WO2020039530A1

WO2020039530A1 - Driver selecting device and driver selecting method

Info

Publication number: WO2020039530A1
Application number: PCT/JP2018/031071
Authority: WO
Inventors: 下谷　光生; 直志宮原
Original assignee: 三菱電機株式会社
Priority date: 2018-08-23
Filing date: 2018-08-23
Publication date: 2020-02-27
Also published as: JPWO2020039530A1; JP7162664B2

Abstract

Provided is a driver selecting device which, when selecting a vehicle driver, reduces the probability that a driver having a suitable degree of driving aptitude is not occupying the vehicle at a point in time when the vehicle reaches the start of a not-entirely-automatic driving section in which entirely automatic driving is not possible. The driver selection device includes an occupant information acquisition unit and a driving planning unit. The occupant information acquisition unit acquires dynamic states or static states of a plurality of occupants. The driving planning unit selects, as a driver, one occupant in one not-entirely-automatic driving section, develops a driver change plan, and presents the driver change plan to the occupants on the basis of the dynamic state of each occupant and an automatic driving level in the not-entirely-automatic driving section, or the static state of each occupant. For the development of the driver change plan based on the dynamic state, the driving planning unit develops the driver change plan at a predetermined time before the vehicle reaches one not-entirely-automatic driving section. For the development of the driver change plan based on the static state, the driving planning unit develops in advance the driver change plan after a traveling path is developed.

Description

Driver selection device and driver selection method

The present invention relates to a driver selection device and a driver selection method.

自動 Autonomous driving systems, which are being actively developed these days, release the driver from driving operations under specific conditions and control the running of the vehicle in the automatic driving mode. The automatic driving system also performs control for switching from such an automatic driving mode in which all the actuators are operated on the vehicle side to travel to a manual driving mode.

(4) When switching from the automatic driving mode to the manual driving mode, the automatic driving system determines whether or not the mental and physical state of the driver (hereinafter referred to as a vital state) is a state suitable for driving. When the driver's vital state is suitable for driving, the automatic driving system allows a manual driving operation. If the driver's vital state is inappropriate, the automatic driving system performs control to park the vehicle in an appropriate parking area.

システム The system described in

Patent Document

1 or 2 reads the driving suitability for each of a plurality of occupants boarding the vehicle. The system selects a driver suitable for manual driving from a plurality of occupants according to a specific driver selection rule regarding driving suitability, and switches from automatic driving to manual driving.

Specific driver selection rules include driving skill level, vital conditions such as physical condition and arousal level, ease of driving due to the road shape and structure of the manual driving section, and fairness of driving. For example, the system selects the occupant with the highest alertness at an appropriate point in time before shifting from the automatic driving section to the manual driving section as the driver based on the driver selection rule regarding the vital state.

Further, Patent Document 3 proposes a system for detecting a vital state of a driver.

JP, 2018-41238, A JP 2017-24653 A JP, 2018-75208, A

However, when the system switches to the automatic driving mode, a situation may arise where the driving suitability of all the occupants does not meet the criteria for manual driving. In that case, the system controls the vehicle to wait in an appropriate parking area until the driving suitability of any one of the occupants is improved. As a result, there is a waiting time for the occupant.

The present invention has been made in order to solve the above-described problems, and in selecting a driver of a vehicle, an incomplete automatic operation in which fully automatic driving is impossible from a fully automatic driving section in which fully automatic driving is possible. It is an object of the present invention to provide a driver selection device that can reduce the probability that a driver having appropriate driving suitability is not in a vehicle when the vehicle moves to a driving section.

A driver selection device according to the present invention includes a vehicle including at least one incomplete automatic driving section in which an automatic driving level at which human involvement is required or may be required for driving the vehicle is set. With respect to the travel route, a driver involved in driving the vehicle in each of at least one incomplete automatic driving section is selected and presented from a plurality of occupants boarding the vehicle. The driver selection device includes an occupant information acquisition unit and an operation planning unit. The occupant information acquisition unit acquires a dynamic state, which is a state of each of the plurality of occupants, which changes over time during boarding, or a static state, which is a state other than the dynamic state. The operation planning unit is configured to determine the plurality of occupants based on a dynamic state of each of the plurality of occupants and an automatic driving level of each of the at least one incompletely automated driving section, or based on a static state of each of the plurality of occupants. One of the occupants is selected as a driver of the vehicle in the one incomplete automatic driving section, a driver replacement plan is formulated, and the driver replacement plan is presented to at least one occupant among the plurality of occupants. The driving plan unit determines the driver replacement plan based on the dynamic state with respect to one incomplete automatic driving section at a predetermined timing before the vehicle reaches one incomplete automatic driving section. Develop a plan. The driving planning unit formulates a driver replacement plan based on the static state in advance for each of at least one incomplete automatic driving section after the travel route is prepared.

According to the present invention, when selecting a driver of a vehicle, when a vehicle shifts from a fully automatic driving section in which fully automatic driving is possible to an incomplete automatic driving section in which fully automatic driving is not possible, appropriate driving suitability is required. It is possible to provide a driver selection device that reduces the probability that a driver having a certain degree is not in a vehicle.

The objects, features, aspects, and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.

FIG. 2 is a block diagram illustrating a configuration of a driver selection device according to the first embodiment. FIG. 3 is a diagram illustrating an example of a configuration of a processing circuit included in the driver selection device according to the first embodiment. FIG. 4 is a diagram illustrating another example of the configuration of the processing circuit included in the driver selection device according to the first embodiment. 5 is a flowchart illustrating an operation of the driver selection device and a driver selection method according to the first embodiment. It is a figure which shows the relationship between the definition of fully automatic operation and incomplete automatic operation in this specification, and an automatic operation level. FIG. 9 is a block diagram illustrating a configuration of a driver selection device according to a second embodiment. 9 is a flowchart illustrating an overall operation of a driver selection device and a driver selection method according to Embodiment 2. 9 is a flowchart illustrating an operation of formulating an automatic driving travel plan according to the second embodiment. FIG. 14 is a diagram showing a traveling route based on an automatic driving traveling plan displayed on a display device according to Embodiment 2. 13 is a flowchart illustrating an operation of formulating a driver replacement plan based on a static state in the second embodiment. FIG. 14 is a diagram showing a driver replacement plan formulation button and an automatic driving travel plan displayed on a display device according to Embodiment 2. FIG. 14 is a diagram illustrating an example of a static state and a driving suitability of an occupant according to Embodiment 2. FIG. 14 is a diagram showing a driver replacement plan displayed on a display device according to Embodiment 2. 9 is a flowchart illustrating an operation of driver replacement control based on a driver replacement plan according to the second embodiment. It is a figure which shows the change of the driving | running route and the driving suitability of a driver when a driver replacement plan is not drawn up beforehand. It is a figure which shows the change of the driving | running route and the driving suitability of a driver when a driver replacement plan is not drawn up beforehand. It is a figure which shows the driving | running route at the time of formulating a driver replacement plan in advance and the change of the driving suitability of a driver. FIG. 19 is a diagram illustrating a driver replacement plan according to a second modification of the second embodiment. FIG. 15 is a block diagram illustrating a configuration of a driver selection device according to a sixth modification of the second embodiment. FIG. 15 is a diagram illustrating an arrangement of seats in a vehicle according to a sixth modification of the second embodiment. FIG. 15 is a diagram illustrating an arrangement of seats in a vehicle according to a sixth modification of the second embodiment. FIG. 21 is a diagram illustrating an arrangement of sheets after the movement of a sheet according to a sixth modification of the second embodiment. FIG. 13 is a block diagram illustrating a configuration of a driver selection device according to a third embodiment. FIG. 13 is a block diagram illustrating a configuration of a driver selection device according to a fourth embodiment. FIG. 15 is a block diagram illustrating a configuration of a driver selection device according to a fifth embodiment. FIG. 17 is a diagram showing a driver replacement plan displayed on a display device for the next driver in Embodiment 5. FIG. 21 is a diagram showing a driver replacement plan displayed on a display device for another occupant in the fifth embodiment. FIG. 17 is a block diagram illustrating a configuration of a driver selection device according to a sixth embodiment. FIG. 17 is a block diagram illustrating a configuration of a driver selection device according to a seventh embodiment. 21 is a flowchart illustrating an overall operation of a driver selection device and a driver selection method according to Embodiment 7. 33 is a flowchart illustrating an operation of formulating an automatic driving travel plan according to the seventh embodiment. 33 is a flowchart illustrating the formulation of a driver replacement plan based on the dynamic state and the driver replacement control operation in the seventh embodiment. FIG. 17 is a diagram illustrating changes in an automatic driving travel plan, a driver replacement plan, and driving suitability in a seventh embodiment. FIG. 19 is a block diagram illustrating a configuration of a driver selection device and a device that operates in connection with the driver selection device according to Embodiment 8.

<First Embodiment>
FIG. 1 is a block diagram illustrating a configuration of the driver selection device 100 according to the first embodiment. The driver selection device 100 is configured to control the driving route of the vehicle including at least one incomplete autonomous driving section in which an autonomous driving level that requires or may require human involvement in driving the vehicle is set. With regard to, a driver involved in driving the vehicle in each of the at least one partially automatic driving section is selected from a plurality of occupants of the vehicle and presented. The driver selection device 100 includes an occupant information acquisition unit 10 and an operation planning unit 20.

The occupant information acquisition unit 10 acquires a dynamic state that is a state of each of the plurality of occupants, which is a state that changes with time during boarding. Alternatively, the occupant information acquisition unit 10 acquires a static state, which is a state other than the dynamic state, in each state of the plurality of occupants.

The operation planning unit 20 assigns one occupant of the plurality of occupants to one incomplete automatic operation based on each dynamic state of the plurality of occupants and each automatic operation level of at least one incomplete automatic operation section. Select a driver of the vehicle in the section and formulate a driver replacement plan. Alternatively, the operation planning unit 20 selects one of the plurality of occupants as a driver of the vehicle in one incomplete automatic driving section based on the static state of each of the plurality of occupants, and performs the driver replacement plan. Formulate. Then, the driving planning unit 20 presents the driver replacement plan to at least one of the plurality of occupants.

The driving planning unit 20 determines the driver replacement plan based on the dynamic state at a predetermined timing before the vehicle reaches one incomplete automatic driving section. Develop a plan.

Regarding the formulation of the driver replacement plan based on the static state, the driving planning unit 20 formulates the driver replacement plan in advance for each of at least one incomplete automatic driving section after the formulation of the traveling route.

FIG. 2 is a diagram showing an example of the configuration of the processing circuit 90 included in the driver selection device 100. Each function of the occupant information acquisition unit 10 and the operation planning unit 20 is realized by the processing circuit 90. That is, the processing circuit 90 includes the occupant information acquisition unit 10 and the operation planning unit 20.

When the processing circuit 90 is dedicated hardware, the processing circuit 90 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable). Gate Array) or a circuit combining these. Each function of the occupant information acquisition unit 10 and the operation planning unit 20 may be realized individually by a plurality of processing circuits, or may be realized collectively by one processing circuit.

FIG. 3 is a diagram showing another example of the configuration of the processing circuit of the driver selection device 100. The processing circuit has a processor 91 and a memory 92. When the processor 91 executes the programs stored in the memory 92, the functions of the occupant information acquisition unit 10 and the operation planning unit 20 are realized. For example, each function is realized by executing software or firmware described as a program by the processor 91. That is, the driver selecting device 100 has a memory 92 for storing a program and a processor 91 for executing the program.

In the program, the driver selection device 100 sets a dynamic state, which is a state of each of a plurality of occupants, which changes over time during riding, or a static state, which is a state other than the dynamic state. Obtaining, based on the dynamic state of each of the plurality of occupants and the automatic operation level of each of the at least one incompletely automated driving section, or based on the static state of each of the plurality of occupants, Selecting one occupant as a driver of the vehicle in the one incompletely automated driving section, formulating a driver replacement plan, presenting the driver replacement plan to at least one occupant of the plurality of occupants; Regarding the formulation of the driver replacement plan based on the state, a driver replacement plan is prepared for one incomplete automatic driving section at a predetermined timing before the vehicle reaches one incomplete automatic driving section, and the static State-based operation The development of replacement plans, the ability to formulate in advance the driver replacement plans are described for each of the at least one incomplete automatic operation section after the development of the travel path. The program causes the computer to execute the procedure or method of the occupant information acquisition unit 10 and the operation planning unit 20.

The processor 91 is, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like. The memory 92 is a nonvolatile or volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). It is a semiconductor memory. Alternatively, the memory 92 may be any storage medium used in the future, such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, and the like.

The functions of the occupant information acquisition unit 10 and the operation planning unit 20 described above may be partially realized by dedicated hardware and partially realized by software or firmware. As described above, the processing circuit realizes the above-described functions by hardware, software, firmware, or a combination thereof.

FIG. 4 is a flowchart showing the operation of the driver selection device 100 and the driver selection method in the first embodiment.

In step S1, the occupant information acquisition unit 10 acquires the static state or the dynamic state of each of the plurality of occupants.

In step S2, the operation planning unit 20 determines one of the occupants based on the dynamic state of each of the plurality of occupants and the automatic operation level of the incomplete automatic operation section, or based on the static state of each of the plurality of occupants. Select the occupant as a driver in the incompletely automated driving section.

In step S3, the driving plan unit 20 presents the driver change plan to at least one of the occupants.

Summarizing the above, the driver selection device 100 according to Embodiment 1 requires at least one non-operating level in which human involvement is required for driving the vehicle or an automatic driving level that may be required is set. A driver involved in driving the vehicle in each of the at least one incompletely automated driving section is selected from a plurality of occupants of the vehicle and presented for a traveling route of the vehicle including the fully automatic driving section. The driver selection device 100 includes an occupant information acquisition unit 10 and an operation planning unit 20. The occupant information acquisition unit 10 acquires a dynamic state, which is a state of each of a plurality of occupants, which changes over time during boarding, or a static state, which is a state other than the dynamic state. The operation planning unit 20 may be configured to determine a plurality of occupants based on a dynamic state of each of the plurality of occupants and an automatic driving level of each of the at least one incompletely automated driving section, or based on a static state of each of the plurality of occupants. One of the occupants is selected as the driver of the vehicle in the one incomplete automatic driving section, a driver replacement plan is formulated, and the driver replacement plan is presented to at least one of the plurality of occupants. . The driving plan unit 20 determines that the driver replacement plan based on the dynamic state is to be driven at a predetermined timing before the vehicle reaches the one incomplete automatic driving section. Develop a turnover plan. Regarding the formulation of the driver replacement plan based on the static state, the driving planning unit 20 formulates the driver replacement plan in advance for each of at least one incomplete automatic driving section after the formulation of the traveling route.

With the above-described configuration, the driver selecting device 100 determines an appropriate driving suitability based on a static state or a dynamic state at the time of transition from a fully automatic driving section to an incomplete automatic driving section when selecting a driver. The probability that the driver having the vehicle is not in the vehicle is reduced. The driver selecting device 100 reduces the situation in which a driver must wait in an appropriate parking area until the driving suitability of any one of the occupants is improved when performing the manual driving.

In addition, the driver selection method according to the first embodiment has at least one incomplete automatic driving section in which an automatic driving level at which human involvement is required or may be required for driving the vehicle is set. The driver involved in driving the vehicle in each of the at least one incomplete automatic driving section is selected from a plurality of occupants boarding the vehicle and presented. The driver selection method acquires a dynamic state that is a state of each of a plurality of occupants and that changes with time during boarding, or a static state that is a state other than the dynamic state. The method for selecting a driver may be based on a dynamic state of each of the plurality of occupants and an automatic driving level of each of the at least one incompletely automated driving section, or based on a static state of each of the plurality of occupants. One of the occupants is selected as the driver of the vehicle in the one incomplete automatic driving section, a driver replacement plan is formulated, and the driver replacement plan is presented to at least one of the plurality of occupants. . The method for selecting a driver is as follows. In formulating a driver replacement plan based on a dynamic state, the vehicle is driven at a predetermined timing before the vehicle reaches the one incomplete automatic driving section. Develop a turnover plan. In the method of formulating a driver, in formulating a driver replacement plan based on a static state, a driver replacement plan is formulated in advance for each of at least one incomplete automatic driving section after the formulation of the traveling route.

With the above configuration, the driver selection method has an appropriate driving suitability based on a static state or a dynamic state at the time of transition from a fully automatic driving section to an incomplete automatic driving section when selecting a driver. Reduce the probability that the driver is not in the vehicle. The driver selection method reduces the need to wait in a suitable parking area until the operability of any occupant improves when performing manual driving.

<Embodiment 2>
A driver selection device and a driver selection method according to Embodiment 2 will be described. The driver selection device according to the second embodiment selects a driver based on the static state of each of a plurality of occupants, and formulates a driver replacement plan. The second embodiment is a subordinate concept of the first embodiment, and the driver selection device in the second embodiment includes each configuration of the driver selection device in the first embodiment. The description of the same configuration and operation as in the first embodiment will be omitted.

FIG. 5 is a diagram showing the relationship between the definitions of fully automatic operation and incomplete automatic operation in this specification and the automatic operation level. FIG. 5 is a diagram quoted from “Public-Private ITS Concept / Roadmap 2017”. Each automatic operation level is based on the definition of SAESAJ3016.

では In this specification, a section in which any one of the automatic operation levels “0” to “3” is set is defined as an incomplete automatic operation section. That is, the incomplete automatic driving section is a section in which an automatic driving level at which human involvement is required or may be required for driving the vehicle is set. For example, at the automatic driving level “3”, all actuators related to driving of the vehicle are operated by a driving control device described later in principle. When the driving control device requests the driver's involvement in driving the vehicle, the driver drives the vehicle. Therefore, in this specification, a section in which the automatic operation level “3” is set is defined as an incomplete automatic operation section.

区間 A section where the automatic operation level “4” or “5” is set is defined as a fully automatic operation section. That is, the fully automatic operation section is a section other than the incomplete automatic operation section. However, each definition of the incomplete automatic driving section and the fully automatic driving section is an example, and is not limited to the above.

FIG. 6 is a block diagram showing the configuration of the driver selection device 101 according to the second embodiment. FIG. 6 shows occupant information input device 120, map storage device 130, display device 111, audio output device 112, operation device 140, peripheral information detection device 150, and the like as devices that operate in association with driver selection device 101. The operation control device 160 is shown.

The driver selection device 101 includes an occupant information storage unit 30, an occupant information acquisition unit 10, a positioning unit 40, a map acquisition unit 50, and an operation planning unit 20. The operation planning unit 20 has a notification control unit 21. The following functions of the occupant information storage unit 30, the occupant information acquisition unit 10, the positioning unit 40, the map acquisition unit 50, the driving plan unit 20, and the notification control unit 21 are implemented by the processing circuit shown in FIG. 2 or FIG. Is done.

The occupant information input device 120 is a device for inputting the occupant's static state. The occupant information input device 120 is, for example, a touch panel. In that case, the static state of the occupant is input by a touch panel operation of the occupant or the like. The occupant's static state includes information about the occupant's driving ability. The information on the driving ability of the occupant is, for example, basic information on the occupant or information on the driving experience of the occupant. The basic information of the occupant is, for example, the age of the occupant and the number of years of driving experience. The information on the occupant's driving experience is an experience value based on the road terrain, the type of vehicle, the weather, and the like, on which the occupant has driven.

The occupant information storage unit 30 stores the occupant static state input by the occupant information input device 120. In FIG. 6, the occupant information storage unit 30 is provided in the driver selection device 101, but may be provided in an external device such as a server (not shown).

The occupant information acquisition unit 10 acquires the static state of each of the plurality of occupants. In the second embodiment, the occupant information acquisition unit 10 acquires the static state of each occupant from the occupant information storage unit 30. When the occupant information storage unit 30 is provided in a server (not shown), the occupant information acquisition unit 10 acquires the static state of each occupant from the server via a communication device (not shown).

The positioning unit 40 measures the current position of the vehicle based on a signal obtained from a Global Navigation Satellite System (GNSS) or a vehicle sensor (not shown).

The map storage device 130 stores a map for driving the vehicle. The map includes information on the automatic driving level set for each section of the road. The map storage device 130 is provided in, for example, a server. However, the map storage device 130 may be provided in the driver selection device 101.

The map acquisition unit 50 acquires a map including information on the automatic driving level from the map storage device 130.

The operation planning unit 20 obtains a traveling route of the vehicle based on the current position of the vehicle and the map. Further, the driving plan unit 20 obtains an incomplete automatic driving section and a fully automatic driving section included in the travel route based on the information on the automatic driving level included in the map. The driving planning unit 20 formulates an automatic driving driving plan including the driving route.

After formulating the automatic driving travel plan, the driving plan unit 20 formulates a driver replacement plan in advance for each of at least one incomplete automatic driving section. At that time, the operation planning unit 20 selects one of the plurality of occupants as the driver of the vehicle in one incomplete automatic driving section based on the static state of each of the plurality of occupants. More specifically, the operation planning unit 20 selects a driver according to a predetermined driver selection rule regarding a static state. For example, before the vehicle travels according to the automatic driving travel plan, the driving planning unit 20 selects a driver in at least one incomplete automatic driving section included in the travel route. Alternatively, for example, after the vehicle travels in accordance with the automatic driving travel plan and before reaching any of the incomplete automatic driving sections included in the travel route, at least one incomplete automatic driving Select a driver in the driving section.

The operation planning unit 20 has a notification control unit 21. The notification control unit 21 controls the notification device mounted on the vehicle to notify the current position of the vehicle and the driver replacement plan. The notification control unit 21 according to the second embodiment controls the display device 111 or the audio output device 112, which is the notification device, to notify the current position of the vehicle, the driver change plan, and the automatic driving travel plan. The driving plan unit 20 in the second embodiment presents the driver change plan to at least one occupant by the notification control unit 21 performing the above-described notification control.

The display device 111 and the audio output device 112 are examples of a notification device. The display device 111 and the audio output device 112 are mounted on a vehicle. The audio output device 112 is, for example, a speaker, and may be an integrated device with the display device 111. The display device 111 displays the driver replacement plan and the automatic driving traveling plan according to the control of the driving planning unit 20. Alternatively, the voice output device 112 outputs the driver replacement plan and the automatic driving travel plan by voice under the control of the driving planning unit 20.

The operation device 140 is a device to which operation information by an operation of an occupant in the vehicle is input.

The peripheral information detecting device 150 detects the peripheral information of the vehicle necessary for the driving control device 160 to perform the automatic driving control. The peripheral information detection device 150 is, for example, a camera, a laser radar, an ultrasonic sensor, a millimeter-wave radar, or the like.

Operation control device 160 controls the traveling of the vehicle. In the fully automatic driving section of the automatic driving level “4” or higher, the driving control device 160 operates an actuator related to driving of the vehicle. Thereby, the vehicle is automatically controlled.

FIG. 7 is a flowchart showing the overall operation of the driver selection device 101 and the driver selection method according to the second embodiment.

にて In step S10, the driver selection device 101 formulates an automatic driving travel plan. FIG. 8 is a flowchart showing the operation of formulating the automatic driving travel plan in the second embodiment, and shows the details of step S10.

In step S11, the driving plan unit 20 acquires the current position of the vehicle measured by the positioning unit 40. At this time, the notification control unit 21 of the operation planning unit 20 may perform control to display a map indicating the current position on the display device 111. As a result, a map showing the current position is displayed on the display device 111.

In step S12, the driving plan unit 20 acquires the destination input to the operation device 140 by the occupant. The operation planning unit 20 acquires a map from the map storage device 130 via the map acquisition unit 50.

In step S13, the driving plan unit 20 calculates a travel route to the destination by a predetermined route search method based on the destination and the map. The operation planning unit 20 obtains a fully automatic operation section and an incomplete automatic operation section on the traveling route based on the information on the automatic operation level included in the map. As described above, the automatic driving travel plan is formulated.

にて In step S14, notification control unit 21 performs control for displaying automatic driving travel plan on display device 111. The display device 111 displays a traveling route based on the automatic driving traveling plan according to the control. At this time, the display device 111 displays the fully automatic operation section and the incomplete automatic operation section so that they can be identified. Further, the display device 111 may display the automatic driving level of each section so that the automatic driving level can be identified.

FIG. 9 is a diagram showing a traveling route based on the automatic driving traveling plan displayed on the display device 111. Incomplete automatic operation sections are indicated by broken lines. The section from the departure point S to the first point W1 is an incomplete automatic driving section at the automatic driving level “0”. The section from the first point W1 to the second point W2 is a fully automatic operation section of the automatic operation level “4”. The section from the second point W2 to the third point W3 is an incomplete automatic driving section at the automatic driving level “3”. The section from the third point W3 to the fourth point W4 is a fully automatic driving section at the automatic driving level “5”. The section from the fourth point W4 to the destination D is an incomplete automatic driving section at the automatic driving level “2”.

With the above, the operation of formulating the automatic driving travel plan ends, and step S20 shown in FIG. 7 is executed.

In step S20, the driver selection device 101 formulates a driver replacement plan based on the static state. FIG. 10 is a flowchart showing an operation of formulating a driver replacement plan based on a static state in the second embodiment, and shows details of step S20.

にて In step S21, notification control unit 21 performs control to display driver replacement plan formulation button on display device 111. FIG. 11 is a diagram showing a driver replacement plan formulation button and an automatic driving travel plan displayed on the display device 111.

In step S22, the driving plan unit 20 determines whether or not a signal for turning on the driver replacement plan formulation has been received. The signal for turning on the driver replacement plan formulation is a signal generated when the driver replacement plan formulation button is pressed. When the operation planning unit 20 receives the signal, step S25 is executed. When the operation planning unit 20 does not receive the signal, step S23 is executed.

In step S23, the operation planning unit 20 determines whether a predetermined time has elapsed. The predetermined time is, for example, 5 minutes. If the predetermined time has elapsed, step S24 is executed. If the predetermined time has not elapsed, step S22 is executed again.

In step S24, the driving plan unit 20 sets the driver replacement plan flag to off.

にて At step S25, occupant information obtaining section 10 obtains the static state of each of the plurality of occupants. Here, as an example, the occupant information acquisition unit 10 acquires each static state of three occupants of the occupant A, the occupant B, and the occupant C boarding the vehicle.

FIG. 12 is a diagram showing an example of the occupant's static state and driving suitability. Here, the driving suitability is represented by a three-point score based on the static state of the occupant, and the larger the score, the more advantageous.

静的 The occupant's static state includes information on the occupant's driving ability. The information on the occupant's driving ability is basic information on the occupant or information on the occupant's driving experience.

基本 The basic information of the occupant is the age of the occupant and years of driving experience. It is expected that the older the occupant is, the easier it is to get tired, so that a lower score is given as the driving suitability. For example, three points are given to an occupant under 40, two points are given to an occupant 40 to 55 years old, and one point is given to an occupant 55 years or older. In addition, as the years of driving experience are longer, a higher score is given as driving suitability. An occupant with 10 years or more of driving experience is given 3 points, an occupant with 5 to 10 years of driving experience is given 2 points, and an occupant with 5 years or less of driving experience is given 1 point.

情報 The information on the occupant's driving experience includes information on the occupant's driving experience for each road terrain, each vehicle type, and each weather. FIG. 12 shows the driving suitability based on the driving experience for each road terrain, the driving experience for each vehicle, and the driving experience for each weather.

In step S26, the operation planning unit 20 selects a driver in each incomplete automatic driving section from a plurality of occupants in accordance with a predetermined driver selection rule regarding a static state.

予め The predetermined driver selection rule regarding the static state is, for example, any one of rules R1 to R6 shown below.

Rule R1: Older occupants are preferentially selected as drivers in incomplete automatic driving sections with shorter distances.

Rule R2: An older occupant is preferentially selected as a driver in an incomplete automatic driving section having a faster running order.

Rule R3: An occupant with shorter driving experience years is preferentially selected as a driver in an incomplete automatic driving section with a shorter distance.

Rule R4: The occupant accustomed to the road terrain in the incomplete automatic driving section to be selected is preferentially selected as a driver in the incomplete automatic driving section.

Rule R5: An occupant who is accustomed to driving the type of vehicle on board is preferentially selected as a driver.

Rule R6: The driver is selected so that the difference in the number of driving operations for each occupant or the total driving distance for each occupant does not increase in the traveling route to the destination.

規則 Driver selection rules are not limited to the above. The driving plan unit 20 may select a driver from the total points of driving suitability by applying an appropriate weighting coefficient to each of the plurality of rules. Alternatively, the driving plan unit 20 may select a driver by adopting one rule.

In step S27, the notification control unit 21 performs control to display the driver replacement plan on the display device 111. FIG. 13 is a diagram illustrating a driver replacement plan displayed on the display device 111. The driver replacement plan shown in FIG. 13 is a plan formulated based on the above rule R2. The youngest occupant A drives the final incomplete automatic driving section.

In step S28, the driving plan unit 20 sets the driver replacement plan flag to ON.

(5) With the above, the operation of formulating the driver replacement plan ends, and step S30 shown in FIG. 7 is executed.

In step S30, the driver selection device 101 performs driver replacement control based on a driver replacement plan. FIG. 14 is a flowchart showing the operation of the driver replacement control based on the driver replacement plan according to the second embodiment, and shows details of step S30.

In step S31, the driving plan unit 20 reacquires and updates the current position of the vehicle measured by the positioning unit 40.

In step S32, the notification control unit 21 performs control to display the current position of the vehicle on the display device 111.

にて In step S33, driving plan unit 20 determines whether or not the vehicle is traveling in a fully automatic driving section. When the vehicle is traveling in the fully automatic driving section, step S34 is executed. When the vehicle is traveling in the incomplete automatic driving section, step S38 is executed. The driving control device 160 controls the traveling of the vehicle according to each driving mode.

In Step S34, the operation planning unit 20 determines whether or not the current time corresponds to a predetermined timing before reaching the incomplete automatic operation section. When the present time corresponds to the predetermined timing, step S35 is executed. The predetermined timing is, for example, a timing at which the vehicle reaches an incomplete automatic driving section after a predetermined period elapses. If the current time does not correspond to the predetermined timing, step S38 is executed.

In step S35, the driving plan unit 20 determines whether the driver replacement plan flag is on. If the driver replacement plan flag is off, that is, if a driver replacement plan has not been formulated, step S36 is executed. If the driver replacement plan flag is on, that is, if a driver replacement plan has been formulated, step S37 is executed.

にて In step S36, notification control unit 21 performs control to notify the notification device that manual operation is required. Here, the notification device is the display device 111 or the audio output device 112. According to the control, the display device 111 or the audio output device 112 notifies the occupant of the necessity of manual operation by display or audio. The notification control unit 21 performs, for example, control to notify all the drivers that manual driving is required. Thereafter, information on the driver determined between the occupants is input to the operation planning unit 20 by a specific operation from the operation device 140. If the information of the driver determined between the occupants is not input, the vehicle control device automatically parks the vehicle in an appropriate parking space.

にて In step S37, notification control unit 21 performs control for notifying the next driver to the notification device. Here, the notification device is the display device 111 or the audio output device 112. According to the control, the display device 111 or the sound output device 112 notifies the occupant of the next driver by display or sound. In addition, the notification control unit 21 may perform control to notify the display device 111 or the sound output device 112 that the imperfect automatic driving section is approaching together with the next driver. At this time, the driving plan unit 20 presents the driver replacement plan by notifying the next driver to at least one of the plurality of occupants. At least one of them includes an occupant corresponding to the next driver.

にて In step S38, driving plan unit 20 determines whether or not the vehicle has reached the destination. If the vehicle has not reached the destination, step S31 is executed again. When the vehicle reaches the destination, the operation of the driver change control based on the driver change plan ends. Then, the overall operation of the driver selection device 101 and the driver selection method illustrated in FIG. 7 are completed.

場合 If the driver selection device does not have a function to formulate a driver replacement plan in advance, the driver selection device needs to select a driver before the vehicle reaches the incomplete automatic driving section. For example, at the time corresponding to step S36 shown in FIG. 14, the driver selection device determines the best driver at that time based on the driving suitability (a value based on the vital state) or the ease of driving in the incomplete automatic driving section. Is selected as the driver in the incompletely automated driving section. An example is shown below.

FIG. 15 is a diagram illustrating an example of a change in a driving route and a driving suitability of a driver when a driver replacement plan is not prepared in advance. In FIG. 15, a traveling route is shown on the upper side, and an example of a change in the driving suitability P in the traveling route is shown on the lower side.

The driving suitability P is, for example, a value obtained by normalizing the vital state of each occupant. Alternatively, the driving suitability P may be a value based on the driver's vital state and static state. The vital state is, for example, the arousal level of each occupant. The vital state when the occupant is fully awake is 1.0, and the vital state when sleeping is 0.0. A manual driving suitability threshold Pth is set in advance for the driving suitability, and the driver selecting device selects an occupant having a driving suitability P equal to or higher than the manual driving suitability threshold Pth as a driver.

From the departure point S to the first point W1, the driving suitability PA (t) of the occupant A, the driving suitability PB (t) of the occupant B, and the driving suitability PC (t) of the occupant C are all manual driving suitability. It is not less than the threshold value Pth. Therefore, any one of the three occupants may drive the section. Here, for example, the occupant C is a driver.

の間 Because the section between the first point W1 and the second point W2 is a fully automatic driving section, no one of the occupants drives the vehicle. At a predetermined timing t1 before the vehicle reaches the second point W2, which is the start point of the next incomplete automatic driving section, the driver selection device calculates the driving suitability of all the occupants. The driver selection device selects the occupant B having the highest driving suitability and notifies that the occupant B is the next driver.

Similarly, a predetermined timing before the vehicle traveling in the fully automatic driving section between the third point W3 and the fourth point W4 reaches the fourth point W4, which is the start end of the next incomplete automatic driving section. At t2, the driver selection device selects a driver based on the driving suitability at that time. The driver selecting device selects the occupant A having the highest driving suitability at the timing t2 as the driver.

However, the driver selected at the timing t1 or t2 may not be ready to drive in advance. In that case, the driver has to start driving in a state where there is no physical or psychological margin for driving. Or, at that time, a state may occur in which the driving suitability of all the occupants does not satisfy the manual driving suitability threshold Pth.

FIG. 16 is a diagram showing another example of a change in the traveling route and the driving suitability of the driver. At timing t1, the driving suitability levels PA (t), PB (t), and PC (t) of all the occupants are smaller than the manual driving suitability threshold value Pth. Therefore, at timing t0 when the vehicle arrives at the second point W2, which is the start point of the incomplete automatic driving section, the vehicle control device parks the vehicle. The occupant of the vehicle waits for the improvement of the driving suitability of one of the occupants. Then, the occupant whose driving suitability has been improved drives the vehicle as a driver. Thus, a situation occurs in which none of the occupants satisfies the manual driving suitability threshold Pth.

On the other hand, the driver selection device 101 according to Embodiment 2 has a function of formulating a driver replacement plan in advance. As described above, the driver selection device 101 selects a driver in each incomplete automatic driving section in advance and presents a driver replacement plan as shown in FIG. 13 to the occupant. For example, the driver selection device 101 presents the driver in each incompletely automated driving section to the occupant before the vehicle departs from the starting point S. Therefore, the occupant B has previously recognized that the vehicle should drive in the incomplete automatic driving section from the second point W2 to the third point W3. The occupant B works consciously to improve his driving suitability PB (t) before approaching the second point W2. FIG. 17 is a diagram illustrating an example of a change in a driving route and a driving suitability of a driver according to the second embodiment. At the second point W2, the driving suitability PB (t) of the occupant B exceeds the manual driving suitability threshold Pth, and the vehicle can be driven.

In summary, the driver selection device 101 according to the second embodiment includes an occupant information acquisition unit 10 and an operation planning unit 20. The occupant information acquiring unit 10 acquires a static state of each of a plurality of occupants. The operation planning unit 20 selects one of the plurality of occupants as a driver of the vehicle in one incomplete automatic driving section based on the static state of each of the plurality of occupants, and formulates a driver replacement plan. Then, the driver change plan is presented to at least one of the plurality of occupants. The driving plan unit 20 prepares a driver replacement plan in advance for each of at least one incomplete automatic driving section after the preparation of the traveling route.

The driver selecting device 101 selects, for example, a driver in at least one incompletely automatic driving section included in the traveling route before the vehicle travels according to the automatic driving traveling plan. Alternatively, for example, after the vehicle has traveled in accordance with the automatic driving travel plan and before arriving at any of the incomplete automatic driving sections included in the traveling route, the driver selection device 101 may perform at least one incomplete driving thereafter. The driver in the automatic driving section is selected in advance. At that time, the driver selection device 101 selects a driver based on the static state of each of the plurality of occupants. In this way, the driver selection device 101 formulates a driver replacement plan in advance and presents it to the occupant, so that the occupant selected as a driver in the incomplete automatic driving section can adjust the driving suitability in accordance with the driving start time. The degree can be improved. Further, other occupants can also give consideration and work to the selected occupants so as to prepare them for driving. Therefore, when selecting a driver, the driver selection device 101 sets the probability that a driver having appropriate driving aptitude is not in the vehicle at the time of transition from the fully automatic driving section to the incomplete automatic driving section. Can be reduced. The driver selecting device 101 reduces a situation in which the driver has to wait in an appropriate parking area until the driving suitability of any one of the occupants is improved when performing the manual driving.

The driver selection device 101 according to the second embodiment further includes a positioning unit 40 and a map acquisition unit 50. The positioning section 40 measures the current position of the vehicle. The map acquisition unit 50 acquires a map including information on the automatic driving level set for each section of the road. The driving plan unit 20 obtains a traveling route of the vehicle based on the current position of the vehicle and the map, and determines at least one incomplete automatic driving section included in the traveling route based on the information of the automatic driving level included in the map. .

With such a configuration, the driver selection device 101 can control at least one incomplete automatic driving section in which an automatic driving level at which human involvement is required or may be required for driving the vehicle is set. Formulate the travel route of the vehicle including The driver selection device 101 selects and presents a driver involved in driving a vehicle in each of at least one incomplete automatic driving section from a plurality of occupants boarding the vehicle.

In addition, the operation planning unit 20 of the driver selection device 101 according to the second embodiment assigns one of the plurality of occupants to one according to a predetermined driver selection rule regarding a static state of each of the plurality of occupants. Is selected as the driver of the vehicle in the incomplete automatic driving section.

With such a configuration, when selecting a driver, the driver selecting device 101 has a driver having an appropriate driving suitability based on a static state at the time of transition from a fully automatic driving section to an incomplete automatic driving section. Reduces the probability of not being in the vehicle. The driver selecting device 101 reduces a situation in which the driver has to wait in an appropriate parking area until the driving suitability of any one of the occupants is improved when performing the manual driving.

In the driver selection device 101 according to the second embodiment, the static state of each of the plurality of occupants includes the driving ability of the vehicle possessed by each of the plurality of occupants.

により With such a configuration, the driver selection device 101 can select a driver according to the driving ability of the occupant.

In addition, the operation planning unit 20 of the driver selection device 101 according to the second embodiment includes a notification control unit 21 that controls a notification device mounted on the vehicle to notify the current position of the vehicle and the driver replacement plan. including. The driving plan unit 20 presents the driver replacement plan to at least one occupant under the control of the notification control unit 21.

With such a configuration, the driver selection device 101 can recognize when and where the occupant who should be driven in the incompletely automated driving section should drive the vehicle. The occupant selected as the driver improves driving aptitude by himself in accordance with the driving start time. In addition, other occupants can give consideration and work to the selected occupants so as to prepare them for driving.

(Modification 1 of Embodiment 2)
The operation planning unit 20 according to the first modification of the second embodiment controls the automatic operation mode of the operation control device 160 according to the automatic operation traveling plan. The automatic driving mode is based on an automatic driving level set for each section of the road. In addition, the operation planning unit 20 may perform control for displaying the automatic operation mode and various information acquired from the operation control device 160 on the display device 111.

(Modification 2 of Embodiment 2)
In the second modification of the second embodiment, the predetermined driver selection rule regarding the static state includes the driving ability of each of the plurality of occupants, the driving difficulty of each of the at least one incomplete automatic driving section, and , Is determined based on. That is, the driving plan unit 20 selects a driver by adding information on the driving difficulty in the incomplete automatic driving section to the information on the driving ability in the static state of the occupant as shown in FIG. The driving difficulty level is determined by the driving planning unit 20 based on the following information, for example.

The driving difficulty is calculated based on, for example, a static road condition that is a road condition on the traveling route and that does not change during traveling of the vehicle. The static road state is the structure and shape of the road, the number of right and left turns to the destination, and the like. The road structure is, for example, a junction. The shape of the road is a curve or the like. The structure and shape of the road are obtained from the map database.

Alternatively, the driving difficulty level is calculated based on, for example, a dynamic road state that is a state of the road on the traveling route and that changes while the vehicle is traveling. The dynamic road condition is a traffic condition when the vehicle is traveling, weather, illuminance outside the vehicle, an automatic driving level, and the like. The weather and the illuminance outside the vehicle are estimated based on the estimated travel time of each section obtained together with the travel route.

The driving difficulty may be calculated by a combination of two or more of the above items.

In the second modification of the second embodiment, the predetermined driver selection rule regarding the static state is, for example, one of rules R7 to R10 shown below.

Rule R7: An occupant with a shorter driving experience is preferentially selected as a driver in an incomplete automatic driving section having a lower driving difficulty.

Rule R8: An occupant with a shorter driving experience is preferentially selected as a driver in an incomplete automatic driving section having a higher automatic driving level.

Rule R9: Predict the traffic condition at the estimated driving time, and select a driver for an occupant with a shorter driving experience, avoiding an incomplete automatic driving section where the vehicle density is high.

Rule R10: Select an occupant who is accustomed to the predicted driving time or the weather at that time as a driver.

FIG. 18 is a diagram showing a driver replacement plan according to a second modification of the second embodiment. FIG. 18 shows the result of applying the above rule R8 as a predetermined driver selection rule. The automatic operation level of the incomplete automatic operation section between the second point W2 and the third point W3 is “3”. The section having the highest automatic operation level among the three incomplete automatic operation sections. In addition, as shown in FIG. 12, of the three occupants, the occupant A has the shortest driving experience. The driving planning unit 20 selects the occupant A as a driver in the incompletely automatic driving section from the second point W2 to the third point W3 according to the rule R8.

In summary, in the second modification of the second embodiment, the predetermined driver selection rule regarding the static state of each of the plurality of occupants is based on the driving ability of each of the plurality of occupants and at least one non-operating condition. It is determined based on the driving difficulty of each of the fully automatic driving sections.

により With such a configuration, the driver selection device realizes selection of a driver suitable for each incomplete automatic driving section.

In the second modification of the second embodiment, the driving difficulty of each of the at least one incomplete automatic driving section may be determined based on each of the automatic driving levels of the at least one incomplete automatic driving section. .

In the second modification of the second embodiment, the driving difficulty of each of the at least one incomplete automatic driving section is determined based on the road shape or the traveling surrounding environment in each of the at least one incomplete automatic driving section. You may.

In addition, in the second modification of the second embodiment, the road shape includes the road structure or the number of right / left turns in the traveling route.

により With such a configuration, the driver selection device realizes selection of a driver according to the road conditions in each incompletely automatic driving section.

In addition, in the second modification of the second embodiment, the traveling surrounding environment includes the existence density of other vehicles traveling around the vehicle or the weather.

構成 With such a configuration, the driver selection device realizes selection of a driver according to a situation that changes momentarily in each incomplete automatic driving section.

(Modification 3 of Embodiment 2)
When a plurality of automatic operation levels are set in one incomplete automatic operation section, the operation planning unit 20 obtains the driving difficulty based on the plurality of automatic operation levels and a specific rule. For example, of one incomplete automatic driving section, a half section is a section that can travel at the automatic driving level "3", and the remaining 1/2 section can run at the automatic driving level "2". If it is a section, the operation planning unit 20 calculates the average value of the automatic operation levels of each section. Then, the driving plan unit 20 may determine the driving difficulty of the section as an incomplete automatic driving section in which the automatic driving level “2.5” is set.

(Modification 4 of Embodiment 2)
The driving planning unit 20 according to the fourth modification of the second embodiment preferentially selects a driver having a higher driving ability as a driver of a rear incomplete automatic driving section from a plurality of incomplete automatic driving sections. That is, the predetermined driver selection rule regarding the static state of each of the plurality of occupants is based on the driving ability of each of the plurality of occupants and the traveling order of the vehicles in the plurality of incomplete automatic driving sections. Determined. The driving planning unit 20 selects a driver having a higher driving capability among the plurality of passengers as a driver in the incomplete automatic driving section in which the driving order is rearward.

Alternatively, the operation planning unit 20 may preferentially select a driver having a higher driving ability as a driver of an incomplete automatic driving section having a longer distance among a plurality of incomplete automatic driving sections. Alternatively, the driving plan unit 20 may preferentially select a driver having a higher driving ability as a driver driving a larger number of incomplete automatic driving sections.

(Modification 5 of Embodiment 2)
The occupant information obtaining unit 10 according to the fifth modification of the second embodiment obtains, as a static state, a getting-off schedule for each occupant, that is, a destination to which each of a plurality of occupants should reach. The operation planning unit 20 preferentially selects the occupant who gets off earlier than the final destination as the driver in the incomplete automatic driving section in which the traveling order is ahead. That is, the predetermined driver selection rule regarding the static state of each of the plurality of occupants includes the order of arrival from the current position of the vehicle to the destination and the traveling of at least one incomplete automatic driving section included in the traveling route. And the order. The operation planning unit 20 selects the occupant having the earlier arrival order among the plurality of occupants as the driver of the incomplete automatic driving section in which the traveling order is ahead.

(Modification 6 of Embodiment 2)
The vehicle according to the sixth modification of the second embodiment has a seat moving device that changes the arrangement of the seats in the vehicle by moving the seats. FIG. 19 is a block diagram showing a configuration of the driver selection device 102 according to the sixth modification of the second embodiment. The driver selection device 102 further includes a seat movement control unit 60 in addition to the configuration of the second embodiment.

The seat movement control unit 60 determines a seat on which the next driver, who is the driver of the next incomplete automatic driving section in which the vehicle will travel next, is to be seated in the incomplete automatic driving section in which the driver replacement plan has been formulated. Control for moving the seat to a position suitable for driving by the driver is performed on the seat moving device 170. The position suitable for the next driver's driving is, for example, a position facing the steering wheel, that is, a driver's seat.

Or, in the case where the driving operation device of the vehicle is a vehicle that can freely move in the vehicle, the position suitable for the driving of the next driver is, for example, a position where the traveling direction of the vehicle can be visually recognized. The next driver transmits a control signal to the operation control device 160 by operating the operation device by wire or wirelessly. The driving operation device according to the sixth modification of the second embodiment is, for example, a remote controller capable of operating functions of a steering wheel, a brake, and an accelerator.

FIGS. 20 and 21 are views showing the arrangement of the seat 2 in a vehicle provided with the seat moving device 170. FIG. Two front seats 2B and 2C and two rear seats 2A and 2D are arranged to face each other. Here, when the next driver is sitting on the rear seat 2A, the seat movement control unit 60 performs control to move the seat 2A to a position facing the steering wheel 3. For example, the sheet movement control unit 60 performs control to move the arrangement of the four sheets 2 counterclockwise. At this time, the seat movement control unit 60 performs control to rotate the seats 2B and 2C by 180 degrees so that each of the four seats 2 faces the front of the vehicle. The sheet moving device 170 moves each sheet 2 according to the control, and changes the arrangement of the sheets 2. FIG. 22 is a diagram illustrating an arrangement of the sheet 2 after the movement of the sheet. With the above movement, the seat 2A on which the next driver sits moves to the position of the driver's seat.

The driver selection device 102 according to the sixth modification of the second embodiment needs to formulate an automatic driving traveling plan or a driver replacement plan including a plan for parking and stopping a vehicle in order for the next driver to sit in the driver's seat. Absent.

(Variation 7 of Embodiment 2)
The vehicle according to the seventh modification of the second embodiment does not include the seat moving device shown in the sixth modification of the second embodiment. When the arrangement of the seats cannot be changed in the vehicle, the driving planning unit 20 may formulate a driver replacement plan so that the seating position of each occupant can be changed at an appropriate parking / stop point.

(Modification 8 of Embodiment 2)
The operation planning unit 20 according to the eighth modification of the second embodiment receives from the operating device 140 an input operation signal indicating that an occupant other than the next driver himself / herself drives the next incomplete automatic driving section. The driving plan unit 20 re-draws the driver replacement plan based on the input operation signal.

Such a driver selecting device can select another occupant who has a high driving intention and runs for himself as a driver. In addition, when the vital state of the next driver is decreasing, the driver selecting device can select, as the driver, another occupant who runs for himself as the driver. Further, the driver selection device may control an operation input flow in which the next driver approves an offer for another driver to run for the driver or an operation input flow in which the next driver rejects the offer.

(Modification 9 of Embodiment 2)
In the ninth modification of the second embodiment, a common display device 111 is provided in the vehicle for each occupant. The display device 111 includes an audio output device having directivity. In addition, the driver selection device acquires in advance the position where each of the plurality of occupants is seated.

The notification control unit 21 performs control to output a sound in a direction in which the next driver sits, rather than in a direction in which other occupants except the occupant selected as the next driver sit. The sound output device 112 outputs a sound in a direction in which the next driver sits according to the control.

With this configuration, the driver selection device allows the next driver to accurately recognize the incomplete automatic driving section in which the driver himself / herself operates. The next driver improves the driving suitability by himself in accordance with the driving start time. Also, other occupants can give consideration and work to the next driver to prepare for driving.

<Embodiment 3>
A driver selection device and a driver selection method according to Embodiment 3 will be described. The third embodiment is a subordinate concept of the first embodiment, and the driver selecting device in the third embodiment includes each configuration of the driver selecting device in the first embodiment. The description of the same configuration and operation as those in the first or second embodiment is omitted.

The driving planning unit 20 in the third embodiment acquires dynamic information indicating the vital state of the occupant, and determines whether or not the next driver is in a state suitable for driving before the next driver starts driving. Detect. FIG. 23 is a block diagram illustrating a configuration of the driver selection device 103 according to the third embodiment. Each function of the occupant information acquisition unit 10 and the operation planning unit 20 described below is realized by the processing circuit illustrated in FIG. 2 or FIG.

The occupant state detection device 180 detects a dynamic state that is a state of each of the plurality of occupants, which is a state that changes with time during boarding. The dynamic state includes a vital state. The vital state includes the frequency of weight movement, the number of blinks, the degree of eyelid opening, the degree of response to stimulation, the respiratory rate, the blood pressure value, the heart rate, the body temperature, and the like. The occupant state detection device 180 is, for example, a seating sensor, an in-vehicle camera, a sphygmomanometer, a thermometer, or the like.

The occupant information acquisition unit 10 acquires the dynamic state at a predetermined timing before the vehicle reaches the next incomplete automatic operation section in which the vehicle next travels while traveling in the fully automatic operation section. The predetermined timing is, for example, 15 minutes before reaching the next incomplete automatic operation section. In FIG. 23, the occupant information obtaining unit 10 directly obtains the dynamic state from the occupant state detecting device 180, but temporarily obtains the dynamic state stored in the occupant information storage unit 30 from the occupant state detecting device 180. May be acquired.

The driving plan unit 20 determines whether the driving suitability based on the dynamic state of the next driver satisfies a predetermined criterion. The predetermined criterion is a criterion indicating that the occupant has a sufficient degree of driving aptitude from a psychological viewpoint or a viewpoint of athletic ability. The predetermined reference includes, for example, that the occupant's arousal level is equal to or greater than a reference value, or that the reaction time of the occupant to the task is equal to or greater than the reference value. When the driving suitability based on the dynamic state satisfies a predetermined criterion, the driving plan unit 20 re-certifies the occupant who is the next driver as the next driver as it is. If the driving suitability based on the dynamic state does not satisfy the predetermined criterion, the vehicle control device, under the control of the driving plan unit 20, controls the vehicle to an appropriate level before reaching the incomplete automatic driving section. Automatically park and stop at the point.

(Modification of Embodiment 3)
When the driving suitability based on the dynamic state does not satisfy the predetermined criterion, the driving planning unit 20 according to the modification of the third embodiment transmits the next incomplete automatic transmission from at least one passenger except the next driver. Reselect the driver of the vehicle in the driving section.

The operation planning unit 20 detects whether or not there is an occupant whose driving suitability satisfies a predetermined criterion among other occupants other than the next driver, for example. If there is an occupant that satisfies the predetermined criterion, the operation planning unit 20 selects the occupant as a driver of the next incomplete automatic operation section and re-creates a driver selection plan. Further, the operation planning unit 20 may re-create the driver selection plan for the remaining incomplete automatic operation section.

To summarize the above, the occupant information acquisition unit 10 of the driver selection device according to the modified example of the third embodiment is a dynamic state in which each of a plurality of occupants is in a state that changes with time during boarding. Is acquired at a predetermined timing before the vehicle reaches the next incomplete automatic driving section in which the vehicle travels next, among at least one incomplete automatic driving section in which the driver replacement plan has been formulated. When the driving suitability based on the dynamic state of the next driver who is the driver of the next incomplete automatic driving section does not satisfy the predetermined standard, the driving planning unit 20 excludes at least one driver excluding the next driver. Re-select the driver of the vehicle in the next incomplete automatic driving section from the crew.

動的 Further, the dynamic state of the next driver in the driver selection device according to the modification of the third embodiment includes the vital state of the next driver.

With such a configuration, the driver selection device formulates a new driver replacement plan and continues driving the vehicle even when the driver cannot drive based on the previously determined driver replacement plan. Can be done. The driver selection device reduces the need to wait in a suitable parking area until the operability of any occupant improves when performing manual driving.

<Embodiment 4>
A driver selection device and a driver selection method according to Embodiment 4 will be described. The fourth embodiment is a subordinate concept of the first embodiment, and the driver selecting device in the fourth embodiment includes each configuration of the driver selecting device in the first embodiment. The description of the same configuration and operation as any of the first to third embodiments will be omitted.

FIG. 24 is a block diagram showing a configuration of the driver selecting device 104 according to the fourth embodiment. The driver selecting device 104 has a communication unit 70 and a remote driving interface 71 in addition to the configuration shown in FIG. Each function of the communication unit 70, the remote operation interface 71, the occupant information acquisition unit 10, and the operation planning unit 20 described below is realized by the processing circuit illustrated in FIG. 2 or FIG.

(4) The remote driving service center 190 executes remote driving of the designated vehicle. For example, the remote driving service center 190 transmits / receives information to / from a vehicle and remotely controls traveling of the vehicle. For example, the vehicle operator of the remote driving service center 190 performs remote driving while exchanging information between the designated vehicle and the remote driving service center 190.

The communication network 191 is the Internet. The communication network 191 relays communication between the driver selection device 104 and the remote driving service center 190.

The communication unit 70 communicates with the remote driving service center 190.

The remote driving interface 71 transmits vehicle information necessary for remote driving to the remote driving service center 190 via the communication unit 70. The remote operation interface 71 receives, via the communication unit 70, remote operation information on the operation performed by the remote operation service center 190, and outputs the information to the operation control device 160.

As in the third embodiment, the occupant information acquisition unit 10 acquires a dynamic state from the occupant state detection device 180 at a predetermined timing before reaching the next incomplete automatic driving section in which the vehicle travels next. I do. The predetermined timing is, for example, 20 minutes before reaching the next incomplete automatic operation section.

The driving plan unit 20 determines whether the driving suitability based on the dynamic state of the next driver satisfies a predetermined criterion. When the driving suitability based on the dynamic state satisfies a predetermined criterion, the driving plan unit 20 re-certifies the occupant who is the next driver as the next driver as it is. If the driving suitability based on the dynamic state does not satisfy the predetermined standard, the remote driving service center 190 is requested to remotely drive the vehicle in the next incomplete automatic driving section.

When the operation planning unit 20 receives a signal indicating that remote operation is possible from the remote operation service center 190, the operation control device 160 accepts a remote operation service via the remote operation interface 71. When the driving plan unit 20 does not receive the signal indicating that the vehicle can be remotely driven, the driving control device 160 automatically parks and stops the vehicle at an appropriate point before the vehicle reaches the incomplete automatic driving section.

Summarizing the above, the occupant information acquisition unit 10 of the driver selection device 104 according to the fourth embodiment determines that the next time the vehicle will travel next in at least one incomplete automatic driving section for which the driver replacement plan has been formulated. The state of the next driver who is a driver of the fully automatic driving section, which is a state that changes with time during boarding, is a dynamic state that is determined before the vehicle reaches the next incomplete automatic driving section. At the right time. When the driving suitability based on the dynamic state of the next driver does not satisfy the predetermined criterion, the driving planning unit 20 sends the next driving operation to the remote driving service center 190 that remotely drives the vehicle to the next incomplete automatic driving. Request remote driving of vehicles in the section.

The dynamic state of the next driver in the driver selection device 104 in the fourth embodiment includes the vital state of the next driver.

With such a configuration, the driver selecting device 104 reduces a situation in which the driver must wait in an appropriate parking area until the occupant's driving suitability is improved when performing manual driving.

(Modification 1 of Embodiment 4)
If the driving suitability based on the dynamic state of all the occupants including the next driver does not satisfy the predetermined criterion, the driving plan unit 20 notifies the remote driving service center 190 of the vehicle in the next imperfect automatic driving section. Request remote driving of.

(Modification 2 of Embodiment 4)
The operation planning unit 20 may include a remote operation interface 71.

<Embodiment 5>
A driver selection device and a driver selection method according to Embodiment 5 will be described. The fifth embodiment is a subordinate concept of the first embodiment, and the driver selection device in the fifth embodiment includes each configuration of the driver selection device in the first embodiment. The description of the same configuration and operation as any of the first to fourth embodiments will be omitted.

FIG. 25 is a block diagram showing a configuration of the driver selecting device 105 according to the fifth embodiment. The function of the notification control unit 21 described below is realized by the processing circuit illustrated in FIG. 2 or FIG.

Different from the first embodiment, the 選定 driver selection device 105 has a plurality of display devices as a multi-HMI (Human Machine Interface). The plurality of display devices are mounted on the vehicle and provided for each of the plurality of occupants. In the fifth embodiment, the first display device 111A, the second display device 111B, the third display device 111C, and the fourth display device 111D are provided for each of the four occupants A, B, C, and D who board the vehicle. Is mounted on the vehicle. That is, a dedicated display device is provided for each occupant. The driver selection device 105 previously acquires the correspondence between the occupant and the display device used by the occupant.

The notification control unit 21 controls each display device to display the current position of the vehicle and the driver replacement plan. The notification control unit 21 performs display control so that a mode displayed by one of the plurality of display devices is different from a mode displayed by the other display device. The one display device displays a driver replacement plan to a next driver who is a driver in the next incomplete automatic driving section. The other display device displays the driver change plan to at least one occupant other than the next driver, that is, another occupant.

Here, the case where the occupant B is the next driver will be described. The first display device 111A, the second display device 111B, the third display device 111C, and the fourth display device 111D respectively control the occupants A, B, C, and D according to the display control of the notification control unit 21 to control the vehicle. Displays the current location and driver change plan. FIG. 26 is a diagram showing a driver replacement plan displayed on the display device for the next driver. The second display device 111B, which is a display device for the occupant B, displays an automatic operation section (fully automatic operation section), a manual operation section (incomplete automatic operation section), and a current position (indicated by a triangle in FIG. 26). FIG. 26 is a diagram showing a state in which the section in which the vehicle travels shifts from a fully automatic driving section to an incomplete automatic driving section. The upper, middle, and lower figures show that the vehicle starts from the beginning of the incomplete automatic driving section. It is a figure which shows that it is running 3 km before, 1 km before, and an incomplete automatic driving section, respectively. In addition, the second display device 111B displays a message that the occupant B using the second display device 111B is the next driver before the vehicle reaches the incomplete automatic driving section. FIG. 27 is a diagram showing a driver replacement plan displayed on a display device for another occupant. The first display device 111A, the third display device 111C, and the fourth display device 111D, which are other display devices, display the automatic operation section, the manual operation section, and the current position, similarly to the second display apparatus 111B. However, those other display devices display that the next driver is the occupant B by a message. As described above, the notification control unit 21 sets the display mode of one of the four display devices (the second display device 111B) and the other display devices (the first display device 111A, the third display device 111C, The display control is performed so that the display mode of the fourth display device 111D) is different.

Also, the second display device 111B for the next driver may display the driver replacement plan in a mode that is more easily visible to the next driver than a mode displayed by another display device. Similarly, the sound output device (not shown) for the next driver listens to the next driver more than the sound output from the sound output device (not shown) for the other occupants. The sound may be output in a mode that is excellent in ease.

To summarize the above, the operation planning unit 20 of the driver selection device 105 according to the fifth embodiment provides a vehicle with a plurality of notification devices mounted on a vehicle and a plurality of notification devices provided for a plurality of occupants. And a notification control unit 21 for performing control to notify the current position and the driver replacement plan. The driving plan unit 20 presents the driver change plan to at least one occupant by the notification control unit 21 performing the control. The notification control unit 21 performs control so that the mode in which one of the plurality of notification devices notifies the user and the mode in which the other notification device notifies the user are different. The one notification device is configured to provide the next driver who is the driver of the next incomplete automatic driving section in which the vehicle travels next among the at least one incomplete automatic driving section in which the driver replacement plan has been formulated to the driver. Announce replacement plan. The other notification device notifies the driver change plan to at least one occupant except the next driver.

With this configuration, the driver selection device 105 can accurately present the driver replacement plan to the occupant who is the next driver. The occupant who is the next driver can accurately recognize that he is the next driver.

(Modification 1 of Embodiment 5)
The notification control unit 21 performs control to display the driver replacement plan only on the display device used by the next driver. The display device used by the next driver displays that the occupant is the next driver according to the control. With such a configuration, the notification operation of the driver selection device does not bother other occupants.

(Modification 2 of Embodiment 5)
In the second modification of the fifth embodiment, each display device has an audio output device (not shown). The notification control unit 21 performs control to notify the driver replacement plan by voice only to the voice output device used by the next driver. The voice output device of the display device used by the next driver notifies the occupant himself that he is the next driver by voice according to the control. In this case, each display device may display the driver replacement plan in the same mode, or the display device used by the next driver and another display device may display the driver replacement plan in different modes. You may.

<Embodiment 6>
A driver selection device and a driver selection method according to Embodiment 6 will be described. The sixth embodiment is a subordinate concept of the first embodiment, and the driver selecting device in the sixth embodiment includes each configuration of the driver selecting device in the first embodiment. The description of the same configuration and operation as any of the first to fifth embodiments will be omitted.

The driver selection device according to the sixth embodiment operates to improve the vital state of the next driver when the vital state (driving suitability) of the next driver does not satisfy the predetermined reference value. FIG. 28 is a block diagram illustrating a configuration of the driver selection device 106 according to the sixth embodiment.

The driving suitability improvement device 200 has a function of improving the driving suitability based on the dynamic state of the occupant selected as the driver in the driver replacement plan. In the sixth embodiment, driving suitability improvement device 200 includes a seat vibration device provided on a seat of a vehicle on which each of a plurality of occupants is seated.

The occupant state detection device 180 detects the dynamic state of the next driver. The occupant state detection device 180 is, for example, a passive driver sensing device that passively detects the dynamic state of the next driver. Alternatively, for example, the occupant state detection device 180 is an active driver sensing device that actively detects the dynamic state of the next driver. The active driver sensing device detects a reaction of the next driver after giving a task to the next driver as a dynamic state.

As in the third embodiment, the occupant information acquisition unit 10 changes the dynamic state of the next driver from the occupant state detection device 180 at a predetermined timing before the vehicle reaches the next incomplete automatic driving section. get. The predetermined timing is 15 minutes before the vehicle reaches the next incomplete automatic driving section.

When the driving suitability based on the dynamic state of the next driver does not satisfy the predetermined criterion, the driving suitability controller 80 controls the driving suitability improvement device 200 to determine the driving suitability of the next driver. Perform control to improve. In the sixth embodiment, the driving suitability control unit 80 controls the seat vibration device provided on the seat on which the next driver sits to control the seat to vibrate. The seat vibration device vibrates the next driver's seat according to the control. Thereby, the vital state of the next driver is improved.

The driving suitability improvement device 200 may be a pseudo driving device that executes an application that allows each of a plurality of occupants to experience a virtual driving operation. In this case, the driving suitability control unit 80 controls the pseudo driving device used by the next driver to execute the application. The pseudo driving device provides an application to the next driver according to the control. Thereby, the vital state of the next driver is improved.

Alternatively, the driving suitability improvement device 200 may be a warning device that outputs a warning by voice to each of a plurality of occupants. In this case, the driving suitability controller 80 controls the alarm device to output an alarm by voice. When the alarm device outputs an alarm, the vital state of the next driver is improved.

<Embodiment 7>
A driver selection device and a driver selection method according to Embodiment 7 will be described. The driver selection device according to the seventh embodiment selects a driver based on the dynamic state of each of a plurality of occupants and the automatic driving level of the incomplete automatic driving section, and formulates a driver replacement plan. Embodiment 7 is a subordinate concept of Embodiment 1, and the driver selection device in Embodiment 7 includes the components of the driver selection device in Embodiment 1. The description of the same configuration and operation as any of the first to sixth embodiments will be omitted.

FIG. 29 is a block diagram showing a configuration of the driver selecting device 107 according to the seventh embodiment. FIG. 29 shows, as devices operating in association with the driver selection device 107, an occupant state detection device 180, a map storage device 130, a display device 111, a voice output device 112, an operation device 140, a peripheral information detection device 150, The operation control device 160 is shown.

The driver selection device 107 includes an occupant information acquisition unit 10, a positioning unit 40, a map acquisition unit 50, and an operation planning unit 20. The operation planning unit 20 has a notification control unit 21. The following functions of the occupant information storage unit 30, the occupant information acquisition unit 10, the positioning unit 40, the map acquisition unit 50, the driving plan unit 20, and the notification control unit 21 are implemented by the processing circuit shown in FIG. 2 or FIG. Is done.

The occupant state detection device 180 detects a dynamic state that is a state of each of the plurality of occupants, which is a state that changes with time during boarding. The dynamic state includes a vital state. The dynamic state includes a vital state. The vital state includes the frequency of weight movement, the number of blinks, the degree of eyelid opening, the degree of response to stimulation, the respiratory rate, the blood pressure value, the heart rate, the body temperature, and the like. The occupant state detection device 180 is, for example, a seating sensor, an in-vehicle camera, a sphygmomanometer, a thermometer, or the like.

The occupant information acquisition unit 10 acquires the dynamic state of each of the plurality of occupants. In the seventh embodiment, the occupant information acquisition unit 10 acquires the dynamic state of each occupant from the occupant state detection device 180.

The operation planning unit 20 formulates a driver replacement plan for the incomplete automatic driving section at a predetermined timing before the vehicle reaches the incomplete automatic driving section. At that time, the operation planning unit 20 assigns one of the plurality of occupants to the vehicle in the incomplete automatic driving section based on the dynamic state of each of the plurality of occupants and the automatic driving level of the incomplete automatic driving section. Driver. More specifically, the operation planning unit 20 selects a driver according to a predetermined driver selection rule regarding a dynamic state.

The predetermined driver selection rule is determined by a threshold value regarding driving suitability based on the vital state of each of the plurality of occupants. The threshold is set according to the automatic operation level of the incomplete automatic operation section. The threshold value is set to a higher value as the automatic driving level is higher. The driving plan unit 20 selects one of the plurality of occupants having a driving suitability higher than the threshold as a driver. As described above, the operation planning unit 20 according to Embodiment 7 relaxes the driving suitability determination logic in the incomplete automatic operation section where the automatic operation level is high. Then, the driving planning unit 20 selects the occupant whose driving suitability is low as a driver and permits driving.

The configurations of the notification control unit 21, the positioning unit 40, the map storage device 130, the map acquisition unit 50, the operation device 140, the display device 111, the audio output device 112, the peripheral information detection device 150, and the operation control device 160 are the same as those of the second embodiment. The same is true.

FIG. 30 is a flowchart showing the overall operation of driver selecting apparatus 107 and a driver selecting method according to the seventh embodiment.

In step S10, the driver selection device 107 formulates an automatic driving travel plan. FIG. 31 is a flowchart showing the operation of formulating an automatic driving travel plan according to the seventh embodiment, showing details of step S10.

In step S11, the driving plan unit 20 acquires the current position of the vehicle measured by the positioning unit 40. The notification control unit 21 of the driving plan unit 20 may perform control to display a map indicating the current position on the display device 111. As a result, a map showing the current position is displayed on the display device 111.

In step S12, the driving plan unit 20 acquires the destination input by the operation device 140. The operation planning unit 20 acquires a map from the map storage device 130 via the map acquisition unit 50.

にて In step S14, notification control unit 21 performs control for displaying automatic driving travel plan on display device 111. The display device 111 displays a traveling route based on the automatic driving traveling plan according to the control. At this time, the display device 111 displays the fully automatic driving section and the incomplete automatic driving section in the traveling route displayed on the map so as to be distinguishable. Further, the display device 111 may display the automatic driving level of each section so that the automatic driving level can be identified. For example, the display device 111 displays the automatic driving travel plan shown in FIG.

With the above, the operation of formulating the automatic driving travel plan is completed, and the vehicle starts traveling according to the automatic driving travel plan. Thereafter, step S40 shown in FIG. 30 is performed. That is, unlike the second embodiment, the driver selecting device 107 according to the seventh embodiment does not formulate a driver replacement plan in advance.

In step S40, the operation planning unit 20 formulates a driver replacement plan based on the dynamic state and performs driver replacement control. FIG. 32 is a flowchart showing the formulation of the driver replacement plan and the driver replacement control operation based on the dynamic state in the seventh embodiment, showing details of step S40.

In step S41, the driving plan unit 20 reacquires and updates the current position of the vehicle measured by the positioning unit 40.

In step S42, the notification control unit 21 performs control to display the current position of the vehicle on the display device 111.

In step S43, the driving plan unit 20 determines whether the vehicle is traveling in a fully automatic driving section. When the vehicle is traveling in the fully automatic driving section, step S44 is executed. When the vehicle is traveling in the incomplete automatic driving section, step S51 is executed. The driving control device 160 controls the traveling of the vehicle according to each driving mode.

FIG. 33 is a diagram showing changes in an automatic driving travel plan, a driver replacement plan, and driving suitability in the seventh embodiment. Here, while the vehicle is traveling in the fully automatic driving section from the first point W1 to the second point W2 according to the automatic driving traveling plan, the operation planning unit 20 performs the incomplete automatic operation from the second point W2 to the third point W3. The operation of selecting a driver in the driving section will be described.

In step S44, the operation planning unit 20 determines whether the current time corresponds to a predetermined timing before reaching the incomplete automatic operation section. The predetermined timing is, for example, a timing at which the vehicle reaches an incomplete automatic driving section after a predetermined period elapses. Here, the driving planning unit 20 determines whether or not the current position of the vehicle corresponds to a predetermined timing t1 before reaching the second point W2 which is the start point of the incomplete automatic driving section. In FIG. 33, the timing t0 is a timing at which the vehicle reaches the second point W2. When the present time corresponds to the predetermined timing, step S45 is executed. If the current time does not correspond to the predetermined timing, step S51 is executed.

In step S45, the occupant information acquisition unit 10 acquires the dynamic state of each of the plurality of occupants from the occupant state detection device 180. Here, the occupant information obtaining unit 10 obtains each dynamic state of three occupants of the occupant A, the occupant B, and the occupant C who board the vehicle. The dynamic state is a vital state of the occupant. The operation planning unit 20 obtains the driving suitability P of each occupant based on the vital state of each occupant. FIG. 33 shows changes in driving suitability PA (t), PB (t), and PC (t) of each of the three occupants.

In step S46, the operation planning unit 20 selects a driver in the incomplete automatic driving section from the plurality of occupants based on the dynamic state of each occupant and the automatic driving level in the incomplete automatic driving section. For example, the driving planning unit 20 calculates the driving suitability PA (t), PB (t), PC (t) at the timing t1, and the automatic driving level of the incomplete automatic driving section from the second point W2 to the third point W3. The driver is selected based on “3”. At this time, the operation planning unit 20 selects a driver according to a predetermined driver selection rule regarding the dynamic state.

予め A predetermined driver selection rule for the dynamic state is determined by a threshold value for driving suitability. The threshold value regarding the driving suitability is set by the driving planning unit 20, for example. The threshold for the driving suitability is set according to the automatic driving level of the incomplete automatic driving section. The threshold value for the driving suitability is set to a higher value as the automatic driving level is higher. Equation (1) indicates a manual driving suitability threshold Pth (n) that is a threshold related to the driving suitability according to the automatic driving level “n”.

Pth0 is the initial value of the threshold value for manual driving suitability. P (Lev (n)) is a correction value determined according to the automatic operation level “n”. In the seventh embodiment, P (Lev (n)) satisfies the relationship of Expression (2).

In FIG. 33, the automatic operation level of the incomplete automatic operation section from the second point W2 to the third point W3 is “3”. The operation planning unit 20 calculates a manual operation suitability threshold value Pth (3) corresponding to the automatic operation level “3”. The manual driving suitability threshold value Pth (3) is lower than the initial value Pht0. The driving planning unit 20 selects the occupant B having a driving suitability higher than the manual driving suitability threshold Pth (3) as the driver.

In step S47, the driving plan unit 20 determines whether or not there is an occupant satisfying the threshold of driving suitability. If there is an occupant satisfying the threshold of the driving suitability, step S48 is executed. If there is no occupant satisfying the threshold of the driving suitability, step S49 is executed.

In step S48, the notification control unit 21 controls the display device 111 or the voice output device 112 to notify the next driver included in the driver replacement plan.

In step S49, the notification control unit 21 controls the display device 111 or the sound output device 112 to notify that there is no selectable occupant.

にて In step S50, driving control device 160 performs control to cause the vehicle to travel to an appropriate parking area.

In step S51, the driving plan unit 20 determines whether the vehicle has reached the destination. If the vehicle has not reached the destination, step S41 is executed again. When the vehicle has arrived at the destination, the operation of the formulation of the driver replacement plan and the driver replacement control based on the dynamic state ends. The entire operation of the driver selection device 107 and the driver selection method illustrated in FIG.

Summarizing the above, the driver selecting device 107 according to Embodiment 7 requires at least one non-operating level in which human involvement is required or may be required for driving the vehicle. A driver involved in driving the vehicle in each of the at least one incompletely automated driving section is selected and presented from a plurality of occupants of the vehicle with respect to the traveling route of the vehicle including the fully automatic driving section. The driver selection device 107 includes an occupant information acquisition unit 10 and an operation planning unit 20. The occupant information acquisition unit 10 acquires a dynamic state, which is a state of each of a plurality of occupants, which is a state that changes with time during boarding. The operation planning unit 20 assigns one occupant of the plurality of occupants to one incomplete automatic operation based on each dynamic state of the plurality of occupants and each automatic operation level of at least one incomplete automatic operation section. A driver replacement plan is determined by selecting a driver of the vehicle in the section, and the driver replacement plan is presented to at least one of a plurality of occupants. The driving plan unit 20 formulates a driver replacement plan for one incomplete automatic driving section at a predetermined timing before the vehicle reaches one incomplete automatic driving section.

(4) After the vehicle starts running according to the automatic driving travel plan, the driver selecting device 107 selects a driver in an incomplete automatic driving section in which the vehicle travels next. In other words, the driver selection device 107 according to the seventh embodiment differs from the second embodiment in that the driver in the imperfect automatic driving section included in the traveling route before the vehicle starts traveling according to the automatic driving traveling plan. Is not selected in advance. Further, the driver selecting device 107 selects a driver based on the dynamic state of each of the plurality of occupants and the automatic driving level of the incomplete automatic driving section. The driver selection device 107 relaxes the driving suitability determination logic in an incomplete automatic driving section where the automatic driving level is high. Then, the driver selecting device 107 selects the occupant whose driving suitability is low as a driver and permits driving. In selecting a driver, the driver selecting device 107 determines that a driver having appropriate driving suitability based on the dynamic state is in the vehicle at the time of transition from the fully automatic driving section to the incomplete automatic driving section. The probability of not being able to reduce. The driver selecting device 107 reduces a situation in which the driver must wait in an appropriate parking area until the driving suitability of any one of the occupants is improved when performing the manual driving.

In addition, the operation planning unit 20 of the driver selection device 107 according to Embodiment 7 assigns one occupant of the plurality of occupants to one according to a predetermined driver selection rule regarding the dynamic state of each of the plurality of occupants. Is selected as the driver of the vehicle in the incomplete automatic driving section.

In the seventh embodiment, the dynamic state of each of the occupants includes the vital state of each of the occupants. The predetermined driver selection rule regarding the dynamic state of each of the plurality of occupants is a threshold regarding the driving suitability based on the vital state of each of the plurality of occupants, and the threshold is determined for each of the at least one incompletely automated driving section. It is determined by a threshold value set according to the automatic operation level. The driving plan unit 20 selects one of the plurality of occupants having a driving suitability higher than the threshold as a driver. The threshold value is set to a higher value as the automatic driving level is higher.

With such a configuration, the driver selection device 107 reduces the probability that a driver having appropriate driving suitability will not be in a vehicle in an incomplete automatic driving section where the automatic driving level is high.

The driver selection device 107 according to the seventh embodiment may have a configuration in which the configurations described in the other embodiments are combined within a consistent range.

For example, the driver selecting device 107 may have the configuration and the function shown in the sixth modification of the second embodiment. Alternatively, for example, the driver selection device 107 may have the configuration and the function described in the fifth embodiment. Alternatively, for example, the driver selecting device 107 may have the configuration and the function described in the sixth embodiment.

<Embodiment 8>
The driver selection device described in each of the above embodiments may be applied to a system constructed by appropriately combining the navigation device, the communication terminal, the server, and the functions of the applications installed therein. Can be. Here, the navigation device includes, for example, a PND (Portable Navigation Device). The communication terminal includes, for example, a mobile terminal such as a mobile phone, a smartphone, and a tablet.

FIG. 34 is a block diagram showing a configuration of a driver selecting device 100 according to Embodiment 8 and a device operating in connection therewith.

The driver selection device 100 and the communication device are provided in the server 300. The driver selection device 100 acquires the static state of each of the plurality of occupants from the occupant information input device 120 provided in the vehicle 1 via the

communication devices

220 and 210. Alternatively, the driver selection device 100 acquires the dynamic state of each of the plurality of occupants from the occupant state detection device 180 provided in the vehicle 1 via the

communication devices

220 and 210. In addition, the driver selection device 100 obtains a map from the map storage device 130 and obtains information on an incomplete automatic driving section in the travel route. The driver selection device 100 formulates a driver replacement plan based on the static state of each occupant or based on the dynamic state and the automatic driving level of the incomplete automatic driving section. The driver selection device 100 controls the notification device 110 provided in the vehicle 1 to notify the driver replacement plan via each communication device.

By arranging the driver selecting device 100 in the server 300 as described above, the configuration of the vehicle-mounted device can be simplified.

Alternatively, some of the functions or components of the driver selection device 100 may be provided in the server 300 and the other part may be provided in the vehicle 1, and may be dispersed.

In the present invention, it is possible to freely combine the embodiments or appropriately modify or omit the embodiments within the scope of the invention.

Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that innumerable modifications that are not illustrated can be assumed without departing from the scope of the present invention.

1 vehicle, 10 passenger information obtaining unit, 20 driving planning unit, 21 notification control unit, 30 passenger information storing unit, 40 positioning unit, 50 map obtaining unit, 60 seat movement control unit, 80 driving suitability control unit, 100 driver Selection device, 110 notification device, 111 display device, 112 audio output device, 120 occupant information input device, 130 map storage device, 170 seat moving device, 180 occupant state detection device, 200 driving suitability improvement device, t1 timing, t2 timing .

Claims

The driving route of the vehicle including at least one incomplete autonomous driving section in which the autonomous driving level at which human involvement is required or may be required for driving the vehicle is set. A driver selection device for selecting and presenting a driver involved in driving the vehicle in each of the partially automatic driving sections from a plurality of occupants boarding the vehicle,
A dynamic state in which each of the plurality of occupants is in a state that changes with time during boarding, or an occupant information acquisition unit that acquires a static state that is a state other than the dynamic state,
Based on the dynamic state of each of the plurality of occupants and the automatic driving level of each of the at least one incompletely automated driving section, or based on the static state of each of the plurality of occupants; One of the occupants is selected as the driver of the vehicle in one incomplete automatic driving section, and a driver replacement plan is formulated, and the driver replacement plan is determined by at least one of the plurality of occupants. An operation planning unit to be presented to the occupants of the
The driving planning unit may be configured to formulate the driver replacement plan based on the dynamic state at a predetermined timing before the vehicle reaches the one incomplete automatic driving section. Formulating the driver change plan for the driving section, and formulating the driver change plan based on the static state, wherein the driving route is determined in advance for each of the at least one imperfect automatic driving section after defining the traveling route. Driver selection device that formulates driver replacement plans.
A positioning unit for measuring the current position of the vehicle,
A map acquisition unit that acquires a map including information on the automatic driving level set for each section of the road,
The driving plan unit obtains the travel route of the vehicle based on the current position of the vehicle and the map, and determines the at least one of the at least one route included in the travel route based on the information on the automatic driving level included in the map. The driver selection device according to claim 1, wherein the incomplete automatic driving section is determined.
The operation planning unit, according to a predetermined driver selection rule regarding the static state of each of the plurality of occupants, the one occupant among the plurality of occupants, the one in the incomplete automatic driving section. The driver selecting device according to claim 1, wherein the driver is selected as the driver of the vehicle.
4. The driver selection device according to claim 3, wherein the static state of each of the plurality of occupants includes a driving capability of the vehicle possessed by each of the plurality of occupants. 5.
The predetermined driver selection rule regarding the static state of each of the plurality of occupants includes the driving ability of each of the plurality of occupants and a driving difficulty of each of the at least one incompletely automated driving section. The driver selection device according to claim 4, wherein the driver selection device is determined based on the degree and the degree.
6. The driver selection device according to claim 5, wherein the driving difficulty level of each of the at least one incomplete automatic driving section is determined based on the automatic driving level of each of the at least one incomplete automatic driving section.
The driver selection according to claim 5, wherein the driving difficulty of each of the at least one incompletely automated driving section is determined based on a road shape or a driving environment in each of the at least one incompletely automated driving section. apparatus.
8. The driver selection device according to claim 7, wherein the road shape includes a road structure or a number of right / left turns on the traveling route. 9.
8. The driver selection device according to claim 7, wherein the traveling surrounding environment includes an existence density of another vehicle traveling around the vehicle or weather.
The at least one partially automatic operation section includes a plurality of partially automatic operation sections,
The predetermined driver selection rule regarding the static state of each of the plurality of occupants includes the driving ability of each of the plurality of occupants, and a traveling order of the vehicle in the plurality of incompletely automated driving sections. And determined based on,
5. The driver selection device according to claim 4, wherein, among the plurality of occupants, the driving planning unit selects a driver having a higher driving ability as the driver in an incomplete automatic driving section in which the traveling order is rearward. .
The at least one partially automatic operation section includes a plurality of partially automatic operation sections,
The static state of each of the plurality of occupants includes a destination to be reached by each of the plurality of occupants;
The predetermined driver selection rule relating to the static state of each of the plurality of occupants includes an order of arrival from the current position of the vehicle to the destination, and an order of the vehicle in the plurality of incomplete automatic driving sections. It is determined based on the driving order and
The driver selection device according to claim 3, wherein the driving planning unit selects, as the driver in the incomplete automatic driving section in which the traveling order is ahead, a driver having the earlier arrival order among the plurality of passengers. .
The occupant information acquisition unit may be configured to change a dynamic state, which is a state that changes with time during boarding, in each of the plurality of occupants, by the at least one incomplete automatic operation in which the driver replacement plan is formulated. Of the driving section, the vehicle is acquired at a predetermined timing before reaching the next incomplete automatic driving section in which the vehicle travels next,
The operation planning unit excludes the next driver when the driving suitability based on the dynamic state of the next driver that is the driver of the next incomplete automatic driving section does not satisfy a predetermined criterion. The driver selection device according to claim 3, wherein the driver of the vehicle in the next incomplete automatic driving section is reselected from at least one occupant.
The driver selection device according to claim 12, wherein the dynamic state of the next driver includes a vital state of the next driver.
The occupant information acquisition unit is a next driver that is a driver of a next incomplete automatic driving section in which the vehicle runs next, among the at least one incomplete automatic driving section in which the driver replacement plan is formulated. The state, the dynamic state is a state that changes with time during the boarding, at a predetermined timing before the vehicle reaches the next incomplete automatic driving section, to obtain,
When the driving suitability based on the dynamic state of the next driver does not satisfy a predetermined criterion, the driving planning unit notifies the remote driving service center that remotely drives the vehicle to the next driving service center. 4. The driver selection device according to claim 3, wherein the driver selection device requests remote driving of the vehicle in a fully automatic driving section.
The driver selection device according to claim 14, wherein the dynamic state of the next driver includes a vital state of the next driver.
The driving plan unit includes a notification control unit that performs control to notify a current position of the vehicle and the driver replacement plan to a notification device mounted on the vehicle,
2. The driver selection device according to claim 1, wherein the operation planning unit presents the driver replacement plan to the at least one occupant by the notification control unit performing the control. 3.
17. The driver selection device according to claim 16, wherein the notification device includes a voice output device having directivity.
The driving planning unit notifies the current position of the vehicle and the driver replacement plan to the plurality of notifying devices mounted on the vehicle and provided to the plurality of notifying devices provided for each of the plurality of occupants. Including a notification control unit that performs control to cause
The driving plan unit, the notification control unit performs the control, to present the driver replacement plan to the at least one occupant,
The notification control unit performs the control such that a mode in which one of the plurality of notification devices reports and a mode in which another notification device reports are different,
The one notification device is a next driver who is a driver of a next incomplete automatic driving section in which the vehicle runs next, among the at least one incomplete automatic driving section in which the driver replacement plan is formulated. Informing the driver change plan,
The driver selection device according to claim 1, wherein the other notification device notifies the at least one occupant other than the next driver of the driver replacement plan.
The driving according to claim 18, wherein the mode in which the one notification device notifies is excellent in visual easiness or excellent in listening ease for the next driver than the mode in which the other notification device notifies. Equipment selection device.
The driving suitability improvement device that improves the driving suitability based on a dynamic state that is a state that changes with time during boarding, which is the state of the driver in the driver change plan, It further includes a driving suitability control unit for performing control to improve,
The occupant information acquisition unit is a next driver that is a driver of a next incomplete automatic driving section in which the vehicle runs next, among the at least one incomplete automatic driving section in which the driver replacement plan is formulated. The dynamic state is obtained at a predetermined timing before the vehicle reaches the next incomplete automatic driving section,
The driving suitability control unit, when the driving suitability based on the dynamic state of the next driver does not satisfy a predetermined criterion, the driving suitability improvement device, for the next driver, The driver selection device according to claim 3, wherein the control for improving the driving suitability is performed.
The driving suitability improvement device includes a seat vibration device provided on a seat of the vehicle on which each of the plurality of occupants is seated,
The driver according to claim 20, wherein the driving suitability control unit performs the control of vibrating the seat as to the control with respect to the seat vibration device provided on the seat on which the next driver sits. Selection device.
The driving suitability improvement device includes a pseudo driving device that executes an application that causes each of the plurality of occupants to experience a virtual driving operation,
21. The driver selection device according to claim 20, wherein the driving suitability control unit performs, as the control, the control for causing the pseudo driving device used by the next driver to execute the application.
The driving suitability improvement device includes an alarm device that outputs an alarm by voice to each of the plurality of occupants,
21. The driver selection device according to claim 20, wherein the driving suitability control unit performs, as the control, the control to output the warning by the sound to the warning device.
The occupant information obtaining unit may be a driver sensing device that passively detects the dynamic state of the next driver, or the response of the next driver after giving a task to the next driver. The driver selection device according to claim 20, wherein the dynamic state is acquired from a driver sensing device that actively detects the state.
The vehicle further includes a seat movement control unit that controls a movement of the seat with respect to a seat movement device that changes an arrangement of the seat in the vehicle by moving a seat of the vehicle on which each of the plurality of occupants is seated. ,
The next driver being the driver of the next incomplete automatic driving section in which the vehicle travels next, of the at least one incomplete automatic driving section in which the driver replacement plan has been formulated. The driver selecting device according to claim 1, wherein control for moving the seat on which the driver sits to a position suitable for driving by the next driver is performed on the seat moving device.
The operation planning unit, according to a predetermined driver selection rule regarding the dynamic state of each of the plurality of occupants, the one occupant of the plurality of occupants, the one in the incomplete automatic driving section The driver selecting device according to claim 1, wherein the device is selected as the driver of the vehicle.
The dynamic state of each of the plurality of occupants includes a vital state of each of the plurality of occupants;
The predetermined driver selection rule regarding the dynamic state of each of the plurality of occupants is a threshold value regarding driving suitability based on the vital state of each of the plurality of occupants, and the at least one incompleteness is determined. Determined by the threshold set according to the automatic driving level of each of the automatic driving section,
The driving planning unit, among the plurality of occupants, selects the one occupant having a higher driving suitability than the threshold as the driver,
The driver selection device according to claim 26, wherein the threshold is set to a higher value as the automatic driving level is higher.
The driving suitability improvement device that improves the driving suitability based on the dynamic state further includes a driving suitability control unit that performs control to improve the driving suitability,
The driving suitability control unit, when the driving suitability of the driver does not satisfy a predetermined criterion, the driving suitability improvement device, for improving the driving suitability of the driver, 27. The driver selection device according to claim 26, which performs control.
The driving suitability improvement device includes a seat vibration device provided on a seat of the vehicle on which each of the plurality of occupants is seated,
29. The driver selection according to claim 28, wherein the driving suitability control unit performs the control of vibrating the seat on the seat vibration device provided on the seat on which the driver sits, as the control. apparatus.
The driving suitability improvement device includes a pseudo driving device that executes an application that causes each of the plurality of occupants to experience a virtual driving operation,
29. The driver selection device according to claim 28, wherein the driving suitability control unit performs, as the control, the control for causing the pseudo driving device used by the driver to execute the application.
The driving suitability improvement device includes an alarm device that outputs an alarm by voice to each of the plurality of occupants,
29. The driver selection device according to claim 28, wherein the driving suitability control unit performs, as the control, the control to output the warning by the sound to the warning device.
The occupant information acquisition unit is a driver sensing device that passively detects the dynamic state of the driver, or actively uses a reaction of the driver after giving a task to the driver as the dynamic state. 27. The driver selection device according to claim 26, wherein the dynamic state is acquired from a driver sensing device that detects the driver's dynamic state.
The driving route of the vehicle including at least one incomplete autonomous driving section in which an autonomous driving level at which human involvement is required or may be required for driving the vehicle is set, A driver selection method for selecting and presenting a driver involved in driving the vehicle in each of the incomplete automatic driving sections from a plurality of occupants boarding the vehicle,
In each state of the plurality of occupants, a dynamic state that is a state that temporally changes during boarding, or a static state that is a state other than the dynamic state,
Based on the dynamic state of each of the plurality of occupants and the automatic driving level of each of the at least one incompletely automated driving section, or based on the static state of each of the plurality of occupants; One of the occupants is selected as the driver of the vehicle in one incomplete automatic driving section, and a driver replacement plan is formulated, and the driver replacement plan is determined by at least one of the plurality of occupants. To the crew of
Concerning the formulation of the driver replacement plan based on the dynamic state, the driver may perform the driver replacement for the one incomplete automatic driving section at a predetermined timing before the vehicle reaches the one incomplete automatic driving section. Formulating a replacement plan and formulating the driver replacement plan based on the static state includes formulating the driver replacement plan in advance for each of the at least one incomplete automatic driving section after the formulation of the travel route. , Driver selection method.