WO2016152834A1 - Automatic travel control device and automatic travel control system - Google Patents

Abstract

An automatic travel control system is provided with an automatic travel control unit, a function assessment unit, a first notification unit, an abnormality detection unit, and a second notification unit. The automatic travel control unit causes the host vehicle to automatically travel along a route to a destination. The function assessment unit assesses whether or not the states of functions used in automatic travel are normal. The first notification unit issues notifications about the states of functions assessed by the function assessment unit. The abnormality detection unit detects any abnormalities in the notifications of the states of functions issued by the first notification unit. The second notification unit issues a preset unique notification when an abnormality in the notification of the state of a function issued by the first notification unit is detected by the abnormality detection unit, and the state of the function is assessed by the function assessment unit as being normal.

Description

Automatic travel control device and automatic travel control system Cross-reference of related applications

This application is based on Japanese Application No. 2015-059848 filed on Mar. 23, 2015 and Japanese Application No. 2016-033507 filed on Feb. 24, 2016. All the contents of that patent application are hereby incorporated by reference.

The present disclosure relates to an automatic travel control device and an automatic travel control system.

Conventionally, a technique for performing traveling control of the host vehicle based on information from a GPS satellite is known. For example, in the technique described in Patent Document 1, information related to travel control is displayed on the display of the host vehicle and is notified to the driver.

Japanese Patent Laid-Open No. 2005-67483

When the host vehicle is automatically driven, it is conceivable to notify the user whether or not the function used for automatic driving is normal, as in the technique described in Patent Document 1. In this case, if the notification cannot be performed due to an abnormality in the notification means, the user has anxiety that the function itself used for automatic traveling may be abnormal.

An object of the present disclosure is to provide an automatic travel control device and an automatic travel control system that can solve the above-described problems.

An automatic travel control apparatus according to an aspect of the present disclosure includes an automatic travel control unit that automatically travels a host vehicle along a route to a destination, and a function that determines whether or not a function used for automatic travel is in a normal state. A determination unit, a first notification unit that notifies the state of the function determined by the function determination unit, an abnormality detection unit that detects an abnormality in notification of the function state by the first notification unit, and an abnormality detection unit When an abnormality is detected in the function status notification by one notification unit, and the function determination unit determines that the function state used for automatic driving is normal, a preset specific notification is performed. 2 notification units.

The automatic travel control device according to an aspect of the present disclosure is set in advance when an abnormality in the notification of the state of the function used for automatic traveling is detected and it is determined that the state of the function used for automatic traveling is normal. Special notifications are made. Thereby, the user can easily understand the situation of automatic running, that is, the situation where the function itself used for automatic running is normal but has not been informed.

An automatic traveling control system according to an aspect of the present disclosure includes the above-described automatic traveling control device and a function providing unit that provides at least a part of a function of controlling automatic traveling to the automatic traveling control device. According to this, the user can easily understand the situation of automatic driving.

It is a block diagram showing the structure of the automatic traveling control system which concerns on 1st Embodiment. It is a flowchart showing the process which a control center performs in the automatic travel control system which concerns on 1st Embodiment. It is a flowchart showing the automatic travel control start process which an automatic travel control apparatus performs in the automatic travel control system which concerns on 1st Embodiment. It is explanatory drawing showing the example of the automatic traveling control by the automatic traveling control system which concerns on 1st Embodiment. It is a flowchart showing the alerting | reporting abnormality detection process which an automatic travel control apparatus performs in the automatic travel control system which concerns on 1st Embodiment. In the automatic traveling control system concerning a 1st embodiment, it is explanatory drawing showing the screen of an indoor display in case a functional state information is normal. In the automatic traveling control system concerning a 1st embodiment, it is explanatory drawing showing the screen of an indoor display in case a functional state information is abnormal. FIG. 8A is an explanatory diagram illustrating a screen of a meter display when the function state notification is normal in the automatic travel control system according to the first embodiment, and FIG. 8B is an automatic travel control according to the first embodiment. It is explanatory drawing showing the screen of a meter display in case a function status alert | report is abnormal in a system. It is a flowchart showing the process at the time of the impact detection which an automatic travel control apparatus performs in the automatic travel control system which concerns on 1st Embodiment. It is a flowchart showing the alerting | reporting abnormality detection process which an automatic travel control apparatus performs in the automatic travel control system which concerns on 2nd Embodiment. It is a block diagram showing the structure of the automatic traveling control system which concerns on 3rd Embodiment. In the automatic travel control system concerning a 3rd embodiment, it is a flow chart showing processing which judges whether a user can perform manual operation which an automatic travel control device performs. In the automatic traveling control system concerning a 4th embodiment, it is a flowchart showing processing which judges whether a user can perform manual operation which an automatic traveling control device performs. In the automatic traveling control system concerning a 4th embodiment, it is an explanatory view showing the question displayed on the indoor display. It is a flowchart showing the process which an automatic traveling control apparatus and a control center perform in the automatic traveling control system which concerns on 5th Embodiment.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

<First Embodiment>
First, the first embodiment will be described with reference to FIGS.

1. Configuration of Automatic Travel Control System 1 The configuration of the automatic travel control system 1 according to the present embodiment will be described with reference to FIG. The automatic travel control system 1 includes an automatic travel control device 3 and a control center 5.

The automatic travel control device 3 is an in-vehicle device mounted on a vehicle. Hereinafter, the vehicle on which the automatic travel control device 3 is mounted is referred to as the own vehicle. The automatic travel control device 3 is a known computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. The automatic travel control device 3 executes processing to be described later when the CPU executes a program stored in the ROM.

The automatic travel control device 3 functionally includes a peripheral information acquisition unit 7, an automatic travel control unit 9, a function determination unit 11, a first notification unit 13, an abnormality detection unit 15, a second notification unit 17, and an input signal acquisition. A unit 19, a host vehicle operation unit 21, a behavior detection unit 23, a third notification unit 25, a driving availability determination unit 27, a manual driving request unit 29, and a continuation notification unit 31 are provided. The driving permission determination unit 27 includes a driving license determination unit 33 and a user position determination unit 35. The function of each unit will be described later.

In addition to the automatic travel control device 3, the host vehicle includes a communication device 37, a GPS (Global Positioning System) 39, a sensor 41, an altitude map information storage unit 43, an indoor camera 45, an indoor display 47, a meter display 49, a speaker 51, An input device 53 and an impact sensor 55 are provided.

The communication device 37 performs wireless communication with the control center 5. The GPS 39 uses the quasi-zenith satellite 39a (see FIG. 4) to acquire position information of the host vehicle. The sensor 41 includes an image sensor, a millimeter wave radar, a rider, and the like, and can detect a target (such as an obstacle) around the host vehicle.

The altitude map information storage unit 43 stores altitude map information. The altitude map information includes surrounding environment information in addition to general map information. As the surrounding environment information, for example, the traveling state (position, traveling speed, etc.) of other vehicles around the host vehicle, road conditions (road surface state, under construction), traffic control information such as traffic regulation, traffic such as vehicles and pedestrians There are situation information and detailed road management information. The surrounding environment information changes from moment to moment (dynamically).

The indoor camera 45 is a camera that captures the interior of the vehicle. The indoor display 47 is a display provided in the cabin of the host vehicle and capable of displaying an image. The meter display 49 is a display capable of displaying an image provided in the vicinity of the meter. The speaker 51 can output sound in the passenger compartment of the host vehicle.

The input device 53 receives a user input operation and generates an input signal corresponding to the input operation. The input device 53 can be composed of, for example, a push button switch, a touch panel, a keyboard, a voice input device, and the like.

The impact sensor 55 is provided in the casing of the indoor display 47 and detects an impact applied to the indoor display 47. When the user hits the indoor display 47, the impact sensor 55 detects the impact at that time. Note that the user hitting the indoor display 47 is an example of the user's specific behavior.

The control center 5 is a center type device that controls the automatic driving of the vehicle in a specific area and is monitored by an operator. The control center 5 includes an arithmetic unit 57, a communication device 59, an input device 61, a database 63, and an altitude map information storage unit 65.

The arithmetic unit 57 is a known computer including a CPU, a RAM, a ROM, and the like. The arithmetic unit 57 executes processing to be described later when the CPU executes a program stored in the ROM. The communication device 59 performs wireless communication with the automatic travel control device 3. The input device 61 is a device that inputs various types of information to the arithmetic unit 57 in accordance with the operation of the operator. Examples of the input device 61 include a keyboard, a touch panel, a mouse, and a voice input device.

The database 63 stores positional information of vehicles (including the host vehicle) that are subject to automatic travel control and vehicle IDs in association with each other. Each vehicle periodically transmits information relating the vehicle position information and the vehicle ID to the control center 5. The control center 5 stores the information in the database 63.

In addition, the database 63 stores a user ID and an attribute of the user (whether or not a driver's license is held) in association with each other. The user means a person who can use (can board) a vehicle that is subject to automatic travel control. Holding a driver's license means having a driver's license qualification regardless of whether or not the driver's license is carried at that time. That is, even if the user does not carry his / her driver's license and places it elsewhere, the user holds the driver's license.

The altitude map information storage unit 65 stores altitude map information. The content of the altitude map information is as described above. The control center 5 is an example of a function providing unit.

2. Processing Performed by Control Center 5 Next, processing that the control center 5 (especially the arithmetic unit 57) repeatedly executes every predetermined time will be described with reference to FIG.

In step S1 shown in FIG. 2, the arithmetic unit 57 determines whether or not information is input by the input device 61. The information here includes the user ID, the user's current location, the destination, the user's desired arrival time at the current location (hereinafter sometimes simply referred to as the desired arrival time), the number of passengers, and the user holding a driver's license. Or not. As a result, if the information is input, the process proceeds to step 2, and if the information is not input, the process is terminated.

Entry of information can be performed by an operator, for example. The operator can acquire information to be input to the input device 61 as follows, for example. First, the user transmits the above information to the operator terminal using a portable terminal or the like possessed by the user. The operator acquires the above information from the operator terminal. In addition, the user may directly input information. For example, the user transmits the above information to the control center 5 using a portable terminal or the like possessed by the user. The control center 5 receives the information using the communication device 59 and inputs the received information to the input device 61. In this case, the process of inputting the information received using the communication device 59 to the input device 61 may be performed automatically or may be performed in response to an operator operation.

In step S2, the arithmetic unit 57 obtains the current position of the vehicle on standby from the database 63. Here, “waiting” means a state in which the automatic traveling control device 3 is not executing automatic traveling control and manual operation is not performed. When there are a plurality of vehicles on standby, the current position of the vehicle closest to the current position of the user is acquired.

In step S3, the arithmetic unit 57 calculates a route from the current position of the vehicle acquired in step S2 to the destination via the user's current position input in step S1. For this calculation, altitude map information stored in the altitude map information storage unit 65 is used.

In step S4, the arithmetic unit 57 uses the database 63 to determine whether or not the user having the user ID input in step S1 holds a driver's license. As described above, the database 63 stores the user ID and the attribute of the user (including whether or not the driver's license is held) in association with each other.

In step S5, the arithmetic unit 57 uses the communicator 59 to acquire information including the route calculated in step S3 and the determination result in step S4 on the vehicle mounted on the vehicle that acquired the current position in step S2. It transmits to the traveling control apparatus 3.

3. Automatic Travel Start Process Performed by Automatic Travel Control Device 3 Next, an automatic travel control start process that the automatic travel control device 3 repeatedly executes every predetermined time will be described with reference to FIG.

In step S11 shown in FIG. 3, it is determined whether or not the host vehicle is on standby. As a result, if it is waiting, the process proceeds to step S12. If it is not waiting, this process ends.

In step S12, the automatic travel control device 3 determines whether or not the information transmitted by the control center 5 in step S5 has been received. If received, the process proceeds to step S13. If not received, this process is terminated.

In step S <b> 13, the automatic travel control device 3 starts the automatic travel control by the automatic travel control unit 9. The automatic travel control is control for automatically traveling the host vehicle along a route to a destination. The route is included in the information received in step S12. The automatic travel control is executed so that the host vehicle arrives at the current position of the user at the desired arrival time included in the information received in step S12.

For example, as shown in FIG. 4, the own vehicle 67 automatically travels along the route 71 included in the information transmitted from the control center 5 to the destination 69 by the automatic travel control unit 9. During this automatic travel control, the automatic travel control device 3 periodically transmits the position information of the host vehicle 67 to the control center 5 using the communication device 37. The control center 5 stores the position information of the host vehicle 67 in the database 63.

Since the method of automatic driving control is a known method, its details are omitted. During the automatic traveling control, the automatic traveling control device 3 periodically acquires the position information of the own vehicle using the GPS 39 by the automatic traveling control unit 9, and maintains the position of the own vehicle on the route to the destination. To control the running of the vehicle.

The automatic travel control unit 9 performs automatic travel control using the peripheral information acquired by the peripheral information acquisition unit 7. The peripheral information acquisition unit 7 acquires peripheral information using the sensor 41. The surrounding information includes, for example, the presence / absence of an obstacle around the host vehicle, the distance from the host vehicle to the obstacle, the direction of the obstacle based on the host vehicle, and the like. The automatic travel control unit 9 recognizes an obstacle that may come into contact with the host vehicle if the vehicle continues traveling based on the peripheral information during the automatic travel control. When such an obstacle exists, the automatic traveling control unit 9 appropriately performs deceleration, stop, steering, etc. in order to avoid contact with the obstacle.

Further, when the automatic travel control unit 9 performs an input operation to the input device 53 during the automatic travel control, the own vehicle operation unit 21 operates the own vehicle in accordance with the input operation. The operation of the own vehicle includes a temporary stop, a start after the temporary stop, a change of destination, and the like.

4). Notification Abnormality Detection Processing Performed by Automatic Travel Control Device 3 Next, notification abnormality detection processing that the automatic travel control device 3 repeatedly executes at predetermined time intervals during execution of automatic travel control will be described with reference to FIG.

In step S21 shown in FIG. 5, the automatic travel control device 3 uses the function determination unit 11 to determine whether or not the function of the automatic travel control device 3 used for automatic travel is normal. As functions used for automatic driving, for example, (a) a function of performing communication with the control center 5, (b) a function of acquiring position information of the own vehicle using the GPS 39, and (c) a sensor 41 are used. There are various functions such as a function for acquiring peripheral information. In the present embodiment, the case where the above three functions are included as examples of functions used for automatic traveling is illustrated, but the present invention is not limited to this, and any function can be applied as long as it is used for automatic traveling. .

In step S22, the automatic travel control device 3 notifies the state of the function used for the automatic travel determined in step S21 (that is, whether or not each function is normal) by the first notification unit 13. Hereinafter, this notification is referred to as a function state notification. In the present embodiment, the function state notification form is a form in which an image is notified to the indoor display 47.

If the first notification unit 13 and the indoor display 47 are normal, for example, the screen shown in FIG. In the display on the indoor display 47, “center communication: normal” means that the function of performing communication with the control center 5 is normal. On the other hand, when the function of performing communication with the control center 5 is abnormal, “center communication: abnormal” is displayed on the indoor display 47.

In the screen shown in FIG. 6, “GPS: normal” means that the function of acquiring the position information of the host vehicle using the GPS 39 is normal. On the other hand, when the function of acquiring the position information of the host vehicle using the GPS 39 is abnormal, “GPS: abnormal” is displayed on the indoor display 47.

In the screen shown in FIG. 6, “periphery monitoring: normal” means that the function of acquiring the peripheral information using the sensor 41 is normal. On the other hand, when the function of acquiring the peripheral information using the sensor 41 is abnormal, “perimeter monitoring: abnormal” is displayed on the indoor display 47.

On the other hand, when the state of the first notification unit 13 or the indoor display 47 is abnormal, no image is displayed on the indoor display 47 as shown in FIG.

In step S23, the automatic travel control device 3 determines whether or not there is an abnormality in the function state notification in step S22 by the abnormality detection unit 15. Here, the abnormality of the function state notification means that the function state is not correctly displayed on the indoor display 47 and, for example, the screen shown in FIG. 7 is displayed. For example, the abnormality detection unit 15 can detect an abnormality of the function state notification by checking a signal taken out from the ECU (electronic control unit) of the indoor display 47. As a result, if there is an abnormality in the function status notification, the process proceeds to step S24, and if there is no abnormality, the process is terminated.

In step S24, the automatic travel control device 3 determines whether the determination result of each function in step S21 is normal. As a result, if all the functions are normal, the process proceeds to step S25, and if some of the functions are abnormal, the process is terminated.

In step S <b> 25, the automatic travel control device 3 performs a specific notification by the second notification unit 17. The specific notification includes notification by voice and notification by displaying an image. The notification by voice is, for example, to output a voice “Sorry that the monitor is broken. In addition, as shown in FIG. 8B, the notification by displaying an image is to blink, for example, “HMI” on the meter display 49. In addition, on the meter display 49 at normal time (when there is no abnormality in the function status notification), as shown in FIG. 8A, the characters “HMI” do not blink.

In step S26, the automatic travel control device 3 determines whether or not the user who is boarding the host vehicle can manually drive the host vehicle by the driving propriety determination unit 27. This determination is made as follows. First, the automatic travel control device 3 determines whether or not the user on the own vehicle holds a driving license by the driving license determination unit 33 in the driving permission determination unit 27. This determination is made based on user attributes included in the information received from the control center 5.

Next, the automatic travel control device 3 determines whether or not the user on the own vehicle is in a position where manual driving can be performed by the user position determination unit 35 in the driving permission determination unit 27. Specifically, the automatic travel control device 3 can photograph the vehicle interior of the host vehicle using the indoor camera 45 by the user position determination unit 35, and can operate the driver's seat (accelerator, brake, steering, etc.) in the image. If the user is at a position where the manual operation is possible, it is determined that the user is in a position where manual operation is possible.

Then, the automatic travel control device 3 can board the host vehicle if the user who is boarding the host vehicle has a driving license and the user is in a position where manual driving is possible by the driving permission determination unit 27. The inside user determines that the vehicle can be driven manually, and proceeds to step S27. On the other hand, in other cases, the automatic travel control device 3 determines that the user on the host vehicle cannot manually drive the host vehicle by the driving propriety determination unit 27, and proceeds to step S31.

In step S <b> 27, the automatic travel control device 3 issues a notification requesting manual driving to the user on the own vehicle by the manual driving request unit 29. This notification is, for example, to output a voice “Please drive manually” using the speaker 51, for example.

In step S28, the automatic travel control device 3 determines whether or not the manual operation is started within a predetermined time after the notification requesting the manual operation in step S27. The start of manual operation can be detected by operating an accelerator, a brake, a steering, or the like. As a result, when the manual operation is started, the process proceeds to step S29, and when the manual operation is not started, the process proceeds to step S31.

In step S29, the automatic travel control is terminated. After this point, the host vehicle travels by manual operation. On the other hand, when a negative determination is made in step S26 or step S28, the process proceeds to step S31, and the automatic traveling control device 3 performs continuous notification by the continuous notification unit 31. The continuation notification is for outputting, for example, a voice “continue automatic driving” using the speaker 51.

5. Next, a process at the time of impact detection performed by the automatic travel control apparatus 3 repeatedly every predetermined time during execution of the automatic travel control will be described with reference to FIG.

In step S41 shown in FIG. 9, the automatic traveling control device 3 determines whether or not the impact sensor 55 has detected an impact by the behavior detection unit 23. This impact is generated when the user hits the indoor display. As a result, if an impact is detected, the process proceeds to step S42. If no impact is detected, this process ends.

In step S42, the automatic travel control device 3 determines whether or not there is an abnormality in the function state notification by the behavior detection unit 23, as in step S23. As a result, if there is an abnormality in the function status notification, the process proceeds to step S43, and if there is no abnormality, this process is terminated.

In step S43, the automatic traveling control device 3 performs the same notification as in step S25 by the third notification unit 25. That is, the speaker 51 is used to output a voice message “Monitor failure. No problem in running” and blink the characters “HMI” on the meter display 49 as shown in FIG. 8B.

6). Effects produced by the automatic traveling control device 3 and the automatic traveling control system 1 (1A) The automatic traveling control device 3 detects an abnormality in the function state notification and the function itself used for automatic traveling is normal. A special notification is given. Thereby, the user can easily understand the situation of the automatic running (the situation where the function itself used for the automatic running is normal but has not been informed).

(1B) The automatic travel control device 3 can perform operations of the host vehicle (pause, start after suspension, change of destination, etc.) according to the user's input operation even during the automatic travel control. In addition, it is possible to accept the input from the user and deal with the state with respect to the abnormality more finely.

(1C) When there is an abnormality in the function status notification and the display on the indoor display 47 is as shown in FIG. 7, the user may hit the indoor display 47. At this time, the automatic travel control device 3 outputs, for example, a sound “Monitor failure. There is no problem in traveling” and blinks “HMI” on the meter display 49 as shown in FIG. Let Thereby, the user can know that the reason why the display on the indoor display 47 is as shown in FIG. 7 is the abnormality of the function status notification, and that the automatic running function itself is normal. Easy to understand. In addition, it is possible to accept the input from the user and deal with the state with respect to the abnormality more finely.

(1D) The automatic travel control device 3 performs automatic travel control using altitude map information. Thereby, automatic traveling control can be performed more appropriately.

(1E) The automatic travel control device 3 detects an abnormality in the function state notification during automatic travel, and the function itself used for automatic travel is normal, and the user can manually drive the vehicle. If it is determined that there is, manual operation is requested to the user. Thereby, the safety | security of the own vehicle improves.

(1F) The automatic traveling control device 3 includes a driving license determination unit 33 that determines whether or not the user holds a driving license, and a user position determination unit 35 that determines whether or not the user is in a position where manual driving is possible. When the user holding the driving license is in a position where manual driving is possible, the user determines that the user's own vehicle can be driven manually. Thereby, it is possible to appropriately determine whether or not the user can manually drive the host vehicle.

(1G) The automatic travel control device 3 (a) the manual driving request unit 29 performs a notification requesting the user's manual driving and then the manual driving is not started, and (b) the user manually drives the host vehicle. When it is determined that it is impossible, the continuation of the automatic traveling is notified. Thereby, a user can be made to understand the condition of the own vehicle.

(1H) The automatic travel control system 1 includes a control center 5. The control center 5 provides a part of the function of automatic travel control (accepts input information, calculates a route, determines whether a driver's license is present, etc.). Thereby, the processing load of the automatic travel control device 3 can be reduced, and the automatic travel control can be performed more appropriately.

<Second Embodiment>
Next, a second embodiment will be described with reference to FIG.

1. Configuration of Automatic Travel Control System 1 The configuration of the automatic travel control system 1 according to the present embodiment is the same as that of the first embodiment.

2. Processing Performed by Automatic Travel Control Device 3 and Control Center 5 In the automatic travel control system 1 according to the present embodiment, the processing performed by the automatic travel control device 3 and the control center 5 is basically the same as that of the first embodiment. It is the same. For this reason, the description of the configuration common to the first embodiment will be omitted, and the difference from the first embodiment will be mainly described.

In the present embodiment, the notification abnormality detection process executed by the automatic travel control device 3 is as shown in FIG. The processing of steps S51 to S54 is the same as the processing of steps S21 to S24 shown in FIG. 5 of the first embodiment.

In step S55 shown in FIG. 10, the automatic traveling control device 3 determines whether or not the function of performing the sound notification by the second notification unit 17 is normal. If the result is normal, the process proceeds to step S56. If the result is abnormal, the process proceeds to step S57.

In step S56, the automatic traveling control device 3 performs a specific notification by the second notification unit 17. The content of the notification is the same as step S25 shown in FIG. 5 of the first embodiment. In step S57, the automatic travel control device 3 calls the control center 5. In response to this call, the control center 5 transmits an audio signal to the automatic travel control device 3. The audio signal is, for example, an audio signal such as “There will be no trouble in driving.

In step S58, the automatic travel control device 3 outputs the sound corresponding to the sound signal transmitted in step S27 using the speaker 51.

3. Advantages of the automatic cruise control device 3 and the automatic cruise control system 1 According to the second embodiment described in detail above, in addition to the advantages (1A) to (1D) and (1H) of the first embodiment described above, The following effects are obtained.

(2A) The automatic travel control device 3 can perform the same notification using the control center 5 even when the voice notification function by the second notification unit 17 is not normal. Thereby, the user can easily understand the situation of automatic driving.

<Third Embodiment>
Next, a third embodiment will be described with reference to FIGS. 11 and 12.

1. Configuration of Automatic Travel Control System 1 The configuration of the automatic travel control system 1 according to the present embodiment is basically the same as that of the first embodiment. However, as shown in FIG. 11, the host vehicle further includes a driver's license reading device 73 and a database 75.

The driver's license reader 73 can read the identification information of the driver's license when the driver's license is held over it. The identification information is not particularly limited as long as the information is different for each driver's license. Examples of the identification information include a driver's license number, image data of a face photograph, information stored in an IC chip, and the like.

The driver's license reading device 73 is installed near the driver's seat. Therefore, the user sitting on the driver's seat can easily hold the driver's license over the driver's license reader 73. On the other hand, it is difficult for a user in a place other than the driver's seat to hold the driver's license over the driver's license reader 73. The database 75 stores the identification information of the driver's license in association with the face image of the user holding the driver's license.

The driver's license reader 73 may include a pocket that can store a driver's license. The user can store the driver's license in the pocket. The driver's license reader 73 can read the identification information from the driver's license stored in the pocket.

The database 63 stores data (hereinafter referred to as “driving license valid data”) that records whether or not the driving license is valid for each identification information of the driving license.

2. Processing Performed by Automatic Travel Control Device 3 and Control Center 5 In this embodiment, the processing performed by automatic travel control device 3 and control center 5 is basically the same as that of the first embodiment. For this reason, the description of the configuration common to the first embodiment will be omitted, and the description will focus on the differences from the first embodiment.

In step S <b> 26 shown in FIG. 5, the automatic travel control device 3 determines whether or not the user on the own vehicle can drive the own vehicle manually by the driving availability determination unit 27 by the method shown in FIG. 12. To do. First, in step S61 shown in FIG. 12, the automatic travel control device 3 uses the indoor camera 45 to photograph the interior of the host vehicle and acquire an image.

In step S62, the automatic travel control device 3 determines whether or not the user in the driver's seat can be recognized in the image acquired in step S61. As a result, if the user in the driver's seat can be recognized, the process proceeds to step S63, and if the user in the driver's seat cannot be recognized, the process proceeds to step S70. Note that determining whether or not the user in the driver's seat can be recognized corresponds to determining whether or not the user is in a position where manual driving is possible.

In step S63, the automatic travel control device 3 recognizes the face of the user in the driver's seat in the image acquired in step S61. In step S <b> 64, the automatic travel control device 3 determines whether the identification information can be read using the driver's license reading device 73. As a result, if the identification information can be read, the process proceeds to step S65. If the identification information cannot be read, the process proceeds to step S70. Note that determining whether or not the identification information can be read using the driver's license reading device 73 corresponds to determining whether or not the user carries a driver's license.

In step S65, the automatic travel control device 3 reads the face image associated with the identification information read in step S64 from the database 75. In step S66, the automatic travel control device 3 determines whether or not the user's face recognized in step S63 matches the face image read in step S65. As a result, if both match, the process proceeds to step S67, and if not, the process proceeds to step S70. In addition, that both agree | coincides means that the user who carries the driver's license corresponding to the identification information read using the driver's license reader 73 exists in the driver's seat.

In step S67, the automatic travel control device 3 inquires of the control center 5 whether or not the driving license corresponding to the identification information read in step S64 is valid. The control center 5 determines whether or not the driving license corresponding to the inquired identification information is valid using the driving license valid data, and returns the determination result to the automatic travel control device 3.

In step S68, the automatic travel control device 3 determines whether or not there is a response from the control center 5 that the driving license corresponding to the identification information inquired in step S67 is valid (hereinafter referred to as a valid response). As a result, if there is a valid answer, the process proceeds to step S69, and if there is no valid answer, the process proceeds to step S70.

In step S69, it is determined that the user on the own vehicle can manually drive the own vehicle. In step S70, it is determined that the user who is boarding the host vehicle cannot manually drive the host vehicle.

3. Effects of Automatic Travel Control Device 3 and Automatic Travel Control System 1 According to the third embodiment described in detail above, the following effects are obtained in addition to the effects of the first embodiment described above.

(3A) The automatic travel control device 3 can determine whether or not the user carrying the driver's license is in the driver's seat. If the user carrying the driver's license is not in the driver's seat, it is determined that the user on the own vehicle cannot drive the own vehicle manually. Thereby, it is possible to appropriately determine whether or not the user can manually drive the host vehicle.

(3B) The automatic travel control device 3 determines whether or not the driving license carried by the user is valid. If the driver's license is not valid, it is determined that the user boarding the host vehicle cannot manually drive the host vehicle. Thereby, it is possible to appropriately determine whether or not the user can manually drive the host vehicle. In addition, compliance with traffic laws can be ensured.

<Fourth Embodiment>
Next, a fourth embodiment will be described with reference to FIGS. 13 and 14.

1. Configuration of Automatic Travel Control System 1 The configuration of the automatic travel control system 1 according to the present embodiment is the same as that of the first embodiment.

2. Processing Performed by Automatic Travel Control Device 3 and Control Center 5 In the present embodiment, the processing performed by automatic travel control device 3 and control center 5 is basically the same as in the first embodiment. For this reason, the description of the configuration common to the first embodiment will be omitted, and the description will focus on the differences from the first embodiment.

In step S <b> 26 shown in FIG. 5, the automatic travel control device 3 determines whether or not the user on the own vehicle can manually drive the own vehicle by the driving availability determination unit 27 by the method shown in FIGS. 13 and 14. Determine whether.

In FIG. 13, in step S81, the automatic travel control device 3 displays the question text shown in FIG. The user can input, for example, “Yes” or “No” to the question using the input device 53.

In step S82, the automatic travel control device 3 determines whether or not an answer “yes” has been received. If the answer is “yes”, the process proceeds to step S83; otherwise, the process proceeds to step S84. Note that displaying the above question in step S81 and determining the content of the answer to the question in step S82 corresponds to determining whether or not a user carrying a valid driver's license is in the driver's seat. To do.

In step S83, the automatic travel control device 3 determines that the user on the own vehicle can manually drive the own vehicle. In step S84, the automatic travel control device 3 determines that the user who is boarding the host vehicle cannot manually drive the host vehicle.

3. Effects of Automatic Travel Control Device 3 and Automatic Travel Control System 1 According to the fourth embodiment described in detail above, the following effects are obtained in addition to the effects of the first embodiment described above.

(4A) The automatic travel control device 3 can determine whether or not a user carrying a valid driving license is in the driver's seat. If the user carrying the valid driver's license is not in the driver's seat, it is determined that the user boarding the host vehicle cannot manually drive the host vehicle. Thereby, it is possible to appropriately determine whether or not the user can manually drive the host vehicle. In addition, compliance with traffic laws can be ensured.

<Fifth Embodiment>
Next, a fifth embodiment will be described with reference to FIG.

1. Configuration of Automatic Travel Control System 1 The configuration of the automatic travel control system 1 according to the present embodiment is the same as that of the third embodiment.

2. Processing executed by the automatic travel control device 3 and the control center 5 In this embodiment, the processing executed by the automatic travel control device 3 and the control center 5 is basically the same as in the third embodiment or the fourth embodiment. It is. For this reason, description is abbreviate | omitted about the structure which is common in 3rd Embodiment or 4th Embodiment, and it demonstrates centering around difference with 3rd Embodiment or 4th Embodiment.

The automatic traveling control device 3 and the control center 5 according to the present embodiment can further execute the processing shown in FIG. 15 in addition to the processing in the third embodiment or the fourth embodiment.

(1) Processing on the Automatic Travel Control Device 3 Side Among the processing shown in FIG. 15, the processing on the automatic travel control device 3 side is for a user who has boarded the host vehicle to perform a predetermined operation while the host vehicle is stopped. It starts when you go.

In step S91, the automatic travel control device 3 determines whether or not the user on the host vehicle can manually drive the host vehicle by the driving propriety determination unit 27. The determination method is the same as the processing in step S26 in the third embodiment or the fourth embodiment. If it is determined that the user can manually drive the host vehicle, the process proceeds to step S92. If the user determines that manual driving cannot be performed, the process ends.

In step S92, the automatic travel control device 3 uses the function determination unit 11 to determine whether the function that the automatic travel control device 3 has for automatic travel is normal. The determination method is the same as the processing in step S21 in the first embodiment.

In step S93, the automatic travel control device 3 determines whether the determination result of each function in step S92 is normal. If all functions are normal, the process proceeds to step S94. If some functions are abnormal, the process is terminated.

In step S94, the automatic travel control device 3 determines whether or not a destination for automatic travel has been input by the input device 53. Note that the user can input the destination using the input device 53.

In step S95, the automatic travel control device 3 transmits information to the control center 5. The information to be transmitted includes the destination determined to have been input in step S94. The information to be transmitted includes the user ID, the user's current location, the desired arrival time, and the like.

In step S96, the automatic travel control device 3 determines whether or not the information transmitted by the control center 5 has been received. The information received includes a route from the current location of the host vehicle to the destination. This information is information transmitted by the control center 5 in step S103 described later. As a result, when the information is received, the process proceeds to step S97, and when the information has not been received yet, the process returns to step S96.

In step S97, the automatic travel control device 3 starts automatic travel control by the automatic travel control unit 9. The content of the automatic travel control is the same as that in step S13 in the first embodiment. If a negative determination is made in any of steps S91, S93, and S94, the host vehicle is in a state where manual driving is possible.

(2) Processing on the Control Center 5 Side In step S101, the arithmetic unit 57 determines whether or not the information transmitted by the automatic travel control device 3 in step S95 has been received. If received, the process proceeds to step S102, and if not received, the process returns to step S101.

In step S102, the arithmetic unit 57 calculates a route from the current position of the host vehicle included in the information received in step S101 to the destination included in the information received in step S101. For this calculation, altitude map information stored in the altitude map information storage unit 65 is used.

In step S103, the arithmetic unit 57 transmits information including the route calculated in step S102 to the automatic travel control device 3.

3. Effects of Automatic Travel Control Device 3 and Automatic Travel Control System 1 According to the fifth embodiment described in detail above, the effects of the first embodiment described above can be obtained. Moreover, the effect of 3rd Embodiment or 4th Embodiment is acquired. Furthermore, according to the fifth embodiment, the following effects can be obtained.

(5A) The automatic travel control device 3 starts the automatic travel control on the condition that the user can perform manual operation. Therefore, if automatic travel control cannot be continued for some reason after the start of automatic travel control, it can be switched to manual operation. As a result, the safety of the host vehicle is improved.

(5B) The automatic travel control device 3 can determine whether or not a user carrying a valid driving license is in the driver's seat. If the user carrying the valid driver's license is not in the driver's seat, the automatic travel control is not started. Thereby, the safety | security of the own vehicle improves further. In addition, compliance with traffic laws can be guaranteed.

4). Aspect corresponding to the fifth embodiment The fifth embodiment corresponds to the following aspect.

(Aspect A) An automatic travel control unit that automatically causes the host vehicle to travel on the route to the destination, a function determination unit that determines whether or not the function used for the automatic travel is normal, and a user who is boarding the host vehicle A driving propriety determination unit that determines whether or not the vehicle can be driven manually, and a function determination unit that determines that the function is not normal, or if the user cannot perform manual driving, An automatic travel control device comprising: a prohibition unit that prohibits automatic travel by the automatic travel control unit when it is determined.

(Aspect B) The automatic travel control apparatus according to Aspect A, further comprising a route creation unit that creates a route to the destination of the host vehicle.

(Aspect C) The automatic travel control apparatus according to aspect A or B, wherein the driving propriety determination unit includes a driving license determination unit that determines whether or not the user holds a driving license. An automatic travel control device that determines that the user can manually drive the vehicle when the vehicle is held.

(Aspect D) The automatic travel control apparatus according to aspect C, wherein the driving license determination unit is configured to determine whether or not the user carries a driving license, and the driving propriety determination unit is An automatic travel control device that determines that the user can manually drive the vehicle when carrying a driver's license.

(Aspect E) The automatic travel control device according to aspect C, wherein the driving license determination unit is configured to determine whether or not the user holds a valid driving license, and the driving permission determination unit includes: An automatic travel control device that determines that a user can manually drive the host vehicle when the user holds a valid driving license.

(Aspect F) The automatic travel control device according to aspect A or B, wherein the driving availability determination unit includes a user position determination unit that determines whether or not the user is in a position where manual operation is possible, and the user performs manual driving An automatic travel control device that determines that the user can manually drive the vehicle when in a possible position.

<Other embodiments>
As mentioned above, although embodiment of this indication was described, this indication is not limited to the above-mentioned embodiment, for example, can take the following various embodiments.

(1) The driving propriety determination unit 27 includes a physical inspection unit that inspects the body of the user who is boarding the own vehicle, and whether the user can manually drive the own vehicle based on the inspection result of the physical inspection unit. It may be judged. The physical examination unit can detect the user's drowsiness by a known method by, for example, photographing the user's face with a camera and using the image (particularly, the eye, eyelid, and eyebrow regions). In this case, if the drowsiness level is equal to or lower than a predetermined threshold, the user determines that the user's vehicle can be driven manually. If the drowsiness level exceeds the threshold, the user cannot manually drive the vehicle. It can be judged.

Also, the physical examination unit may detect physical information such as a user's blood pressure, heart rate, pulse wave, body temperature, and visual acuity. In this case, if the detected body information is within a preset normal range, the user determines that the host vehicle can be manually driven. If the detected body information is outside the normal range, the user cannot operate the host vehicle manually. It can be judged that there is.

(2) The automatic travel control system 1 may include a roadside installation device having the same function in place of the control center 5 or in addition to the control center 5. The roadside installation apparatus can acquire information such as a user ID, a user's current position, a destination, a desired arrival time, and the number of passengers from outside by wireless communication.

(3) The automatic traveling control system 1 may include an in-vehicle device having the same function instead of the control center 5 or in addition to the control center 5. In this case, the in-vehicle device and the automatic travel control device 3 can communicate by inter-vehicle communication. The in-vehicle device can acquire information such as a user ID, a user's current position, a destination, a desired arrival time, and the number of passengers from outside by wireless communication. Moreover, the passenger | crew of the vehicle carrying the vehicle-mounted apparatus may input the information.

(4) In the first embodiment, when a negative determination is made in step S26 or step S28, the route for automatic travel may be reset. The route after the resetting can be, for example, a route from the current position of the host vehicle to a position where the host vehicle can safely stop. The position where the host vehicle can safely stop is stored in advance in the altitude map information of the altitude map information storage unit 43, and can be used when resetting the route.

If the function status notification becomes normal during automatic travel along the route after resetting, automatic travel may be performed along the original route. Alternatively, automatic travel may be performed along the route after resetting, and automatic function travel may be performed along the original route when the function state notification becomes normal after arriving at a position where it can be safely stopped.

(5) In the first embodiment, when a negative determination is made in step S26 or step S28, the vehicle may travel along the original route at a lower speed than during normal automatic travel control. When traveling at a low speed, the operator of the control center 5 may remotely operate the host vehicle.

(6) If the automatic travel control device 3 determines that the function status notification is abnormal, the automatic travel control device 3 notifies the surrounding vehicle, motorcycle, pedestrian, etc. that the vehicle will stop, and then considers the safety of surrounding vehicles, etc. , It may have a function of stopping immediately. The notification can be, for example, notification by sound, light, text, or the like.

(7) When the automatic travel control device 3 determines that the function state notification is abnormal, the automatic travel control device 3 further has a function of following another vehicle that is automatically traveling to the same destination and automatically traveling to that destination. May be.

(8) When it is determined that the function status notification is abnormal, the automatic travel control device 3 uses the control center 5 to control signals around the host vehicle and prevent other vehicles from approaching the host vehicle. It may further have a function.

(9) The sharing of functions related to automatic driving between the automatic driving control device 3 and the control center 5 can be set as appropriate. For example, even if the user ID, the current position of the user, the destination, the desired arrival time, and the number of passengers are transmitted from the control center 5 to the automatic travel control device 3, the automatic travel control device 3 calculates the route to the destination. Good. The altitude map information stored in the altitude map information storage unit 43 can be used for calculating the route.

Further, when the route is reset as in (4), the control center 5 may reset the route. For example, the automatic travel control device 3 transmits the reset request and the current position of the host vehicle to the control center 5, and the control center 5 safely stops the host vehicle from the position of the host vehicle. Reset the route to a possible location. In this case, a position where the host vehicle can safely stop is stored in advance in the altitude map information of the altitude map information storage unit 65, and can be used when resetting.

(10) The notification performed by the second notification unit 17 and the third notification unit 25 may be one of voice notification and image display notification. In addition to or in place of voice notification or image display notification, other forms of notification (for example, notification by vibration, smell, temperature change, wind, etc.) may be performed.

(11) The user behavior that can be detected by the behavior detection unit 23 of the automatic travel control device 3 may be behavior other than hitting the indoor display 47. For example, hitting a part other than the indoor display 47, touching the indoor display 47, grabbing and shaking the indoor display 47, and the user selects a specific keyword (for example, “failure”, “abnormal”, “display disappeared”, etc.) It may be pronounced.

(12) In the third embodiment, whether or not the user is in the driver's seat may be determined using a detection result of a seating sensor provided in the driver's seat.

(13) In the third embodiment, the user may be identified by the fingerprint of the user. In this case, the host vehicle includes a fingerprint reader near the driver's seat. The database 75 stores fingerprints and driving license identification information in association with each other. The driving propriety determination unit 27 reads a user's fingerprint using a fingerprint reader. In addition, the driving permission determination unit 27 reads the identification information using the driving license reading device 73. The driving permission determination unit 27 determines that the user carrying the driving license is in the driver's seat when the fingerprint read by the fingerprint reading device matches the fingerprint associated with the identification information of the driving license.

(14) The functions of one constituent element in the above embodiment may be distributed as a plurality of constituent elements, or the functions of a plurality of constituent elements may be integrated into one constituent element. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. Note that any aspect included in the technical idea specified by the description of the claims can constitute an embodiment of the present disclosure.

(15) Embodiments of the present disclosure can be realized in various forms such as a program for causing a computer to function as the automatic travel control device 3, a medium storing the program, and an automatic travel control method.

Claims (15)

1. An automatic driving control unit that automatically drives the vehicle along the route to the destination;
   A function determination unit for determining whether or not the state of the function used for the automatic traveling is normal;
   A first notification unit for notifying the state of the function determined by the function determination unit;
   An abnormality detection unit for detecting an abnormality in the notification of the state of the function by the first notification unit;
   When the abnormality detection unit detects an abnormality in the notification of the function state by the first notification unit, and the function determination unit determines that the state of the function used for the automatic running is normal, A second notification unit for performing a set specific notification;
   An automatic travel control device comprising:
2. The automatic travel control device according to claim 1,
   An input signal acquisition unit that acquires an input signal from an input device that receives a user input operation;
   In response to the input signal, a host vehicle operation unit that operates the host vehicle during automatic driving,
   An automatic travel control device further comprising:
3. The automatic travel control device according to claim 1 or 2,
   A behavior detection unit that detects a user's specific behavior;
   When detecting the specific behavior, a third notification unit that performs the specific notification;
   An automatic travel control device further comprising:
4. The automatic travel control device according to any one of claims 1 to 3,
   The automatic traveling control device, wherein the automatic traveling control unit causes the host vehicle to automatically travel using altitude map information.
5. The automatic travel control device according to any one of claims 1 to 4,
   A driving permission determination unit that determines whether or not a user on the own vehicle can manually drive the own vehicle;
   When the specific notification is performed by the second notification unit, and when the user determines that the user can manually drive the vehicle, the notification requesting the user to perform manual driving is performed. A manual driving request unit to perform,
   An automatic travel control device further comprising:
6. The automatic travel control device according to claim 5,
   The driving availability determination unit includes a physical inspection unit that inspects the body of the user, and determines whether or not the user can manually drive the vehicle based on an inspection result of the physical inspection unit. An automatic travel control device.
7. The automatic travel control device according to claim 5,
   The driving permission determination unit includes a driving license determination unit that determines whether or not the user holds a driving license. When the user holds the driving license, the user manually drives the host vehicle. An automatic travel control device characterized by determining that it is possible.
8. The automatic travel control device according to claim 7,
   The driver's license determination unit is configured to determine whether the user carries a driver's license;
   The automatic travel control device, wherein the driving propriety determination unit determines that the user can manually drive the host vehicle when the user carries a driving license.
9. The automatic travel control device according to claim 7,
   The driver's license determination unit is configured to determine whether the user has a valid driver's license;
   The automatic driving control device, wherein the driving propriety determination unit determines that the user can manually drive the host vehicle when the user holds a valid driving license.
10. The automatic travel control device according to claim 5,
    The driving propriety determination unit includes a user position determination unit that determines whether or not the user is in a position where the user can manually drive the vehicle. An automatic travel control device that judges that a vehicle can be driven manually.
11. The automatic travel control device according to any one of claims 5 to 10,
    After the notification requesting the user's manual driving is performed by the manual driving request unit, the manual driving is not started, and the driving propriety determining unit determines that the user cannot manually drive the vehicle. An automatic travel control device comprising a continuation notification unit that notifies the continuation of the automatic travel in at least one of the cases described above.
12. The automatic travel control device according to any one of claims 1 to 11,
    A function providing unit that provides at least a part of the function of controlling the automatic traveling to the automatic traveling control device;
    An automatic travel control system comprising:
13. The automatic travel control system according to claim 12, wherein
    The automatic travel control system, wherein the function providing unit is a roadside installation device that controls the automatic travel within a specific area.
14. The automatic travel control system according to claim 13, wherein
    The automatic travel control system, wherein the function providing unit is a center type device that controls the automatic travel within a specific area and is monitored by an operator.
15. The automatic travel control system according to claim 12, wherein
    The automatic travel control system, wherein the function providing unit is an in-vehicle device mounted on a vehicle and capable of communicating with the automatic travel control device by inter-vehicle communication.

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