driving aptitude. In addition, the own vehicle occupant information acquisition unit 12 outputs the own vehicle occupant information to the other vehicle via the communication device 111 .

The other-vehicle occupant information acquisition unit 13 acquires other-vehicle occupant information indicating the driving aptitude of each occupant riding in the other vehicle from the other vehicle via the communication device 111 . The other-vehicle occupant information corresponds to the own-vehicle occupant information of each occupant of the other vehicle acquired by the own-vehicle occupant information acquisition unit 12 of the driving cooperation device 10 mounted in the other vehicle. The other-vehicle occupant information acquisition unit 13 outputs the acquired other-vehicle occupant information to the priority determination unit 15 .

The other vehicle information acquisition unit 14 acquires other vehicle information including the position of the other vehicle, the driving lane, the route, the destination, the waypoint, and the like from the other vehicle via the communication device 111 . The other vehicle information acquisition unit 14 outputs the acquired other vehicle information to the priority determination unit 15 .

The priority determination unit 15 is based on the own vehicle occupant information acquired by the own vehicle occupant information acquisition unit 12 and the other vehicle occupant information acquired by the other vehicle occupant information acquisition unit 13, and the vehicle 1A and the other vehicle are boarded. A priority as a driver of the own vehicle 1A is determined for each passenger. In addition to the own vehicle occupant information and the other vehicle occupant information, the priority determination unit 15 determines the other vehicle information acquired by the other vehicle information acquisition unit 14 and the own vehicle information of the own vehicle 1A managed by the vehicle information management unit 17. Priority may be determined based on The priority determination unit 15 outputs the determined priority for each passenger to the candidate management unit 16 .

The candidate management unit 16 determines a candidate for driving the own vehicle 1A from among the occupants riding in the own vehicle 1A and other vehicles based on the priority of each passenger determined by the priority determination unit 15. do. For example, based on the priority of each passenger, the candidate management unit 16 creates a candidate driving list of the top driving candidates (for example, top three), and lists the driving candidates included in the driving candidate list. is notified that he or she is a candidate for driving as follows.
When the senior driving candidate is the passenger of the own vehicle 1A, the candidate management unit 16 notifies the passenger of the own vehicle 1A via the notification unit 18. FIG. If the higher-ranking driving candidate is an occupant of another vehicle, the candidate management unit 16 notifies the occupant of the other vehicle via the communication device 111 .

The candidate management unit 16 also receives a notification from another vehicle via the communication device 111 that the occupant of the own vehicle 1A is a candidate for driving the other vehicle. Upon receiving this notification, the candidate management unit 16 notifies the occupant of the own vehicle 1A via the notification unit 18 that the occupant of the own vehicle 1A is a candidate for driving another vehicle.

The vehicle information management unit 17 obtains the position of the vehicle 1A, the travel route, the route, the destination, the waypoints, etc., from the navigation device 116, which are necessary for the operation control unit 11 to automatically control the operation of the vehicle 1A. It acquires and manages it as self-vehicle information. In addition, the vehicle information management unit 17, when the driving candidate who drives the own vehicle 1A is an occupant of another vehicle and the driving mode of the own vehicle 1A is switched from automatic driving to manual driving, the other vehicle An image of the forward field of view of the own vehicle 1A, the vehicle speed, and the like, which are necessary for the driver candidate on board to drive the own vehicle 1A, are acquired from the vehicle exterior camera 114 and the navigation device 116, and used for driving. Manage as information. For example, at the timing when the driving mode of the own vehicle 1A is switched from automatic driving to manual driving, the driving control unit 11 transmits the driving information managed by the vehicle information management unit 17 to the driving candidate via the communication device 111. Transmit to other vehicles on board.

In accordance with instructions from the candidate management unit 16, the notification unit 18 notifies that the occupant of the own vehicle 1A is the top person (for example, the top three persons) in the driving candidate list of the own vehicle 1A, or indicates that the occupant of the other vehicle The output device 118 is instructed to notify the occupants of the own vehicle 1A that they are the top drivers (for example, the top three drivers) on the driving candidate list. The output device 118, which has received this instruction, displays on the display that the occupant of the own vehicle 1A is the top person in the driver candidate list of the own vehicle 1A or the top person in the driver candidate list of the other vehicle. Display or audio output from speaker.

Based on the candidate driving list managed by the candidate management unit 16, the route setting unit 19 determines whether the candidate driving the vehicle 1A is an occupant of another vehicle. When there is no candidate, the route along which the vehicle 1A is scheduled to travel is corrected so as to match the route along which another vehicle on which the driving candidate for the vehicle 1A is boarding is scheduled to travel. The route setting unit 19 outputs the corrected route information of the host vehicle 1A to the vehicle information management unit 17 . Note that the route setting unit 19 acquires the own vehicle information including the route along which the own vehicle 1A is scheduled to travel from the vehicle information management unit 17 . Further, the route setting unit 19 acquires other vehicle information including the route on which the other vehicle is scheduled to travel from the priority determination unit 15 or directly from the other vehicle information acquisition unit 14 without going through the priority determination unit 15. do.

Next, the process of determining driving candidates will be described.
FIG. 4 is a flowchart showing an example of processing for determining driving candidates by the driving coordinating device 10 according to the first embodiment. The driving cooperation device 10 repeatedly performs the processing shown in the flowchart of FIG.

In step ST11, the other vehicle information acquisition unit 14 searches for vehicles around the own vehicle 1A by causing the communication device 111 to perform vehicle-to-vehicle communication.

In step ST12, the other vehicle information acquisition unit 14 checks whether or not there is another vehicle within the communicable range of the vehicle-to-vehicle communication centered on the own vehicle 1A. If there is another vehicle within the range ("YES" in step ST12), the other vehicle information acquisition unit 14 acquires other vehicle information from the other vehicle via the communication device 111 in step ST13. Further, the other-vehicle occupant information acquisition unit 13 acquires other-vehicle occupant information from the other vehicle via the communication device 111 . On the other hand, if there is no other vehicle within the range ("NO" in step ST12), the other vehicle occupant information acquiring section 13 and the other vehicle information acquiring section 14 do not perform the process of step ST13.

In step ST14, the own vehicle occupant information acquisition unit 12 acquires information from the in-vehicle camera 112, the heartbeat sensor 113, and the like, and generates own vehicle occupant information based on the acquired information.

In step ST15, the priority determination unit 15 acquires the own vehicle occupant information acquired in step ST14 and the own vehicle information managed by the vehicle information management unit 17, and acquires other vehicle information and other vehicle occupant information in step ST13. If so, that information is used to determine the driver's priority of the occupants of each vehicle. The priority determination process in step ST15 will be described later.

At step ST16, the candidate management unit 16 determines a candidate for driving the own vehicle 1A based on the priority of each passenger determined at step ST15. Here, the candidate management unit 16 generates a driving candidate list including three drivers with the highest priority.

Next, passenger priority determination processing will be described.
FIG. 5 is a diagram showing an example of priority judgment items according to the first embodiment. The priority of each occupant of the own vehicle 1A and the other vehicle as the driver of the own vehicle 1A is determined, for example, based on the judgment items shown in FIG. FIG. 6 shows an example of processing for determining priority based on the check items shown in FIG.
FIG. 6 is a flowchart showing an example of passenger priority determination processing by the driving coordinating device 10 according to the first embodiment. The driving cooperation device 10 performs the process shown in the flowchart of FIG. 6 in step ST15 shown in the flowchart of FIG.

In step ST21, the priority determination unit 15 determines the surrounding vehicle within the communicable distance of the vehicle-to-vehicle communication based on information such as the position, driving lane, and destination included in the own vehicle information and the other vehicle information. Among them, it is determined whether or not there is a surrounding vehicle that is not an oncoming vehicle of the host vehicle 1A. Since the oncoming vehicle soon moves out of the communicable range of the vehicle-to-vehicle communication, the occupant of the oncoming vehicle is preliminarily excluded from the candidates for driving the own vehicle 1A. Below, the surrounding vehicle which is not the oncoming vehicle of the own vehicle 1A is called "another vehicle."

If there is another vehicle ("YES" in step ST21), the priority determining unit 15 calculates the weight coefficients of the own vehicle 1A and each other vehicle based on the own vehicle information and the other vehicle information in step ST22. The weighting factor is used when calculating the candidate score in step ST23. The weighting factor calculation process in step ST22 will be described later.

If there is no other vehicle ("NO" in step ST21), the priority determining unit 15 determines whether or not there is an occupant who can be a driver candidate in the own vehicle 1A based on the own vehicle occupant information in step ST25. Check whether there is a passenger other than the driver in 1A. For example, the priority determining unit 15 may use the image of the in-vehicle camera 112 to check whether or not the passenger is seated in a seat other than the driver's seat of the own vehicle 1A. If there is an occupant other than the driver in the own vehicle 1A (step ST25 "YES"), the processing of the priority determining section 15 proceeds to step ST23. On the other hand, when there is no passenger other than the driver in the own vehicle 1A (step ST25 "NO"), the processing of the priority determining section 15 proceeds to step ST24.

In step ST23, the priority determining unit 15 calculates the passenger score of each passenger in the other vehicle that is not the oncoming vehicle. In addition, when the own vehicle 1A has a passenger who can be a driver candidate, the priority determination unit 15 calculates the passenger score of each passenger in the own vehicle 1A. The occupant score calculation process in step ST23 will be described later.

In step ST24, the priority determining unit 15 determines the priority of each passenger using the weighting factor of each vehicle calculated in step ST22 and the passenger score of each passenger calculated in step ST23. For example, an occupant with a higher candidate score obtained by calculating the following formula is a occupant with a higher priority and more suitable for driving the own vehicle 1A.

Candidate score of passenger A = passenger score of passenger A x weighting factor of the vehicle in which passenger A is riding

Note that the priority determining unit 15 excludes passengers whose passenger scores are less than a predetermined minimum passenger score from targets for priority determination. The minimum occupant score is the minimum value of occupant scores that can be candidates for driving, and is predetermined.

In the examples of FIGS. 5 and 6, the priority determining unit 15 is configured to determine priority using a passenger score based on own and other passenger information and a weighting factor based on own and other vehicle information. The priority may be determined using only the occupant score based on the own and other occupant information. When the priority is determined using only the crew score based on the crew information of oneself and others, the priority determination unit 15 uses the crew score instead of the candidate score, and gives higher priority to a crew member with a higher crew score.

Next, the process of calculating the occupant score will be described.
FIG. 7 is a diagram showing an example of conditions for crew score calculation according to the first embodiment. At step ST23 in FIG. 6, the occupant scores of the occupants of the own vehicle 1A and the other vehicles are calculated based on the conditions shown in FIG. 7, for example. In this example, the initial score (points) of one crew member is 10 points, and the crew score is calculated by multiplying the initial score by the weight defined for each condition shown in FIG. Note that the driving history, violation history, and driving frequency in FIG. 7 correspond to "driving history".

For example, passenger A has a driver's license, is not under the influence of alcohol or under the influence of alcohol, is not in a state of fatigue or doze off, has a three-year driving history, has no history of violations, and has a driving frequency of is one hour per day. The passenger score of the passenger A is 3 points (=10×1×1×1×0.3×1).
Passenger B has a driver's license, is not under the influence of alcohol or under the influence of alcohol, is not fatigued or drowsy, has a driving record of 5 years, has no history of violations, and has a driving frequency of 1. It shall be 3 hours in a day. The passenger score of this passenger B is 15 points (=10×1×1×1×0.5×3).
Passenger C does not carry a driver's license, is not under the influence of alcohol or under the influence of alcohol, is not in a state of fatigue or doze off, has a driving history of 15 years, has no history of violations, and drives 1 day a day. shall be 3 hours at The passenger score of this passenger C is 0 points (=10×0×1×1×1.5×3).
Here, for example, if the lowest passenger score of the passenger scores is 1 point, the passenger C is excluded from priority determination.

Next, the vehicle weighting factor calculation process will be described.
FIG. 8 is a diagram showing an example of conditions for calculating a vehicle weighting factor according to the first embodiment. At step ST22 in FIG. 6, the weighting coefficients of the own vehicle 1A and the other vehicle are calculated based on the conditions shown in FIG. 8, for example. In this example, the vehicle weighting factor is calculated by multiplying the factor set for each condition shown in FIG. In the example of FIG. 8, according to the judgment items shown in FIG. 5, other vehicles having destinations close to the destination of the host vehicle 1A have a high priority (that is, a large weighting factor). In addition, other vehicles that are scheduled to travel on a route that has a high match rate with the route on which the vehicle 1A is scheduled to travel have a high priority. Further, the priority of other vehicles running behind the own vehicle 1A is higher than that of other vehicles running in front of the own vehicle 1A. This is because when an occupant of another vehicle running behind the own vehicle 1A is a candidate for driving the own vehicle 1A, the candidate for driving the own vehicle 1A operates the own vehicle 1A so as to follow behind the own vehicle 1A. This is because the driving operation is easier than when the occupant of another vehicle running in front of the own vehicle 1A is a candidate for driving the own vehicle 1A. Note that if there is another vehicle only in front of the own vehicle 1A, the driving cooperation device 10, when the driver candidate of the own vehicle 1A riding in the other vehicle starts the driving operation of the own vehicle 1A, , the other vehicle may be urged to move behind the host vehicle 1A.

For example, the own vehicle 1A has a route match ratio of 100%, the same destination, and a distance of 0 km. Therefore, the weighting factor of the own vehicle 1A is 1 (=1×1×1×1).
The other vehicle has a route coincidence rate with the own vehicle 1A of 50%, the allowable distance n between the destination of the own vehicle 1A and the destination of the other vehicle is 10 km, and the distance d is actually 5 km. It is assumed that the vehicle is running in front of the vehicle 1A, and that the distance between the vehicle 1A and the vehicle 1A is three. The weighting factor of this other vehicle is 0.09 (=0.8*0.5*0.4*0.8*0.7).

Next, a description will be given of the notification to the driving candidate and the processing at the time of switching the driving mode.
FIG. 9 is a flowchart showing an example of a process performed by the driving cooperation device 10 according to the first embodiment when notifying a driving candidate and switching the driving mode. The driving coordinating device 10 executes the process shown in the flowchart of FIG. 9 in parallel with the process shown in the flowchart of FIG. Further, the driving coordinating device 10 periodically checks whether or not there is a driving candidate who will drive the own vehicle 1A by repeatedly performing the process shown in the flowchart of FIG. In addition, as will be described below, the driving cooperation device 10 enables the driving candidate to immediately respond when the driving mode of the own vehicle 1A switches from automatic driving to manual driving. The top three drivers are notified that they are candidates for driving the own vehicle 1A. When the driving candidate of own vehicle 1A is an occupant of another vehicle, when the driving mode of own vehicle 1A is switched from automatic driving to manual driving, the driving candidate of own vehicle 1A riding in the other vehicle is: The remote control device 117 is used to remotely control the host vehicle 1A.

In step ST31, the candidate management unit 16 refers to the candidate driving list generated by the priority determination unit 15 in step ST16 of FIG. check whether there is

If there is no driving candidate ("NO" in step ST31), the candidate managing section 16 notifies the driving control section 11 of this fact in step ST35. The operation control unit 11 that has received this notification searches for a vehicle stoppable area, and stops the own vehicle 1A in the searched vehicle stoppable area. The driving control unit 11 waits with the own vehicle 1A stopped until a candidate for driving the own vehicle 1A appears.

As described above, when neither the own vehicle 1A nor the other vehicle has a driving candidate, the own vehicle 1A stops in step ST35 because it cannot continue automatic driving. In addition, even if there are no candidates for driving the own vehicle 1A because another vehicle in which the candidate for the driver is riding has taken a route different from that of the own vehicle 1A at a branch point of the road, 1A will stop because it cannot continue automatic driving.
The other vehicle information acquisition unit 14 acquires the other vehicle information including the route of the other vehicle, and the vehicle information management unit 17 manages the own vehicle information including the route of the own vehicle 1A. For this reason, for example, the vehicle information management unit 17 compares the route included in the other vehicle information with the route included in the own vehicle information to determine the timing at which the other vehicle in which the driving candidate is riding leaves the own vehicle 1A. can be predicted in advance. Therefore, the driving control unit 11 can search for a vehicle stop possible area before the number of driving candidates becomes zero.

If there is a driving candidate ("YES" in step ST31), in step ST32, the candidate management unit 16 prepares for switching from automatic driving to manual driving and selects a driving candidate for each passenger included in the driving candidate list. notifying you that you are When the driver of the vehicle 1A is included in the driving candidate list, the candidate management unit 16 notifies the driver of the vehicle 1A via the notification unit 18. FIG. If the driver candidate list includes an occupant of another vehicle, the candidate management unit 16 notifies the occupant of the other vehicle via the communication device 111 .

In step ST33, the operation control unit 11 confirms whether the current operation mode is automatic operation or manual operation. If the current driving mode is automatic driving ("YES" in step ST33), the driving control unit 11 continues automatic driving of the host vehicle 1A in step ST34.

On the other hand, if the current driving mode is manual driving instead of automatic driving (step ST33 "NO"), the driving control unit 11 determines in step ST36 that the top of the driving candidate list (for example, the first priority) is By receiving a driving operation of the own vehicle 1A to be performed and instructing the operation control ECU 115 of information based on the driving operation, the driving control of the own vehicle 1A is performed. Note that when the top person on the driving candidate list is a passenger seated in a seat other than the driver's seat of the own vehicle 1A, the driving control unit 11 controls the driving operation performed by the passenger on the remote control device 117 by remote control. Received from device 117 . In addition, when the top person on the driving candidate list is a passenger of another vehicle, the driving control unit 11 controls the remote operation device 117 provided in the other vehicle by the passenger via the communication device 111. is received from the remote control device 117.

At the timing when the operation control unit 11 switches from automatic operation to manual operation, the candidate management unit 16 instructs the high-ranking person in the operation candidate list (for example, the first priority) to switch the operation mode and automatically A request for driving operation of the vehicle 1A is notified. At this time, the candidate management unit 16, if the higher-ranking person on the driving candidate list is the occupant of the own vehicle 1A, via the notification unit 18, if it is the occupant of the other vehicle, via the communication device 111, It notifies the switching of the driving mode and the driving operation request of the own vehicle 1A. Further, as described above, when the other vehicle in which the top driver on the driving candidate list is riding is traveling in front of the own vehicle 1A, the candidate management unit 16 determines that the other vehicle is riding. It is also possible to urge the top drivers on the driving candidate list to move to the rear of the own vehicle 1A.

Next, update processing of driving candidates will be described.
The candidate for driving the own vehicle 1A is updated, for example, at the timing of at least one of (1) or (2) below. In addition, below, although the priority determination part 15 shows the example which calculates a candidate score, you may replace with a candidate score and may calculate a passenger|crew score.

(1) When there is a change in the candidate score of an occupant included in the driving candidate list of own vehicle 1A Instructing the priority determination unit 15 to perform the priority determination process again when the candidate score after the change becomes less than the predetermined minimum candidate score due to the change in the candidate score of the crew member. do. The lowest candidate score is the lowest candidate score that can be a driving candidate, and is predetermined. Note that the lowest candidate score may be the same value as the lowest occupant score, or may be a different value.

(2) When a new other vehicle is added within the communicable range of inter-vehicle communication centered on the own vehicle 1A, the other vehicle information acquisition unit 14 detects a new vehicle within the communicable range of inter-vehicle communication. When the vehicle is detected, the candidate management unit 16 instructs the priority determination unit 15 to perform priority determination processing for the occupants of the existing other vehicle and the newly detected other vehicle.

FIG. 10 is a flowchart showing an example of update processing of driving candidates by the driving coordinating device 10 according to the first embodiment. The processing shown in the flowchart of FIG. 10 corresponds to (1) above. After performing the process shown in the flowchart of FIG. 4, the driving cooperation device 10 subsequently performs the process shown in the flowchart of FIG. Further, the driving coordinating device 10 repeatedly performs a series of processes including the process shown in the flowchart of FIG. 4 and the process shown in the flowchart of FIG.

In step ST51, the candidate management section 16 acquires the driving candidate list of the own vehicle 1A generated by the priority determination section 15. FIG. This driving candidate list includes, for example, the top three drivers with the highest priority.

In step ST52, the candidate management unit 16 determines the candidate score of each passenger included in the list of driving candidates for own vehicle 1A managed by itself, and the latest driving candidate for own vehicle 1A obtained in step ST51. By comparing the candidate score of each occupant included in the list, it is determined whether there is a change in the candidate score.

If there is a change in the candidate score of at least one of the occupants included in the driving candidate list (“YES” in step ST52), the candidate management unit 16 determines in step ST53 whether the changed candidate score is less than a predetermined minimum candidate score.

If the changed candidate score is less than the minimum candidate score ("YES" in step ST53), the candidate management section 16 performs the priority determination process again on the priority determination section 15 in step ST54. to do so. The priority determination unit 15 performs priority determination processing for all the occupants of the own vehicle 1A and all the occupants of other vehicles within the communicable distance of the vehicle-to-vehicle communication. After that, the candidate management unit 16 acquires the updated driving candidate list of the own vehicle 1A from the priority determining unit 15, and notifies the crew members included in the acquired driving candidate list.

On the other hand, if there is no change in the candidate scores of all the occupants included in the driving candidate list (step ST52 "NO"), or if the changed candidate score is equal to or higher than the minimum candidate score (step ST53 "NO"), the candidate management unit 16 terminates the processing shown in the flowchart of FIG.
If there is no change in the candidate scores of all the occupants included in the driving candidate list (step ST52 "NO"), or if the changed candidate score is equal to or higher than the minimum candidate score (step ST53 "NO"), and then the priority determining unit 15 may perform the priority determining process only for the passengers included in the driving candidate list.

FIG. 11 is a flowchart showing another example of the driving candidate update process by the driving coordinating device 10 according to the first embodiment. The processing shown in the flowchart of FIG. 11 corresponds to (2) above. After performing the process shown in the flowchart of FIG. 4, the driving cooperation device 10 subsequently performs the process shown in the flowchart of FIG. Further, the driving coordinating device 10 repeatedly performs a series of processes including the process shown in the flowchart of FIG. 4 and the process shown in the flowchart of FIG. Further, the driving coordinating device 10 may perform the processing shown in the flowchart of FIG. 10 and the processing shown in the flowchart of FIG. 11 in parallel.

In step ST61, the candidate management section 16 confirms by the other vehicle information acquisition section 14 whether or not a new other vehicle has been detected within the communicable range of vehicle-to-vehicle communication centering on the own vehicle 1A. It should be noted that the new other vehicle is another vehicle that has not been targeted for generation of the current driving candidate list.

If a new other vehicle is detected by the other vehicle information acquisition unit 14 ("YES" in step ST61), the candidate management unit 16 instructs the priority determination unit 15 to perform the priority determination process again in step ST62. direct to. The priority determination unit 15 performs priority determination processing for all the occupants of the own vehicle 1A and all the occupants of other vehicles within the communicable distance of the vehicle-to-vehicle communication. After that, the candidate management unit 16 acquires the updated driving candidate list of the own vehicle 1A from the priority determining unit 15, and notifies the crew members included in the acquired driving candidate list.

On the other hand, if the other vehicle information acquisition unit 14 does not detect any new other vehicle (step ST61 "NO"), the candidate management unit 16 terminates the processing shown in the flowchart of FIG.
If the other vehicle information acquiring unit 14 does not detect any new other vehicle ("NO" in step ST61), then the priority determination unit 15 performs priority determination processing only for the passengers included in the driving candidate list. may

Next, the route correction processing of the host vehicle 1A will be explained.
When an occupant of another vehicle becomes a candidate for driving the own vehicle 1A, if the route on which the other vehicle boarded by the candidate for driving is different from the route on which the own vehicle 1A is scheduled to travel, the route , the other vehicle moves out of the communicable range of inter-vehicle communication. In this case, the driving cooperation device 10 of the own vehicle 1A must newly determine a driving candidate, and in the worst case, there is a possibility that the own vehicle 1A stops without a driving candidate.

Therefore, the route setting unit 19 determines the destination or waypoint of the other vehicle on which the driving candidate is boarding, which is determined by the candidate management unit 16, based on the other vehicle information acquired by the other vehicle information acquisition unit 14. is the same as the destination or waypoint of the own vehicle 1A, the route of the own vehicle 1A is matched with the route of the other vehicle. As a result, the driving coordinating device 10 avoids stopping the own vehicle 1A due to the absence of the driving candidate.

FIG. 12 is a flow chart showing an example of the route correction processing of the own vehicle 1A by the driving cooperation device 10 according to the first embodiment. The driving cooperation device 10 repeatedly performs the processing shown in the flowchart of FIG. 12 .

In step ST71, the route setting unit 19 refers to the driving candidate list managed by the candidate management unit 16, and confirms whether or not the occupant of the other vehicle is a driving candidate for the own vehicle 1A. If the occupant of the other vehicle is a candidate for driving the own vehicle 1A (step ST71 "YES"), the route setting unit 19, in step ST72, determines the other vehicle information of the other vehicle acquired by the other vehicle information acquisition unit 14. The included route on which the other vehicle is scheduled to travel is compared with the route on which the subject vehicle 1A is scheduled to travel, which is included in the subject vehicle information of the subject vehicle 1A managed by the vehicle information management unit 17 .

If the route of the other vehicle on which the driver candidate of the own vehicle 1A is riding is different from the route of the own vehicle 1A (step ST72 "YES"), the route setting unit 19, in step ST73, At least one of the waypoint or destination of the other vehicle included in the information is compared with at least one of the waypoint or destination of the own vehicle 1A included in the own vehicle information of the own vehicle 1A to determine a common place. search for.

In step ST74, the route setting unit 19 corrects the route to the common place searched in step ST73 among the routes of the own vehicle 1A so as to match the route of the other vehicle on which the driver candidate of the own vehicle 1A is riding. do. For example, if the waypoint of another vehicle on which the driver candidate of own vehicle 1A is boarding is common to the waypoint of own vehicle 1A, the route setting unit 19 selects the route from the current location to the waypoint of the route of own vehicle 1A. is corrected to the route from the current position to the waypoint in the route of the other vehicle. Further, for example, when the destination of the other vehicle is common to the destination of the vehicle 1A, the route setting unit 19 selects the route from the current location to the destination of the route of the vehicle 1A as the route of the other vehicle. Correct the route from the current location to the waypoint. The route setting unit 19 outputs the corrected route information to the vehicle information management unit 17 . The vehicle information management unit 17 manages information on the route corrected by the route setting unit 19 as host vehicle information.

If the occupant of the other vehicle is not a candidate for driving the own vehicle 1A, that is, if the occupant of the own vehicle 1A is a candidate for driving the own vehicle 1A (step ST71 "NO"), or if the candidate is a candidate for driving the own vehicle 1A. If the route of the other vehicle on which the driver is riding is the same as the route of the own vehicle 1A (step ST72 "NO"), the route setting section 19 terminates the processing shown in the flowchart of FIG.

As described above, the driving cooperation device 10 according to Embodiment 1 includes the own vehicle occupant information acquisition unit 12, the other vehicle occupant information acquisition unit 13, the priority determination unit 15, the candidate management unit 16, and the driving control unit 11. Prepare. The own vehicle occupant information acquisition unit 12 acquires occupant information indicating the driving aptitude of each of the occupants riding in the own vehicle 1A. The other-vehicle occupant information acquisition unit 13 acquires occupant information indicating the driving aptitude of each occupant riding in another vehicle within a predetermined distance range from the own vehicle 1A. The priority determination unit 15 is based on the own vehicle occupant information acquired by the own vehicle occupant information acquisition unit 12 and the other vehicle occupant information acquired by the other vehicle occupant information acquisition unit 13. A priority as a driver of the own vehicle 1A is determined for each passenger. Based on the priority determined by the priority determination unit 15, the candidate management unit 16 determines a candidate for driving the own vehicle 1A from among the occupants riding in the own vehicle 1A and other vehicles. Further, the candidate management unit 16 acquires and manages information indicating whether or not an occupant riding in the own vehicle 1A is a driving candidate for driving another vehicle. The driving control unit 11 switches between automatic driving and manual driving of the own vehicle 1A, and when the automatic driving is switched to manual driving, the driving control unit 11 accepts the driving operation of the own vehicle 1A by the driving candidate determined by the candidate managing unit 16. to control the own vehicle 1A. With this configuration, even if there is no occupant suitable for driving the own vehicle 1A when the operation mode of the own vehicle 1A is switched from the automatic operation to the manual operation, the driving cooperation device 10 can be operated by an occupant of another vehicle. Therefore, the occupant suitable for driving the own vehicle 1A can be made to perform the driving operation of the own vehicle 1A.

Further, the driving coordinating device 10 according to Embodiment 1 includes the other vehicle information acquiring unit 14 that acquires other vehicle information including at least one of the destination and waypoint of the other vehicle and the route. The priority determination unit 15 determines the own vehicle occupant information acquired by the own vehicle occupant information acquisition unit 12, the other vehicle occupant information acquired by the other vehicle occupant information acquisition unit 13, and the other vehicle information acquisition unit 14. Based on the other vehicle information, the priority as the driver of the own vehicle 1A is determined for each passenger riding in the own vehicle 1A and the other vehicle. With this configuration, the driving coordinating device 10 can take into account, in addition to the driving aptitudes of the occupants of the own vehicle 1A and the other vehicles, the match rate of the routes of the own vehicle 1A and the other vehicles, etc. It is possible to allow the occupant who is more suitable as a person to perform the driving operation of the own vehicle 1A.

Further, according to Embodiment 1, the driving control unit 11 is configured to acquire from the remote control device 117 the information on the driving operation of the own vehicle 1A by the candidate driving the own vehicle 1A received by the remote control device 117. is. With this configuration, a candidate driver sitting in a seat other than the driver's seat of the own vehicle 1A and a candidate driver riding in another vehicle can immediately start manual driving without moving their seats.

Further, according to Embodiment 1, the predetermined distance is the communicable distance of inter-vehicle communication. By limiting the candidates for driving the own vehicle 1A to the occupants of other vehicles within the vehicle-to-vehicle communication range, the own vehicle 1A can be driven by the driving operations performed by the candidate drivers of the other vehicles even in places where communication such as the Internet is not possible. can continue. On the other hand, if the candidate for driving the own vehicle 1A is an occupant of another vehicle within the communication range of the Internet or the like, the own vehicle 1A cannot continue traveling in a place where communication is not possible or where the communication strength fluctuates. I have to stop.

Further, according to the first embodiment, when the candidate for driving the own vehicle 1A is an occupant riding in the own vehicle 1A, the candidate management unit 16, via the notification unit 18, to the occupant, It is notified that the driver is a candidate for driving the own vehicle 1A. With this configuration, the driving cooperation device 10 can notify the driving candidates in advance in preparation for switching the own vehicle 1A from automatic driving to manual driving. Therefore, the candidate for driving the own vehicle 1A can immediately respond when the own vehicle 1A switches from automatic driving to manual driving.

Further, according to the first embodiment, when the candidate for driving the own vehicle 1A is an occupant riding in another vehicle, the candidate management unit 16, via the communication device 111, for the other vehicle, It is notified that the occupant in the other vehicle is a candidate for driving the own vehicle 1A. With this configuration, the driving cooperation device 10 can notify the driving candidates in advance in preparation for switching the own vehicle 1A from automatic driving to manual driving. Therefore, the candidates for driving other vehicles can immediately respond when the own vehicle 1A switches from automatic driving to manual driving.

Further, according to the first embodiment, the candidate management unit 16 includes, in the driving candidate list, a predetermined number of crew members among the high-priority crew members determined by the priority determination unit 15. The occupants in the driving candidate list are determined as driving candidates for the own vehicle 1A. Then, the candidate management unit 16 updates the driving candidate list according to changes in the passenger score or the candidate score. As a result, the driving coordinating device 10 only has to manage a predetermined number of people (for example, three people with the highest priority) as driving candidates, and the processing load can be reduced particularly when there are many other vehicles. can be done.

Further, according to the first embodiment, the candidate management unit 16 updates the driving candidate list when a new vehicle is added within the communicable range of vehicle-to-vehicle communication centered on the own vehicle 1A. do. As a result, when a new driving candidate appears, the driving coordinating device 10 can immediately include the driving candidate in the driving candidate list.

Further, the driving coordinating device 10 according to the first embodiment can detect the other vehicle in which the driving candidate determined by the candidate management unit 16 rides, based on the other vehicle information acquired by the other vehicle information acquisition unit 14. is the same as the destination or waypoint of the own vehicle 1A, the route setting unit 19 adjusts the route of the own vehicle 1A to the route of the other vehicle. As a result, the driving coordinating device 10 can avoid stopping the own vehicle 1A due to the absence of the driving candidate.

In Embodiment 1, when the candidate driver is actually performing the driving operation using the remote control device 117, the candidate driver will continue to perform the driving operation if there is no change in the candidate score. Continuing the driving operation by one driving candidate leads to fatigue and loss of concentration of the driving candidate. Therefore, the candidate management unit 16 may replace the driving candidate in the driving candidate list in consideration of the actual driving operation time. For example, the candidate management unit 16 determines that a predetermined time (for example, two hours) has passed since the driving candidate with the highest priority in the driving candidate list was caused to drive the own vehicle 1A. When the time elapses, the driving candidate having the second priority is made to perform the driving operation of the own vehicle 1A. In this way, the candidate management unit 16 determines the crew member included in the candidate driver list as a candidate driver, and selects the driver candidate as another driver candidate included in the candidate driver list each time a predetermined time elapses. replaced by the crew of As a result, the candidate management unit 16 can prevent driving operations from concentrating on a specific driving candidate.

Further, when there is only one candidate for driving in the candidate driving list, the candidate management unit 16 determines that when the driving operation time of the candidate for driving exceeds a predetermined time (for example, two hours), the vehicle The driver candidate may be notified via the notification unit 18 or the communication device 111 to stop the own vehicle 1A in the stoppable area.

Further, for example, when the new occupant of another vehicle becomes the first priority by the processing shown in the flowchart of FIG. A change of driver occurs with the new occupant of another vehicle. Here, when the driving operation time of the current driving candidate is shorter than a predetermined time (for example, 20 minutes), the candidate management unit 16 immediately implements the change to the new passenger of the other vehicle. Instead, when the driving operation time of the current driving candidate exceeds the predetermined time, the change to the new passenger of the other vehicle may be performed. As a result, the candidate management unit 16 can suppress the number of times the driving candidate changes, which occurs when the driving candidate with the first priority is frequently switched.

It should be noted that, within the scope of the invention, any component of the embodiment can be modified, or any component of the embodiment can be omitted.

1A, 1B, 1C vehicle, 1A-1, 1A-2, 1B-1, 1B-2, 1C-1, 1C-2, 1C-3 occupant, 10 operation cooperation device, 11 operation control unit, 12 own vehicle occupant information acquisition unit (occupant information acquisition unit), 13 other vehicle occupant information acquisition unit (occupant information acquisition unit), 14 other vehicle information acquisition unit, 15 priority determination unit, 16 candidate management unit, 17 vehicle information management unit, 18 Notification unit 19 Route setting unit 101 Processor 102 Memory 103 In-vehicle network IF 110 Communication bus 111 Communication device 112 In-vehicle camera 113 Heartbeat sensor 114 Outside camera 115 Driving control ECU 116 Navigation device 117 Remote Operating Device, 118 Output Device.

Claims (14)

an occupant information acquiring unit that acquires occupant information indicating the driving aptitude of each of the occupants riding in the vehicle and the occupants riding in other vehicles within a predetermined distance range from the vehicle;
a priority determination unit that determines a priority as a driver of the vehicle for each occupant riding in the vehicle and the other vehicle based on the occupant information acquired by the occupant information acquisition unit;
Based on the priority determined by the priority determination unit, a candidate for driving the vehicle is determined from among the occupants riding in the vehicle and the other vehicle, and a candidate management unit that acquires from the other vehicle information indicating whether or not the passenger is a candidate for driving the other vehicle, and manages the information;
When switching between automatic driving and manual driving of the vehicle, and switching from automatic driving to manual driving, operation of receiving the driving operation of the vehicle by the driving candidate determined by the candidate management unit and controlling the vehicle A driving cooperation device comprising a control unit. an other vehicle information acquisition unit that acquires other vehicle information including at least one of a destination or a waypoint of the other vehicle and a route;
The priority determination unit is configured to determine whether the vehicle and the other vehicle are based on the occupant information acquired by the occupant information acquisition unit and the other vehicle information acquired by the other vehicle information acquisition unit. 2. The driving coordinating device according to claim 1, wherein the priority as a driver of the vehicle is determined for each vehicle. 2. The driving coordinating device according to claim 1, wherein the driving control unit acquires from the remote controlling device the information about the driving operation of the vehicle by the candidate driving the vehicle received by the remote controlling device. 2. The driving coordinating device according to claim 1, wherein the predetermined distance is a communicable distance for inter-vehicle communication. The occupant information includes at least one of the presence or absence of a driver's license, drunkenness, drunkenness, fatigue, dozing off, or driving history,
2. The driving according to claim 1, wherein the priority determining unit calculates a passenger score indicating driving aptitude for each passenger based on the passenger information, and determines a priority according to the calculated passenger score. Collaborative device. The candidate management unit includes a predetermined number of occupants among the high-priority occupants determined by the priority determination unit in a candidate driving list, 6. The driving cooperation device according to claim 5, wherein the driving candidate is determined. 7. The driving cooperation device according to claim 6, wherein the candidate management unit updates the driving candidate list according to changes in the passenger score. 7. The driving cooperation device according to claim 6, wherein the candidate management unit updates the driving candidate list when a new other vehicle is added within the predetermined distance range. Based on the other vehicle information acquired by the other vehicle information acquisition unit, the destination or waypoint of the other vehicle in which the driving candidate is boarding determined by the candidate management unit is the destination or the transit point of the vehicle. 3. The driving cooperation device according to claim 2, further comprising a route setting unit that matches the route of the vehicle with the route of the other vehicle when the route is the same as the waypoint. A claim characterized in that, when the candidate for driving the vehicle is an occupant riding in the vehicle, the candidate management unit notifies the occupant that the candidate is the candidate for driving the vehicle. Item 1. The driving cooperation device according to item 1. When the driver candidate for the vehicle is an occupant riding in the other vehicle, the candidate management unit determines whether the occupant riding in the other vehicle is a candidate for driving the vehicle. 2. The driving coordinating device according to claim 1, wherein the driving cooperation device notifies that the driver is a person. The candidate management unit determines a driver included in the driver candidate list as a driver candidate, and replaces the driver candidate with another driver included in the driver candidate list every time a predetermined time elapses. 7. The driving coordinating device according to claim 6, wherein the driving interlocking device changes to . An occupant information acquisition unit acquires occupant information indicating the driving aptitude of each of the occupants riding in the vehicle and the occupants riding in other vehicles within a predetermined distance range from the vehicle,
A priority determination unit determines a priority as a driver of the vehicle for each occupant riding in the vehicle and the other vehicle based on the occupant information acquired by the occupant information acquisition unit;
A candidate management unit, based on the priority determined by the priority determination unit, determines a driving candidate for driving the vehicle from among the occupants riding in the vehicle and the other vehicle, Acquiring from the other vehicle information indicating whether or not an occupant riding in the vehicle is a candidate for driving the other vehicle, and managing the information;
When the driving control unit switches between automatic driving and manual driving of the vehicle, and switches from automatic driving to manual driving, the driving operation of the vehicle by the driving candidate determined by the candidate managing unit is received and the Driving cooperation method for controlling a vehicle. an occupant information acquisition procedure for acquiring occupant information indicating the driving aptitude of each of the occupants riding in the vehicle and the occupants riding in other vehicles within a predetermined distance range from the vehicle;
a priority determination procedure for determining priority as a driver of the vehicle for each occupant riding in the vehicle and the other vehicle based on the occupant information acquired by the occupant information acquisition procedure;
Based on the priority determined by the priority determination procedure, a driver candidate for driving the vehicle is determined from among the occupants riding in the vehicle and the other vehicle, and a candidate management procedure for acquiring and managing information from the other vehicle indicating whether or not the passenger is a candidate for driving the other vehicle;
When switching between automatic driving and manual driving of the vehicle, and switching from automatic driving to manual driving, operation of receiving the driving operation of the vehicle by the driving candidate determined by the candidate management procedure and controlling the vehicle. A driving cooperation program that causes a computer to execute a control procedure.

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