JP6440801B2 - Autonomous vehicles and programs for autonomous vehicles - Google Patents

Description

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

  In order to prevent automobile accidents and to ensure the safety of automobile drivers, passengers, pedestrians, drivers of other cars, and passengers, various auxiliary devices installed in automobiles Proposals have been made.

  For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2009-173252) discloses an invention that prevents a driver from drunk and prevents a car from starting in order to prevent drunk driving by the driver. Has been proposed. Further, Patent Document 2 (Japanese Patent Laid-Open No. 10-315800) discloses an index indicating the degree of driver's arousal (the degree of driver's arousal (the reverse of sleep)). It is disclosed that the vehicle is controlled to be driven by the automatic driving control means when the large (large) drop is large.

JP 2009-173252 A Japanese Patent Laid-Open No. 10-315800

  By the way, recently, there have been reports of accidents caused by automobile drivers falling into a state where they are inconsiderable due to sudden heart disease or epileptic seizures, becoming irreversible, or fainting. Yes.

  In this case, when the driver falls into a state where the personnel are not afflicted, becomes unrecognized, or faints, the idea of the invention of Patent Document 2 is applied to automatically drive the vehicle. It can be expected that accidents can be avoided and the external problems of automobiles can be solved by controlling the vehicle running by the vehicle.

  However, even if an automobile can be controlled by the automatic driving control means to avoid an accident, the destination of the automobile is not fixed. It becomes unclear whether it is good, and the vehicle travels on a route different from the route toward the destination intended by the driver. Alternatively, as described in paragraph 0007 of Patent Document 2, there is no choice but to retract the vehicle to the road shoulder or the like and stop it.

  In addition, there is a problem that no measures can be taken for a driver who falls into a state where he / she is unaware of human resources, is in a state where he / she has lost his / her back and forth, or has fainted. In other words, it is important that a driver who has fallen into a state of lack of personnel, becomes irreversible, or faints is promptly treated at a hospital or the like. However, if the vehicle is controlled by the vehicle driving control by the automatic driving control means, there is a problem that an appropriate response to a physical abnormality occurring in the driver is delayed or cannot be performed. In particular, when a single driver is in a car, there is a problem that an appropriate response cannot be obtained at all. In other words, no measures have been taken with respect to drivers and passengers, so to speak, in-vehicle problems.

  In view of the above problems, the present invention solves the external problems of automobiles that avoid accidents and ensure safe driving, and so to speak, the internal problems of automobiles related to drivers and passengers. It aims at providing the self-driving car which can respond appropriately about.

In order to solve the above problems, the invention of claim 1
In an automatic driving vehicle having a manual driving mode for driving based on a driving operation by a driver and an automatic driving mode for autonomous driving,
In the automatic driving mode, navigation means for automatic driving mode for supporting the autonomous driving to the destination,
A prompting means for urging advance setting of arbitrary destination information as the destination at the time of starting the own vehicle;
Preset destination information storage means for storing preset destination information set according to the prompt by the prompt means;
When switching from the manual operation mode to the automatic operation mode, the navigation activation means for activating the navigation unit of the automatic operation mode,
With
Whether the navigation means for the automatic operation mode activated by the navigation activation means may use the destination determined based on the preset destination information stored in the preset destination information storage means as the destination It performed whether the inquiry when receiving an affirmative answer, shall be determined to the destination on the basis of the preset destination information stored in the preset destination information storage means
To provide an automatic driving vehicle that characterized a call.

In the invention of claim 1 configured as described above, it comprises a preset destination information storage means for storing the preset destination information. When the manual operation mode is switched to the automatic operation mode, the navigation means for automatic operation is activated. The activated navigation means inquires whether or not the destination determined based on the stored preset destination information may be used as a destination, and when a positive answer is received, the preset destination information storage means The destination is determined based on the destination information stored in the navigation.

  Therefore, for example, when the driver falls into a state in which personnel are unavoidable or is in a state where he / she is unaware, the destination is set in advance by the storage means even if the driver is switched from the manual operation mode to the automatic operation mode. Therefore, the autonomous driving vehicle can safely travel in the automatic maneuvering mode without making the destination unknown.

  According to the device of the present invention, while solving the external problems of automobiles that avoid accidents and ensure safe driving, it is also appropriate for so-called internal problems of automobiles related to drivers and passengers. It is possible to provide an autonomous driving vehicle that can cope with the above.

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

  FIG. 1 is a block diagram illustrating a hardware configuration example of an electronic control circuit unit 10 of an autonomous driving vehicle 1 according to an embodiment of the present invention. In addition, the automatic driving vehicle 1 of this embodiment is an example in the case of an electric vehicle. However, the battery is not shown in FIG.

  Moreover, the automatic driving vehicle 1 of this embodiment has an automatic driving mode and a manual driving mode. The manual operation mode is a mode in which the vehicle can travel in accordance with the driver's accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (handle operation), as in a normal automobile that is not an autonomous driving vehicle. In the automatic driving mode, the autonomous driving vehicle 1 itself automatically (autonomously) avoids obstacles even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever and the steering. It is a driving mode to change.

  At the normal time, the driver of the automatic driving vehicle 1 can switch the automatic driving vehicle 1 running in the manual driving mode to the automatic driving mode by a predetermined operation through the touch panel 112 described later, for example. When the driver performs an accelerator pedal operation, a brake pedal operation, a shift lever operation, or a steering operation while traveling, the vehicle automatically returns to the manual operation mode. However, as will be described later, when the automatic driving vehicle 1 of this embodiment is forcibly switched from the manual operation mode to the automatic operation mode, the above described manual operation must be performed after satisfying a predetermined release condition described later. Even if an operation for returning to the mode is performed, the operation is invalidated, and control is performed so as to maintain traveling in the automatic operation mode.

  In order to distinguish from the normal automatic operation mode selected and set by the user through the touch panel 112 etc., the operation is invalidated even if the operation is returned to the manual operation mode after the forced switching, and the automatic operation is performed. In this specification, a mode that continues the mode is particularly referred to as a forced automatic operation mode, and an automatic operation mode that is not a forced automatic operation mode is referred to as a normal automatic operation mode.

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

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

  Under the control of the control unit 101, the motor drive control unit 102 controls supply of a drive signal to the motor drive unit 131 of the automatic driving vehicle 1 configured by the electric vehicle of this embodiment, so that the automatic driving vehicle 1 The start of travel, the travel speed control (including brake control and accelerator control), the travel stop, etc. are controlled.

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

  The manual / automatic driving mode switching control unit 104 performs control for switching the driving mode of the automatic driving vehicle 1 between the manual driving mode and the automatic driving mode in response to a selection operation input through the touch panel 112. As will be described later, in accordance with the determination result of the automatic operation switching condition determination unit 115, control for switching the operation mode of the automatic driving vehicle 1 to any one of the manual operation mode, the automatic operation mode, and the forced automatic operation mode is performed. Do.

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

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

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

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

  In the normal automatic driving mode that is not the forced automatic driving mode, the manual / automatic driving mode switching control unit 104 is operated by the driver while operating in the automatic driving mode, such as an accelerator pedal operation, a brake pedal operation, a shift lever operation, or a steering. When an operation (handle operation) is performed, mode switching control is performed based on the detection information of the manual driving operation so that the driving mode of the automatic driving vehicle 1 is automatically returned to the manual driving mode.

  However, when the driving mode of the autonomous driving vehicle 1 is the forced automatic driving mode, the driver basically operates the accelerator pedal, the brake pedal, the shift lever operation, or the steering operation except when a release condition described later is satisfied. Even if the manual / automatic operation mode switching control unit 104 is made, the manual operation information is invalidated and the forced automatic operation mode is maintained.

  The radar 106 is used to measure the distance from a person or an object existing around the vehicle of the autonomous driving vehicle 1 and includes a laser radar, a millimeter wave radar, or the like. The laser radar is embedded, for example, near the ceiling or the bumper, and the millimeter wave radar is provided, for example, at the front and rear of the vehicle. Both laser radar and millimeter wave radar may be provided, or only one of them may be provided.

  The camera group 107 includes one to a plurality of cameras for photographing the inside of the autonomous driving vehicle 1 and one to a plurality of cameras for photographing the surroundings outside the vehicle such as the front, side, and rear of the autonomous driving vehicle 1. . For example, a camera that captures the interior of a vehicle is attached to the rear-view mirror (rear-view mirror, rear-view mirror) installed between the driver's seat and front passenger seat, the upper part of the front window, etc. In addition to a camera for photographing the work, a camera for photographing the work of a passenger (passenger) sitting in the passenger seat or the rear seat is included. Cameras that photograph the periphery of the autonomous vehicle 1 are attached to the left and right sides of the rearview mirror, for example, and two cameras (stereo cameras) that primarily photograph the left front and right front of the autonomous vehicle 1 For example, a camera that is mounted on a door mirror or a fender mirror of the autonomous driving car 1 to photograph the left and right sides, a camera that photographs the rear of the autonomous driving car 1, and an omnidirectional camera that is attached to the roof and photographs the surroundings at a wide angle ( 360 degree camera) and fisheye camera.

  The sensor group 108 is an open / close detection sensor for detecting opening / closing of a door or a window of the autonomous driving vehicle 1, a sensor for detecting wearing of a seat belt, and that a passenger is seated in a seat such as a driver's seat or a passenger seat. In addition to a seating sensor to be detected, a human sensor (infrared sensor) for detecting a person in the vicinity outside the vehicle and various sensors for acquiring auxiliary information for automatic driving are included. As various sensors for acquiring information to assist automatic driving, for example, a vibration sensor for detecting vibration of a vehicle or a tire, a rotation speed sensor for detecting the rotation speed of a tire, or a direction for detecting a direction A geomagnetic sensor, an acceleration sensor for detecting acceleration, a gyro sensor (gyroscope) for detecting angle and angular velocity, and the like are included.

  In this embodiment, a temperature sensor, a humidity sensor, a heat sensor, a smoke sensor, an expiration sensor, a carbon monoxide sensor, a hydrogen sulfide sensor, etc., which help to determine the in-vehicle situation of the autonomous driving vehicle 1, Included in group 108. The heat sensor and smoke sensor are for detecting the occurrence of a fire in the vehicle, the breath sensor is for detecting the driver's drinking, the carbon monoxide sensor and the hydrogen sulfide sensor are This is to detect that a gas toxic to the human body is generated in the vehicle.

  A surrounding moving body grasping unit 109 grasps a moving body (including a person) around the own vehicle using the images captured by the radar 106, the sensor group 108, and the camera group 107. The surrounding moving body grasping unit 109 grasps surrounding obstacles and moving bodies by performing processing based on, for example, Bayesian theory.

  The current position detector 110 receives radio waves from GPS satellites and detects the current position of the vehicle. Since the current position detection unit 110 has poor accuracy of the position detected by the radio wave from the GPS satellite, the current position detection unit 110 includes not only the information on the current position detected by the reception of the radio wave from the GPS satellite but also 1 to 1 included in the sensor group 108. Sensor output information from a plurality of sensors, output information from the radar 106, captured images from one to a plurality of cameras included in the camera group 107 (in combination with a navigation function), and the like are used, and based on, for example, Bayesian theory Thus, the current position is detected and confirmed with higher accuracy.

  In the automatic driving mode, the autonomous driving vehicle 1 has position information acquired by receiving radio waves from the radar 106, the camera group 107, the sensor group 108, and GPS satellites in the current position detection unit 110 and the surrounding moving body grasping unit 109. Information, that is, information corresponding to information obtained from the human eyes and ears is processed by Bayesian theory, etc., and based on this, the control unit 101 provides intelligent information such as changing the course of the vehicle and avoiding obstacles. Processing (artificial intelligence) and control (artificial intelligence) are performed to generate automatic driving operation information.

  The display unit 111 is composed of, for example, an LCD (Liquid Crystal Display). The touch panel 112 is arranged by superimposing a touch sensor capable of touch input with a finger on the display screen of the display unit 111 formed of an LCD. A display image including software buttons (including keyboard character input buttons) is displayed on the display screen of the display unit 111 based on the control of the control unit 101. When the touch panel 112 detects a touch by a finger on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101. Receiving this, the control unit 101 is configured to execute control processing corresponding to the software button.

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

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

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

  As will be described later, destination attributes such as “hospital”, “gas station”, “convenience store” (hereinafter referred to as “destination”) are used as destinations when switching from the manual operation mode to the automatic operation mode (or forced automatic operation mode). , Abbreviated as “convenience store”), the car navigation function unit 113 performs a peripheral search for the attribute of the destination with the current position detected by the current position detection unit 110 as the center, The facility or place as a result of the surrounding search is set as the destination.

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

  The image recognition unit 114 performs a matching process between a captured image from a camera that captures the inside of the vehicle in the camera group 107 and a camera that captures the outside of the vehicle, and image information stored in the image information storage unit 134. An image recognition result is obtained for judging the in-vehicle situation such as physical changes of the driver and passengers, the driver's actions such as sleeping, eating and drinking, smoking, looking away, and aside, and the driver's footwear. The image recognition unit 114 transfers the obtained recognition result to the in-vehicle situation determination unit 117.

  The image information storage unit 134 connected to the image recognition unit 114 stores image information of a comparative image for image recognition. As a comparison image stored in the image information storage unit 134, for comparison with a captured image from a camera that captures the inside of the vehicle, an image of a person sitting in the seat, lack of human resources, front and back blindness, fainting state, Images of seizures of a spider, images of snoozing (a state in which a spider remains closed for a certain period of time, a cocked cock, etc.), images of people who are looking aside or looking aside, images of people who are eating and drinking In addition to images of food and drink (rice balls, sandwiches, lunch boxes, ice cream, plastic bottles and cans containing beverages (water, tea, coffee, etc.), tobacco (smoking) Images of footwear (clogged shoes, slippers, high heels, etc. that may cause a driving error) or barefoot (a state that does not wear footwear and may cause a driving error), etc. .

  In addition, as a comparison image stored in the image information storage unit 134, for comparison with a captured image from a camera that captures the outside of the vehicle, an image of a landscape that causes a look away or a side view (for example, an image of a superb view of autumn leaves, Images of famous places / historic sites, images of festival shrines, images of fireworks, images of newly opened stores) and images of celebrities (images of prominent celebrities and athletes).

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

  The voice recognition unit 116 performs a matching process between the voice information from the microphone 137 and the voice information stored in the voice information storage unit 136, so that the physical change of the driver or the passenger or the driver And voice recognition results for determination of in-vehicle conditions such as passenger's convenience and urine feeling. The voice recognition unit 116 transfers the obtained recognition result to the in-vehicle situation determination unit 117.

  In the voice information storage unit 136 connected to the voice recognition unit 116, a whisper, asthma, scream or “suffer”, “help”, “help” Voice information such as “I feel bad”, “Somehow”, “I feel sick”, “I ’m going to vomit”, “U”, “Gee”, or when the driver or passenger has a stool or urine The voice information of squeezed voices (words) such as “toilet”, “toilet”, “toilet”, “limit”, “leak” seems to be used for voice recognition by the voice recognition unit 116. Stored for comparison. Furthermore, in the voice information storage unit 136, a child's cry, a falling sound from a child's seat, a pet's bark, and the like are registered and stored in advance.

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

  In this example, the cellular phone function unit 118 is built in the automatic driving vehicle 1 in advance, and is registered as a subscriber and assigned a predetermined subscriber number. A driver or a passenger of the automatic driving vehicle 1 can make a mobile phone call by so-called hands-free. Then, as described later, the control unit 101 of the autonomous driving vehicle 1 stores a notification to the number 119 as setting information related to the switching condition stored in the automatic driving switching condition storage unit 135. The mobile phone function unit 118 has a function of making a 119 report. The notification information in the 119th notification is composed of synthesized speech from the synthesized speech generating unit 120. The mobile phone function unit 118 also has a mail function and an Internet connection function.

  The clock unit 119 includes a calendar function, provides the current date and time, and also includes a timer function that measures time from a predetermined timing based on the control of the control unit 101.

  The synthesized voice generator 120 has a built-in memory for storing voice message data to be emitted to the outside, and has a function of converting the location name, facility name, and address of the current position from the car navigation function unit 113 into synthesized voice. Note that the voice message stored by the synthesized voice generation unit 120 is, for example, an operation mode switching notification such as “switched to the forced automatic operation mode” or “switched to the manual operation mode” as will be described later. A message and a notification message for prompting destination setting when the autonomous driving vehicle 1 starts traveling are prepared.

  As described above, the microphone 137 and the speaker 138 are connected to the voice input / output unit 121. The microphone 137 and the speaker 138 are used as a hands-free telephone handset using the mobile phone function unit 118. The voice input / output unit 121 not only has a function of transmitting / receiving voice for hands-free calling using the mobile phone function unit 118 but also uses the microphone 137 to transmit in-vehicle audio information for determining in-vehicle conditions. A function of collecting and supplying to the voice recognition unit 116 and a function of emitting from the speaker 138 the above-described operation mode switching notification message, notification message for prompting destination setting, and the like are also provided.

  In this embodiment, the automatic driving switching condition storage unit 135 connected to the automatic driving switching condition discriminating unit 115 stores the automatic driving vehicle while the automatic driving vehicle 1 is traveling in the manual driving mode, parked, or stopped. The switching conditions for switching the driving mode 1 from the manual operation mode to the normal automatic operation mode or the forced automatic operation mode, the control content when the switching condition is met, and the destination information in the automatic operation mode or the forced automatic operation mode And an automatic operation switching condition table TBL that includes conditions for canceling the automatic operation mode and the forced automatic operation mode is stored.

  The switching condition is defined as an in-vehicle situation in which, when the driver continues driving in the manual driving mode, there is a problem in ensuring safety. That is, when the in-vehicle situation of the autonomous driving vehicle 1 becomes an in-vehicle situation that matches the switching condition, there is a danger or safety is not ensured. Alternatively, this switching condition is defined as a condition for switching to the forced automatic driving mode so as to achieve a traveling state in which safe driving is maintained.

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

  The release condition is a condition for releasing the forced automatic operation mode and returning to the manual operation mode, or an operation condition for switching from the automatic operation mode to the manual operation mode.

  The automatic driving switching condition table TBL stored in the automatic driving switching condition storage unit 135 is written and stored in advance by the manufacturer or sales company of the automatic driving vehicle 1. Further, this switching condition is additionally written later by a predetermined operation through the touch panel 112 by the user of the autonomous driving vehicle 1, that is, the driver or the passenger, so that it is stored in the automatic driving switching condition storage unit 135. It is also possible to store additional information. And it is comprised so that the user of the automatic driving vehicle 1, ie, a driver | operator, can also select whether to use about some switching conditions.

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

  3 and 4 which are continuations of FIG. 2 and FIG. 2 are examples of the automatic operation switching condition table TBL which is the storage content of the automatic operation switching condition storage unit 135 in this embodiment. In the examples of FIGS. 2, 3, and 4, the switching conditions are “change in health condition of driver or passenger 1”, “change in health condition of driver or passenger 2”, “sleeping of driver” , “Badness of the driver or passengers such as car sickness, nausea, etc.”, “Driver or passenger's convenience and urinary feelings”, “Overworked driving”, “During driving (red signal stop, railroad crossing etc. Driver's drinking ”,“ driving away by the driver, driving aside ”,“ eating or smoking by the driver ”,“ deterioration of driving environment ”,“ abnormal behavior of children and pets riding ”,“ Conditions for ensuring safe driving by avoiding accident-prone conditions such as “how and attitude of driving” and “the driver is wearing or does not wear footwear that hinders driving” Is illustrated. Corresponding to each switching condition, designation of the automatic operation mode and forced automatic operation mode after switching, control contents, destination, and cancellation conditions of the automatic operation mode are determined.

  Note that the switching conditions shown in FIGS. 2 and 3 are a part of the stored contents of the automatic operation switching condition storage unit 135, and it goes without saying that various other predetermined switching conditions are registered.

  As shown in FIG. 2, for example, as a switching condition for “change in health condition of driver or passenger 1”, an emergency such as a lack of personnel, lack of front and back, fainting, etc. is registered for the driver or passenger. ing. The automatic driving switching condition discriminating unit 115 discriminates whether or not the switching condition for the “change in health condition of driver or passenger 1” is met by using the determination result of the in-vehicle situation determining unit 117. The in-vehicle situation determination unit 117 determines whether the driver or a passenger is in a state in which a physical abnormality such as a lack of personnel, a fore-and-aft, or fainting has occurred due to image recognition by the image recognition unit 114. To do.

  For example, the case of a driver will be described. As shown in FIG. 5A, the driver 3 is photographed by a camera 107a attached to the side of the rearview mirror 2 of the autonomous driving vehicle 1. When there is no physical change in the driver 3, the captured image of the driver 3 is a moving image in which the driver 3 looks at the front with the eyes open and operates the steering wheel (handle) 4. It becomes. On the other hand, when a physical change occurs in the driver 3 and the person is in a state of lack of personnel, loss of front and back, and fainting, as shown in FIG. The image is closed and the face turns downward without gaze at the front (in some cases, upward), and the image does not move. The in-vehicle situation determination unit 117 determines a state as shown in FIG. 5B from the recognition result from the image recognition unit 114 and transmits it to the automatic driving switching condition determination unit 115. In order to perform more precise medical image recognition, the image information storage unit 134 may store abundant medically characteristic and detailed comparative image information.

  The automatic driving switching condition discriminating unit 115 receives the determination result of the in-vehicle situation and collates the determination result with the stored content of the automatic driving switching condition storage unit 135, so that “the health condition of the driver or the passenger” It is determined that the switching condition for “abnormality 1” is met.

  In the above description, the determination based only on the image recognition result of the image recognition unit 114 has been described. However, in this embodiment, the in-vehicle situation determination unit 117 performs the operation in the voice recognition unit 116 in addition to the image recognition result. In consideration of recognition of whispering voices, whispering voices, phlegm (in the case of cerebral overflow (cerebral hemorrhage), etc.) by voice recognition, etc., so as to determine this “change in health condition of driver or passenger 1” To do. Thereby, the accuracy of the determination in the in-vehicle situation determination unit 117 can be improved.

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

  That is, a specific hospital, for example, a family hospital can be designated. In that case, the hospital name, address, and telephone number of the family hospital are stored in the automatic operation switching condition storage unit 135. The control unit 101 of the autonomous driving car 1 makes a phone call to the hospital using the telephone number of the hospital by the mobile phone function unit 118, tells the characteristics of the vehicle, the name of the driver, etc., and takes the suddenly ill person. Notify the hospital that you are going. A message for this purpose is stored in advance in the synthesized speech generator 120. The hospital can be notified by email instead of by phone. Further, in order to accurately convey the medical condition of the suddenly ill person to doctors in the hospital, the image information and voice information of the suddenly ill person may be emailed as an attached file.

  Further, the destination attribute may be stored as “emergency hospital or general hospital close to the current position” instead of a specific hospital. As will be described later, when the destination attribute is specified as “emergency hospital or general hospital close to the current position” as the destination, the car navigation function unit 113 searches for the corresponding hospital around the current position, The vicinity search result is the destination. In that case, when the telephone number of the hospital can be acquired, the control unit 101 of the autonomous driving vehicle 1 uses the telephone number of the hospital by the mobile phone function unit 118 as described above. Make a phone call to the hospital, tell them the characteristics of the vehicle and the name of the driver, and let the hospital know that you will bring a suddenly ill person. Further, as described above, notification can be made not only by telephone but also by a communication application such as mail or LINE. Further, the image information and voice information of the suddenly ill person may be mailed as an attached file.

  In this embodiment, instead of designating a specific destination or destination attribute as a destination, it is possible to select to stop on the road shoulder or the like and report 119. In the case of this 119 report, the synthesized speech generator 120 generates the characteristics of the vehicle, the name of the driver, the occurrence of a sudden illness, the location name of the current position, the address, etc. To include.

  In addition, you may make it provide the medical information storage part (not shown) which incorporates various medical information (medical information) and a medical database (not shown) in the automatic driving vehicle 1. FIG. In that case, medical information such as disease name, symptom, and coping method is memorized clearly in the medical information storage unit for intracerebral hemorrhage, subarachnoid hemorrhage, cerebral infarction, myocardial infarction and other various diseases. As for symptoms, it stores image information such as eye condition and facial expression, and voice information such as wrinkles and whispering that are unique to various diseases, and can quickly and accurately identify various diseases with initial symptoms through image recognition and voice recognition. To be able to grasp. Of course, image information stores not only still images but also moving images. Therefore, when an anomaly 1 occurs, it is possible to determine the control content, the countermeasure, and the destination of the automatic driving vehicle 1 based on the medical information stored in the medical information storage unit.

  That is, is it appropriate for the autonomous driving car 1 to move to the hospital when an anomaly 1 occurs, or to stop at the shoulder of the road without moving and report 119 and wait for the arrival of the ambulance? Etc. When traveling to the hospital is appropriate, the automatic driving vehicle 1 selects an optimal traveling speed (for example, 30 km / h or less) that does not impose a burden on the suddenly ill person, or the car navigation function unit 113 includes a road in the car navigation database 133. In addition, the car navigation function unit 113 can provide an optimal route that can smoothly travel without giving vibration to the suddenly ill person as much as possible. In addition, if the medical information storage unit stores a history or medical history of a driver or a passenger, a quicker and more appropriate response can be made when an anomaly 1 occurs.

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

  If the rider (driver or passenger) is a pregnant woman and suffers from labor, it is not a state of personnel affairs, anteroposterior loss, fainting, or illness, but a life-threatening emergency. According to Incident 1. In this case, the self-driving car 1 heads for the pregnant woman's family gynecology department, obstetrics department, or maternity hospital so that the pregnant woman can give birth safely. If your obstetrics / gynecology department, maternity department or maternity hospital is far from the current position and there is a possibility that it may not be in time for childbirth, search for the gynecology department, obstetrics department or maternity hospital near your current position using the search function in the car navigation function unit 113 Then, the searched gynecology department, obstetrics department or maternity hospital is set as the destination. The same applies when a pregnant woman breaks the water, and the family or the nearest obstetrics and gynecology department, obstetrics, or maternity hospital is the destination.

  The cancellation condition of the forced automatic driving mode corresponding to the switching condition of “change in health condition of driver or passenger 1” is set to “arrival at destination” or “arrival of ambulance”.

  Next, the switching condition for “change in the health condition of the driver or passenger 2” is that the driver or passenger has not reached the state of lack of personnel, lack of front and back, fainting, etc., but convulsions or asthma Physical anomalies that are difficult to drive manually due to seizures and vomiting are registered. The in-vehicle situation determination unit 117 uses the image recognition result in the image recognition unit 114 and the voice recognition result in the voice recognition unit 116 to determine this “change 2 in the health condition of the driver or passenger”. To.

  The control content for the switching condition of “change in health condition of driver or passenger 2” is switching to the forced automatic driving mode, and the driver or passenger is awake even if a physical abnormality occurs. In this embodiment, the destination is inquired to the driver or the passenger. And, as a destination, the driver or the like selects and designates “home (including address and location information)”, “hospital (including hospital name, address and location information)”, and “stop on the shoulder” in advance. Can do. Also, the forced automatic driving mode canceling condition corresponding to the switching condition of “change in health condition of driver or passenger 2” is set as “arriving at the destination”.

  When the switching condition of “change in health condition of driver or passenger 2” is met, based on the matching result of the automatic driving switching condition discriminating unit 115, the control unit 101, for example, the synthesized voice “is it all right?” A message is sent to inquire about safety, and when a destination is pre-registered in the automatic operation switching condition storage unit 135, an inquiry is made "Do you want to make the destination a registered place?" This takes into account the case where the driver or passenger decides that he / she should go to the hospital from the degree of physical change even if “home” or “stop on the shoulder” is selected in the pre-registration. In this embodiment, when “stop on the shoulder” is pre-registered, it is stipulated that an inquiry “Do you want to call 119?” Is made.

  When the destination is not pre-registered, an inquiry message such as “Do you want to return home?”, “Do you want to go to the hospital”, “Do you want to stop?” The driver or passenger's reply such as “Yes” or “No” is recognized by voice, and the destination is determined according to the recognition result.

  Furthermore, in this embodiment, when there is no pre-registration as a destination corresponding to the switching condition of “change in health condition of driver or passenger 2”, and there is no response to the inquiry by synthetic voice, the control unit 101 Is determined to be in a dangerous state, and an emergency hospital or a general hospital close to the current position is searched by the peripheral search function of the car navigation function unit 113, and the search is made to go to the hospital where the search was possible. In this case, when the hospital cannot be searched, it stops on the shoulder or the like and reports 119. In the case of the 119 call, as described above, the synthesized voice generating unit 120 generates the characteristics of the vehicle, the name of the driver, the occurrence of a sudden illness, the location name of the current position, the address, etc. Include in the content.

  The cancellation condition of the forced automatic driving mode corresponding to the switching condition of “change in health condition of driver or passenger 2” is set to “arrival at destination” or “arrival of ambulance”.

  Note that, when an anomaly 2 occurs, as in the above-described anomaly 1, based on medical information stored in a medical information storage unit (not shown), the control contents, countermeasures, and destinations of the automatic driving vehicle 1 Of course it can be determined.

  Next, the switching condition “driver's drowsiness” will be described. In this case, the in-vehicle situation determination unit 117 recognizes the state in which the eyelid remains closed for a certain period of time, the head cockle cockle, or the like by the image recognition of the camera 107a that captures the driver 3 in the image recognition unit 114. By recognizing, the driver's sleep state is determined.

  The control content regarding the switching condition of the “driver's dozing” is to switch to the normal automatic driving mode and to send out a call voice (synthetic voice) for awakening the driver. This is because the call voice can be expected to return to the state where the driver is awakened. However, when the user is not awakened by the calling voice (judged from image recognition), a physical trouble or a mental trouble is expected instead of falling asleep.

  The destination for the switching condition of “driver's drowsiness” is the destination set when the automatic driving vehicle 1 starts to travel. However, if the user is not awakened by the calling voice, the destination is an emergency hospital or a general hospital that is obtained by searching by the surrounding search function of the car navigation function unit 113 and is close to the current position. Further, if the hospital is not found by the peripheral search, the vehicle stops on the shoulder or the like, and the 119th report including the predetermined notification items as described above is sent.

  The cancellation condition of the normal automatic driving mode corresponding to the switching condition of this “driver's drowsiness” is “manual driving operation” when the destination is “preset destination”, and the destination is other hospitals, etc. In this case, it is said that “arrival at destination”.

  Next, the switching condition “physical sickness such as driver's or passenger's car sickness and nausea” will be described. In this case, the in-vehicle situation determination unit 117 performs the image recognition result of the driver or the passenger's captured image in the image recognition unit 114, “bad feeling”, “drunk in the car”, “pauses”, “spit” From the speech recognition results of the speech recognition unit 116 such as “Yes”, “Uh”, “Gee”, etc., the situation of “bad physical condition such as driver sickness, nausea, etc.” is determined. .

  The control content regarding the switching condition of “the poor condition of the driver or passengers such as car sickness and nausea” is switching to the forced automatic driving mode. The destination is the nearest PA (parking area) or SA (service area) if the current position is on the highway, and “stops on the shoulder” if the current position is a general road. . “Return to home” can be registered as a destination. Further, the condition for canceling the forced automatic driving mode corresponding to the switching condition of “the poor condition of the driver or passengers such as car sickness and nausea” is set to “arriving at the destination”.

  Next, the switching condition “driver's or passenger's convenience and urine” will be described. In this case, the in-vehicle situation determination unit 117 determines whether the driver or the passenger is striking through image recognition of the captured image of the driver or the passenger in the image recognition unit 114, and “toilet”, “ From the speech recognition result of the speech recognition unit 116 of the utterance such as “Let's leak”, the situation of “a driver's or passenger's convenience or urine” is determined.

  The control content regarding the switching condition of “the driver's or passenger's convenience and urine” is switching to the forced automatic driving mode. The destination is the nearest PA (parking area) or SA (service area) if the current location is on the expressway, and the nearest “convenience store” or “gas station” if the current location is a general road. It is said to be a place with toilets. The place where the toilet is located can be pre-registered by the attribute of the destination such as “convenience store” or “gas station”. Further, the cancellation condition of the forced automatic driving mode corresponding to the switching condition of “the driver's or passenger's convenience and urine” is set to “arriving at the destination”.

  Next, the switching condition “overworked driving” will be described. The switching condition in this case is one of three conditions. The first condition is that a single driver continues to drive for a predetermined time or longer, for example, 2 hours or longer. The second condition is that the total driving time per day for one driver is not less than a predetermined time, for example, not less than 5 hours. The third condition is that the number of times of switching between the manual operation mode and the automatic operation mode of the day is a predetermined number of times or more, for example, 20 times or more while one driver is driving. The The situation in which any of the above three conditions is satisfied takes into consideration that the driver may overwork and may cause trouble in safe driving. Note that the overwork determination condition is not limited to the above three conditions, and the facial expression of the driver photographed with the camera of the camera group 107 is image-recognized to determine whether the driver is tired or not. You may measure a living body and determine the degree of overwork from the measured value.

  The in-vehicle situation determination unit 117 determines whether one driver has continued driving for 2 hours or more continuously and whether the total driving time exceeds 5 hours based on the time information from the clock unit 119. Then, it is determined that the in-vehicle situation of the switching condition of the first condition or the second condition has been reached. In addition, the in-vehicle situation determination unit 117 receives information on switching between the manual operation mode and the automatic operation mode from the manual / automatic operation mode switching control unit 104, and counts the number of times, thereby allowing one driver. In the state where the vehicle is driving, it is determined that the number of times of switching between the manual driving mode and the automatic driving mode of the day is 20 times or more, so that the in-vehicle situation of the switching condition of the third condition is obtained. Judge that it has become.

  The control content regarding the switching condition of the “overworked driving” is switching to the forced automatic driving mode. The destination for the switching condition of the “overworked driving” is the destination set at the start of traveling of the automatic driving vehicle 1. The release condition of the forced automatic operation mode corresponding to this “overworked driving” switching condition is set to “arriving at the destination”.

  Next, the switching condition “driver's drinking” will be described. In this case, the in-vehicle situation determination unit 117 determines the in-vehicle situation of “driving by the driver” from the detection result of the alcohol concentration contained in the expiration of the driver by the expiration sensor included in the sensor group 108. Further, in the vehicle of the automatic driving vehicle 1, the image recognition unit 114 recognizes an image when the driver is drinking a drink, recognizes whether the bottle or can of the drinking drink is an alcoholic drink, Upon receiving the recognition result, the in-vehicle situation determination unit 117 determines the in-vehicle situation of “driver's drinking”.

  The control content regarding the switching condition of the “driver's drinking” is switching to the forced automatic driving mode. The destination for the “driver's drinking” switching condition is the destination set at the start of driving if the autonomous driving vehicle 1 is traveling (including when the red light is stopped, including a temporary stop such as a railroad crossing). It is said. Further, if the autonomous driving vehicle 1 is stopped in a parking lot or a garage, the vehicle may be “not started” or may be a destination set at the start of traveling. Then, the cancellation condition of the forced automatic driving mode corresponding to the switching condition of “driver's drinking” is “arrival at the destination” or “disappearance of the switching condition”. The disappearance of the switching condition is when the alcohol concentration of the driver's exhalation at the exhalation sensor becomes a predetermined value or less, or after the elapse of time, for example, 8 hours after returning from the drinking state to the normal state.

  Next, the switching condition “driver's looking away / sideways” will be described. In this embodiment, the switching condition is that the driver's look-ahead or side-view continues for a predetermined time or longer, for example, 1 minute or longer. The in-vehicle situation determination unit 117 determines whether the driver is looking aside or looking aside from the continuation of the driver for about 1 minute and the direction of the line of sight based on the image recognition result of the driver's captured image by the camera. Try to determine the situation. By considering the continuation of the state of the driver for more than 1 minute and the direction of the line of sight, it is possible to make a distinction from the point of the left-right confirmation for driving safety.

In addition, the following situations are likely to occur.
・ Locations of famous places, historic sites, and superb views (including autumn leaves). In such a place, the driver also wants to see the scenery and scenery, and then looks aside and looks aside, and there is a risk that safety cannot be ensured in the manual operation mode.
・ Extraordinary events such as festival shrines, fireworks, new store sales, etc. Such an event also makes the driver want to see it, and looks at it or looks aside, and there is a risk that safety cannot be ensured in the manual operation mode.
-Celebrities, such as famous celebrities and athletes, and recently discussed people. Such a celebrity also wants to see the driver, and looks and looks aside, and there is a risk that safety cannot be ensured in the manual operation mode.

  In consideration of the situation as described above, the in-vehicle situation determination unit 117 detects the location of a famous place / historic site / superb view (including autumn leaves) by the surrounding search function of the car navigation function unit 113, and the state of the sky by the above image recognition. In addition to the detection of the above, it is possible to determine the in-vehicle situation of “driver's looking away and aside”. In addition, the in-vehicle situation determination unit 117 accesses the Internet through the mobile phone function unit 118, searches for information on events around the current position, and displays detection results of events such as festivals, fireworks, and new store opening sales. Further, in addition to the detection of the mental state by the above-described image recognition, it is possible to determine the in-vehicle situation of “driver's looking away and sideways”. Furthermore, by storing image information of famous celebrities, athletes, and recently-talked-about people in the image information storage unit 134, captured image information from a camera that captures the outside of the automatic driving vehicle 1, and From the image information of those persons, the image recognition unit 114 adds the detection results of the above-mentioned famous celebrities, athletes, and recently-talked-about persons to the detection of the state of the heart by the above-mentioned image recognition. It is possible to determine the in-vehicle situation of “the driver's looking aside or aside”.

  The control content regarding the switching condition of “driver's looking away and aside” is switching to the forced automatic driving mode. Then, the destination set for the switching condition of “driver's looking away and aside” is the destination set when the automatic driving vehicle 1 starts to travel.

  If the driver asks if he / she wants to stop by a synthesized voice message and the answer is affirmative, he / she can also use the relevant sites / historic sites detected in the surrounding search, event venues detected in the Internet search, etc. Good. Or you may make it stop on a road shoulder etc. for viewing.

  The cancellation condition of the forced automatic driving mode corresponding to the switching condition of “driver's looking away and aside” is “arrival at destination” or “disappearance of switching condition”. The disappearance of the switching condition is made after a predetermined time, for example, 5 minutes elapses after the state of “driver's looking away, aside” disappears. Alternatively, it may be a predetermined distance, for example, 500 meters or more away from the place where the “driver's looking aside or sidewalk” occurs.

  Next, the switching condition “driver's eating and drinking or smoking” will be described. In this embodiment, the switching condition is that eating or drinking or smoking by the driver continues for a predetermined time or longer, for example, 3 minutes or longer. The vehicle interior state determination unit 117 determines a state in which the driver is eating or drinking or smoking based on the image recognition result of the driver's captured image by the camera, and the state is 3 minutes or more based on the time information of the clock unit 119. The in-vehicle situation of “driver's eating, drinking or smoking” is determined depending on whether or not it has continued. Eating, drinking and smoking in a short period of less than 3 minutes by the driver are considered to be acceptable for manual driving.

  In this case, the image recognition unit 114 recognizes the driver's food and drink by recognizing rice balls, sandwiches, lunch boxes, ice, water, tea, coffee, and the like included in the image captured by the driver. If the driver has a cigarette, he can recognize the driver's smoking status. However, in this embodiment, regarding the switching condition of “driver's eating and drinking or smoking”, an intention display from the driver that automatic driving may be accepted when the switching condition is met is accepted. The switching condition is valid only when the positive intention display is set.

  The control content regarding the switching condition of “driver's eating and drinking or smoking” is switching to the forced automatic driving mode. The destination for the switching condition of “driver's eating and drinking or smoking” is the destination set at the start of traveling of the automatic driving vehicle 1.

  And the cancellation | release condition of the forced automatic driving mode corresponding to this "driver's eating and drinking or smoking" switching condition is set to "end of eating and drinking or smoking", ie, "disappearance of switching condition".

  Next, the switching condition “deterioration of ambient environment during driving” will be described. In this embodiment, the switching condition is that the surrounding environment during driving is a backlight, a dusk (sunset) state, bad weather (rain, snow, etc.), and the driver is difficult to see the surroundings. The in-vehicle situation determination unit 117 determines the in-vehicle situation of “deterioration of the surrounding environment during driving” based on a photographed image from a camera that images the outside, a sensor detection output of a temperature sensor, and a humidity sensor. The in-vehicle situation determination unit 117 uses the result of voice recognition by the voice recognition unit 116 that the driver yells out and shouts “difficult to see”, “difficult to drive” and the like. The deterioration of the surrounding environment ”may be determined.

  The control content regarding the switching condition of “deterioration of ambient environment during driving” is switching to the forced automatic driving mode. The normal automatic operation mode may be used instead of the forced automatic operation mode. The destination for the switching condition of “deterioration of ambient environment during driving” is the destination set at the start of traveling of the automatic driving vehicle 1.

  The cancellation condition of the forced automatic operation mode corresponding to the switching condition of “deterioration of the surrounding environment during driving” is “disappearance of the switching condition” such that the surrounding environment during driving improves.

  Next, the switching condition “children / pet behaviors” will be described. In this embodiment, if a child or baby takes a dangerous action in the car, such as falling from the seat or suddenly crying, the driver is worried and turns in that direction. Take into consideration that safety may not be ensured in manual operation mode. The same applies to pet behavior such as excretion behavior and barking. Therefore, in this embodiment, these “children and pet actions” are set as switching conditions.

  The in-vehicle situation determination unit 117 is based on the image recognition result of the captured image from the camera that captures the passenger and the above-mentioned child's cry, falling sound, and pet's bark as the voice recognition result in the voice recognition unit 116. The “switching behavior of children and pets” in the above switching condition is determined.

  The control content regarding the switching condition of this “child / pet action” is switching to the forced automatic operation mode. The destination for the switching condition of “children and pets” is the destination set when the autonomous driving vehicle 1 starts to travel.

  Then, the forced automatic operation mode cancellation condition corresponding to the “child / pet action” switching condition is “disappearance of the switching condition” such that the state of the child or pet returns to normal.

  Next, the switching condition “one-handed driving and free-running driving by the driver” will be described. In this embodiment, the state of the one-handed driving by the driver continues for a predetermined time or longer, for example, 2 minutes or longer, or the state of the hands-free driving by the driver continues for a predetermined time or longer, for example, 10 seconds or longer. , A switching condition. The in-vehicle situation determination unit 117 determines a state in which the driver is driving one hand or letting it go, based on the image recognition result of the driver's captured image by the camera, and the state is 2 based on the time information of the clock unit 119. The in-vehicle situation of “one-handed driving by the driver, free-running driving” is determined depending on whether or not it has continued for more than a minute or more than 10 seconds.

  The control content regarding the switching condition of “one-hand driving by the driver, hand-off driving” is to switch to the forced automatic driving mode. At this time, the driver should be alerted by emitting a voice message from the speaker 138, such as “One-handed driving and hand-off driving are dangerous, so we switched to automatic driving mode”. To arouse.

  The destination for the switching condition of “one-hand driving by the driver, hand-off driving” is the destination set at the start of traveling of the automatic driving vehicle 1. In addition, the forced automatic operation mode release condition corresponding to the switching condition of “one-handed driving and free-running by the driver” is that the driver stops single-handed driving and free-running driving, and the driver's driving posture is correct. It is said to be when.

  Next, the switching condition “driver's footwear is inappropriate” will be described. In this embodiment, the driver's footwear is unsuitable for driving, for example, clogs, slippers, high heels, etc. The case is a switching condition.

  The in-vehicle situation determination unit 117 determines whether the footwear is inappropriate such as clogs, slippers, high heels, or inappropriate such as bare feet, based on the image recognition result of the footwear (or feet) in the photographed image of the driver by the camera. It is determined whether or not

  The control content regarding the switching condition of “the driver's footwear is inappropriate” is switching to the forced automatic driving mode. At this time, a synthetic voice message is displayed to the driver saying "Shoes are inappropriate for driving, so please replace them" or "Please wear shoes because barefoot is inappropriate for driving." To warn of changing or wearing footwear.

  The destination for the switching condition of “inappropriate driver's footwear” is the destination set when the autonomous driving vehicle 1 starts to travel. The condition for canceling the forced automatic driving mode corresponding to the switching condition of “Inappropriate driver's footwear” is that the switching condition disappears when the driver exchanges or wears the appropriate footwear. It is said.

  Note that the contents stored in the automatic operation switching condition storage unit 135 described above are to store each of the switching condition, the content of forced automatic operation after switching, and the release condition as a corresponding processing program. For each of the switching conditions set later by the user, the contents of forced automatic operation after switching, and the cancellation conditions, the user describes the switching conditions, the cancellation conditions and the control contents in the forced automatic driving mode as described above. Thus, the electronic control circuit unit 10 of the automatic driving vehicle 1 has a processing function for automatically generating a corresponding processing program and storing the processing program in the automatic driving switching condition storage unit 135.

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

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

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

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

  For this reason, the destination information in the automatic operation switching condition table TBL in FIGS. 2 to 4 includes the designation of the preset destination. In this way, the designation of the preset destination as the destination is performed. The information may not be stored, and when there is no destination designation information regarding the switching conditions of the automatic driving switching condition table TBL, the destination may be automatically determined as a preset destination at the start.

  In FIG. 6, first, the control unit 101 sends a message that prompts input of a destination (destination) (step S <b> 1). And the control part 101 waits for the input setting of the destination by a driver | operator (step S2), and when it determines with having received the input of the destination, it is made to hold | maintain the input destination (step S3). If it is determined that the destination input has not been received, the process returns to step S2 to continue monitoring the destination input.

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

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

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

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

  Next, the control unit 101 starts monitoring the forced automatic operation mode release condition (step S21 in FIG. 7). And the control part 101 discriminate | determines whether the cancellation | release conditions of forced automatic operation mode were matched (step S22), and when it determines with not agree | coinciding, a process is returned to step S21 and monitoring of a cancellation | release condition is continued. To do.

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

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

  Further, when it is determined in step S7 that the setting is not the forced automatic operation mode but the normal automatic operation mode, the control unit 101 switches from the manual operation mode to the normal automatic operation mode, and notifies that through the speaker 138. The driver is notified as a voice message (step S10). And the control part 101 performs the control content after switching to the normal automatic driving mode according to the matched switching conditions (step S11).

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

  In addition, when the above-described processing matches the forced automatic operation mode release condition, the forced automatic operation mode is switched to the manual operation mode through the normal automatic operation mode. However, the forced automatic operation mode is switched to the normal automatic operation mode. You may make it switch directly to manual operation mode, without passing through a mode.

  The above is a description of the rough operation flow of the main part of the operation mode switching process in the autonomous vehicle 1 of this embodiment. Next, with reference to the flowcharts of FIGS. 8 to 13, an example of the processing operation of the part from the monitoring of the switching condition in step S <b> 5 in FIG. 6 to the processing of the control content in the automatic operation mode in step S <b> 9 or S <b> 11. However, it demonstrates in detail.

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

  Next, the control unit 101 collects sounds and sounds in the vehicle with the microphone 137, recognizes and analyzes the collected sounds and sounds (step S32). The processing in step S32 corresponds to the speech recognition processing of the speech recognition unit 116 and the processing of the speech recognition result in the in-vehicle situation determination unit 117.

  Next, the control unit 101 captures and analyzes the output of a sensor that contributes to the determination of an in-vehicle situation such as an expiration sensor provided in the vehicle of the sensor group 108, and also captures other information necessary for the determination of the in-vehicle situation. (Step S33). Here, as other information necessary for the in-vehicle situation determination, time information from the clock unit 119, information on the peripheral search result from the car navigation function unit 113, information obtained from the Internet through the mobile phone function unit 118, manual / automatic Operation mode switching information from the operation mode switching control unit 104 is included.

  Next, the control unit 101 determines the in-vehicle situation from the analysis result of the above information (step S34). The processing in step S34 corresponds to the processing in the in-vehicle situation determination unit 117.

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

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

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

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

  When it is determined in step S43 that the hospital close to the current position is not designated as the destination, the control unit 101 determines whether or not the 119th report is designated (step S46). When it is determined in step S46 that the 119 report is designated, the control unit 101 stops the vehicle at a place where parking or stopping such as a road shoulder is possible (step S47), and through the mobile phone function unit 118. 119 is reported (step S48). In this 119 report, the characteristics of the vehicle, the driver's name, the driver's personnel affairs, the situation of front and rear, faint, etc., the location name of the current position, the address, etc. are generated and notified as synthesized speech. In addition, the destination in this case becomes a place which stops the own vehicle. In this case, the process ends at step S48.

  When it is determined in step S46 that the 119th notification is not designated, the control unit 101 jumps the process to step S44.

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

  Next, in step S36 in FIG. 8, when it is determined that the in-vehicle situation does not match the “change in the health condition of the driver or passenger” 1 of the switching condition, the control unit 101 sets “ It is determined whether or not the driver or passenger's health condition changes 2 ”(step S51 in FIG. 10).

  When it is determined in step S51 that the switching condition “change in health condition of driver or passenger 2” is met, the control unit 101 stores the switching stored in the automatic driving switching condition storage unit 135. In accordance with the control content of the condition “change in health condition of driver or passenger 2”, the mode is switched to the forced automatic driving mode, and the driver is notified of this (step S52).

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

  Next, the control unit 101 determines whether or not an answer indicating that the destination registered for the inquiry is acceptable is received (step S55). When it is determined in step S55 that an answer indicating that the registered destination is acceptable is received, the control unit 101 performs processing according to the registered destination, such as step S42, step S44, and step S45 described above (step S42). S56). And the control part 101 advances a process to FIG.7 S21 after the process.

  When receiving a reply that the destination is not registered in step S55, the control unit 101 generates a synthesized voice message for inquiring the driver or the passenger about the destination and emits the sound through the speaker 138 (step S57).

  If it is determined in step S53 that the registered destination is not specified, the control unit 101 proceeds to step S57. Then, the control unit 101 determines whether or not a response to the inquiry in step S57 has been received (step S58). When determining that the response has been received, the control unit 101 recognizes the voice information of the response and recognizes the specified destination. Is specified (step S59). In specifying the destination at this time, not only a specific destination is specified, but also a destination attribute such as “near hospital” may be specified. Then, the control unit 101 performs a process corresponding to the specified destination, such as step S42, step S44, and step S45 described above, for the designated destination (step S60). And the control part 101 advances a process to FIG.7 S21 after the process.

  When it is determined in step S58 that there is no response to the inquiry in step S57, the control unit 101 stops the vehicle at a place where parking or stopping such as a road shoulder is possible (step S61) and through the mobile phone function unit 118. 119 is reported (step S62). In this 119 report, the characteristics of the own vehicle, the occurrence of a suddenly ill person, the place name of the current position, the address, etc. are generated and notified as synthesized speech. In addition, the destination in this case becomes a place which stops the own vehicle. In this case, the process ends in step S62.

  When it is determined in step S51 that the in-vehicle situation does not match the “change in the health condition of the driver or passenger” 2 of the switching condition, the control unit 101 determines that the in-vehicle situation It is determined whether or not “sleeping” is matched (step S71 in FIG. 11). In step S71, when it is determined that the in-vehicle situation matches the “driving of the driver” of the switching condition, the control unit 101 stores the switching stored in the automatic driving switching condition storage unit 135. Switch to automatic driving mode according to the control content of the driver “sleeping driver” (step S72), and generate a synthetic voice call to awaken the driver, for example, “get up” or “dangerous” at high volume The sound is emitted from the speaker 138 to the driver (step S73). As a means for awakening the driver, in addition to the synthetic voice emission of the call, a blinking light for the driver, vibration of the driver's seat, or vibration of the steering wheel may be used, or a combination of these may be used. Also good.

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

  Further, when it is determined in step S74 that the driver's awakening has not been confirmed, the control unit 101 determines that the driver is not merely asleep, but a physical abnormality has occurred with respect to the driver. Then, the vehicle is stopped at a place where parking or stopping is possible (step S75), and 119 is notified through the mobile phone function unit 118 (step S76). In this 119 report, the characteristics of the own vehicle, the occurrence of a suddenly ill person, the place name of the current position, the address, etc. are generated and notified as synthesized speech. In addition, the destination in this case becomes a place which stops the own vehicle. In this case, the process ends at step S76.

  If it is determined in step S71 that the in-vehicle situation does not match the “driver's snoozing” switching condition, the control unit 101 determines that the in-vehicle situation is “the poor condition of the driver or passenger” in the switching condition. (Step S81 in FIG. 12). When it is determined in this step S81 that the in-vehicle situation matches the switching condition “physical condition of the driver or passenger”, the control unit 101 is stored in the automatic driving switching condition storage unit 135. In accordance with the control content of “the poor condition of the driver or passenger” of the switching condition, the mode is switched to the forced automatic driving mode, and the driver is notified of this (step S82).

  Next, the control unit 101 refers to the information on the destination of “the poor condition of the driver or passenger” stored in the automatic driving switching condition storage unit 135, and the home is registered as the destination. It is discriminate | determined whether it is (step S83). When it is determined in step S83 that the home is registered as the destination, the control unit 101 generates a synthesized voice for inquiring whether to return to the home and emits the sound from the speaker 138 (step S84).

  The control unit 101 determines whether or not to return to the home based on whether or not an affirmative answer (voice) is obtained from the driver in response to this inquiry (step S85). When it is determined in step S85 that the answer to the inquiry is affirmative and the user returns to his / her home, the control unit 101 searches for a route to return to his / her home from the current position, and the forced automatic operation mode. To return to the home (step S86). In this case, the process ends at step S86.

  If it is determined in step S85 that a positive answer to the inquiry has not been obtained and it is determined not to return to the home, the control unit 101 advances the process to step S87. Also, when it is determined in step S83 that home is not registered as a destination, the control unit 101 advances the process to step S87.

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

  If it is determined in step S87 that the current position is not an expressway but a general road, the control unit 101 stops the host vehicle at a place where parking is possible, such as a shoulder (step S89). In step S88, this processing routine is terminated.

  When it is determined in step S81 that the in-vehicle situation does not match the switching condition “physical condition of the driver or passenger”, the control unit 101 determines that the in-vehicle situation is “the driver or passenger's condition”. It is discriminated whether or not it is “consciousness or urine” (step S91 in FIG. 13). In this step S91, when it is determined that the in-vehicle situation is the “condition of driver or passenger's convenience or urine” of the switching condition, the control unit 101 stores the switching stored in the automatic driving switching condition storage unit 135. In accordance with the control content of the condition “driver's or passenger's convenience and urine”, the mode is switched to the forced automatic driving mode and the driver is notified of this (step S92).

  Next, the control unit 101 refers to the information on the destination of “the driver's or passenger's convenience or urine” stored in the automatic driving switching condition storage unit 135, and the current position is the expressway. If it is determined that the vehicle is on the highway (step S93), the nearest PA (parking area) or SA (service area) in the traveling direction is searched and the PA (parking area) of the search result is searched. ) Or SA (service area) as a destination (step S94). In step S94, the processing routine is terminated.

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

  Further, when it is determined in step S91 that the in-vehicle situation is not the switching condition “a driver's or passenger's convenience or urinary intention”, the control unit 101 stores the automatic driving switching condition storage unit 135. `` Overworked driving '', `` Drinking by driver '', `` Driver looking away, sidewalking '', `` Eating and drinking or smoking by driver '', `` Deterioration of driving environment '', `` Abnormal behavior of children and pets riding '', `` Driving It is determined whether or not other switching conditions such as “the driver's driving method and posture” and “the driver is wearing footwear that hinders driving or is not wearing footwear” are met (step S96). When it is determined in step S96 that the in-vehicle situation does not match other switching conditions, the control unit 101 returns the process to step S31 in FIG. 8, and repeats the processes after step S31.

  In step S96, when it is determined that any of the other switching conditions stored in the automatic driving switching condition storage unit 135 is met, the control unit 101 is stored corresponding to the matching switching condition. The control contents are executed, and the destination is determined based on the destination information stored corresponding to the matched switching condition (step S97). And the control part 101 advances a process to step S21 of FIG.

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

  In addition, according to the autonomous driving vehicle of the above-described embodiment, according to the physical change that occurred to the driver or passenger while ensuring safety so that the occurrence of traffic accidents etc. can be avoided, There is a remarkable effect that the self-driving car can be directed to an appropriate destination. In other words, even if the driver falls into a state where he / she is unaware of personnel, becomes irreversible, or faints, the hospital is set as the destination, so it is possible to deal with physical changes that occur in the driver. Appropriate responses can be expected to occur promptly. In particular, even when only one driver is in a car, the driver is taken to a hospital or the like by the self-driving car of this embodiment, so that an appropriate response can be made. Has an effect.

[Other Embodiments or Modifications]
In the description of the above embodiment, as the switching condition of the automatic driving switching condition table TBL in FIGS. 2, 3, and 4, “change in health condition of driver or passenger 1”, “health of driver or passenger” "Change in state 2", "Driver's snooze", "Sickness of driver or passenger, sickness such as nausea", "Driver's or passenger's feelings and urine", "Overworked driving", "Driver ”Drinking of the driver”, “Driving by the driver, driving aside”, “Eating, drinking or smoking by the driver”, “Deterioration of driving environment”, “Abnormal behavior of children and pets traveling together”, “Driver's driving method and attitude ”,“ A driver is wearing footwear that hinders driving or is not wearing footwear ”, and conditions for ensuring safe driving by avoiding a state that easily causes accidents are exemplified. These switching conditions are used when driving in the manual operation mode, parked, or parked. Among these switching conditions, “driver's sleep”, “driver's looking aside, side-view driving” ”,“ Eating and drinking or smoking by the driver ”,“ Deterioration of driving environment ”,“ Abnormal behavior of children and pets with the passenger ”,“ How to drive and attitude of the driver ”, etc. Since there is basically no influence on safety, it is possible to make the switching condition only when the vehicle is running and not the switching condition when the vehicle is parked or stopped.

  In addition, regarding “change in the health condition of the driver or passenger 1” and “change in the health condition of the driver or passenger 2”, urgently head to the hospital or call 119 and stop on the shoulder. It is necessary to wait for the arrival of an ambulance, so not only when driving in the manual operation mode, parking or stopping, but also when driving in the normal automatic operation mode, parking or stopping. However, it can be set as a switching condition. For "drivers and passengers sickness such as car sickness and nausea" and "drivers and passengers' convenience and urine", destinations such as the nearest PA (parking area) or SA (service area) or gas station Since it is necessary to move to, use the toilet, and take a break, the switching condition may be used even when the vehicle is traveling, parked, or stopped in the normal automatic driving mode.

  In the above description of the embodiment, the switching condition is sequentially determined (serial). However, the switching condition may be determined in parallel.

  Further, in the description of the above embodiment, the in-vehicle situation of the switching condition is a situation in which a manual change of the vehicle based on a physical change of the driver or a passenger or a behavior or an action of the driver or the passenger is hindered. Is the in-vehicle situation as the switching condition, but the in-vehicle situation including external factors generated in the automobile may be used as the switching condition.

  For example, based on a fire or abnormality that occurs in an autonomous driving vehicle, it is possible to use a switching condition that the driver or passenger has burned or injured, and the destination is, for example, a hospital. Also, in order to prevent passengers from committing suicide by bringing briquettes into the vehicle, the carbon monoxide concentration in the vehicle has exceeded a predetermined level, and the passenger is not driving and not moving. May be set as a switching condition. In this case, the carbon monoxide concentration can be detected by the carbon monoxide concentration sensor, and the fact that the rider is not driving and not moving indicates that the captured image of the camera included in the camera group 107 is not moving. It can be detected by image recognition. In this case, the destination is a hospital, and an autonomous driving vehicle in a stopped state is started and the passenger is conveyed, or the number 119 is notified and the vehicle stops on the roadside and waits for the arrival of an ambulance. At the same time, a window is opened to lower the carbon monoxide concentration. These release conditions are set to be “arrival at destination (hospital)” or “arrival of ambulance”.

  In addition, the switching condition may be that the door lock cannot be released due to a failure of the self-driving vehicle and the passenger cannot get off. The detection of the in-vehicle situation in this case can be performed based on detection of the passenger saying “help” and “cannot get out” and detection output of the door sensor. In this case, the destination is, for example, an automobile maintenance shop or an automobile sales company, and the door lock is released there. The release condition is when “door lock is released” or “arriving at a destination (automobile maintenance shop, etc.)”.

  If the self-driving car fires in the car and cannot be extinguished, it is dangerous to travel. Therefore, using this as a switching condition, call 119 and stop on the roadside where there is no other risk of ignition. Drivers and passengers should get off the self-driving car and wait for the fire truck to arrive. This is applicable even if the autonomous driving vehicle is unmanned driving (automatic driving). The release condition is that “fire extinguishing is complete” or “fire engine arrives”.

  If an abnormality or failure occurs during an unmanned operation (automatic operation) of an autonomous vehicle, change the destination to a place where the abnormality or failure can be recovered and repaired, such as an automobile maintenance shop or an automobile sales company. . Depending on the degree and content of the abnormality or failure, the vehicle may contact JAF (Japan Automobile Federation), stop on the shoulder, etc., and wait for the arrival of JAF. The release condition is set to “recover or repair an abnormality or failure” or “arrival at a destination (automobile maintenance shop, etc.)”. When troubles related to refueling or battery, or when the remaining fuel is low, it can be switched to a gas station or a charging station as a switching condition. The release condition is set to “completion of trouble recovery or refueling” or “arrival at the destination (gas station, etc.)”.

  Further, the present invention can also be applied to measures against temperatures in automobiles and measures against heat stroke in summer. Painful incidents such as the death of infants or children in a car or severe injury while parents are shopping at supermarkets or department stores while leaving infants or children in the car, or while playing at a pachinko parlor. Has been reported. The temperature inside a car in summer is much higher than the outside air temperature and may exceed 50 ° C.

  In view of such dangers, a self-driving vehicle is equipped with a temperature sensor (thermometer) and parked in the sun on the condition that a predetermined temperature (for example, 35 ° C.) or higher continues for a predetermined time (for example, three minutes) or longer. A self-driving car that is inside or stopped can be moved in the shade and parked or stopped. If the shade is not found, look for a place with the lowest outside temperature and park or stop there. In addition, the air conditioner may be cooled. Thereby, the interior of the autonomous driving vehicle is kept at a comfortable temperature. The release condition is set to “decrease in vehicle interior temperature to a predetermined temperature or lower” or “park or park in the shade” or “park or park in a place where the outside temperature is low”.

  Furthermore, a passenger (a person who remains in the vehicle) is imaged by a camera included in the camera group 107, and a microphone is used to recognize the state of sweating, facial expressions, and body movements, or by voice generated by the passenger. The sound is picked up at 137 and the dangers such as heat stroke are detected by recognizing words such as “hot”, “suffering”, “help”, whispering voice, and panting voice. Using the risk of the passenger's heat stroke or the like as a switching condition, the driver can be notified of an abnormal situation with a mobile phone, and the passenger can be transported with the destination as a hospital. Alternatively, call 119 to stop on the shoulder and wait for the arrival of an ambulance. The release condition in this case is set to be “recovery from a dangerous state such as heat stroke (recovery)”, “arrival at the destination (hospital)” or “arrival of ambulance”.

Further, instead of using the temperature in the autonomous driving vehicle, a risk evaluation index such as a WBGT (Wet Bulb Globe Temperature) called a heat index may be used. WBGT can be applied by providing an autonomous vehicle with a WBGT index meter. The calculation method of WBGT is
Outdoor: 0.7 × wet bulb temperature + 0.2 × black bulb temperature + 0.1 × dry bulb temperature Indoor: 0.7 × wet bulb temperature + 0.3 × black bulb temperature. The WBGT in the self-driving vehicle is calculated according to the outdoors for the open car type, and indoors otherwise. WBGT is
31 ° C or higher Danger 28 ° C to 31 ° C Strict alert 25 ° C to 28 ° C Alert 21 ° C to 25 ° C Caution Less than 21 ° C Safety and guidelines are stipulated.

  When using WBGT, parked or parked in the sun on the condition that a predetermined WBGT (for example, 25 ° C.) or more continues for a predetermined time (for example, 10 minutes) or exceeds a predetermined WBGT (for example, 30 ° C.). The self-driving car inside can be moved in the shade and parked or stopped. As in the case of the above-mentioned temperature, when the shade is not found, a place where the outside air temperature is as low as possible is searched and parked or stopped there. In addition, the air conditioner may be cooled. As a result, the interior of the autonomous driving vehicle is kept at a comfortable WBGT. In addition, as described above, the passenger can be transported with the destination as a hospital on the basis of the dangerous state of the passenger, or the station 119 can be notified and stopped on the shoulder, etc. to wait for the arrival of the ambulance . The cancellation conditions are the same as described above.

  Infants have an underdeveloped body temperature control function, and at high temperatures, body temperature rises in a short time and may result in death. In addition, since the window cannot be opened by itself, the set temperature and WGBT of the switching condition are required to be set lower than those expected from healthy adults. In addition, since the body temperature regulation function decreases with age, elderly people are equally dangerous, and the setting temperature and WGBT of the switching condition should be set lower. The above-mentioned predetermined temperature, predetermined WBGT, and predetermined time may be made variable based on the age by inputting the passenger's age in advance or estimating the age by image recognition. In addition, since sick people with weak physical strength and immunity are similarly at high risk of heat stroke, the setting temperature and WGBT of the switching condition should be set low.

  Moreover, although the above description is a measure against heat, it can be applied to a measure against cold. In the case of measures against cold, contrary to measures against heat, an autonomous driving vehicle parked or parked in the shade is moved in the sun. Of course, the air conditioner activates heating, not cooling.

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

  In the autonomous driving vehicle of the above-described embodiment, various databases and various storage units are configured to be mounted on the own vehicle. However, the present invention is not limited to this and may be on the cloud. The camera group 107 is not limited to being mounted on its own vehicle, but an autonomous driving vehicle can obtain images from surveillance cameras installed on traffic lights, street lights, etc. via communication, or images from cameras of other vehicles can be communicated between vehicles. You may obtain it.

  In addition, when recognizing or determining the in-vehicle situation such as physical changes of the driver or passenger, in-vehicle image information or audio information is transmitted to a specialist (for example, a doctor) or uploaded to the cloud. Thus, the recognition result and the determination result can be obtained.

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

  In addition, it is not determined whether the determination result of the in-vehicle situation determination unit 117 during traveling in the manual operation mode, parked, or parked matches the switching condition, but is parked during traveling in the normal automatic driving mode. It is determined whether or not the determination result of the in-vehicle situation determination unit 117 matches the switching condition during or while the vehicle is stopped, and when it matches, the destination is changed to a hospital set according to the matching switching condition, You may make it stop on a road shoulder etc. and report 119. In this case, the normal automatic driving mode may be continued even when the in-vehicle situation matches the switching condition, or the forced automatic driving mode may be switched. However, in this case, since the autonomous driving vehicle does not have the manual driving mode, the forced automatic driving mode does not accept the manual driving operation for switching to the manual driving mode, and the in-vehicle situation is set as the switching condition. In this state, the destination is not changed by the driver or passengers.

  This example is particularly effective when the automatic driving vehicle has no manual driving mode and only the automatic driving mode. And according to this example, when traveling in the normal automatic driving mode, parking or stopping, when an in-vehicle situation occurs such as when a physical change occurs in the driver or passenger, The destination can be changed to a hospital, or it can be stopped at the shoulder of the road, etc., and 119 can be reported.

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

  Furthermore, the present invention is not limited to ordinary cars and light cars, but also trucks, buses, taxis, police cars, ambulances, fire trucks, training cars, tractors, dump trucks, excavators, forklifts, single cars, motorcycles, automatic Even a tricycle is applicable.

  DESCRIPTION OF SYMBOLS 1 ... Auto-driving vehicle, 10 ... Electronic control circuit part, 101 ... Control part, 104 ... Manual / automatic driving mode switching control part, 105 ... Manual driving operation detection part, 107 ... Camera group, 108 ... Sensor group, 114 ... Image Recognizing unit 115 ... Automatic driving switching condition determining unit 116 ... Speech recognizing unit 117 ... In-vehicle situation determining unit 118 ... Mobile phone function unit 119 ... Clock unit 120 ... Synthetic voice generating unit 134 ... Image information storage unit 135: Automatic operation switching condition storage unit, 136: Audio information storage unit

Claims (23)

In an automatic driving vehicle having a manual driving mode for driving based on a driving operation by a driver and an automatic driving mode for autonomous driving,
In the automatic driving mode, navigation means for automatic driving mode for supporting the autonomous driving to the destination,
A prompting means for urging advance setting of arbitrary destination information as the destination at the time of starting the own vehicle;
Preset destination information storage means for storing preset destination information set according to the prompt by the prompt means;
When switching from the manual operation mode to the automatic operation mode, the navigation activation means for activating the navigation unit of the automatic operation mode,
With
Whether the navigation means for the automatic operation mode activated by the navigation activation means may use the destination determined based on the preset destination information stored in the preset destination information storage means as the destination It performed whether the inquiry when receiving an affirmative answer, shall be determined to the destination on the basis of the preset destination information stored in the preset destination information storage means
Automatic operation vehicle that characterized a call. The automatic driving vehicle according to claim 1, wherein the preset destination information includes a destination or a destination attribute. The automatic driving vehicle according to claim 1 or 2, further comprising notification means for notifying that when the manual driving mode is switched to the automatic driving mode . When from the manual operation mode is switched to the automatic operation mode, the preset destination information storage means whether may be used as the destination, which is determined based on the preset destination information stored in the When the inquiry is made and a negative answer is received, the navigation means activated by the navigation activation means accepts a destination different from the destination based on the preset destination information . The autonomous driving vehicle according to claim 3 . A speaker for inquiring by voice guidance whether or not to use as the destination determined based on the preset destination information;
A microphone for inputting voice in response to an inquiry as to whether or not the destination set based on the preset destination information may be used;
Voice recognition means for recognizing voice picked up by the microphone;
The automatic driving vehicle according to any one of claims 1 to 4, further comprising: When the destination attribute is stored as the preset destination information, the navigation means activated by the navigation activation means performs a peripheral search around the current position, and the peripheral search result is the destination search result. Use as
The automatic driving vehicle according to any one of claims 1 to 5, characterized in that: The automatic operation mode that is switched from the manual operation mode includes a normal automatic operation mode that can be switched to the manual operation mode by a predetermined operation, and a forced operation that cannot be switched to the manual operation mode even if the predetermined operation is performed. Including automatic operation mode
The autonomous driving vehicle according to any one of claims 1 to 6, wherein the vehicle is an autonomous driving vehicle. Switching conditions for switching from the manual operation mode to the automatic operation mode are predetermined,
Determining means for determining whether or not the switching condition is satisfied;
When the state that matches the switching condition by the determining means is determined, any one of claims 1 to 7, characterized in that it comprises means for switching to the automatic operation mode the vehicle from the manual operation mode The self-driving car described in 1. A switching condition corresponding destination information storage means for storing switching condition corresponding destination information that will be set in advance corresponding to the previous SL switching condition,
The switching condition corresponding destination information stored in the switching condition corresponding destination information storage means, according to claim 8, characterized in that it comprises a designation of the preset destination information stored in the preset memory means Self-driving car. The destination information corresponding to the switching condition includes a destination or a destination attribute
The self-driving vehicle according to claim 9. In-vehicle situation determination means for determining the in-vehicle situation of the autonomous driving vehicle,
Said discriminating means based on the determination result of the vehicle state determination unit, according to claim 8 claims, characterized in that to determine whether matching the switching condition for switching to the automatic operation mode from the manual operation mode The autonomous driving vehicle according to any one of 10 . Wherein when conforming to the switching condition Manual operation automatic operation mode is switched from the mode, the manual claim 8, wherein the operation returns to the mode operation is forced automatic operation mode is invalidated ~ claim 11 The self-driving car according to any one of If the destination attribute is stored as the destination information corresponding to the switching condition , the navigation means activated by the navigation activation means performs a peripheral search around the current position, and the peripheral search result is used as the destination search result. The automatic driving vehicle according to any one of claims 8 to 12 , wherein the autonomous driving vehicle is used. The destination inquiry is performed when switching from the manual operation mode to the automatic operation mode when the switching condition correspondence destination information is not stored in the switching condition correspondence destination information storage means. The autonomous driving vehicle according to any one of claims 8 to 13 . The autonomous driving vehicle according to claim 14 , wherein the navigation means uses, as a destination, a hospital obtained by searching around the current position when there is no response to the destination inquiry. The automatic driving vehicle according to claim 14 , wherein the navigation means stops at a place where the vehicle can be safely stopped by the automatic driving mode when there is no response to the inquiry about the destination . With communication means,
The automatic driving vehicle according to any one of claims 14 to 16 , wherein when there is no response to the destination inquiry, the communication means reports 119. A speaker for performing the destination inquiry by voice guidance;
A microphone for voice input in response to the destination inquiry;
Voice recognition means for recognizing voice picked up by the microphone;
The autonomous driving vehicle according to any one of claims 14 to 17 , further comprising: The autonomous driving vehicle according to any one of claims 8 to 18 , wherein the switching condition corresponding to the destination information corresponding to the switching condition is detection of a physical abnormality of a driver and / or a rider. . With communication means,
Wherein in the determination unit, when it is determined that matching the switching condition regarding physical abnormalities of the driver and / or passenger are claims 8 to claim 19, characterized in that the contact to a predetermined destination by the communication means The self-driving car according to any one of 21. The autonomous driving vehicle according to claim 20 , wherein the communication means transmits image information and / or audio information of the driver and / or a rider to the communication destination. With communication means,
Wherein in the determination unit, when it is determined that matching the switching condition concerning abnormal or failure of the vehicle, the contact JAF (Japan Automobile Federation) by the communication means, according to claim 8 to claim, characterized in that the pulled over Item 22. The autonomous driving vehicle according to any one of Items 21 to 24. A computer provided in an automatic driving vehicle having a manual driving mode for driving based on a driving operation by a driver and an automatic driving mode for autonomous driving;
In the automatic driving mode, navigation means for automatic driving mode for supporting the autonomous driving to the destination,
A prompting means for urging advance setting of arbitrary destination information as the destination at the time of starting the own vehicle;
Preset destination information storage means for storing preset destination information set according to the prompt by the prompt means;
The manual from the operation mode when it is switched to the automatic operation mode, the navigation activation means for activating the navigation unit of the automatic operation mode,
A program for functioning as,
Whether the navigation means for the automatic operation mode activated by the navigation activation means may use the destination determined based on the preset destination information stored in the preset destination information storage means as the destination It performed whether the inquiry when receiving an affirmative answer, shall be determined to the destination on the basis of the preset destination information stored in the preset destination information storage means
A program for an autonomous vehicle characterized by that .

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