JP7440135B2 - Automotive and automotive programs - Google Patents

Description

The present invention relates to automobiles and automobile programs.

In recent years, there has been progress in the development of automobiles equipped with automatic driving modes that allow autonomous driving without the need for manual driving operations by the driver. In the future, it is expected that fully self-driving cars will appear that do not require any manual driving operations by the driver, but for the time being, there will be a manual driving mode and a manual driving operation by the driver. It is conceivable that cars will be equipped with an automatic driving mode in which the car can drive itself autonomously, and that both modes will be used by switching between them.

In this case, the switching from the manual driving mode to the automatic driving mode is not only performed by the driver performing a predetermined operation, but also by, for example, Patent Document 1 (Japanese Patent Application Laid-open No. 2015-118438) and Patent Document 2 ( As described in Japanese Unexamined Patent Application Publication No. 2015-133050, a computer in the vehicle monitors predetermined switching conditions, and when it detects that the switching conditions are met, the switching is forcibly executed. It is also proposed that

Japanese Patent Application Publication No. 2015-118438 Japanese Patent Application Publication No. 2015-133050

A driver may switch from automatic driving mode to manual driving mode, and when making this switch, it is useful to ensure that navigation can be smoothly used in manual driving mode after switching. .

An object of the present invention is to provide an automobile that can solve the above problems.

In order to solve the above problem, the invention of claim 1:
In a vehicle equipped with a manual driving mode in which driving is performed based on driving operations by the driver and an automatic driving mode in which autonomous driving is performed,
In the manual driving mode, a navigation means for the manual driving mode for supporting driving to the destination or the destination and the stopover point;
In the automatic driving mode, navigation means for the automatic driving mode for supporting the autonomous driving to the destination or the destination and the stopover point;
a first inquiry means for inquiring whether to start the navigation means for the manual operation mode when the automatic operation mode is switched to the manual operation mode;
If a response is received in response to the first inquiry means that the navigation means for the manual driving mode is to be activated, the navigation means for the automatic driving mode operating in the automatic driving mode is set. a second inquiry means for inquiring whether to change the destination or the destination and/or the stopover;
To provide an automobile characterized by comprising:

In the invention configured as described above, when the self-driving mode is switched from the self-driving mode to the manual driving mode, an inquiry is made as to whether or not to start the navigation means for the manual driving mode, and the manual driving mode is If we receive a response that the navigation means for driving mode will be activated, the destination set in the navigation means for automatic driving mode that is currently operating in automatic driving mode, or the destination and/or waypoints will be changed. An inquiry is made as to whether or not to do so.

According to the automobile according to the present invention, it can be expected that switching from the automatic driving mode to the manual driving mode from the own vehicle will be performed smoothly.

1 is a block diagram showing an example of the configuration of an electronic control circuit section included in an embodiment of an automobile according to the present invention. FIG. FIG. 2 is a functional block diagram for explaining a configuration example of a main part of an electronic control circuit section included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram for explaining an example of switching conditions stored in a storage unit included in an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram for explaining an example of switching conditions stored in a storage unit included in an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram for explaining an example of switching conditions stored in a storage unit included in an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram for explaining an example of switching conditions stored in a storage unit included in an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram for explaining an example of switching conditions stored in a storage unit included in an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram for explaining an example of switching conditions stored in a storage unit included in an electronic control circuit unit included in an embodiment of an automobile according to the present invention. It is a figure which shows the flowchart for demonstrating the example of the processing operation of the electronic control circuit part which the embodiment of the motor vehicle by this invention is equipped with. FIG. 3 is a diagram showing a part of a flowchart for explaining an example of processing operations of an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram showing a part of a flowchart for explaining an example of processing operations of an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram showing a part of a flowchart for explaining an example of processing operations of an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram showing a part of a flowchart for explaining an example of processing operations of an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram showing a part of a flowchart for explaining an example of processing operations of an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram showing a part of a flowchart for explaining an example of processing operations of an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram showing a part of a flowchart for explaining an example of processing operations of an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram showing a part of a flowchart for explaining an example of processing operations of an electronic control circuit unit included in an embodiment of an automobile according to the present invention. FIG. 3 is a diagram showing a part of a flowchart for explaining an example of processing operations of an electronic control circuit unit included in an embodiment of an automobile according to the present invention. It is a figure which shows a part of flowchart for demonstrating the example of the processing operation of the electronic control circuit part which the other embodiment of the motor vehicle by this invention is equipped with. It is a figure which shows a part of flowchart for demonstrating the example of the processing operation of the electronic control circuit part which the other embodiment of the motor vehicle by this invention is equipped with. It is a figure which shows a part of flowchart for demonstrating the example of the processing operation of the electronic control circuit part which the other embodiment of the motor vehicle by this invention is equipped with.

FIG. 1 is a block diagram showing an example of the hardware configuration of an electronic control circuit section 10 of an automobile 1 according to an embodiment of the present invention. Note that the vehicle 1 of this embodiment is an example of an electric vehicle. However, the battery is not shown in FIG. 1.

Furthermore, the automobile 1 of this embodiment has an automatic driving mode and a manual driving mode. The manual driving mode is a mode in which the vehicle can be driven in accordance with the driver's accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (steering wheel operation), as in a normal automobile. In addition, in automatic driving mode, the vehicle 1 autonomously (automatically) changes course while avoiding obstacles without the driver operating the accelerator pedal, brake pedal, shift lever, or steering wheel. This is a mode for autonomous driving.

Normally, the driver of the vehicle 1 can switch the vehicle 1 running in the manual driving mode to the automatic driving mode by, for example, a predetermined operation through the touch panel 112 described later, and can also switch the vehicle 1 running in the automatic driving mode to the automatic driving mode. The vehicle is configured to automatically return to manual driving mode when the driver operates the accelerator pedal, brake pedal, shift lever, or steering wheel. However, as will be described later, when the vehicle 1 is forcibly switched from the manual driving mode to the automatic driving mode, the vehicle 1 must switch to the manual driving mode described above only after satisfying a predetermined release condition, which will be described later. Even if you perform a return operation, that operation will be invalidated and the vehicle will be controlled to maintain driving in automatic driving mode.

In order to distinguish it from the normal automatic driving mode, which is selected and set by the user through the touch panel 112, etc., the automatic driving mode is such that even if the operation to return to the manual driving mode after the forced switch is made, the operation is invalid. In this specification, this is particularly referred to as a forced automatic driving mode, and an automatic driving mode that is not a forced automatic driving mode is referred to as a normal automatic driving mode.

As shown in FIG. 1, the electronic control circuit section 10 connects a motor drive control section 102, a steering drive control section 103, a manual/automatic Driving mode switching control unit 104, manual driving operation detection unit 105, radar group 106, camera group 107, sensor group 108, surrounding moving object recognition unit 109, current position detection unit 110, display unit 111, touch panel 112, car navigation (hereinafter referred to as , car navigation) function unit 113, image recognition unit 114, automatic driving switching condition determination unit 115, voice recognition unit 116, vehicle interior situation determination unit 117, own vehicle movement analysis detection unit 118, mobile phone function unit 119, clock unit 120, a synthesized speech generation section 121, and an audio input/output section 122 are connected to each other.

A motor drive section 131 is connected to the motor drive control section 102 . A steering drive section 132 is connected to the steering drive control section 103 . Further, a car navigation database 133 is connected to the car navigation function section 113. Further, the image recognition unit 114 is connected to an image information storage unit 134 that stores image information of comparison images for image recognition. Further, an automatic operation switching condition storage section 135 is connected to the automatic operation switching condition determination section 115. Further, the speech recognition section 116 is connected to a speech information storage section 136 that stores speech information of comparison speech for speech recognition. A microphone 137 and a speaker 138 are connected to the audio input/output section 122.

Under the control of the control unit 101, the motor drive control unit 102 controls the supply of a drive signal to the motor drive unit 131 of the vehicle 1 constituted by the electric vehicle of this embodiment, and starts driving the vehicle 1. It controls travel speed control (including brake control and accelerator control), travel stop, etc.

The steering drive control section 103 controls the supply of a drive control signal to the steering drive section 132 of the automobile 1 in this embodiment under the control of the control section 101 so as to control the course change of the automobile 1. do.

The manual/automatic driving mode switching control unit 104 performs control to switch the driving mode of the vehicle 1 to either the manual driving mode or the automatic driving mode in response to a selection operation input through the touch panel 112, and also performs control to switch the driving mode of the vehicle 1 to either the manual driving mode or the automatic driving mode, as will be described later. According to the determination result of the automatic driving switching condition determining unit 115, control is performed to switch the driving mode of the automobile 1 to one of the manual driving mode, the automatic driving mode, and the forced automatic driving mode.

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

The manual/automatic driving mode switching control section 104 supplies manual driving operation information from the manual driving operation detection section 105 to the motor drive control section 102 and the steering drive control section 103 when the automobile 1 is in the manual driving mode. , a motor drive section 131, and a steering drive section 132 in accordance with the driver's pedal operations, shift lever operations, and steering operations (steering wheel operations).

Furthermore, when the vehicle 1 is in the automatic driving mode (including the forced automatic driving mode), the manual/automatic driving mode switching control unit 104 controls the radar group 106, camera group 107, sensor group 108, surrounding movement, etc. as described later. The automatic driving operation information generated by the control unit 101 based on the output of the body grasping unit 109 is supplied to the motor drive control unit 102 and the steering drive control unit 103 to automatically control the motor drive unit 131 and the steering drive unit 132. Drive control is performed based on driving operation information.

In this embodiment, as described above, the manual/automatic driving mode switching control unit 104 receives the switching condition determination result from the automatic driving switching condition determining unit 115, and receives the driver's or passenger's intention. Contrary to this, that is, contrary to the selection and setting of the driving mode by the driver or passenger, control is also performed to automatically switch from the manual driving mode to the automatic driving mode.

In the normal automatic driving mode, which is not the forced automatic driving mode, the manual/automatic driving mode switching control unit 104 controls whether the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering wheel while driving in the automatic driving mode. (handle operation), mode switching control is performed so that the driving mode of the automobile 1 is automatically returned to the manual driving mode based on the detected information of the manual driving operation.

However, when the driving mode of the vehicle 1 is the forced automatic driving mode, the driver is not allowed to operate the accelerator pedal, brake pedal, shift lever, or steering wheel unless the release conditions described below are satisfied. However, the manual/automatic driving mode switching control unit 104 invalidates the manual driving operation information and maintains the forced automatic driving mode.

The radar group 106 is a laser radar (formally LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging)) for measuring the distance to people and objects around the vehicle 1. and millimeter wave radar. Laser radars are embedded, for example, in the ceiling or near the bumper, and millimeter wave radars are installed, for example, at the front and rear of the vehicle. It may be equipped with both a laser radar and a millimeter wave radar, or only one. Other radars such as submillimeter wave radar and microwave radar may also be used. Furthermore, sonar (not shown) using acoustic waves or ultrasonic waves can be used for the same purpose as radar.

The camera group 107 includes one or more cameras that take pictures of the inside of the car 1, and one or more cameras that take pictures of the surroundings outside the car 1, such as the front, sides, and rear of the car. Cameras that take pictures of the inside of a car are installed, for example, in the rearview mirror (rearview mirror, room mirror) installed between the driver's seat and passenger seat, or on the top of the front window. In addition to cameras that capture the movements of passengers, this includes cameras that capture the movements of passengers sitting in the front passenger seat and the rear seats. In addition, the cameras that take pictures of the surroundings of the car 1 include, for example, two cameras (stereo cameras) that are attached to the left and right sides of the rearview mirror and mainly take pictures of the left front and right front of the car 1, and the cameras that take pictures of the surroundings of the car 1. For example, a camera that is attached to a door mirror or fender mirror to take pictures of the left and right sides, a camera that takes pictures of the rear of the car 1, and an omnidirectional camera (360 degree camera) or a fisheye camera that is attached to the roof and takes a wide-angle picture of the surroundings. , etc.

The sensor group 108 includes an opening/closing detection sensor that detects opening/closing of a door or a window of the automobile 1, a sensor for detecting the wearing of a seatbelt, and a sensor for detecting that a passenger is seated in a seat such as a driver's seat or a passenger seat. In addition to seating sensors (e.g. weight sensors), touch sensors (e.g. capacitance sensors) that detect when a person touches the driver's seat handle, human sensors (e.g. infrared sensors) that detect nearby people outside the vehicle. It also includes various sensors to obtain information to assist with autonomous driving. Various sensors for acquiring information to assist autonomous driving include, for example, vibration sensors for detecting vibrations of vehicles and tires, rotation speed sensors for detecting tire rotation speed, and sensors for detecting direction. These include a geomagnetic sensor, an acceleration sensor for detecting acceleration, and a gyro sensor (gyroscope) for detecting angle and angular velocity. In this embodiment, the sensor group 108 also includes sensors that detect blinking of the right turn signal, left turn signal (turn signal), hazard lamp (emergency flashing light), and lighting of backlights, brake lights, etc. There is. Furthermore, in this embodiment, the sensor group 108 also includes a sensor that detects the traveling speed of the own vehicle.

In this embodiment, the sensor group 108 also includes a temperature sensor, a humidity sensor, a heat sensor, a smoke sensor, an exhalation sensor, a carbon monoxide sensor, a hydrogen sulfide sensor, etc., which help in determining the inside situation of the automobile 1. is included. The heat sensor and smoke sensor are used to detect the occurrence of a fire inside the vehicle, the exhalation sensor is used to detect whether the driver has been drinking, and the carbon monoxide sensor and hydrogen sulfide sensor are used to detect the occurrence of a fire inside the vehicle. , to detect when a gas that is toxic to the human body is generated inside a vehicle.

The surrounding moving object understanding unit 109 uses images captured by the radar group 106, the sensor group 108, and the camera group 107 to understand moving objects (including people) around the own vehicle. The surrounding moving object grasping unit 109 grasps surrounding obstacles and moving objects by performing processing based on Bayesian theory, for example.

The current position detection unit 110 receives radio waves from GPS satellites and detects the current position of the own vehicle. Since the accuracy of the position detected by the radio waves from the GPS satellite is low, the current position detection unit 110 uses not only the information of the current position detected by receiving the radio wave from the GPS satellite, but also the information from 1 to 1 included in the sensor group 108. In addition to using sensor output information from a plurality of sensors, output information from the radar group 106, captured images from one or more cameras included in the camera group 107 (combined with the navigation function), etc., based on Bayesian theory, for example. By performing additional processing, the current position can be detected and confirmed with higher accuracy.

In the automatic driving mode, the vehicle 1 uses the current position detection unit 110 and surrounding moving object recognition unit 109 to collect position information, etc., obtained by receiving radio waves from the radar group 106, camera group 107, sensor group 108, and GPS satellites. Various types of information, that is, information corresponding to information obtained from human eyes and ears, are processed by machine learning such as Bayesian theory and deep learning, and based on this, the control unit 101 can change the course of the own vehicle or It performs intelligent information processing (artificial intelligence) and control (artificial intelligence) such as obstacle avoidance to generate autonomous driving operation information.

The display unit 111 includes, for example, an LCD (Liquid Crystal Display). The touch panel 112 has a touch sensor that allows touch input using a finger, touch pen, etc. superimposed on the display screen of the display unit 111 made of an LCD. A display image including software buttons (including a button for inputting characters on a keyboard) is displayed on the display screen of the display unit 111 under the control of the control unit 101. When the touch panel 112 detects a touch by a finger, touch pen, or the like on a software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101 . Upon receiving this, the control unit 101 is configured to execute control processing corresponding to the software button.

In this embodiment, as shown in FIG. 2, the car navigation function section 113 includes a manual driving navigation function section 200 that constitutes a navigation means for the manual driving mode, and an automatic driving navigation function section 200 that constitutes the navigation means for the automatic driving mode. A navigation function section 300 is provided. The manual driving navigation function section 200 assists the driver in providing route guidance to the destination. Furthermore, the automatic driving navigation function unit 300 supports autonomous driving of the automobile 1 itself to a destination.

In this embodiment, as will be described later, the control unit 101 prompts the driver or passenger to input the destination setting when the own vehicle is started, and if the destination setting is input, the control unit 101 prompts the driver or passenger to input the destination setting. If so, remember it. This is to avoid the need to set a destination when switching to automatic driving mode and transitioning to autonomous driving. Furthermore, if necessary, the user may be prompted to input the setting of the waypoint, and if there is a setting input of the waypoint, it may be stored. In this case, when switching to automatic driving mode and transitioning to autonomous driving, it is not necessary to set not only the destination but also the waypoints. If a waypoint has been set, the manual driving navigation function unit 200 supports the driver to provide route guidance to the destination via the relevant waypoint, and activates the automatic driving navigation function. The unit 300 supports autonomous driving of the automobile 1 itself to the destination along a route that passes through the relevant stopover points.

As shown in FIG. 2, the manual driving navigation function section 200 includes a setting reception section 201, a route search section 202, and a route guidance section 203. The route guide section 203 includes a map display section 2031 and an audio guidance section 2032. The autonomous driving navigation function unit 300 also includes a setting reception unit 301, a route search unit 302, an automatic driving control information generation unit 303, a map display unit 304, a voice guidance unit 305, and a surrounding information providing unit 306. Equipped with.

As shown in FIG. 2, the car navigation database 133 connected to the car navigation function unit 113 includes, in this example, a map database 1331 storing domestic map data of Japan, and a map database 1331 that stores domestic map data of Japan. It stores route search data, including a route search database 1332 for the manual driving navigation function section and a route search database 1333 for the automatic driving navigation function section.

In this embodiment, the route search database is divided into a route search database 1332 for the manual driving navigation function section and a route search database 1333 for the automatic driving navigation function section. This is because the driver can drive manually according to his/her own judgment, so the support is minimal, whereas autonomous driving by the car 1 requires more detailed support.

In this embodiment, the manual driving navigation function unit 200 is activated based on an activation instruction operation by the driver or passenger through the touch panel 112 or a voice activation instruction recognized by the voice recognition unit 116. As will be described later, when the automatic driving mode is switched to the manual driving mode, in response to an inquiry from the vehicle 1, a start instruction operation via the touch panel 112 or a start instruction by voice recognized by the voice recognition unit 116 is performed. to start.

The setting reception unit 201 of the manual driving navigation function unit 200 inputs settings such as the departure point, destination, and waypoints (waypoints to the destination. Settings are optional), as well as whether to give priority to expressways. , Prioritize public roads, prioritize distance (prioritize the shortest route), prioritize time (prioritize the one with shorter arrival time), or prioritize cost (prioritize the one that costs less) It accepts and stores priority setting inputs such as Note that if a destination is set when the own vehicle is started, the stored and set destination is set as the default destination. Of course, this default destination can be changed or deleted. Of course, if a waypoint is set in addition to the destination when the own vehicle is started, the stored and set waypoint is set as the default waypoint. This default waypoint can also be changed or deleted.

The route search unit 202 searches for a route based on the setting input stored in the setting reception unit 201 using the route search database 1332 for the manual driving navigation function unit, and sends the route search result to the route guidance unit. 203.

In the route guidance unit 203, the map display unit 2031 displays the results based on the route search result received from the route search unit 202, the map data in the map database 1331, and the current position data detected by the current position detection unit 110. On the display screen of the section 111, a map image including the current location of the vehicle and the planned travel route is displayed, and the audio guidance section 2032 emits route guidance audio to support the driver's driving operations through the speaker 138. Do it like this.

That is, the map display unit 2031 displays the own vehicle position detected and confirmed by the current position detection unit 110 on a map that explicitly displays the route to the destination on the display screen of the display unit 111. The superimposed image is displayed, and the vehicle position (current position) on the map is moved as the vehicle moves.

Furthermore, the voice guidance unit 2032 provides voice guidance using synthesized voice at locations where route guidance is required, such as intersections and branch points on the route to the destination. In this case, for example, when the current position of the vehicle approaches a fork at which a right turn is to be made, the current position of the vehicle becomes a position before the fork, for example, 300 meters before, 100 meters before, 50 meters before, etc. In addition, a guidance voice is emitted so that the driver can easily recognize the driving operation to be performed at the junction. For example, the audio guidance unit 2032 emits guidance sounds such as "Turn right after 300 meters", "Turn right after 100 meters", "Turn right here", etc. as the vehicle is traveling. With this voice guidance, the driver can reliably recognize the intersection or junction position at which he or she should turn right, and perform a right turn driving operation.

In this embodiment, the automatic driving navigation function unit 300 is automatically activated under the control of the control unit 101 when the manual driving mode is switched to the automatic driving mode. Therefore, the automatic driving navigation function section 300 always recognizes the activated current position as the starting point. Therefore, in the automatic driving navigation function section 300, it is not necessary to input the setting of the departure point.

In this embodiment, the setting reception unit 301 of the automatic driving navigation function unit 300 determines whether or not the destination has already been set, and if the destination has not been set, the setting reception unit 301 inputs the destination setting to the driver. The destination will be memorized. Of course, the destination setting input may be made selectively input, prompting the driver or passenger to select the destination, and storing the selected destination. Further, the driver or passenger is prompted to input setting or selection of a stopover point (selective input from a plurality of candidates, including no stopover point), and stores the set or selected stopover point. Note that if a destination or waypoint is set when the own vehicle is started, the stored destination or waypoint may be used as is, but in this embodiment, the user In consideration of convenience, the driver is asked whether or not to change the destination or waypoint, and if there is no change to the destination or waypoint, the stored destination or waypoint is adopted.

In addition to inputting settings such as the destination and waypoints (waypoints to the destination. Settings are optional), the setting reception unit 301 also inputs settings such as the destination, waypoints (waypoints to the destination, settings are optional), and also inputs settings such as whether to prioritize expressways, local roads, and distance. (Prioritize the shortest route), time (prioritize the shortest arrival time), or cost priority (prioritize the one that costs less) and store it. .

By the way, the driver or passenger can completely leave the execution of the automatic driving navigation function section 300 in the automatic driving mode to the autonomous operation of the automatic driving of the car 1, and when he or she falls asleep or wants to act freely, , route guidance and map display are no longer necessary. Additionally, some drivers and passengers may want to know the current location of their own vehicle on a map or the type of driving they will do when executing the automatic driving navigation function unit 300 in the automatic driving mode. . Further, although drivers and passengers do not need audio route guidance, when they arrive at a particular point, they may want to know surrounding information such as tourist information and restaurant information for that point.

Furthermore, regarding switching from the automatic driving mode to the manual driving mode, when the manual driving operation detection unit 105 detects a manual driving operation, should the mode be immediately switched to the manual driving mode, or, for example, whether the manual driving operation detection unit 105 Even if an operation is detected, the mode is switched to manual operation mode only when an explicit switching instruction operation through the touch panel 112 is detected or when an explicit switching instruction is received by voice through the voice recognition unit 116. In some cases, it may be desired to also set the level of switching from automatic operation mode to manual operation mode.

Considering the above, the setting reception unit 301 of the automatic driving navigation function unit 300, when the automatic driving navigation function unit 300 is activated in conjunction with switching from manual driving mode to automatic driving mode, Whether or not to request map display while the above-mentioned navigation is running; whether to request route guidance and surrounding information provision services using synthesized voices (described later); whether to register points for which surrounding information is requested; It is also possible to accept setting inputs such as which of the above levels should be used for switching to the manual operation mode. Note that the setting reception unit 301 of the navigation function unit 300 for automatic driving, like the setting reception unit 201 of the navigation function unit 200 for manual driving, sets the destination, stopover, expressway priority, distance priority, time priority, and cost priority. It is also possible to accept and store setting inputs such as the following.

The route search unit 302 searches for a route based on the setting input stored in the setting reception unit 301 using the route search database 1333 for the navigation function unit for automatic driving, and uses the route search result for the automatic driving navigation function unit. The information is provided to the control information generation unit 303.

The automatic driving control information generation unit 303 determines the location of the own vehicle based on the route search result received from the route search unit 302, map data in the map database 1331, and current position data detected by the current position detection unit 110. Generate driving control instruction information to support autonomous driving. The control unit 101 controls the motor drive control unit 102 and the steering drive control unit 103 to execute autonomous driving based on this driving control instruction information.

In this case, when the current position of the own vehicle is far from the route to the destination, the automatic driving control information generation unit 303 notifies the control unit 101 of information on the direction and distance of the distance, and also When the current position of the vehicle is on the route to the destination, as the vehicle moves, the controller 101 is notified of direction change instruction information along the route before an intersection, branch point, etc. on the route. I'll do what I do. Based on the driving control instruction information notified from the automatic driving control information generating section 303, the current position confirmation result of the current position detecting section 110, and the grasping result of the surrounding moving object grasping section 109, the control section 101, A controller for controlling the motor drive unit 131 through the motor drive control unit 102 and controlling the steering drive unit 132 through the steering drive control unit 103 so that the own vehicle moves along the route as instructed. Generate automatic driving operation information. Therefore, even when no passengers are present, the automobile 1 can move to the destination by providing route guidance to the destination by the automatic driving navigation function unit 300 and the control unit 101 of the car navigation function unit 113 in the automatic driving mode. I can do it.

The map display unit 304 is a processing function unit that performs map display processing while the automatic driving navigation function is being executed. Since the map display unit 304 does not need to provide assistance to the driver in the autonomous driving navigation function, in this embodiment, the display screen of the display unit 111 is divided near an intersection or a branch point. Displays that provide guidance by enlarging the vicinity of branch points are omitted. Note that the map display section 304 may perform the same map display processing as the map display section 2031 of the route guide section 203 of the manual driving navigation function section 200; in that case, the manual driving navigation function section The map display section 2031 of the route guide section 203 of 200 can also be used as the map display section 304 of the navigation function section 300 for automatic driving.

The map display unit 304 is activated and becomes operational when the setting reception unit 301 sets a request to display a map during the execution of the navigation for automatic driving, and the map display unit 304 is activated and becomes operational when the navigation function unit 300 for automatic driving executes the navigation. When the map display is executed and the map display is not requested, it becomes inactive. The switch 307 in FIG. 2 is used to explicitly indicate that the map display section 304 can be switched between operation and non-operation according to the user's settings, and is not actually provided.

The voice guidance unit 305 is a processing function unit that performs voice guidance processing using synthesized voice while the automatic driving navigation is being executed. The self-driving navigation function does not need to provide assistance to the driver, so it provides polite voice guidance as you approach an intersection or junction, such as "Turn right after 300 meters." or "You're almost at a fork in the road." In this embodiment, the voice guidance unit 305 performs voice guidance processing to notify the driver and passengers of what actions the own vehicle will take at intersections and junctions. Note that the voice guidance section 305 may of course provide voice guidance similar to the voice guidance section 2032 of the manual driving navigation function section 200. In that case, the voice guidance section 2032 of the route guide section 203 of the navigation function section 200 for manual driving can also be used as the voice guidance section 305 of the navigation function section 300 for automatic driving.

This voice guidance unit 305 is also activated and becomes operational when the setting receiving unit 301 sets a request for voice guidance during execution of the navigation for automatic driving, and the navigation is executed by the navigation function unit 300 for automatic driving. When voice guidance is executed and voice guidance is not requested, it becomes inactive. The switch 308 in FIG. 2 is used to explicitly indicate that the voice guidance section 305 can be switched between operation and non-operation according to the user's settings, and is not actually provided.

The surrounding information providing unit 306 enters the operating state when the setting receiving unit 301 receives registration of a point for which provision of surrounding information is requested. The switch 309 in FIG. 2 is used to explicitly indicate that the peripheral information providing unit 306 can be switched between operating and non-operating according to the user's settings, and is not actually provided.

The surrounding information providing unit 306 monitors the current position of the own vehicle detected by the current position detecting unit 110, and updates the car navigation database 133 when the current position of the own vehicle reaches a registered point or its vicinity. The information regarding the registered point stored in the map database of , for example, tourist information, guide information on surrounding scenery, information on eating establishments such as surrounding restaurants, etc. is read out and displayed on the display screen of the display unit 111. Or, through the audio input/output unit 122, a synthetic voice is notified through the speaker 138. In this case, if the user can register in advance in the setting reception unit 301 whether to request similar information as peripheral information, only the registered peripheral information is required. is provided.

Note that while the navigation function of the manual driving navigation function unit 200 and the automatic driving navigation function unit 300 is executing, an icon button for searching the surrounding area is displayed on the display screen of the display unit 111, and the driver or When the passenger presses this nearby search icon button, it is detected on the touch panel 112, and depending on the detection result, the navigation function for manual driving 200 or the navigation function for automatic driving that is being executed at that time is selected. The unit 300 is configured to execute a function of searching around the current position where the icon button for searching around is pressed and providing the search results to the driver or passenger. There is.

As described later, when switching from manual driving mode to automatic driving mode (or forced automatic driving mode), the destination is not the name or location information of the destination, but the attributes of the destination, such as "hospital", When “gas station” and “convenience store (hereinafter referred to as convenience store)” are registered, the automatic driving navigation function unit 300 of the car navigation function unit 113 detects the current position detected by the current position detection unit 110. Centering around the location, a surrounding search is performed regarding the attributes of the destination, and the facilities and places resulting from the surrounding search are set as the destination.

Further, in this embodiment, the car navigation function unit 113 uses the latitude and longitude information of the current position information detected by the current position detection unit 110 to refer to map information in the car navigation database 133 to determine the location of the current position. It has the ability to detect names, facility names, and addresses. Then, as will be described later, the voice guidance section 2032 of the manual driving navigation function section 200 of the car navigation function section 113 and the voice guidance section 305 of the automatic driving navigation function section 300, It also has a function to transfer the name of the address to the synthesized speech generation section 121 under the control of the control section 101.

The image recognition unit 114 performs a matching process between a captured image from a camera photographing the inside of the vehicle or a camera photographing the outside of the vehicle in the camera group 107 and image information stored in the image information storage unit 134. Image recognition results are obtained to determine the conditions inside the vehicle, including physical abnormalities of the driver and passengers, as well as the driver's behavior such as falling asleep, eating, drinking, smoking, looking away, and the driver's footwear. The image recognition unit 114 transfers the obtained recognition result to the in-vehicle situation determination unit 117.

The image recognition unit 114 also recognizes a person standing at a crosswalk or a barrier at a railway crossing from images taken by cameras that photograph the outside of the vehicle in the camera group 107. The image recognition unit 114 also has a function of recognizing road signs and road markings from images captured by cameras in the camera group 107 that photograph the outside of the vehicle.

Further, the image information storage unit 134 connected to the image recognition unit 114 stores image information of comparison images for image recognition. The comparison images stored in the image information storage unit 134 include images of a person sitting in a seat in a state of confusion, inability to remember front and back, and fainting, for comparison with images taken by a camera that photographs the interior of the car; Images of epileptic seizures, images of people falling asleep (eyelids remaining closed for more than a certain period of time, head cocking, etc.), images of people looking away or inattentive, images of people eating or drinking. , as well as images of food and drink objects (rice balls, sandwiches, bento boxes, sweets, ice cream, water, tea, coffee, etc.) (which assists in the detection of eating and drinking), and cigarettes (which assists in the detection of smoking). This includes images of footwear (footwear such as clogs, slippers, high heels, etc. that may cause a driver's error when driving), and images of bare feet (a condition where the user is not wearing footwear and may cause a driver's error while driving).

Furthermore, the comparison images stored in the image information storage unit 134 include images of landscapes that cause people to look away or look aside (for example, images of spectacular views of autumn leaves, This includes images of famous places and historic sites, images of portable shrines at festivals, images of fireworks, images of new store opening sales, etc.) and images of celebrities (for example, images of famous entertainers and athletes).

Furthermore, image data of road signs and road markings is registered and stored in advance in the image information storage unit 134 as comparison images. The image recognition unit 114 combines captured images from one or more cameras of the camera group 107 that capture images of the front, side, rear, etc. of the exterior of the vehicle 1 with image data of road signs and road markings. By performing matching processing, road signs and road markings are extracted from the images captured by the one or more cameras.

The image recognition unit 114 also transfers the recognition result based on the captured image from the camera that photographs the outside of the vehicle to the own vehicle movement analysis detection unit 118.

The self-vehicle motion analysis and detection unit 118 detects movements of the self-vehicle (car 1), such as starting, stopping, going straight, slowing down, turning right, turning left, and retreating, from images captured by the cameras of the camera group 107, and Detects movements such as pulling to the left side of the road or crossing the center line of the driving lane.

The automatic operation switching condition determination unit 115 switches from the manual operation mode stored in the automatic operation switching condition storage unit 135, the storage contents of which will be detailed later, to the automatic operation mode (including the normal automatic operation mode and the forced automatic operation mode). It is determined whether the conditions inside the vehicle and the behavior of the driver in manual driving mode match any of the switching conditions, and when it is determined that they match, the mode changes from manual driving mode to normal automatic driving mode or An instruction to switch to the forced automatic driving mode is sent to the manual/automatic driving mode switching control section 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 detecting physical abnormalities of the driver and passengers, and detecting physical abnormalities of the driver and passengers. Obtain voice recognition results for determining conditions inside the vehicle, such as the passenger's desire to defecate or urinate. The voice recognition unit 116 transfers the obtained recognition result to the in-vehicle situation determination unit 117.

The voice information storage unit 136 connected to the voice recognition unit 116 stores sounds such as groans, wheezing noises, screams, etc. made by the driver or passenger when a physical abnormality occurs, or “I am in pain”, “Help me”, “ Voice information such as "I feel sick", "Do something", "I feel sick", "I feel like throwing up", "Ugh", "Geez", and when the driver or passenger feels the urge to defecate or urinate. Speech information such as "toilet", "restroom", "restroom", "limit", "almost leaking", etc., is used for voice recognition in the voice recognition unit 116. It is stored for comparison. Furthermore, the sound information storage unit 136 also stores a child's cry, the sound of a child falling from a seat, a pet's bark, etc., registered in advance.

The in-vehicle situation determination unit 117 receives image recognition results from the image recognition unit 114, voice recognition results from the voice recognition unit 116, and sensors from one or more sensors in the sensor group 108 that contribute to determining the in-vehicle situation. Based on the output, the conditions inside the vehicle, which are the conditions for switching from manual driving mode to automatic driving mode, are determined. Then, the in-vehicle situation determining section 117 transfers the determination result of the in-vehicle situation to the automatic driving switching condition determining section 115.

In this example, the mobile phone function section 119 is built in the automobile 1 in advance, and is registered as a subscriber and assigned a predetermined subscriber number. The driver and passengers of the automobile 1 can talk on a mobile phone in a so-called hands-free manner. Then, as will be described later, when a report to 119 is stored as setting information related to the switching condition stored in the automatic driving switching condition storage unit 135, the control unit 101 of the automobile 1 It has a function to make a 119 call through the telephone function section 119. The report information in the 119 call is composed of synthesized speech from the synthesized speech generator 121. Furthermore, the mobile phone function section 119 also has a mail function and an Internet connection function.

The clock section 120 has a calendar function, provides the current date and time, and also has a timer function that measures time from a predetermined timing point based on the control of the control section 101.

The synthesized voice generating section 121 has a built-in memory for storing voice message data to be emitted to the outside, and also receives route guidance from the voice guidance section 2032 and the voice guidance section 304 of the car navigation function section 113, and the surrounding information providing section 306. It has the ability to convert voice data, current location name, facility name, and address into synthetic speech. Note that the voice messages stored by the synthesized voice generation unit 121 include, as described later, for example, "Switched to normal automatic driving mode.", "Switched to forced automatic driving mode.", "Switched to manual driving mode." There are notification messages such as ``Switched.'' and notification messages prompting you to enter a destination setting when switching from normal manual mode to automatic mode or forced automatic mode.

As described above, the audio input/output section 122 is connected to the microphone 137 and the speaker 138. These microphone 137 and speaker 138 are used as a hands-free telephone receiver using the mobile phone function section 119. In addition, the audio input/output unit 122 not only has a function of transmitting and receiving audio for hands-free calls using the mobile phone function unit 119, but also transmits audio information inside the car for determining the inside situation of the car using the microphone 137. It also has a function of collecting sound and supplying it to the voice recognition unit 116, and a function of emitting from the speaker 138 the above-mentioned driving mode switching notification message, notification message prompting destination setting input, and the like.

[Example of memory contents of automatic operation switching condition storage unit 135]
In this embodiment, two types of switching conditions are defined. That is, the first type of switching condition is defined as an in-vehicle situation in which if the driver continues to drive in the manual driving mode, it will be difficult to ensure safety. In other words, when the inside situation of car 1 becomes such that it meets this switching condition, there is a danger or safety is not guaranteed, so the mode is changed from manual driving mode to normal automatic driving mode or forced driving mode. This first type of switching condition is defined as a condition for switching to the automatic driving mode and achieving a driving state that maintains safe driving.

In addition, the second type of switching conditions prevent driving that does not comply with traffic laws such as "no overtaking," "no right/left turns," "speed limit," "obeying traffic lights," and "stopping at railroad crossings." Avoid conditions that can lead to accidents, such as ``ignoring a temporary stop at a crosswalk,'' ``obstructive driving,'' ``dangerous or reckless driving,'' and ``sudden acceleration, sudden braking, or sudden steering.'' , which is a condition to ensure safe driving. In response to this second type of switching condition, the manual operation mode is not switched to the normal automatic operation mode, but the automatic operation mode is switched to the forced automatic operation mode, including a punitive meaning.

In this embodiment, the automatic operation switching condition storage unit 135 connected to the automatic operation switching condition determination unit 115 includes a first automatic operation switching condition table TBL1 for the first type of switching condition, and a first automatic operation switching condition table TBL1 for the first type of switching condition. A second automatic operation switching condition table (forced automatic operation switching condition table) TBL2 regarding switching conditions is stored.

As illustrated in FIGS. 3 to 5, the first automatic driving switching condition table TBL1 is such that when the automobile 1 is running in the manual driving mode, the driving mode of the automobile 1 is changed from the manual driving mode to the normal automatic driving mode or Switching conditions for switching to forced automatic driving mode, control details when the switching conditions are met, destination information in normal automatic driving mode and forced automatic driving mode, and cancellation conditions for normal automatic driving mode and forced automatic driving mode are stored in association with each other.

The control content when the switching conditions are met includes the automatic operation mode specification information, whether to switch to normal automatic operation mode or forced automatic operation mode when the switching conditions are met, and the control information according to the matched switching conditions. This includes control details that the automobile 1 should perform in the automatic driving mode (including the forced automatic driving mode) after switching.

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

Further, as illustrated in FIGS. 6 and 7, the second automatic driving switching condition table TBL2 changes the driving mode of the car 1 from the manual driving mode to the forced automatic driving mode while the car 1 is traveling in the manual driving mode. The switching conditions for switching to the forced automatic driving mode, the operation details in the forced automatic driving mode, and the conditions for canceling the forced automatic driving mode are stored in association with each other.

The first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 stored in the automatic driving switching condition storage unit 135 are written and stored in advance by the manufacturer or sales company of the automobile 1. .

Further, the information regarding the switching conditions in the first automatic driving switching condition table TBL1 can be added and written after the fact by a predetermined operation through the touch panel 112 by the user of the vehicle 1, that is, the driver or passenger. , can also be additionally stored in the automatic operation switching condition storage unit 135. The user of the automobile 1, that is, the driver, is also configured to be able to select whether or not to use some of the switching conditions in the first automatic driving switching condition table TBL1.

Further, the first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 may be set and registered in advance by each automobile company, or even if the automobile industry standardizes them, It may be determined by the Ministry of Land, Infrastructure, Transport and Tourism. In this case, the user cannot change or delete the stored contents. Note that the first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 are obtained from the homepages of automobile companies, the Ministry of Land, Infrastructure, Transport and Tourism, etc. using the Internet connection function provided in the mobile phone function unit 119. The latest condition table may be updated. Although the Ministry of Land, Infrastructure, Transport and Tourism is a Japanese government agency, it can be thought of as the same government agency that oversees traffic and transport in the country in which the automobile 1 travels. For example, in the case of the United States, it is DOT (United States Department of Transportation).

Of course, the first automated driving switching condition table TBL1 and the second automated driving switching condition table TBL2 are different for each country and even within the same country for states (USA), provinces (China), prefectures ( It may differ depending on the region such as Japan). In this case, the current position while driving is detected using radio waves from a GPS satellite, the mobile phone function unit 119, etc., and based on the country or region determined from the current position, the first automatic driving switching condition table TBL1 and the first automatic driving switching condition table TBL1 and It is also possible to switch the second automatic operation switching condition table TBL2. In addition, instead of automatically switching according to the country or region in which the driver or passenger is driving, the driver or passenger can specify the country or region in which the driver or passenger is driving, and then switch the The automatic operation switching condition table TBL1 and the second automatic operation switching condition table TBL2 may be used.

In addition, in cases where driving in multiple countries is carried out on a daily basis, such as in the EU (European Union), car 1 must meet the first automatic driving switching condition in all countries in which it is scheduled to drive. The table TBL1 and the second automatic operation switching condition table TBL2 may be stored in the automatic operation switching condition storage unit 135 in association with identification information of all countries. This applies not only to countries but also to regions.

3 to 5 are examples of the first automatic operation switching condition table TBL1 in this embodiment. In the examples shown in FIGS. 3 to 5, the switching conditions are "Accident 1 in the driver's or passenger's health condition," "Accident 2 in the driver's or passenger's health condition," "Drowsiness of the driver," and "Driving ``driver or passenger's physical condition such as car sickness or nausea'', ``driver's or passenger's desire to defecate or urinate'', ``overworked driving'', ``while driving (including stopping at red lights, temporary stops at railroad crossings, etc.) ``Drinking of the driver'', ``Looking away or distracted driving by the driver'', ``Eating, drinking or smoking by the driver'', ``Deterioration of the driving environment'', ``Abnormal behavior of children or pets in the passenger car'', ``How the driver drives Conditions for ensuring safe driving by avoiding conditions that can easily lead to accidents, such as ``driver's posture'' and ``driver wearing footwear that interferes with driving, or not wearing footwear,'' are given as examples. ing. Corresponding to each switching condition, the designation of the automatic driving mode or forced automatic driving mode after switching, the control details, the destination, and the conditions for canceling the automatic driving mode are determined.

Note that the switching conditions shown in FIGS. 3 to 5 are part of the contents of the first automatic operation switching condition table TBL1, and it goes without saying that various other predetermined switching conditions are also registered.

As shown in FIG. 3, for example, as a switching condition for "Accident 1 in the driver's or passenger's health condition," an emergency situation such as the driver's or passenger's lack of awareness, unconsciousness, fainting, etc. is registered. ing. The automatic driving switching condition determining unit 115 determines whether or not the switching condition for “Driver or Passenger Health Condition 1” is met using the determination result of the vehicle interior situation determining unit 117. The in-vehicle situation determination unit 117 determines whether or not the driver or passenger is in a state of physical abnormality such as unconsciousness, unconsciousness, fainting, etc., based on image recognition by the image recognition unit 114. do.

For example, the case of a driver will be explained. For example, a camera in a group of cameras 107 attached to the side of the rearview mirror 2 of the automobile 1 photographs the driver. When there is no physical abnormality in the driver, the captured image of the driver is a moving image of the driver with his eyes open, staring ahead, and operating the steering wheel. On the other hand, when a physical change occurs to the driver and the driver becomes confused, has no sense of direction, or faints, the captured image of the driver shows the driver with his eyes closed and his face facing downwards (or upwards) without looking directly ahead. ), resulting in a limp and unmoving image. The in-vehicle situation determination unit 117 determines the abnormal state that has occurred to the driver as described above from the recognition result from the image recognition unit 114, and transmits the result to the automatic driving switching condition determination unit 115. Note that, in order to perform more precise medical image recognition, the image information storage unit 134 may store a large amount of medically characteristic and precise comparison image information.

The automatic driving switching condition determination unit 115 receives the determination result of the in-vehicle situation and compares the determination result with the stored content of the automatic driving switching condition storage unit 135 to determine whether the driver or passenger is in good health. It is determined that the switching conditions for "Anomaly 1" (see FIG. 3) are met.

Note that the above example describes the determination based only on the image recognition result of the image recognition unit 114, but in this embodiment, the in-vehicle situation determination unit 117 uses the voice recognition unit 116 in addition to the image recognition result. This "abnormality in the driver's or passenger's health condition 1" is determined by taking into account the recognition of groans, moans, snoring (in the case of cerebral hemorrhage, etc.) through voice recognition. Do it like this. Thereby, the accuracy of the determination made by the in-vehicle situation determining section 117 can be improved.

The control content for this switching condition of "Unevent 1 in health condition of driver or passenger" is switching to forced automatic driving mode. Then, a hospital is designated as the destination. The specified hospital may be selected and specified by the driver or the like in advance, or may be selected and specified at the time of switching to the automatic driving mode.

That is, a specific hospital, for example, a family hospital, can be specified. In that case, the hospital name, address, and telephone number of the family hospital are stored in the automatic driving switching condition storage unit 135. The control unit 101 of the car 1 calls the hospital using the phone number of the hospital using the mobile phone function unit 119, tells the car the characteristics of the car, the name of the driver, etc., and takes the suddenly ill person there. The hospital should be notified of this. A message for this purpose is stored in advance in the synthesized speech generation section 121. It is also possible to notify the hospital by email rather than by phone. Further, in order to accurately convey the medical condition of the suddenly ill person to the doctors at the hospital, image information and voice information of the suddenly ill person may be sent as an attached file by e-mail.

Further, instead of a specific hospital, a destination attribute such as "an emergency hospital or a general hospital near the current location" may be stored. A destination attribute such as "an emergency hospital or general hospital near the current location" may be specified as the destination. If a destination attribute such as "an emergency hospital or general hospital near the current location" is specified as the destination, the car navigation function unit 113 searches for applicable hospitals near the current location, as will be described later. The surrounding search results will be the destination.

In that case, if the phone number of the hospital can be obtained, the control unit 101 of the automobile 1 uses the phone number of the hospital using the mobile phone function unit 119 to contact the hospital, as described above. Make a phone call, tell them the characteristics of your vehicle and the driver's name, and notify the hospital that you are taking an suddenly ill person. Further, as described above, notification can be made not only by telephone but also by communication applications such as email and LINE. Furthermore, image information and voice information of the suddenly ill person may be sent as an attached file by e-mail.

Furthermore, in this embodiment, instead of specifying a specific destination or destination attribute as a destination, the user can choose to stop on the shoulder of the road or the like and call 119. In the case of this 119 call, the synthesized voice generator 121 generates information such as the characteristics of the own vehicle, the name of the driver, the fact that a sudden illness has occurred, the name of the current location, the address, etc. Make sure to include it.

Note that the automobile 1 may be provided with a medical information storage section (not shown) that stores various medical information (medical information) and a medical database (not shown). In this case, the medical information storage unit clearly stores medical information such as disease names, symptoms, and countermeasures for intracerebral hemorrhage, subarachnoid hemorrhage, cerebral infarction, myocardial infarction, angina pectoris, and other various diseases. Regarding symptoms, image information such as eye conditions, facial expressions, sweating, convulsions, etc. that are unique to various diseases, as well as audio information such as snoring and groaning, are memorized, and image and voice recognition can be used to identify the early symptoms of various diseases. To enable quick and accurate understanding. Of course, not only still images but also moving images are stored as image information. Therefore, when the abnormality 1 occurs, the control details, countermeasures, and destination for the automobile 1 can be determined based on the medical information stored in the medical information storage section.

In other words, when accident 1 occurs, car 1 should decide whether it is appropriate to move to the hospital, or whether it is more appropriate to stop on the roadside without moving, call 119, and wait for an ambulance to arrive. to decide. If it is appropriate to move to the hospital, the car 1 selects the optimum driving speed (for example, 30 km/h or less) that does not place a burden on the suddenly ill person, and the car navigation function section 113 stores information about road irregularities in the car navigation database 133. It is also possible to provide information such as the car navigation function section 113 so that the car navigation function section 113 can provide the optimal route for the suddenly ill person to travel smoothly without causing vibrations as much as possible. Furthermore, if the medical information storage section stores the driver's or passenger's past illnesses and medical history, it is possible to respond more quickly and appropriately when the abnormality 1 occurs.

Of course, if a disease is identified, the destination will be a hospital with a specialist or specialized equipment based on the type of disease. For example, in the case of intracerebral hemorrhage, subarachnoid hemorrhage, or cerebral infarction, the destination would be a neurosurgical specialist and specialized equipment, and in the case of myocardial infarction or angina pectoris, the destination would be a hospital with cardiovascular or heart specialists and specialized equipment.

Additionally, if the driver or passenger is a pregnant woman and is experiencing labor pains, this is not a state of confusion, confusion, or fainting, nor is it a disease, but it is a life-threatening emergency and is treated as incident 1. . In this case, the car 1 heads to the pregnant woman's local obstetrics and gynecology department, obstetrics department, or maternity hospital 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 make it in time for childbirth, use the nearby search function of the car navigation function section 113 to search for an obstetrics and gynecology department, obstetrics department, or maternity hospital that is close to your current location. Then, head to the obstetrics and gynecology department, obstetrics department, or maternity hospital that you have searched for. The same applies if a pregnant woman's water breaks, and she should go to her family or the nearest obstetrics and gynecology department, obstetrics department, or maternity hospital.

The forced automatic driving mode cancellation condition that corresponds to the switching condition ``1 change in the health condition of the driver or passenger'' is when ``arrival at destination'' or ``arrival of an ambulance'' occurs.

Next, the switching conditions for "Accident 2 in the driver's or passenger's health condition" in Figure 3 are that the driver or passenger has not reached a state of inconsideration, unconsciousness, fainting, etc. Physical abnormalities have been registered that make manual driving difficult, such as convulsions, asthma attacks, and vomiting. The in-vehicle situation determination unit 117 uses the image recognition result from the image recognition unit 114 and the voice recognition result from the voice recognition unit 116 to determine this “abnormality 2 in the health condition of the driver or passenger”. Make it.

The control content for this switching condition of "Abnormality in the driver's or passenger's health condition 2" is to switch to forced automatic driving mode, and even if a physical abnormality occurs, the driver or passenger remains alert. Taking this into consideration, in this embodiment, the driver or passenger is asked about the destination. Then, the driver etc. can select and specify the destination in advance, such as "home (including address and location information)", "hospital (including hospital name, address and location information)", and "stopping on the shoulder of the road". Alternatively, the mode may be selected and specified when switching to the automatic driving mode. Further, the forced automatic driving mode cancellation condition corresponding to the switching condition of "2 changes in the driver's or passenger's health condition" is when the vehicle has "arrived at the destination."

When the switching condition of "anomaly 2 in the health condition of the driver or passenger" is met, based on the matching result of the automatic driving switching condition determination unit 115, the control unit 101 generates a synthesized voice saying, for example, "Are you okay?" In addition to sending a message to ask about their safety, even if the destination is pre-registered in the automatic driving switching condition storage unit 135, as will be described later, the inquiry “Do you want to make the destination the registered location?” to be able to change the destination. This takes into consideration the case where the driver or passenger determines that they should go to the hospital based on the degree of physical abnormality, even if ``home'' or ``stop on the side of the road'' is selected in the pre-registration. In addition, in this embodiment, when "stopping on the shoulder of the road, etc." is pre-registered, it is specified that the inquiry "do you want to call 119?" will be made.

If the destination is not pre-registered, as described below, when switching to automatic driving mode, destinations such as "Do you want to go home?", "Do you want to go to the hospital?", "Do you want to stop?", etc. will be displayed. (Destination) inquiry message is generated by synthesized voice, the driver's or passenger's reply such as "yes" or "no" to each message is voice recognized, and the destination is determined according to the recognition result. Make it.

Furthermore, in this embodiment, when there is no pre-registration as a destination corresponding to the switching condition of "anomaly 2 in the health condition of the driver or passenger" and there is no response to the synthetic voice inquiry, the control unit 101 determines that the situation is dangerous, searches for an emergency hospital or general hospital near the current location using the nearby search function of the car navigation function section 113, and sets the searched hospital as the destination and heads to the hospital. In this case, if a hospital cannot be found, the vehicle should stop on the shoulder of the road and call 119. When making a 119 call, as described above, the synthesized voice generator 121 generates information such as the characteristics of the vehicle, the name of the driver, the fact that a sudden illness has occurred, the name of the current location, the address, etc., and then makes the 119 call. Include it in the content.

The forced automatic driving mode cancellation condition corresponding to the switching condition of "2 changes in the health condition of the driver or passenger" is when "arrival at destination" or "ambulance arrives".

Note that when incident 2 occurs, the control details, countermeasures, and destination of the automobile 1 are determined based on the medical information stored in the medical information storage unit (not shown), similar to the above-mentioned incident 1. Of course, you can do what you want.

Next, the switching condition "driver falling asleep" will be explained. In this case, the in-vehicle situation determination unit 117 uses the image recognition unit 114 to recognize the image taken by the camera 107a that photographs the driver 3, and detects a state where the eyelids remain closed for a certain period of time or a cocked head. By recognizing this, it is possible to determine whether the driver is falling asleep.

The control content for this switching condition of "driver dozing off" is normally considered to be switching to automatic driving mode, and also sending out a calling voice (synthetic voice) to wake up the driver, or an alarm sound or buzzer. be done. This is because the driver can be expected to return to a state of alertness through the voice call, alarm sound, or buzzer. Note that vibrations may be applied to the seat instead of or in addition to the calling voice.

If a destination is set at the time when the automobile 1 starts traveling, the set destination is used as the destination (destination) for this switching condition of "driver falling asleep". However, if you do not wake up even with a voice call or vibration (as can be determined from image recognition), it is likely that you are suffering from physical or mental trouble rather than dozing off, so search using the nearby search function of the car navigation function section 113. The destination (destination) is an emergency hospital or general hospital near the current location. Furthermore, if a hospital is not found in the surrounding area search, the vehicle stops on the shoulder of the road and calls 119, including the predetermined notification items as described above.

The cancellation condition for normal automatic driving mode that corresponds to the switching condition of "driver falling asleep" is that if the destination (destination) determined at the time of switching to automatic driving mode is a "preset destination", In other cases, such as when the destination is a hospital, it is defined as "manual driving operation", and in other cases, such as when the destination is "arrived at the destination".

Next, the switching condition "driver's or passenger's physical condition such as car sickness or nausea" will be explained. In this case, the in-vehicle situation determination unit 117 uses the image recognition result of the captured image of the driver or passenger in the image recognition unit 114 and the results of the image recognition such as “disgusting,” “sick from the car,” “nauseous,” and “vomiting.” Based on the voice recognition results of the voice recognition unit 116 such as "Yes", "Uh", and "Geez", the situation of "the driver's or passenger's physical condition such as car sickness, nausea, etc." is determined. .

The control content for this switching condition of "driver or passenger's physical condition such as car sickness or nausea" is to switch to forced automatic driving mode. If the current location is on an expressway, the destination will be the nearest PA (parking area) or SA (service area), and if the current location is on a general road, the destination will be "pull to the shoulder of the road and stop." . Note that "return to home" can also be registered as a destination. Furthermore, the forced automatic driving mode cancellation condition corresponding to the switching condition of "driver or passenger feeling unwell such as car sickness or nausea" is set to "arrival at destination".

Next, the switching condition "driver's or passenger's desire to defecate or urinate" will be explained. In this case, the in-vehicle situation determining unit 117 determines whether the driver or the passenger is resting, by image recognition of the photographed image of the driver or passenger by the image recognition unit 114, and also determines whether the driver or passenger is resting, The situation of ``the driver's or passenger's desire to defecate or urinate'' is determined from the voice recognition result of the voice recognition unit 116 of utterances such as ``I think I'm going to leak.''

The control content for this switching condition of "driver's or passenger's desire to defecate or urinate" is to switch to forced automatic driving mode. If the current location is on an expressway, the destination is the nearest PA (parking area) or SA (service area), and if the current location is on a general road, the nearest "convenience store" or "gas station" is selected. It is said to be a place with a toilet such as ``. The location of this toilet can be pre-registered based on destination attributes such as "convenience store" and "gas station." Further, the forced automatic driving mode cancellation condition corresponding to the switching condition of "driver's or passenger's desire to defecate or urinate" is set to be "arrival at destination".

Next, the switching condition "overworked driving" will be explained. The switching condition in this case is one of three types. The first condition is that one driver continues to drive for a predetermined period of time or more, for example, two hours or more. The second condition is that the total driving time per day for one driver is longer than a predetermined time, for example, 5 hours or longer. The third condition is that the number of times of switching between manual driving mode and automatic driving mode in one day is at least a predetermined number of times, for example, 20 times or more, while one driver is driving. Ru. The situation in which any one of the above three conditions is satisfied takes into consideration the possibility that safe driving may be hindered due to overwork of the driver. Note that the conditions for determining overwork are not limited to the three types described above, and may include image recognition of the driver's facial expressions photographed by the cameras in the camera group 107 to determine whether the driver's facial expression is fatigued or not. The degree of overwork may be determined by taking biological measurements and using the measured values.

The in-vehicle situation determining unit 117 determines, based on the time information from the clock unit 120, whether one driver has continued driving for two hours or more, and whether the total driving time has exceeded five hours. , it is determined that the in-vehicle situation has reached the switching condition of the first condition or the second condition. In addition, the in-vehicle situation determination unit 117 receives information on switching between the manual driving mode and the automatic driving mode from the manual/automatic driving mode switching control unit 104, and counts the number of times the switching is performed, so that one driver can By determining that the number of switching between manual driving mode and automatic driving mode in one day is 20 or more times while the driver is driving, the situation in the car is determined according to the switching condition of the third condition. Determine what happened.

The control content for this "overworked driving" switching condition is a switch to forced automatic driving mode. If the destination is set when the vehicle 1 starts traveling, the destination for this switching condition of "overworked driving" is the set destination, and the destination must be set in advance. For example, the destination is set by the driver or passenger in response to an inquiry when switching to automatic driving mode. The condition for canceling the forced automatic driving mode corresponding to the switching condition for "overworked driving" is when the vehicle "arrives at the destination."

Next, the switching condition "driver's drinking" will be explained. In this case, the in-vehicle situation determining unit 117 determines the in-vehicle situation of "driver's drinking" based on the detection result of the alcohol concentration contained in the exhaled breath of the driver by the exhalation sensor included in the sensor group 108. In addition, the image recognition unit 114 recognizes an image of the driver drinking a beverage inside the automobile 1, and determines whether the bottle, bottle, or can of the beverage the driver is drinking or holding is beer, Japanese sake, beer, sake, etc. It is configured to recognize whether the drink is an alcoholic beverage such as wine, whisky, cocktail, or shochu, and the in-vehicle situation determination unit 117 that receives the recognition result determines the in-vehicle situation of "driver's drinking." .

The control content for this switching condition of "driver's drinking" is a switch to forced automatic driving mode. Then, as the destination for this switching condition of "driver's alcohol consumption", if the car 1 is running (including stops at red lights, temporary stops at railroad crossings, etc.), the destination is set at the time of starting the drive. If the destination is not set in advance, it will be the destination set by the driver or passenger in response to the inquiry when switching to automatic driving mode. Ru. Note that if the automobile 1 is stopped in a parking lot, garage, etc., it may be set to "not start", or may be set to the destination set at the time of starting the drive. The forced automatic driving mode cancellation condition corresponding to the switching condition of "driver's drinking" is "arrival at destination" or "extinction of switching condition". The switching condition disappears when the alcohol concentration of the driver's exhaled breath as measured by the exhalation sensor becomes less than a predetermined value, or after a period of time, for example, 8 hours, when the alcoholic state returns to a normal state.

Next, the switching condition "driver looking away/looking aside" will be explained. In this embodiment, the switching condition is that the driver looks away or looks aside for a predetermined period of time or more, for example, one minute or more. Based on the image recognition result of the image taken by the camera of the driver, the in-vehicle situation determination unit 117 determines whether the driver is looking away or looking away from the inside of the car based on the continuation of the driver looking around for one minute or more and the direction of the driver's gaze. Try to judge the situation. By considering the duration of the driver's looking around for one minute or more and the direction of the driver's line of sight, it is possible to distinguish this from looking around when checking left and right for safety while driving.

The following are possible situations where looking away or looking aside is likely to occur.
・Places of famous places, historical sites, and spectacular views (including autumn leaves, etc.). In such places, drivers also want to see the scenery and view, and tend to look away or look aside, which may make it impossible to ensure safety in manual driving mode.
・Extraordinary events, such as portable shrines at festivals, fireworks, new store opening sales, etc. Drivers are tempted to watch such events and tend to look away or look aside, which may make it impossible to ensure safety in manual driving mode.
・Celebrities, such as famous entertainers, athletes, and people who are currently in the news. Drivers can't help but want to look at these famous people, causing them to look away or look aside, which may make it impossible to ensure safety in manual driving mode.

Considering the above situation, the in-vehicle situation determination unit 117 detects places of famous places, historical sites, and scenic views (including autumn leaves, etc.) using the surrounding search function of the car navigation function unit 113, and detects locations of famous places, historical sites, and scenic views (including autumn leaves, etc.) using the image recognition described above. In addition to this detection, it is also possible to determine whether the driver is looking away or looking aside. In addition, the in-vehicle situation determination unit 117 accesses the Internet through the mobile phone function unit 119, searches for information on events around the current location, and detects the detection results of events such as the above-mentioned festivals, fireworks, and new store opening sales. In addition to detecting the state of looking around by the image recognition described above, it is possible to determine the situation inside the vehicle, such as "the driver looking away or looking aside." Furthermore, by storing image information of famous celebrities, athletes, people who have recently become a hot topic, etc. in the image information storage unit 134, image information taken from a camera that photographs the outside of the car 1 and those images can be stored. Based on the image information of the person, the image recognition unit 114 uses the detection results of the above-mentioned famous celebrities, athletes, and recently talked about persons in addition to the detection of the distracted state by the above-mentioned image recognition. It is possible to determine whether the driver is looking away or looking aside.

The control content for this switching condition of "driver looking away or looking aside" is to switch to forced automatic driving mode. If the destination is set at the time the vehicle 1 starts traveling, the destination for this switching condition of "driver looking away or looking aside" is the set destination, and the destination is set in advance. If not set, the destination is set by the driver or passenger in response to an inquiry when switching to automatic driving mode.

Additionally, a synthesized voice message asks the driver if they would like to stop by, and if the answer is affirmative, the system presents the relevant famous spot or historical site detected by a nearby search, or an event venue, etc. detected by an Internet search, as a destination. However, the driver may be allowed to decide whether or not to take that famous place/historic site as the destination. Alternatively, the vehicle may be stopped on the shoulder of the road or the like for sightseeing.

The forced automatic driving mode cancellation condition corresponding to the switching condition of "driver looking away or looking aside" is "arrival at destination" or "extinction of switching condition". The switching condition disappears after a predetermined period of time, for example, 5 minutes, has passed since the state of "driver looking away or looking aside" disappears. Alternatively, the time may be a predetermined distance, for example, 500 meters or more from the place where the "driver looks away or looks aside".

Next, the switching condition "driver's eating, drinking, or smoking" will be explained. In this embodiment, the switching condition is that the driver continues eating, drinking, or smoking for a predetermined period of time or more, for example, three minutes or more. The in-vehicle situation determining unit 117 determines whether the driver is eating, drinking, or smoking based on the image recognition result of the image of the driver taken by the camera, and based on the time information from the clock unit 120, the in-vehicle situation determination unit 117 determines whether the driver is eating, drinking, or smoking, and if the status has been present for 3 minutes or more based on the time information from the clock unit 120. Depending on whether or not the situation continues, the situation inside the car, whether the driver is eating, drinking, or smoking, is determined. If a driver eats, drinks or smokes for a short period of less than three minutes, it is considered that the degree of interference with manual driving is tolerable.

In this case, the image recognition unit 114 recognizes rice balls, sandwiches, bento boxes, sweets, ice cream, water, tea, coffee, etc. included in the image of the driver captured by the camera, thereby recognizing the driver's food and drink. If the driver is holding a cigarette in his/her hand, the driver's smoking status can be recognized. However, in this embodiment, regarding the switching condition of "driver eating, drinking, or smoking," when the switching condition is met, an expression of intention from the driver that it is okay to switch to automatic driving is accepted. This switching condition is valid only when a positive declaration of intention is set.

The control content for this switching condition of "driver's eating, drinking, or smoking" is to switch to forced automatic driving mode. If the destination is set at the time the vehicle 1 starts traveling, the destination for this switching condition of "driver's eating, drinking or smoking" is the set destination, and the destination is set in advance. If not set, the destination is set by the driver or passenger in response to an inquiry when switching to automatic driving mode.

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

Next, the switching condition "deterioration of the surrounding environment during driving" will be explained. In this embodiment, the switching condition is when the surrounding environment during driving is backlit, at dusk (sunset), or in bad weather (rain, snow, etc.), making it difficult for the driver to see the surroundings. The in-vehicle situation determination unit 117 determines the in-vehicle situation of this "deterioration of the surrounding environment during driving" based on images captured by a camera that photographs the outside and sensor detection outputs from a temperature sensor and a humidity sensor. The in-vehicle situation determination unit 117 uses the voice recognition unit 116 to perform voice recognition on the driver's exclamations such as “It's hard to see” and “It’s hard to drive,” and determines whether the driver is “difficult to drive.” It may also be possible to determine whether the surrounding environment has deteriorated.

The control content for this switching condition of "deterioration of the surrounding environment during driving" is a switch to forced automatic driving mode. Note that the normal automatic driving mode may be used instead of the forced automatic driving mode. The destination for this switching condition of "deterioration of surrounding environment during driving" is the destination set when the vehicle 1 starts traveling.

The forced automatic driving mode cancellation condition corresponding to the switching condition of "deterioration of the surrounding environment during driving" is set to be "extinction of the switching condition", such as when the surrounding environment during driving has improved.

Next, the switching condition "behavior of children and pets" will be explained. In this embodiment, if a child or baby does something dangerous inside the car, such as falling out of the seat, or suddenly starts crying, the driver becomes concerned and turns in that direction. Consider that safety may not be ensured in manual operation mode. The same applies to pet behavior, such as excretion behavior and barking. The same problem also occurs when a child or pet is near the driver or in the driver's seat, since the driver cannot concentrate on driving. Needless to say, it is even more dangerous if there is no driver in the driver's seat, only children or pets. Therefore, in this embodiment, these "behaviors of children and pets" are used as switching conditions.

The in-vehicle situation determination unit 117 receives the image recognition results of images taken from a camera that photographs the driver (driver's seat) and passengers, and the voice recognition results of the voice recognition unit 116, such as the child's crying, falling sound, etc. The above switching condition "behavior of children and pets" is determined based on the barking sound of the pet.

The control content for this switching condition of "behavior of children and pets" is to switch to forced automatic driving mode. If a destination is set at the time the car 1 starts traveling, the destination for this switching condition of "behavior of children and pets" is the set destination, and the destination is set in advance. If not, the destination is set by the driver or passenger in response to an inquiry when the automatic driving mode is switched.

The condition for canceling the forced automatic driving mode that corresponds to the switching condition of this "behavior of children and pets" is that the state of the child or pet returns to normal (the child or pet may not be close to the driver or leave the driver's seat). ``extinction of switching conditions'' such as

Next, the switching condition "driver's one-handed driving, hands-off driving" will be explained. In this embodiment, the driver may continue to drive with one hand for a predetermined time or more, for example, two minutes or more, or the driver may continue to drive with one hand for a predetermined time or longer, for example, 10 seconds or more. , is the switching condition. The in-vehicle situation determining unit 117 determines whether the driver is driving with one hand or hands-off based on the image recognition result of the image of the driver taken by the camera, and based on the time information of the clock unit 120, the state is determined to be 2. The in-vehicle situation of ``driver's one-handed driving or hands-off driving'' is determined based on whether the driving continues for more than 1 minute or 10 seconds or more.

The control content for this switching condition of "driver's one-handed driving, hands-off driving" is to switch to forced automatic driving mode. At this time, a voice message such as "Driving with one hand or hands off is dangerous, so we have switched to automatic driving mode" or an alarm sound or buzzer is emitted from the speaker 138 to the driver. to alert drivers.

The destination for this switching condition of "driver's one-handed driving, hands-off driving" is the destination set when the automobile 1 starts traveling. In addition, the condition for canceling the forced automatic driving mode that corresponds to the switching condition of "driver's one-handed driving and hands-off driving" is that the driver stops driving with one hand and hands-off driving, and "the driver's driving posture is correct." It is said to be "when it becomes."

Next, the switching condition "driver's footwear is inappropriate" will be explained. In this embodiment, the driver's footwear is inappropriate for driving, such as clogs, slippers, high heels, etc., which may cause a driver's error in driving, or bare feet without footwear. The switching condition is set as the switching condition.

The in-vehicle situation determination unit 117 determines whether the footwear is inappropriate, such as clogs, slippers, or high heels, or whether the footwear is inappropriate, such as bare feet, based on the image recognition result of the footwear (or feet) in the image taken by the driver by the camera. Determine whether the condition is correct.

The control content for this switching condition of "driver's inappropriate footwear" is to switch to forced automatic driving mode. At this time, a synthesized voice message is sent to the driver saying, ``Your footwear is inappropriate for driving. Please change your footwear.'' or ``Bare feet are inappropriate for driving. Please wear shoes.'' to alert you to changing or wearing footwear.

If a destination is set when the vehicle 1 starts traveling, the destination for this switching condition of "driver's footwear is inappropriate" is the set destination, and the destination is set in advance. If the destination is not set to , the destination is set by the driver or passenger in response to an inquiry when switching to automatic driving mode. In addition, the condition for canceling forced automatic driving mode corresponding to the switching condition of "driver's footwear is inappropriate" is when the switching condition disappears when the driver replaces or wears appropriate footwear. It is said that

The storage contents of the automatic operation switching condition storage unit 135 described above are such that each of the switching conditions, the forced automatic operation contents after switching, and the cancellation conditions are stored as corresponding processing programs. In addition, regarding the switching conditions, forced automatic operation contents after switching, and cancellation conditions that the user will set later, the user should write the switching conditions, cancellation conditions, and control contents in forced automatic operation mode as described above. Thus, the electronic control circuit section 10 of the automobile 1 is equipped with a processing function that automatically generates a corresponding processing program and stores it in the automatic driving switching condition storage section 135.

Next, an example of the second automatic operation switching condition table TBL2 will be described with reference to FIGS. 6 and 7.

In the examples shown in Figures 6 and 7, the switching conditions include "overtaking prohibited", "right turn (left turn) prohibited", "speed limit", "obeying traffic lights", "pausing at a railroad crossing", and "portable device while driving". conditions to prevent driving that does not comply with traffic laws, such as ``Using a pedestrian crossing,'' ``Ignoring a temporary stop at a crosswalk,'' ``Obstructive driving,'' ``Dangerous or reckless driving,'' ``Sudden acceleration, sudden braking, Conditions for ensuring safe driving by avoiding conditions that can easily lead to accidents, such as "steering wheel", are exemplified. Then, corresponding to each switching condition, contents of travel control in the forced automatic driving mode after switching and conditions for canceling the forced automatic driving mode are determined.

Note that the switching conditions shown in FIGS. 3 to 7 are part of the stored contents of the automatic driving switching condition storage unit 135, and other various switching conditions predetermined to ensure compliance with traffic regulations. It goes without saying that various predetermined switching conditions are registered in order to maintain safe driving. Further, as described above, the switching conditions, the control contents in the forced automatic driving mode and the normal automatic driving mode after switching, and the cancellation conditions may be registered for each country or region, and the switching conditions may be changed.

In addition, when switching from manual operation mode to forced automatic operation mode according to this second automatic operation switching condition table TBL2, as described later, after meeting the switching conditions and switching to forced automatic operation mode, the cancellation condition is set. It may not be necessary to set the destination (destination) during the period until the forced automatic driving mode is canceled when the above conditions are satisfied. Of course, there are cases where the forced automatic driving mode continues and the vehicle autonomously travels to the destination, so in that case, it is necessary to set the destination (destination). If the destination is set, it will be the set destination, and if the destination has not been set in advance, it will be set by the driver or passenger in response to the inquiry when switching to automatic driving mode. destination.

As shown in FIG. 6, for example, in order to avoid violating the "overtaking prohibition", the switching conditions for the "overtaking prohibition" are as follows:

(Condition 1) In a no-overtaking section indicated by a road sign prohibiting overtaking or a section with a yellow line that is a road sign indicating no overtaking,

(Condition 2) It is stipulated that it is detected that the right turn signal has been activated even though there is no right turn road, or that the vehicle has changed course by operating the steering wheel so as to cross the yellow line.

(Condition 3) However, in this case, there is a vehicle running in front of the own vehicle, a stopped vehicle is parked or stopped on the left side, or an obstacle exists on the left side of the lane. If so, do not use it as a switching condition.

The above-mentioned (Condition 1) no-overtaking section is determined by the image recognition unit 114 from images captured by one or more cameras in front of and to the sides of the own vehicle in the camera group 107, as shown in FIG. 8(A). Detection can be made by recognizing road signs and by recognizing yellow lines from images taken by cameras of the camera group 107 that photograph the road surface.

Furthermore, activation of the right turn signal (condition 2) can be detected from the outputs of the sensors included in the sensor group 108, as described above. Furthermore, the fact that the steering wheel was operated so as to straddle the yellow line and the course was changed was due to the fact that the manual driving operation detection unit 105 detected the right-hand steering operation, and the own vehicle movement analysis detection unit 118 detected that the camera in the camera group 107 This can be determined by analyzing the image and detecting that the vehicle is straddling the yellow line. Further, it can be detected from the images captured by the cameras of the camera group 107 that there is no right-turning road ahead or a store with a parking space such as a convenience store to the right.

Furthermore, regarding (condition 3), it is possible to detect whether the vehicle in front is running or stopped using images captured by the cameras of the camera group 107 and the radar group 106. That is, (condition 3) can be detected by referring to the surrounding moving object recognition result of the surrounding moving object understanding unit 109.

The content of the driving control in the forced automatic driving mode after switching to the switching condition regarding "passing prohibited" is set to "driving while maintaining the driving lane." The condition for canceling the forced automatic driving mode is the detection of a road sign indicating the end of a no-passing zone or the disappearance of a yellow line as a road marking.

As can be seen from the above explanation, the camera group 107, the sensor group 108, the manual driving operation, and the condition element detection means used to detect the condition element for monitoring whether the switching condition regarding overtaking prohibition is met The detection unit 105, the surrounding moving object recognition unit 109, the image recognition unit 114, and the own vehicle movement analysis detection unit 118 are used.

When the forced automatic driving mode is set by meeting the switching conditions for prohibition of overtaking, the release conditions are the end of the overtaking prohibited area and the disappearance of the yellow line, so when the forced automatic driving mode is switched, the destination (destination) may be required. Therefore, when the forced automatic driving mode is set by meeting the switching conditions regarding prohibition of overtaking, if the destination is set when the car 1 starts driving, the set destination will be used, and the destination will be set as the destination. If the destination is not set in advance, the destination is set by the driver or passenger in response to an inquiry when the forced automatic driving mode is switched.

Next, for example, the switching conditions for "right turn prohibited" are as follows:

(Condition 4) In cases where right turns are prohibited by road signs (regulatory signs) or road markings (not shown) prohibiting proceeding outside the designated direction as shown in Figures 8 (B), (C), and (D). ,

(Condition 5) It is defined that it is detected that the right turn signal has been turned on, or that an attempt to change course by operating the steering wheel to turn right is detected.

The content of travel control in the forced automatic driving mode after switching to the switching condition for "right turn prohibited" is set to "select and drive in the specified direction of travel." Furthermore, the condition for canceling the forced automatic driving mode is the detection of "passing a right turn prohibited point."

(Condition 4) Right turn prohibition is determined by the image recognition unit 114 based on the images captured by one or more cameras in front of and on the side of the vehicle in the camera group 107, as shown in FIGS. 8(B), (C), It can be detected by recognizing the road sign shown in (D).

Furthermore, activation of the right turn signal (condition 5) can be detected from the outputs of the sensors included in the sensor group 108, as described above. Further, it can be determined that the vehicle has changed course by operating the steering wheel to turn right, based on the fact that the manual driving operation detection unit 105 detects the operation of the right steering wheel.

Therefore, the camera group 107, the sensor group 108, the manual driving operation detection section 105, and the image recognition section 114 are used as the condition element detection means in this case. The condition for canceling the forced automatic driving mode after switching to the switching condition for "right turn prohibited" is passing through a prohibition sign point or a prohibition sign point, so there is no need to set a destination.

For example, the switching conditions for "crosswalk" are as follows:

(Condition 6) When the image recognition unit 114 detects a crosswalk road sign (instruction sign) or road marking from the camera images of the camera group 107,

(Condition 7) When the image recognition unit 114 detects a person who is about to cross a crosswalk or a person who is crossing the road from the camera images of the camera group 107,
is determined.

The content of the driving control in the forced automatic driving mode after switching to the switching condition for this "crosswalk" is "after stopping, confirming that no one is crossing the road, and then starting." Furthermore, the condition for canceling the forced automatic driving mode is the detection of "passing through a crosswalk." Note that a human sensor included in the sensor group 108 may also be used to detect a person. Furthermore, when crossing people, such as the elderly, infants, schoolchildren, people with disabilities, and people with pets, safe driving is especially important, so more advanced image recognition is used to detect and respond selectively. You may.

In this case, the camera group 107, the sensor group 108, and the image recognition unit 114 are used as condition element detection means. The condition for canceling the forced automatic driving mode after switching to the switching condition for this "crosswalk" is passing through the crosswalk, so there is no need to set a destination.

Next, for example, the switching conditions for "railway crossing" are as follows:

(Condition 8) When the image recognition unit 114 detects a road sign (warning sign) with a railroad crossing from the camera image of the camera group 107, or when the image recognition unit 114 detects an actual railroad crossing from the captured image of the camera. Cases in which it is recognized are determined.

The content of the travel control in the forced automatic driving mode after switching to the switching condition for this "level crossing" is "after a temporary stop, confirm safety, and then start." Safety confirmation in this case means detecting that the circuit breaker is not down. Furthermore, the condition for canceling the forced automatic driving mode is the detection of "passing through a railroad crossing."

In this case, the camera group 107 and the image recognition unit 114 are used as conditional element detection means. The condition for canceling the forced automatic driving mode after switching regarding the switching condition for "level crossing" is passing through the level crossing, so there is no need to set a destination.

Next, for example, as a switching condition for "speed limit",

(Condition 9) The driving speed of the vehicle detected by the speed detection sensor of the sensor group 108 is a speed that poses a serious danger, for example, on a general road, the speed is 30 km/h or more over the speed limit or high speed. In the case of a road, it is determined that the speed limit is detected to be 40 km/h over the speed limit.

The content of travel control in the forced automatic driving mode after switching to the switching condition regarding the "speed limit" is set to "drive at a speed below the speed limit." Further, the condition for canceling the forced automatic driving mode is set to be after a predetermined period of time, for example, 30 minutes, including a punitive meaning. This predetermined time may be made longer depending on the degree of speed overshooting from the switching conditions. For example, assuming that the predetermined time that meets the switching condition is 30 minutes, 30 minutes is added every time the speed exceeds 1 km/h. In this case, if the speed exceeds 5 km/h, the release condition becomes 3 hours later.

In this case, the speed sensor of the sensor group 108 is used as the condition element detection means. However, in order to detect the cancellation condition, the clock unit 120 is used to measure the elapsed time after switching to forced automatic operation. The condition for canceling the forced automatic driving mode after switching to the "speed limit" switching condition is after a predetermined time such as 30 minutes has elapsed, so passing an intersection or junction during the predetermined time Therefore, it may be necessary to set the destination (destination). Therefore, when the forced automatic driving mode is entered by meeting the switching conditions for this "speed limit", if the destination is set when the car 1 starts traveling, the set destination will be used. If the destination is not set in advance, the destination is set by the driver or passenger in response to an inquiry when the forced automatic driving mode is switched.

Regarding this "speed limit," the image recognition unit 114 identifies road signs and roads related to the "speed limit" from images captured by one or more cameras in front of and on the side of the vehicle in the camera group 107. It can be detected by recognizing the sign.

Next, an example of the switching conditions shown in FIG. 7 will be explained. In other words, for example, the switching conditions for "signal compliance" are as follows:

(Condition 10) Based on images captured by the cameras in the camera group 107, the own vehicle movement analysis and detection unit 118 determines that the vehicle ignored the red light and drove without stopping for a predetermined number of times. As described above, the case where the detection is performed three or more times, for example, is determined.

Here, the switching condition may be when the driver ignores a red light even once, but in this embodiment, taking into consideration that the driver may inadvertently overlook a red light, the switching condition may be set to the time when the driver ignores a red light at least once. The switching condition was ignoring the signal.

The content of driving control in forced automatic driving mode after switching to this switching condition regarding "obeying traffic lights" is intended to be punitive for intentional disregard of traffic lights, and the driver will only drive in forced automatic driving mode on that day. made possible. Therefore, the condition for canceling the forced automatic driving mode is the day after the vehicle intentionally ignores a traffic signal. Therefore, when the forced automatic driving mode is set by meeting the switching condition for "obeying traffic lights", if the destination is set when the car 1 starts driving, the set destination will be used. If the destination is not set in advance, the destination is set by the driver or passenger in response to an inquiry when the forced automatic driving mode is switched.

In this case, the camera group 107 and the own vehicle movement analysis detection unit 118 are used as the condition element detection means. However, in order to detect the release condition, the clock unit 120 is used to detect the end of the current day (the beginning of the next day).

Next, for example, the switching conditions for "obstructive driving" are as follows:
Based on the analysis results of the images captured by the cameras of the camera group 107 by the own vehicle movement analysis detection unit 118 and the grasping results of the surrounding moving object grasping unit 109,

(Condition 11) Entering directly in front of another vehicle, or

(Condition 12) Getting extremely close to passing people or cars, or

(Condition 13) Approaching, provoking, forcibly interrupting,
is detected a predetermined number of times or more, for example, three times or more. In this case, it is not limited to the case where the same condition among conditions 11 to 13 is detected three or more times, but may be the case where any one of conditions 11 to 13 is detected three or more times in total.

Regarding the switching conditions for "obstructive driving," the content of the driving control in forced automatic driving mode after switching is intended to be punitive for obstructive driving, and on that day only driving in forced automatic driving mode is possible. . Therefore, the condition for canceling the forced automatic driving mode is the day after the obstructive driving. Therefore, when the forced automatic driving mode is set by meeting the switching conditions for "obstructive driving", if the destination is set when the car 1 starts traveling, the set destination will be used. If the destination is not set in advance, the destination is set by the driver or passenger in response to an inquiry when the forced automatic driving mode is switched.

In this case, the radar group 106, the camera group 107, the sensor group 108, and the own vehicle movement analysis detection unit 118 are used as the condition element detection means. However, in order to detect the cancellation condition, the clock section 120 is used to detect the end of the current day.

Next, for example, the switching conditions for "dangerous driving, reckless driving" are as follows:
Based on the analysis results of the images captured by the cameras of the camera group 107 by the own vehicle movement analysis detection unit 118 and the detection results of manual driving operation by the manual driving operation detection unit 105,

(Condition 14) A case is defined in which drifting or spin turns are detected a predetermined number of times or more, for example, two or more times.

The content of driving control in forced automatic driving mode after switching to this switching condition for "dangerous driving and reckless driving" is that the driving control contents in forced automatic driving mode are punitive for dangerous driving and reckless driving, and on that day, forced automatic driving mode will be set. It was made possible to run only in Therefore, the condition for canceling forced automatic driving mode is set as the day after dangerous or reckless driving. Therefore, when the forced automatic driving mode is set by meeting the switching conditions for "dangerous driving and reckless driving", if a destination is set when the car 1 starts driving, the set destination If the destination is not set in advance, the destination is set by the driver or passenger in response to an inquiry when the forced automatic driving mode is switched.

In this case, the manual driving operation detection section 105, the camera group 107, and the own vehicle movement analysis detection section 118 are used as the condition element detection means. However, in order to detect the cancellation condition, the clock section 120 is used to detect the end of the current day.

Next, for example, the switching conditions for "sudden acceleration, sudden braking, and sudden steering" are as follows:
Based on the analysis results of the images captured by the cameras of the camera group 107 by the own vehicle movement analysis detection unit 118 and the detection results of manual driving operation by the manual driving operation detection unit 105,

(Condition 15) A case is defined in which a sudden acceleration, sudden brake, or sudden steering is detected a predetermined number of times or more, for example, five times or more. In this case, this is not limited to cases where the same occurrence of sudden acceleration, sudden braking, or sudden steering is detected three or more times, but also when any of sudden acceleration, sudden braking, or sudden steering is detected three or more times in total. Good too.

The content of driving control in forced automatic driving mode after switching to the switching conditions for ``sudden acceleration, sudden braking, and sudden steering'' is intended to be punitive for dangerous driving, and on the day of forced automatic driving. It can only be driven in mode. Therefore, the condition for canceling the forced automatic operation mode is set to the next day. Therefore, when the forced automatic driving mode is set by meeting the switching conditions for "sudden acceleration, sudden braking, and sudden steering," if the destination is set when the car 1 starts driving, the destination will be set. If the destination is not set in advance, the destination is set by the driver or passenger in response to an inquiry when the forced automatic driving mode is switched.

In this case, the manual driving operation detection section 105, the camera group 107, and the own vehicle movement analysis detection section 118 are used as the condition element detection means. However, in order to detect the cancellation condition, the clock section 120 is used to detect the end of the current day.

Next, the switching conditions for "use of mobile device while driving" are as follows:
From the image recognition results of the images captured by the cameras of the camera group 107 and the recognition results of the voice recognition unit 116,

(Condition 16) A case is defined in which it is detected that the driver is using a smartphone, tablet terminal, mobile phone terminal, portable game machine, etc. or staring at a display screen while driving.

The content of driving control in forced automatic driving mode after switching to the switching condition for "use of mobile terminal" is intended to be punitive for dangerous driving, and only in forced automatic driving mode during use. Made it possible to run. Therefore, the condition for canceling the forced automatic driving mode is when the use is stopped or terminated.

In this case, the image recognition unit 114 analyzes the captured image information from the camera that photographs the driver in the camera group 107, and in this example, particularly the mobile device, in this example, the smartphone or mobile phone terminal. It is detected whether or not the person has made a certain gesture, and the detection result is supplied to the automatic operation switching condition determination unit 115. Furthermore, the voice recognition unit 116 automatically detects the detection results of incoming call notifications broadcast by smartphones or mobile phone terminals, such as ring tones and ring melodies, and the driver's call voice from the voice signals collected by the microphone 137. The operation switching condition determination unit 115 is notified. Furthermore, the vibration sensor included in the sensor group 108 detects vibrations reported by a smartphone or mobile phone terminal, and notifies the automatic driving switching condition determination unit 115 of the detection result.

The automatic driving switching condition determination unit 115 monitors the detection results from the image recognition unit 114, the voice recognition unit 116, and the sensor group 108 while the own vehicle is running, and allows the driver to use the smartphone or mobile phone. Check to see if you are making calls, sending emails, or accessing the Internet using your phone, or if you are staring at the display screen of your mobile device. It determines whether you are staring at the display screen or moving your fingers violently on the game console, and if it is determined that you are doing something that violates the law, it will switch from automatic driving mode to forced automatic driving mode. Make it.

In addition, the automatic driving switching condition determining unit 115 determines the cancellation condition based on the recognition results from the image recognition unit 114 and the voice recognition unit 115, based on whether the driver has stopped or finished using the mobile terminal, or , based on the output of the own vehicle movement detection unit 118, depending on whether the own vehicle has stopped on the shoulder of the road or the like.

Note that the storage contents of the automatic operation switching condition storage unit 135 described above are such that each of the switching conditions, the control contents after switching, the forced automatic operation contents, the destination setting, and the cancellation condition is stored as a corresponding processing program. It is something to do. In addition, regarding the switching conditions, forced automatic operation contents after switching, and cancellation conditions that the user will set later, the user should write the switching conditions, cancellation conditions, and control contents in forced automatic operation mode as described above. Thus, the electronic control circuit section 10 of the automobile 1 is equipped with a processing function that automatically generates a corresponding processing program and stores it in the automatic driving switching condition storage section 135.

As described above, the electronic control circuit section 10 of the automobile 1 is configured, and among the blocks shown in FIG. , surrounding moving object recognition unit 109, current position detection unit 110, car navigation function unit 113, image recognition unit 114, forced automatic driving mode switching processing unit 115, own vehicle movement analysis detection unit 118, own vehicle movement analysis detection unit 118, synthesis Each processing function of the audio generation section 121 and the audio input/output section 122 can be realized by the control section 101 as software processing.

[Example of operation of electronic control circuit unit 10 of automobile 1 according to embodiment]
Next, an example of the processing operation of the electronic control circuit section 10 of the automobile 1 of this embodiment will be explained. The operation of the electronic control circuit section 10 described below is performed by the control section 101, the motor drive control section 102, the steering drive control section 103, the manual/automatic driving mode switching control section 104, the surrounding moving object grasping section 109, the current Position detection unit 110, car navigation function unit 113, image recognition unit 114, automatic driving switching condition determination unit 115, voice recognition unit 116, own vehicle movement analysis detection unit 118, own vehicle movement analysis detection unit 118, mobile phone function unit 119, The respective processing functions of the synthesized speech generation section 121 and the speech input/output section 122 will be described as a case where they are implemented as software processing. Therefore, the processing of each step in the flowchart described below will be described as being executed by the control unit 101.

<Example of operation of electronic control circuit unit 10 at startup>
FIG. 9 is a flowchart for explaining an example of the operation of the electronic control circuit section 10 of the automobile 1 according to this embodiment at the time of startup.

The control unit 101 monitors whether or not the own vehicle has been started (step S1), and when it is determined that the own vehicle has been started, the control unit 101 notifies the driver or A message is sent to the passenger to prompt him or her to input a destination setting (step S2). At this time, the display screen of the display unit 111 allows the user to select "Do not set destination here." This is because some users enjoy driving in manual driving mode without setting a destination.

Next, the control unit 101 determines whether or not a destination setting input from the driver or passenger in response to the message in step S2 has been received (step S3), and when determining that the destination setting input has been received, , stores the received destination (step S4).

When determining in step S3 that the destination setting input has not been accepted, the control unit 101 determines whether "do not set destination" has been selected (step S5), and determines whether "do not set destination" has been selected. '' is not selected, the process returns to step S3 and the processes from step S3 onwards are repeated. Furthermore, when it is determined in step S5 that "do not set destination" has been selected, the control unit 101 ends this processing routine as is.

As described above, when the destination is set and stored at startup, the stored destination becomes the default destination value in the manual driving navigation function section 200, and the destination in the automatic driving navigation function section 300. It is treated as a preset destination.

<Example of driving mode switching processing operation in the vehicle 1 according to the embodiment>
10 to 17 are flowcharts for explaining an example of the driving mode switching process operation after the electronic control circuit section 10 of the automobile 1 of this embodiment is started.

Immediately after the vehicle 1 of this embodiment is started, it is initially in the manual driving mode. After startup, before the vehicle 1 starts traveling, the driver or passenger performs a switching operation to the normal automatic driving mode, thereby switching to the normal automatic driving mode and starting the vehicle 1 traveling. is made possible. Further, after starting, the vehicle starts traveling in the manual driving mode, and then is switched to the normal automatic driving mode by the driver or passenger. In addition, after startup, after starting driving in manual operation mode, while driving in manual operation mode, the above-mentioned switching conditions are monitored, and when the switching conditions are met, the mode is switched to normal automatic operation mode or forced automatic operation mode. It can be switched.

Note that the user (driver, passenger, etc.) may be able to select and set the driving mode immediately after the automobile 1 is started to either the manual driving mode or the normal automatic driving mode. Of course, it is also possible to make selections and settings in advance for each user. In this case, when the automobile 1 is started, the camera group 107 photographs the user, and the image recognition unit 114 recognizes the user, thereby allowing the user to use the driving mode selected and set in advance. Alternatively, the driving mode when the car 1 is finished driving and the power is turned off is memorized, and the next time the car 1 is started, it is set to the previous stored driving mode. good.

In this embodiment, as shown in FIG. 10, first, the control unit 101 determines whether or not the driver or passenger performs a switching operation from the manual driving mode to the normal automatic driving mode (step S101). ). As described above, the switching operation from the manual driving mode to the normal automatic driving mode can be performed either immediately after the vehicle 1 is started and before the start of driving, or while driving in the manual driving mode, but the determination in step S101 The operation includes both cases.

When it is determined in this step S101 that there has been a switching operation to the normal automatic driving mode, the control unit 101 activates the function of the automatic driving navigation function unit 300 of the car navigation function unit 113 (step S102). Note that if the operation mode immediately after startup is set to the normal automatic operation mode, or if the operation mode immediately before the operation mode immediately after startup is the normal automatic operation mode, step S101 is not performed. This step S102 is executed.

After step S102, the control unit 101 determines whether the function of the manual driving navigation function unit 200 was in operation before switching (step S103). When it is determined in this step S103 that the function of the manual driving navigation function section 200 is in operation, the control section 101 changes the destination set in the function of the manual driving navigation function section 200. An inquiry message as to whether or not the vehicle is in use is sent to the driver or passenger through the displayed image on the display screen of the display unit 111 and by synthesized voice through the speaker 138 (step S104).

Next, in response to the inquiry message in step S104, the control unit 101 determines whether the driver or passenger has responded to the inquiry message via the touch panel 112 or the voice recognition unit 116 to change the destination. It is determined (step S105). If it is determined in this step S105 that the destination has not been changed, the control unit 101 uses the destination set in the function of the navigation function unit 200 for manual driving to change the destination for automatic driving. The function of the route search unit 302 of the navigation function unit 300 executes a route search (step S106).

When it is determined in step S103 that the function of the manual driving navigation function section 200 is not in operation, the control section 101 determines whether there is a destination stored at the time of startup (step S111 in FIG. 11). When it is determined in this step S111 that there is no destination stored at the time of startup, the control unit 101 inputs the destination setting through the displayed image on the display screen of the display unit 111 and by the synthesized voice through the speaker 138. A message prompting the driver or passenger is sent to the driver or passenger (step S112).

Then, the control unit 101 receives an input for setting the changed destination from the driver or passenger through the touch panel 112 or the voice recognition unit 116 (step S113). Thereafter, the control unit 101 moves the process to step S106 in FIG. 10, and executes a route search for the automatic driving mode using the function of the route search unit 302.

When it is determined in step S111 that there is a destination stored at the time of startup, the control unit 101 changes the destination through the displayed image on the display screen of the display unit 111 and by the synthesized voice through the speaker 138. An inquiry message is sent to the driver or passenger asking whether or not the vehicle is in use (step S114).

Next, in response to the inquiry message in step S114, the control unit 101 determines whether the driver or passenger has responded to the inquiry message via the touch panel 112 or the voice recognition unit 116 to change the destination. It is determined (step S115). If it is determined in this step S115 that the destination has not been changed, the control unit 101 moves the process to step S106 in FIG. Execute route search.

Further, when it is determined in step S115 that the user has answered that the destination will be changed, the control unit 101 moves the process to step S112 in FIG. In step S106, the setting input of the changed destination is accepted, and then the process moves to step S106 in FIG. 10, where the route search unit 302 executes a route search for the automatic driving mode. Further, when it is determined in step S105 of FIG. 10 that the user has answered that the destination will be changed, the control unit 101 moves the process to step S112 of FIG. 11 and performs the processes from step S112 described above. .

After step S106 in FIG. 10, the control unit 101 generates automatic driving control information based on the route search result in step S106, and starts executing the automatic driving navigation in the normal automatic driving mode ( Step S107).

Next, the control unit 101 instructs the driver or passenger on the display unit 111 whether to display a map in the automatic driving navigation, request audio guidance, or register a point for which surrounding information is requested. An inquiry is made to the driver or passenger through the displayed image on the display screen and by synthesized voice through the speaker 138 (step S108). Then, the control unit 101 receives a setting input in response to the inquiry in step S108 (step S109).

Next, the control unit 101 instructs the driver or passenger through the displayed image on the display screen of the display unit 111 and the synthesized voice through the speaker 138 to indicate the switching level from the normal automatic driving mode to the manual driving mode. The user is prompted to input selection settings (step S121 in FIG. 12). Then, the control unit 101 receives the selection setting of the switching level from the normal automatic driving mode to the manual driving mode (step S122), and executes the automatic driving navigation.

Next, the control unit 101 determines whether a switching operation matching the switching level to the manual operation mode selected and set in step S122 has been performed (step S123), and when it is determined that a switching operation has not been performed, Based on whether the current position detected by the current position detection unit 110 is the destination, it is determined whether the destination has been reached (step S124). When it is determined in this step S124 that the destination has not been reached, the control unit 101 continues the automatic driving navigation (step S125), and then returns the process to step S123, and processes from this step S123 onwards. repeat.

When it is determined in step S124 that the destination has been reached, the control unit 101 determines whether the operation has been stopped, such as by turning off the power (step S126), and when it is determined that the operation has been stopped, The automatic driving navigation is ended (step S130), and this processing routine is ended.

Further, when it is determined in step S126 that the operation has not been stopped, the control unit 101 communicates with the driver or passenger through the displayed image on the display screen of the display unit 111 and the synthesized voice through the speaker 138. A message prompting the user to input a new destination setting is sent to the user (step S127). Then, the control unit 101 determines whether or not the destination setting input has been accepted in response to the prompting in step S127 (step S128), and when determining that it has been accepted, the process moves to step S112 in FIG. Processing from step S112 onwards is executed.

When it is determined in step S128 that the destination setting input has not been received, the control unit 101 determines whether a switching operation that matches the switching level to the manual driving mode has been performed (step S129), and then performs the switching operation. If it is determined that the process has not been performed, the process returns to step S126, and the process from step S126 onward is repeated.

Then, when it is determined in step S123 that a switching operation that matches the switching level to manual operation mode has been performed, or when it is determined in step S129 that a switching operation that matches the switching level to manual operation mode has been performed, The control unit 101 executes switching to manual operation mode (step S131 in FIG. 13). At this time, the driver and passengers may be notified of the switching to the manual driving mode through the displayed image on the display screen of the display unit 111 or by a synthesized voice through the speaker 138.

Next, the control unit 101 inquires of the driver or passenger whether or not to start the manual driving navigation through the displayed image on the display screen of the display unit 111 and by synthesized voice through the speaker 138. (Step S132). Then, in response to the inquiry in step S132, the control unit 101 determines whether or not it has received a response that the manual driving navigation will be started (step S133), and when determining that the manual driving navigation will not be started. , the process returns to step S101 in FIG. 10, and the processes from step S101 onward are repeated.

Further, when it is determined in step S133 that a response to start the manual driving navigation has been received, the control unit 101 transmits information to the automatic driving through the display image on the display screen of the display unit 111 and the synthesized voice through the speaker 138. A message is sent to the driver or passenger asking whether or not to change the destination that was set during the execution of the navigation system (step S134).

Next, the control unit 101 determines whether the driver or passenger has responded to the inquiry message in step S133 through the touch panel 112 or through the voice recognition unit 116 to change the destination. (Step S135). When it is determined in this step S135 that the destination has not been changed, the control unit 101 uses the function of the route search unit 202 of the manual navigation function unit 200 to change the destination to the automatic driving navigation system. The destination remains as is, and a route search for manual driving mode is performed to execute the functions of the manual driving navigation function section 200 (step S136).

Further, when it is determined in step S135 that the user has answered to change the destination, the control unit 101 informs the user of the destination through the displayed image on the display screen of the display unit 111 and by the synthesized voice through the speaker 138. A message prompting the driver or passenger to input settings is sent to the driver or passenger (step S137).

Then, the control unit 101 receives an input for setting the changed destination from the driver or passenger through the touch panel 112 or the voice recognition unit 116 (step S138). Thereafter, the control unit 101 uses the function of the route search unit 302 to execute a route search for the automatic driving mode using the received destination as a new destination, and based on the search result, the control information generating unit 303 for automatic driving. The function generates control information for automatic driving and executes navigation for automatic driving (step S139).

In addition, regardless of whether the destination is changed or not, the setting reception unit 201 of the manual driving navigation function unit 200 accepts setting inputs other than the destination, such as those described above. Items are accepted.

After step S136 or step S139, the control unit 101 determines whether the destination has been reached based on whether the current position detected by the current position detection unit 110 is the destination (step S139 in FIG. 14). S141).

When it is determined in step S141 that the destination has been reached, the control unit 101 ends the manual driving navigation (step S142), and then determines whether the operation has been stopped by, for example, being turned off. (Step S143) When it is determined that the operation has been stopped, this processing routine is ended. When it is determined in step S143 that the operation has not been stopped, the control unit 101 returns the process to step S101 in FIG. 10 and repeats the process from step S101 onwards.

Further, when it is determined in step S141 that the destination has not been reached, the control unit 101 continues the manual driving navigation (step S144). Then, the control unit 101 determines whether or not the driver or passenger has performed a switching operation from the manual driving mode to the automatic driving mode (step S145), and when determining that there has been a switching operation, the control unit 101 executes the process shown in FIG. The process returns to step S102 and the processes from step S102 described above are repeated.

Further, when it is determined in step S145 that the switching operation from the manual operation mode to the normal automatic operation mode has not been performed, the control unit 101 sets the state to a state that matches the switching condition stored in the automatic operation switching condition storage unit 135. It is determined whether or not it has been detected (step S146).

When it is determined in step S146 that a state matching the switching conditions stored in the automatic operation switching condition storage unit 135 has been detected, the control unit 101 advances the process to step S152 in FIG. Depending on the situation, switch to normal automatic operation mode or forced automatic operation mode. If it is determined in step S146 that a state matching the switching conditions stored in the automatic operation switching condition storage unit 135 has not been detected, the process returns to S141.

Further, when it is determined in step S101 in FIG. 10 that there is no switching operation to the normal automatic driving mode, the control unit 101 detects a state that matches the switching condition stored in the automatic driving switching condition storage unit 135. It is determined whether or not (step S151 in FIG. 15). When it is determined in this step S151 that a state matching the switching conditions stored in the automatic driving switching condition storage unit 135 has been detected, the control unit 101 advances the process to step S152, and detects the matching switching conditions. Depending on the situation, switch to normal automatic operation mode or forced automatic operation mode.

Further, when it is determined in step S151 that a state matching the switching conditions stored in the automatic driving switching condition storage unit 135 has not been detected, a request to use the manual driving navigation in the manual driving mode is sent to the driver or passenger. It is determined whether or not the request has been received from a person (step S161 in FIG. 16).

If it is determined in this step S161 that a request to use the manual driving navigation in the manual driving mode has not been received from the driver or passenger, the control unit 101 returns the process to step S101 in FIG. Repeat the following process.

Further, when it is determined in step S161 that a request to use the manual driving navigation in the manual driving mode has been received from the driver or passenger, the control unit 101 uses the function of the setting reception unit 201 of the manual driving navigation function unit 200. , accepts setting input of necessary input items (step S162). At this time, if there is a destination stored at the time of starting the automobile 1, the manual driving navigation function section 200 sets the stored destination as a default value. The driver or passenger may leave the destination as the stored destination or may change the destination.

Next to step S162, the control unit 101 executes a route search using the function of the route search unit 202 of the manual driving navigation function unit 200, and executes the manual driving navigation according to the route search result. (Step S163). After step S163, the control unit 101 shifts the process to step S141 in FIG. 14 and executes the processes from step S141 onwards.

Then, after step S152 in FIG. 15, the control unit 101 refers to the stored contents of the automatic operation switching condition storage unit 135, and in the normal automatic operation mode or forced automatic operation mode according to the matched switching condition, It is determined whether setting of a destination is unnecessary (step S153).

In this step S153, when it is determined that in the normal automatic driving mode or forced automatic driving mode according to the matched switching condition, the switching condition is not a switching condition that does not require setting the destination, but is a switching condition that requires setting the destination. , the control unit 101 refers to the stored contents of the automatic driving switching condition storage unit 135 and determines whether the destination has been determined in accordance with the matched switching condition (step S154).

When it is determined in this step S154 that the destination corresponding to the matching switching condition is not determined, the control unit 101 determines whether or not the destination stored at the time of starting the automobile 1 exists (see FIG. 17 step S171).

In this step S171, when it is determined that the destination stored at the time of starting the vehicle 1 exists, the control unit 101 transmits the destination through the displayed image on the display screen of the display unit 111 and by synthesized voice through the speaker 138. The driver or passenger is inquired as to whether or not the destination should be changed (step S172).

Next, the control unit 101 determines whether or not the destination is to be changed by the driver or passenger in response to this inquiry (step S173). When it is determined in this step S173 that a response not to change the destination has been received, the control unit 101 uses the function of the route search unit 302 to set the destination as the destination stored at the time of startup. A route search is executed (step S174).

Further, when it is determined in step S171 that the destination stored at the time of starting the automobile 1 does not exist, and when it is determined in step S173 that a response to change the destination has been received, the control unit 101 A message prompting the driver or passenger to input the destination setting is sent to the driver or passenger through the image displayed on the display screen of the display unit 111 and by synthesized voice through the speaker 138 (step S175).

Then, the control unit 101 receives input from the driver or passenger through the touch panel 112 or the voice recognition unit 116 to set the changed destination (step S176). Thereafter, the control unit 101 uses the function of the route search unit 302 to execute a route search for the automatic driving mode, using the received destination as a new destination (step S177).

Then, the control unit 101 generates automatic driving control information based on the route search result in step S174 or step S177, and executes automatic driving navigation (step S178).

Then, in step S154 of FIG. 15, when it is determined that the destination corresponding to the matched switching condition has been determined, the control unit 101 determines that the information on the determined destination is not the destination itself, but a hospital. It is determined whether the destination attribute is (step S155). In step S155, when the determined destination information is a destination attribute, the control unit 101 accesses the Internet through the mobile phone function unit 119 and performs a surrounding search using the destination attribute ( Step S156), and the destination is determined from the surrounding search results (Step S157). The destination may be determined in step S157 in response to a selection by the driver or passenger, or may be determined by the vehicle 1 itself.

After step S157, the control unit 101 moves the process to step S177 in FIG. 17, and executes the processes from step S177 onwards. Further, even when the determined destination information in step S155 is not the destination attribute but the destination itself, the control unit 101 moves the process to step S177 in FIG. Execute the following processing.

Next, after step S178, the control unit 101 requests the driver or passenger to display a map in the automatic driving navigation system, request voice guidance, or register a point for requesting provision of surrounding information. The driver or passenger is inquired about whether to do so through the image displayed on the display screen of the display unit 111 or by synthesized voice through the speaker 138 (step S181 in FIG. 18). Then, the control unit 101 receives a setting input in response to the inquiry in step S181 (step S182).

Then, after step S182, the control unit 101 refers to the stored contents of the automatic operation switching condition storage unit 135, and determines whether the state matches the cancellation condition defined corresponding to the matched switching condition. It is determined whether or not (step S183), and waits until the cancellation condition is met.

When it is determined in step S183 that the release condition is met, the control unit 101 notifies the driver or passenger that the forcedly switched normal automatic driving mode or forced automatic driving mode has ended. is notified through the display image on the display screen of the display unit 111 and by synthesized voice through the speaker 138 (step S184).

Next, the control unit 101 instructs the driver or passenger to put the vehicle into manual driving mode or An inquiry is made as to whether the automatic operation mode should be selected (step S185), and it is determined which operation mode is selected in response to the inquiry (step S186).

When it is determined in step S186 that the manual operation mode has been selected, the control unit 101 shifts the process to step S131 in FIG. 13 and executes the processes from step S131 onwards. Further, when it is determined in step S186 that the normal automatic driving mode has been selected, the control unit 101 shifts the process to step S102 in FIG. 10 and executes the processes from step S102 onwards.

Then, in step S153 of FIG. 15, when it is determined that the switching condition does not require setting a destination in the normal automatic driving mode or forced automatic driving mode according to the matched switching condition, the control unit 101 executes the process. The process moves to step S183 in FIG. 18, and the processes from step S183 onwards are repeated.

[Effects of embodiment]
According to the automobile 1 of the embodiment described above, when the manual driving mode is switched to the automatic driving mode, the automatic driving navigation is always activated and the destination, which is the destination of the drive, is set. Therefore, the automobile 1 can autonomously travel in the automatic driving mode to the destination desired by the driver or passenger.

Further, in the above-described embodiment, when the driver or passenger gets into the car 1 and starts it up, the driver or passenger is prompted to input the destination setting in advance, and if the destination is set, the destination is stored, and when the manual driving mode is switched to the automatic driving mode, the automatic driving navigation can be executed with the stored destination as the destination. Therefore, when switching from manual driving mode to automatic driving mode, the driver or passenger can enjoy the benefits of the automatic driving navigation function in automatic driving mode without setting a destination. play.

In addition, in the above embodiment, when a predetermined switching condition is met, the manual driving mode is forcibly switched to the normal automatic driving mode or the forced automatic driving mode, and the function of the automatic driving navigation is activated. Since the vehicle is driven to a preset destination or a destination set by the driver or passenger, safety and convenience for the driver or passenger is improved, and traffic regulations are complied with. Since it is possible to do so, safety for people other than the driver or passenger using the automobile 1 is also improved.

[Other embodiments or modifications]
In the embodiment described above, when the driver performs a switching operation from manual driving mode to normal automatic driving mode, and when the vehicle monitors the switching conditions and detects that the switching conditions are met, manual driving is performed. The case of switching from the mode to the normal automatic operation mode or the forced automatic operation mode has been explained.

However, the vehicle 1 of the above-described embodiment is capable of autonomous driving even without a driver. For this reason, when there are passengers (passengers) in the car 1 in addition to the driver, after the driver drives the car 1 in manual driving mode, the driver stops at a predetermined point A. Even after getting off the vehicle, passengers other than the driver (passengers) can move to another point B without getting off the vehicle.

In such a case, since the driver was in the manual driving mode when driving, the car 1 changes from the manual driving mode to the normal automatic driving mode from point A where the driver alights to point B. The vehicle will be switched to autonomous driving. In consideration of such a situation, the automobile 1 performs a processing operation that allows the automobile 1 to autonomously travel from point A where the driver alights to point B in the automatic driving mode.

FIG. 19 is a flowchart for explaining an example of a processing operation that the automobile 1 performs in addition to the processing operation of the above-described embodiment when the above situation is taken into consideration. Note that the hardware configuration of the automobile 1 may be the same as that shown in FIG. 1.

That is, the control unit 101 determines whether or not the own vehicle is in the manual driving mode (step S201). When it is determined in this step S201 that the state is not in the manual operation mode, the control unit 101 determines whether the mode has been switched to the manual operation mode (step S202), and determines that the mode has not been switched to the manual operation mode. In some cases, the process returns to step S201 and the processes from step S201 onward are repeated.

When it is determined in step S201 that the vehicle is in the manual driving mode, and when it is determined that the vehicle has been switched to the manual driving mode in step S202, the control unit 101 determines whether or not the own vehicle has stopped (step S203). If it is determined that the own vehicle is not stopped, the process returns to step S201 and the processes from step S201 onwards are repeated.

When it is determined in step S203 that the own vehicle has stopped, the control unit 101 determines whether the driver has gotten off the vehicle while maintaining the driving state of the own vehicle (step S204), and determines whether the driver has gotten off the vehicle. If it is determined that there is not, the process returns to step S201 and the processes from step S201 onwards are repeated.

When it is determined in step S203 that the driver has gotten off the vehicle while maintaining the driving state of the vehicle, it is determined whether or not there is another passenger (passenger) in the vehicle (step S205). When it is determined in this step S205 that there are no other passengers, the control unit 101 determines whether or not the driver has re-boarded the vehicle (step S206), and has determined that the driver has not re-boarded the vehicle. Sometimes, this step S206 is repeated to wait for the driver to get on the vehicle again.

When it is determined in step S206 that the driver has re-entered the vehicle, the control unit 101 returns the process to step S201 and repeats the process from step S201 onwards. If it is determined in step S205 that another passenger is present, the control unit 101 executes a process after the driver gets off the vehicle (step S207).

FIG. 20 is a flowchart for explaining a first example of the process after the driver gets off the vehicle in step S207. This first example assumes that passengers other than the driver understand the subsequent actions of the driver who has exited the vehicle. For example, when a driver gets off the bus, he or she may tell other passengers that he/she will get back on the train by saying, "I'll be right back," or "Wait for about 5 minutes," or, "I'll get off here. Goodbye," or "No more." This assumes that the driver will not be returning to the vehicle by saying, "I will not return."

That is, in this first example, as shown in FIG. 20, the control unit 101 sends an inquiry message to other passengers regarding the behavior of the driver after getting off the vehicle through the display screen of the display unit 111 or , is transmitted by voice through the speaker 138 (step S211). Then, the control unit 101 determines whether or not an instruction from another passenger (an instruction via the touch panel or an instruction recognized by the voice recognition unit 116) in response to this inquiry message has been received (step S212), and If it is determined that the instruction has not been accepted, the process of step S212 is repeated to wait for the instruction to be accepted.

When determining in step S212 that an instruction from another passenger has been received, the control unit 101 determines whether the instruction is an instruction to wait for the driver to board the vehicle again (step S213). When it is determined in this step S213 that the received instruction is an instruction to wait for the driver to get on the vehicle again, the control unit 101 determines whether or not the driver has gotten on the vehicle again (step S214). When it is determined that the driver is not in the vehicle, this step S214 is repeated to wait for the driver to get in the vehicle again.

When it is determined in step S214 that the driver has re-entered the vehicle, the control unit 101 moves the process to step S101 in FIG. 10 described above, and executes the processes from step S101 described above.

When it is determined in step S213 that the received instruction is not an instruction to wait for the driver to get on the vehicle again, the control unit 101 determines whether or not it is an instruction to start driving (step S215). When determining in step S215 that the received instruction is not a drive start instruction, the control unit 101 determines whether the received instruction is a drive stop instruction (step S216), and when determining that it is not a drive stop instruction, processing is performed. The process returns to step S215, and when it is determined that the instruction is to stop the drive, the drive of the host vehicle is stopped (step S217), and this processing routine is ended.

When it is determined in step S215 that the instruction is to start the activation, the control unit 101 switches from the manual driving mode to the normal automatic driving mode to start autonomous driving (step S218), and thereafter, as shown in FIG. The process moves to step S102, and the processes from step S102 onwards are executed.

FIG. 21 is a flowchart for explaining a second example of the process after the driver gets off the vehicle in step S207. This second example is based on the premise that the driver inputs an instruction to the automobile 1 through the touch panel 112 or by voice through the microphone 137 before getting out of the vehicle. For example, in this example, the automobile 1 displays three instructions on the display screen of the display unit 111 as the expected behavior of the driver who exits the vehicle: "Re-board," "Start driving after exiting," and "Stop drive." Items are displayed and the driver selects and inputs the instruction items from among the items. Then, the automobile 1 performs processing after the driver gets off the vehicle according to the selection input. In this example, when the instruction to "start driving after getting off the vehicle" is selected, the destination can also be input. However, the configuration is such that it is not necessary to input settings for this destination.

That is, in this second example, as shown in FIG. 21, the control unit 101 analyzes and determines the instruction selected by the driver before getting off the vehicle (step S221). Then, the control unit 101 determines whether the determined instruction is an instruction from the driver to get on the vehicle again (step S222). When it is determined in step S222 that the determined instruction is the driver's “re-boarding” instruction, the control unit 101 determines whether or not the driver has re-boarded (step S223), and determines whether the driver has re-boarded the vehicle. If it is determined that the driver is not in the vehicle, this step S223 is repeated to wait for the driver to get in the vehicle again.

When it is determined in step S223 that the driver has re-entered the vehicle, the control unit 101 moves the process to step S101 in FIG. 10 described above, and executes the processes from step S101 described above.

When it is determined in step S222 that the determined instruction is not an instruction to "re-board" the driver, the control unit 101 determines whether the determined instruction is an instruction to "start driving after getting off the vehicle" (step S222). S224). In step S224, when it is determined that the instruction is not "start driving after dismounting", the control unit 101 confirms that the determined instruction is "stop driving" and stops driving the own vehicle (step S225). ). Then, this processing routine ends.

Further, when it is determined in step S224 that the determined instruction is an instruction to "start driving after getting off the vehicle", the control unit 101 switches from the manual driving mode to the normal automatic driving mode and starts autonomous driving (step S226), and then it is determined whether a destination has been set (step S227). When it is determined in this step S227 that a destination has been set, the control unit 101 rewrites the stored destination at startup to the set destination (step S228).

Then, when it is determined in step S227 that the destination has not been set, and after step S228, the control unit 101 moves to step S102 in FIG. to execute the process.

As described above, according to the examples shown in FIGS. 19 to 21, even when the driver gets off the car from the state where the driver is driving the car 1 in the manual driving mode, the car 1 changes from the manual driving mode to the normal automatic driving mode. At the same time, the automatic driving navigation is activated, and the vehicle can autonomously travel without any hindrance toward the destination set and input by the driver who has exited the vehicle or by a passenger other than the driver.

In addition, in the above-described embodiment, since the car has a manual driving mode and an automatic driving mode, it is assumed that the navigation is not operating in the manual driving mode. By setting the destination in advance, the trouble of setting the destination later can be saved. However, in the case of a car that only has automatic driving mode, when it is started, it will go into automatic driving mode, so in that case, according to the present invention, an inquiry will always be made to set the destination. There is no need to set and remember the destination at startup.

In the embodiment described above, even if the destination set at the time of startup is stored, if the driver or passenger is asked whether or not to change the destination in the storage section, and the driver or passenger answers that they do not want to change it, , the destination in the storage unit is used for route search in the autonomous driving navigation, but if the destination is already stored in the storage unit, the destination in the storage unit is used without inquiring whether to change it or not. The destination may be used to search for a route in the automatic driving navigation system, thereby omitting inquiries to the driver or passenger about the destination when switching to the automatic driving mode.

In addition, although the above-mentioned embodiment mainly explained setting, storing, and changing the destination, in addition to the destination, it is also possible to set, store, and change the waypoints to the destination in the same way. For example, when it is determined in step S1 that the own vehicle has been started, in step S2, a message is sent to the driver and passengers according to the destination through the display screen of the display unit 111 and by voice through the speaker 138. Sends a message prompting the user to input the settings or selection of the route point. At this time, the display screen of the display unit 111 allows the user to select "Do not set a route point here." This is because some users head to their destination in manual driving mode without determining a stopover point.

Further, in the self-driving car of the above-described embodiment, various databases and various storage units are configured to be installed in the own vehicle, but the configuration is not limited to this, and it goes without saying that they may be located on the cloud. The camera group 107 is not limited to being installed in the own vehicle, but can also be used to obtain images from surveillance cameras installed at traffic lights, streetlights, etc. via communication, or to obtain images from cameras of other vehicles via vehicle-to-vehicle communication. You can also Similarly, regarding the radar group 106 and the sensor group 108, it is possible to obtain radar information and various sensor information not only from the vehicle but also from an external system such as an ITS spot or by communication from another vehicle.

Further, although the vehicle in the above-described embodiment is an electric vehicle, the present invention is also applicable to gasoline vehicles, hybrid vehicles, fuel cell vehicles, and vehicles with other drive systems.

Furthermore, this invention applies not only to regular cars and light cars, but also to trucks, buses, taxis, police cars, ambulances, fire trucks, training cars, tractors, dump trucks, shovel cars, forklifts, single-person cars, motorcycles, and motor vehicles. It is also applicable to tricycles and the like. Of course, this invention is also applicable to amphibious vehicles and amphibious vehicles (flying vehicles).

DESCRIPTION OF SYMBOLS 1...Automobile, 10...Electronic control circuit unit, 101...Control unit, 104...Manual/automatic driving mode switching control unit, 111...Display unit, 113...Car navigation function unit, 115...Automatic driving switching condition determination unit, 121...Synthesis Voice generation unit, 133...Car navigation database, 135...Automatic driving switching condition storage unit

Claims (21)

In a vehicle equipped with a manual driving mode in which driving is performed based on driving operations by the driver and an automatic driving mode in which autonomous driving is performed,
In the manual driving mode, a navigation means for the manual driving mode for supporting driving to the destination or the destination and the stopover point;
In the automatic driving mode, navigation means for the automatic driving mode for supporting the autonomous driving to the destination or the destination and the stopover point;
a first inquiry means for inquiring whether to start the navigation means for the manual operation mode when the automatic operation mode is switched to the manual operation mode;
If a response is received in response to the first inquiry means that the navigation means for the manual driving mode is to be activated, the navigation means for the automatic driving mode operating in the automatic driving mode is set. a second inquiry means for inquiring whether to change the destination or the destination and/or the stopover;
An automobile characterized by comprising: In response to the inquiry by the second inquiry means, if a reply is received that the destination or destination and/or stopover point will not be changed, the navigation means for manual operation mode The automobile according to claim 1, wherein the automobile supports driving to the destination set in a navigation means for a driving mode. In response to the inquiry by the second inquiry means, if a reply is obtained that the destination or destination and/or transit point will be changed, the destination or destination of the driver or passenger and/or accept a change in the waypoint, and set the accepted destination, or the destination and/or the waypoint, as the destination, or the destination and/or the waypoint in the navigation means for the manual driving mode. The automobile according to claim 1 or 2, characterized in that: The navigation means for the manual driving mode searches for a route for the manual driving mode with respect to the destination or the destination and the stopover point, and navigates the manual driving mode to the destination or the destination and the stopover point. The automobile according to any one of claims 1 to 3 , characterized in that the automobile supports driving in a vehicle. comprising a switching operation detection means for detecting a switching operation to the manual operation mode,
Any one of claims 1 to 4 , characterized in that when the switching operation detection means detects the switching operation in the state of the automatic operation mode, the automatic operation mode is switched to the manual operation mode. The vehicle mentioned. a switching level setting reception means that receives a setting of a switching level for switching from the automatic operation mode to the manual operation mode;
Driving mode switching means for switching from the automatic driving mode to the manual driving mode when a switching operation that matches the switching level accepted by the switching level setting receiving means is performed ;
The automobile according to any one of claims 1 to 5 , characterized in that it comprises: manual driving operation detection means for detecting manual driving operation;
touch panel and
a voice recognition means that collects voice and performs voice recognition;
Equipped with
Based on a combination of the detection output of the manual driving operation detection means, the instruction content through the touch panel, and/or the voice recognition result by the voice recognition means, it is determined whether a switching operation that matches the switching level has been performed. do
The automobile according to claim 6 , characterized in that: The automobile according to claim 7 , wherein the manual driving operation includes any one of an accelerator pedal operation, a brake pedal operation, a shift lever operation, and a steering operation. The automobile according to claim 7 or 8 , further comprising a forced automatic driving mode in which the manual driving mode cannot be switched to when the manual driving operation is detected by the manual driving operation detecting means. Any one of claims 6 to 9 , characterized in that the switching level setting reception means accepts the switching level setting prior to or at the time of activation of the navigation means for the automatic driving mode. The automobile described in . The automobile according to any one of claims 1 to 10 , further comprising reception means for accepting a setting input as to whether or not to display a map during navigation by the navigation means for the automatic driving mode. The automobile according to any one of claims 1 to 11 , further comprising receiving means for accepting a setting input as to whether or not to request audio guidance during navigation by the navigation means for the automatic driving mode. The vehicle according to any one of claims 1 to 12 , further comprising a receiving unit that receives a setting input as to whether or not to request provision of surrounding information during navigation by the navigation unit for the automatic driving mode. car. The vehicle according to any one of claims 1 to 13 , further comprising a notification means for notifying that the automatic operation mode has been switched to the manual operation mode when the automatic operation mode is switched to the manual operation mode. car. When a predetermined switching condition is met, the manual operation mode is switched to the automatic operation mode, and when a predetermined release condition is met, the automatic operation mode is switched to the manual operation mode. The automobile according to any one of claims 1 to 14 , characterized in that: The automatic driving mode includes a forced automatic driving mode in which the automatic driving mode continues and the autonomous driving is performed without switching to the manual driving mode even if the driver performs the predetermined operation, and the switching condition is 16. The automobile according to claim 15 , wherein conditions for canceling the forced automatic driving mode are stored, which are set corresponding to the conditions for canceling the forced automatic driving mode. Equipped with in-vehicle situation determination means for determining the in-vehicle situation,
The automobile according to claim 15 or 16 , wherein the switching condition is a condition that is predetermined in relation to the determination result of the in-vehicle situation determining means. The switching condition is a predetermined condition to ensure compliance with traffic regulations or a predetermined condition to maintain safe driving. The automobile according to any of Item 17 . The navigation means for the manual driving mode has at least one priority setting among giving priority to expressways, giving priority to general roads, giving priority to the shortest route, giving priority to arrival time, and giving priority to cost. The automobile according to any one of claims 1 to 18 , further comprising a function of accepting input. The navigation means for the automatic driving mode has at least one priority setting among giving priority to expressways, giving priority to general roads, giving priority to the shortest route, giving priority to arrival time, and giving priority to cost. The automobile according to any one of claims 1 to 19 , further comprising a function of accepting input. A computer included in a car that has a manual driving mode that runs based on the driver's driving operations and an automatic driving mode that runs autonomously,
In the manual driving mode, navigation means for the manual driving mode for supporting driving to the destination or the destination and the stopover point;
In the automatic driving mode, navigation means for the automatic driving mode for supporting the autonomous driving to a destination or a destination and a stopover point;
a first inquiry means for inquiring whether to start the navigation means for the manual operation mode when the automatic operation mode is switched to the manual operation mode;
If a response is received in response to the first inquiry means that the navigation means for the manual driving mode is to be activated, the navigation means for the automatic driving mode operating in the automatic driving mode is set. a second inquiry means for inquiring whether to change the destination or the destination and/or transit point;
Automotive program to function as.

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