JPWO2018211583A1 - Car and program for car - Google Patents

Abstract

In an automobile provided with a manual operation mode for performing traveling based on a driver's driving operation and an automatic operation mode for performing autonomous traveling, the driver or the rider can be more reliably carried out when the manual operation mode is switched to the automatic operation mode. To the destination desired by the person. A navigation means for an automatic driving mode is provided to support autonomous traveling to a destination. When the manual operation mode is switched to the automatic operation mode, the navigation means for the automatic operation mode is activated, it is determined whether the setting of the destination is made or not, and it is judged that the setting of the destination is not made When it does, the driver or the passenger is prompted to input the setting of the destination, and the setting input of the destination is accepted. The navigation means for the autonomous driving mode generates the information for supporting the autonomous traveling to the destination accepted by the destination accepting means, and executes the assistance of the autonomous traveling.

Description

  The present invention relates to vehicles and programs for vehicles.

  BACKGROUND ART In recent years, development of automobiles equipped with an automatic operation mode in which the driver can travel autonomously without performing a manual driving operation has been advanced. In the future, it is expected that fully automatic vehicles that do not require any manual operation by the driver will appear, but for the time being, a manual operation mode by the driver and a manual operation by the driver are required. It is considered that the vehicle is equipped with an automatic operation mode in which the vehicle itself performs autonomous traveling without taking it, and the two modes are switched and used.

  In this case, switching from the manual driving mode to the automatic driving mode is not only performed by the driver performing a predetermined operation, but also, for example, Patent Document 1 (Japanese Patent Laid-Open No. 2015-118438) or Patent Document 2 As described in JP-A-2015-133050), a computer provided with a vehicle monitors a predetermined switching condition, and when it detects that the switching condition is met, it is forcibly executed. The thing is also proposed.

JP, 2015-118438, A JP, 2015-133050, A

  By the way, for example, as in the case of switching from the entrance of the expressway to the front of the exit of the expressway to the automatic operation mode, when there is no branch in the route where the vehicle is going to travel, setting of the destination is not performed. However, it is possible to run autonomously in the automatic driving mode without any trouble.

  However, such a situation as described above is rare, and there is usually a branch on a route to a destination desired by the driver or passenger. Therefore, the vehicle is equipped with a function for voice recognition of a turn or turn instruction by a driver or a passenger, or detection of a turn or turn instruction operation through the operation means in an automobile, and in the automatic operation mode It is conceivable to perform control in accordance with the voice instruction and instruction operation of

  However, it is troublesome for a driver or a passenger to perform the voice instruction or instruction operation as described above, and the user may forget to give an instruction. In addition, there may be a situation where the driver or the rider sleeps or experiences physical modulation, etc., so that the above voice instruction or instruction operation can not be performed. In such a case, it becomes difficult to reach the destination desired by the driver or rider in the automatic driving mode.

  SUMMARY OF THE INVENTION In view of the above problems, the present invention provides an automobile which can more reliably reach a destination desired by a driver or a passenger when the manual operation mode is switched to the automatic operation mode. To aim.

In order to solve the above-mentioned subject, invention of claim 1 is,
In an automobile provided with a manual operation mode in which traveling based on a driving operation by a driver and an automatic operation mode in which autonomous traveling is performed,
Navigation means for an automatic driving mode for supporting the autonomous traveling to a destination in the automatic driving mode;
Starting means for starting the navigation means for the automatic operation mode when the manual operation mode is switched to the automatic operation mode;
Destination setting presence / absence determination means for determining whether or not a destination is set when the manual operation mode is switched to the automatic operation mode;
Destination prompting means for prompting the driver or passenger to enter a destination when it is determined by the destination setting presence / absence judging means that the setting of the destination is not made;
Destination receiving means for receiving a setting input of a destination by the driver or the passenger in response to the prompting by the destination prompting means;
Equipped with
The navigation means for the automatic driving mode generates information for supporting the autonomous traveling to the destination accepted by the destination accepting means, and executes the assistance of the autonomous traveling. provide.

  In the invention of the above configuration, when the manual operation mode is switched to the automatic operation mode, the navigation means for the automatic operation mode is activated by the activation means, and the destination is set by the destination setting presence / absence determination means. It is determined whether the When the destination setting presence / absence determination unit determines that the destination is not set, the destination prompting unit prompts the driver or passenger to input the destination, and the destination accepting unit The setting input of the destination by the driver or the passenger is accepted. Then, the navigation means for the automatic driving mode generates the information for supporting the autonomous traveling up to the destination accepted by the destination accepting means, and executes the assistance of the autonomous traveling.

  According to the automobile according to the present invention, in the automatic operation mode switched from the manual operation mode, the destination set at the time of switching is obtained by the navigation means for the automatic operation mode without receiving an instruction from the driver or the passenger. You can run autonomously.

It is a block diagram showing an example of composition of an electronic control circuit part with which an embodiment of a car by this invention is provided. It is a functional block diagram for demonstrating the structural example of the principal part of the electronic control circuit unit with which embodiment of the motor vehicle by this invention is equipped. It is a figure for demonstrating the example of the switching conditions memorize | stored in the memory | storage part contained in the electronic control circuit part with which embodiment of the motor vehicle by this invention is equipped. It is a figure for demonstrating the example of the switching conditions memorize | stored in the memory | storage part contained in the electronic control circuit part with which embodiment of the motor vehicle by this invention is equipped. It is a figure for demonstrating the example of the switching conditions memorize | stored in the memory | storage part contained in the electronic control circuit part with which embodiment of the motor vehicle by this invention is equipped. It is a figure for demonstrating the example of the switching conditions memorize | stored in the memory | storage part contained in the electronic control circuit part with which embodiment of the motor vehicle by this invention is equipped. It is a figure for demonstrating the example of the switching conditions memorize | stored in the memory | storage part contained in the electronic control circuit part with which embodiment of the motor vehicle by this invention is equipped. It is a figure for demonstrating the example of the switching conditions memorize | stored in the memory | storage part contained in the electronic control circuit part with which embodiment of the motor vehicle by this invention is equipped. It is a figure showing the flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure showing a part of flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure showing a part of flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure showing a part of flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure showing a part of flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure showing a part of flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure showing a part of flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure showing a part of flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure showing a part of flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure showing a part of flow chart for explaining the example of processing operation of the electronic control circuit part with which the embodiment of the motor vehicle by this invention is provided. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation of the electronic control circuit unit with which other embodiment of the motor vehicle by this invention is equipped. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation of the electronic control circuit unit with which other embodiment of the motor vehicle by this invention is equipped. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation of the electronic control circuit unit with which other embodiment of the motor vehicle by this invention is equipped.

  FIG. 1 is a block diagram showing an example of the hardware configuration of the electronic control circuit unit 10 of the automobile 1 according to the embodiment of the present invention. In addition, the motor 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 motor vehicle 1 of this embodiment is provided with an automatic driving mode and a manual driving mode. The manual operation mode is a mode in which traveling can be performed according to the driver's accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (steering wheel operation) as in a normal automobile. In addition, in the automatic driving mode, even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever, and the steering operation, the vehicle 1 changes course while autonomously (automatically) avoiding the obstacle. It is a mode to run autonomously.

  During normal operation, the driver of the automobile 1 can switch the automobile 1 traveling in the manual operation mode to the automatic operation mode by, for example, a predetermined operation through the touch panel 112 described later, and while traveling in the automatic operation mode When the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering, it is configured to automatically return to the manual operation mode. However, as described later, when the vehicle 1 of this embodiment is forcibly switched from the manual operation mode to the automatic operation mode, the vehicle 1 according to the above-described manual operation mode is performed after the predetermined release condition described later is satisfied. Even if a return operation is performed, the operation is invalidated and controlled to maintain traveling in the automatic operation mode.

  In order to distinguish from the normal automatic operation mode in which the user selects and sets through the touch panel 112 etc., the automatic operation mode in which the operation is invalidated even if the operation is returned to the manual operation mode after the forced switching. In this specification, in particular, a forced automatic operation mode is referred to, and an automatic operation mode other than the forced automatic operation mode is referred to as a normal automatic operation mode.

  As shown in FIG. 1, the electronic control circuit unit 10 transmits a motor drive control unit 102, a steering drive control unit 103, a manual / automatic operation through a system bus 100 to a control unit 101 configured to mount a computer. Driving mode switching control unit 104, manual driving operation detection unit 105, radar group 106, camera group 107, sensor group 108, surrounding moving object grasping unit 109, current position detection unit 110, display unit 111, touch panel 112, car navigation , A car navigation system) function unit 113, image recognition unit 114, automatic driving switching condition determination unit 115, voice recognition unit 116, in-vehicle condition determination unit 117, own vehicle motion analysis detection unit 118, mobile phone function unit 119, clock unit Each of the synthetic speech generation unit 121 and the speech input / output unit 122 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. Further, a car navigation database 133 is connected to the car navigation function unit 113. Further, 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. Further, an automatic driving switching condition storage unit 135 is connected to the automatic driving switching condition determination unit 115. Further, the voice recognition unit 116 is connected to a voice information storage unit 136 for storing voice information of comparison voice for voice recognition. The microphone 137 and the speaker 138 are connected to the voice input / output unit 122.

  The motor drive control unit 102 controls the supply of a drive signal to the motor drive unit 131 of the automobile 1 configured by the electric vehicle of this embodiment under the control of the control unit 101, and starts the traveling of the automobile 1; It is made to control traveling speed control (including brake control and accelerator control), traveling stop and the like.

  Under the control of the control unit 101, the steering drive control unit 103 controls supply of a drive control signal to the steering drive unit 132 of the vehicle 1 of this embodiment so as to control course change of the vehicle 1. Do.

  The manual / automatic drive mode switching control unit 104 performs control to switch the drive mode of the automobile 1 to either the manual drive mode or the automatic drive mode according to the selection operation input through the touch panel 112, and will be described later. As described above, according to the determination result of the automatic driving switching condition determining unit 115, control is performed to switch the driving mode of the automobile 1 to any one of the manual driving mode, the automatic driving mode, and the forced automatic driving mode.

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

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

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

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

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

  However, when the operation mode of the automobile 1 is the forced automatic operation mode, in principle, the driver performs the accelerator pedal operation, the brake pedal operation, the shift lever operation or the steering operation except when the release condition described later is satisfied. Even if the manual / automatic operation mode switching control unit 104 invalidates the manual operation operation information, the forced automatic operation mode is maintained.

  The radar group 106 is for measuring the distance to a person or a thing existing around the vehicle 1 of the automobile 1. The laser radar (formally LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging; rider)) And millimeter wave radar etc. The laser radar is embedded, for example, in the vicinity of a ceiling or a bumper, and the millimeter wave radar is provided, for example, in the front and rear of the vehicle. Both laser radar and millimeter wave radar may be provided, or only one may be provided. Also, other radars such as sub-millimeter wave radar and microwave radar may be used. Furthermore, sonars (not shown) using sound waves or ultrasonic waves can be used for the same purpose as radar.

  The camera group 107 includes one or more cameras that capture the inside of the car 1 and one or more cameras that capture the outside of the car 1 such as the front, the side, and the rear. A camera for photographing the inside of a car is attached, for example, to a rearview mirror (rear-view mirror, room mirror) installed between the driver's seat and the passenger's seat, the upper part of the front window, etc. In addition to the camera that captures the movement, it also includes a camera for capturing the movement of the passenger sitting in the passenger seat and the rear seat. Further, cameras for photographing the periphery of the car 1 are attached to, for example, the left and right sides of the rearview mirror, and two cameras (stereo cameras) for mainly photographing the left front and right front of the car 1 For example, a camera attached to a door mirror or a fender mirror to capture left and right sides, a camera capturing an image behind a car 1, an omnidirectional camera (360 ° camera) attached to a roof to capture a wide-angle surroundings, a fisheye camera , Etc.

  A sensor group 108 detects an opening and closing detection sensor that detects opening and closing of a door of the automobile 1 and an opening and closing of a window, a sensor for detecting wearing of a seat belt, and detects that a passenger sits on a seat such as a driver's seat or a passenger seat. Other than a seating sensor (for example, weight sensor), a touch sensor (for example, a capacitance sensor) that detects that a person has touched the steering wheel of the driver's seat, a human sensor (for example, an infrared sensor) that detects a person near the outside of the vehicle And various sensors for acquiring information that assists in automatic driving. As various sensors for acquiring information to assist in automatic driving, for example, a vibration sensor for detecting vibration of a vehicle or a tire, a rotation number sensor for detecting the number of rotations of a tire, a sensor for detecting an azimuth A geomagnetic sensor, an acceleration sensor for detecting acceleration, a gyro sensor (gyroscope) for detecting angle or angular velocity, and the like are included. Further, in this embodiment, the sensor group 108 also includes a sensor that detects lighting of a right blinker, a left blinker (a direction indicator), a hazard lamp (an emergency flashing light), a backlight, a brake light, and the like. There is. Furthermore, in this embodiment, the sensor group 108 also includes a sensor that detects the traveling speed of the vehicle.

  Further, in this embodiment, a sensor group 108 also serves as a temperature sensor, a humidity sensor, a heat sensor, a smoke sensor, an exhalation sensor, a carbon monoxide sensor, a hydrogen sulfide sensor, etc. which help to determine the in-vehicle situation of the automobile 1. Is included in The heat sensor and smoke sensor are for detecting the occurrence of a fire in the car, and the exhalation sensor is for detecting the drinking of the driver, and the carbon monoxide sensor and the hydrogen sulfide sensor , To detect that gases toxic to the human body were generated in the car.

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

  The current position detection unit 110 receives a radio wave from a GPS satellite and detects the current position of the vehicle. Since the current position detection unit 110 has poor accuracy in the position detected by the radio waves from the GPS satellites, it is not only information of the current position detected by reception of the radio waves from the GPS satellites, but also 1 to 1 included in the sensor group 108 Sensor output information from a plurality of sensors, output information from the radar group 106, captured images from one or more cameras included in the camera group 107 (using the navigation function) and the like are also used. By performing the above process, the current position with higher accuracy is detected and confirmed.

  In the automatic driving mode, the automobile 1 has the radar group 106, the camera group 107, the sensor group 108, position information acquired by reception of radio waves from GPS satellites, etc. in the current position detection unit 110 and the surrounding moving object grasping unit 109. Various information, that is, information corresponding to information obtained from human eyes and ears is processed by machine learning such as Bayesian theory or deep learning, and based on this, the control unit 101 changes the course of the vehicle or Intelligent driving such as obstacle avoidance (artificial intelligence) and control (artificial intelligence) are performed to generate automatic driving operation information.

  The display unit 111 is made of, for example, an LCD (Liquid Crystal Display). The touch panel 112 is a display in which a touch sensor capable of touch input by a finger, a touch pen or the like is superimposed on a display screen of the display unit 111 formed of an LCD. Under the control of the control unit 101, a display image including software buttons (including a character input button on a keyboard) is displayed on the display screen of the display unit 111. When the touch panel 112 detects a touch by a finger, a touch pen, or the like on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101. The control unit 101 having received this is configured to execute control processing corresponding to the software button.

  In this embodiment, as shown in FIG. 2, the car navigation function unit 113 for the manual operation navigation function unit 200 constituting the navigation means for the manual operation mode, and for automatic operation constituting the navigation means for the automatic operation mode. And a navigation function unit 300. The manual driving navigation function unit 200 assists the driver to provide route guidance to a destination. Further, the automatic driving navigation function unit 300 supports autonomous traveling to a destination by the car 1 itself.

  In this embodiment, as described later, the control unit 101 prompts the driver or the passenger to input the setting of the destination when the vehicle is activated, and the setting input of the destination is available. Remember it. This is to avoid setting the destination when switching to the autonomous driving mode and shifting to the autonomous traveling. Further, the user may be prompted to input the setting of the via point as needed, and if there is the setting input of the via point, it may be stored. In this case, it is possible not to set not only the destination but also the passing point when switching to the automatic driving mode and shifting to the autonomous traveling. When the via point is set, the navigation function unit for manual operation 200 assists the driver to provide route guidance to the destination through the route via the via point, and the navigation function for automatic driving The unit 300 supports the autonomous traveling to the destination by the route passing through the via point by the car 1 itself.

  As shown in FIG. 2, the manual operation navigation function unit 200 includes a setting receiving unit 201, a route searching unit 202, and a route guiding unit 203. The route guidance unit 203 includes a map display unit 2031 and a voice guidance unit 2032. Further, the navigation function for automatic driving function unit 300 includes a setting receiving unit 301, a route searching unit 302, a control information generating unit for automatic driving 303, a map display unit 304, a voice guidance unit 305, and a peripheral information providing unit 306. And

  And, as the car navigation database 133 connected to the car navigation function unit 113, as shown in FIG. 2, in this example, it corresponds to the map database 1331 in which domestic map data of Japan is stored and map data. The route search data is stored, and a route search database 1332 for the manual operation navigation function unit and a route search database 1333 for the automatic operation navigation function unit are stored.

  In this embodiment, the driver divides the route search database into a route search database 1332 for the manual operation navigation function unit and a route search database 1333 for the automatic driving navigation function unit. Since it is possible to manually drive at one's own discretion, the assistance may be minimal, whereas in autonomous driving by the automobile 1, it is necessary to provide finer assistance.

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

  Then, whether the setting accepting unit 201 of the manual operation navigation function unit 200 gives priority to the expressway in addition to the setting input such as the departure place, the destination, and the via point (the transit point to the destination. The setting is optional.) , Prioritize general roads, Prioritize distances (prioritize shortest paths), Prioritize time (earliers with shorter precedence) or Expenses (prioritize with no cost (cost)) Accept and store priority setting input such as?. In addition, when the destination is set when the host vehicle is activated, the stored set destination is taken as the default destination. It goes without saying that this default destination can be changed or deleted. Of course, when a passing point is set in addition to the destination when the vehicle is activated, the stored passing point which is stored is taken as the default passing point. This default route can also be changed or deleted.

  The route search unit 202 searches for a route using the route search database 1332 for the manual operation navigation function unit based on the setting input stored in the setting reception unit 201, and the route search result is obtained by the route guide unit. Provided to 203.

  In the route guidance unit 203, based on the route search result received from the route search unit 202, the map data of the map database 1331, and the current position data detected by the current position detection unit 110, the map display unit 2031 displays While displaying a map image including a display of a current position of the vehicle and a planned travel route on the display screen of the unit 111, the voice guidance unit 2032 emits a route guidance voice for assisting the driver's driving operation through the speaker 138. Let's do it.

  That is, the map display unit 2031 displays the position of the vehicle 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. The superimposed image is displayed, and the position of the vehicle (current position) on the map is moved along with the movement of the vehicle.

  Further, the voice guidance unit 2032 performs voice guidance by synthetic voice at a place where route guidance is required, such as an intersection or a branch point on a route (route) to a destination. In this case, for example, when the current position of the vehicle approaches a branch point to be turned right, the position before the branch point is, for example, 300 meters before, 100 meters before, 50 meters before, etc. In addition, it is made to emit a guidance voice which enables the driver to easily recognize the driving operation to be performed at the turning point. For example, the voice guidance unit 2032 emits a guidance voice such as "Turn right at 300 meters", "Turn right at 100 meters", and "Turn right here." As the vehicle travels. The driver can recognize the intersection to be turned right or the position of the turning point with this voice guidance and can perform the driving operation of the right turn.

  In this embodiment, the automatic driving navigation function unit 300 is automatically activated under the control of the control unit 101 when the manual driving mode is switched to the automatic driving mode. Therefore, the automatic driving navigation function unit 300 always recognizes the activated current position as the departure point. For this reason, in the automatic driving navigation function unit 300, the setting input of the departure place becomes unnecessary.

  In this embodiment, the setting reception unit 301 of the navigation function for automatic driving 300 determines whether the setting of the destination has already been made, and if the setting of the destination is not made, the setting input of the destination is driven. Prompt the driver or passenger and store the destination for which settings have been entered. Of course, the setting input of the destination may be selectively input, and the driver or the passenger may be prompted to select the destination, and the selected input may be stored. Furthermore, the driver or the passenger is prompted to set or enter via points (select input from a plurality of candidates, including no via points), and the via points for which settings or inputs are selected are stored. In addition, when a destination or a passing point is set when the vehicle is activated, the stored destination or passing point may be adopted as it is, but in this embodiment, the user In consideration of the convenience of the system, it is inquired as to whether or not to change the destination or the via point, and if there is no change in the destination or the via point, the memorized destination or via point is adopted.

  In addition to setting input such as a destination, a transit point (a transit point to a destination, setting is optional), etc., the setting acceptance unit 301 gives priority to expressways or prioritizing general roads or distance. Accepts and stores priority setting input such as whether to give priority to the shortest route, give priority to the time (place priority on the short arrival time), or give priority to the cost (place without cost (cost)) .

  By the way, when the driver or the passenger wants to go to sleep or act freely, leaving the autonomous driving by the automatic driving of the automobile 1 completely to the execution of the navigation function for automatic driving 300 in the automatic driving mode. , Route guidance and map display become unnecessary. Also, some drivers and passengers may want to know the current position of their own vehicle on the map and want to know what kind of travel they want to perform in the execution of the automatic driving navigation function unit 300 in the automatic driving mode. . In addition, although the driver or the passenger does not need the voice of the route guidance, sometimes when it comes to a specific point, there is a case where peripheral information such as sightseeing information and restaurant information of the point is to be known.

  Furthermore, with regard to switching from the automatic driving mode to the manual driving mode, if the manual driving operation detection unit 105 detects a manual driving operation, it is immediately switched to the manual driving mode or, for example, the manual driving operation detection unit 105 Even when the operation is detected, switching to the manual operation mode is performed only when detecting an explicit switching instruction operation through the touch panel 112 or detecting that the voice recognition unit 116 receives an explicit switching instruction by voice. There may be cases where it is desired to set the level of switching from the automatic operation mode to the manual operation mode, as in the case of.

  In consideration of the above, when the setting accepting unit 301 of the navigation driving unit for automatic driving 300 is switched from the manual driving mode to the automatic driving mode, when the navigation driving unit for automatic driving 300 is activated, Whether to request map display during the above-mentioned navigation, whether to request a service for providing route guidance and peripheral information by synthetic speech, which will be described later, whether to register a point to request provision of peripheral information, It is also possible to accept setting input such as which of the above levels the switching to the manual operation mode should be made. As in the case of the setting reception unit 201 of the manual operation navigation function unit 200, the setting reception unit 301 of the automatic driving navigation function unit 300 includes a destination, a passing point, expressway priority, distance priority, time priority, and cost priority. And the like may be accepted and stored.

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

  Based on the route search result received from the route search unit 302, the map data of the map database 1331, and the current position data detected by the current position detection unit 110, the control information generation unit 303 for automatic driving Operation control instruction information for supporting autonomous driving is generated. The control unit 101 controls the motor drive control unit 102 and the steering drive control unit 103 based on the operation control instruction information to execute autonomous driving.

  In this case, when the current position of the vehicle is away from on the route to the destination, the control information generating unit 303 for automatic driving notifies the control unit 101 of the information on the separation direction and distance, and When the vehicle's current position is on the route to the destination, the control unit 101 is notified of change direction information on the course direction along the route before the intersection or branch point on the route along with the movement of the vehicle. To do. Based on the operation control instruction information notified from the control information generation unit 303 for automatic driving, the current position check result of the current position detection unit 110, and the grasped result of the surrounding mobile object grasping unit 109, the control unit 101 For controlling the motor drive unit 131 through the motor drive control unit 102 and controlling the steering drive unit 132 through the steering drive control unit 103 so that the own vehicle moves along the route as instructed on the route. Generate automatic driving operation information. Therefore, the automobile 1 moves to the destination even when the passenger is unmanned by route guidance to the destination by the navigation function for automatic driving 300 and the control unit 101 of the car navigation function unit 113 in the automatic driving mode. Can.

  The map display unit 304 is a processing function unit that performs map display processing during execution of the automatic driving navigation function. The map display unit 304 does not need to support the driver in the navigation function for automatic driving, so in this embodiment, the display screen of the display unit 111 is divided in the vicinity of an intersection or a branch point to A display that guides the user by enlarging the vicinity of the branch point is omitted. The map display unit 304 may perform the same map display processing as the map display unit 2031 of the route guidance unit 203 of the manual operation navigation function unit 200. In this case, the manual operation navigation function unit The map display unit 2031 of the route guidance unit 203 of 200 can also be used as the map display unit 304 of the navigation function unit for automatic driving 300.

  The map display unit 304 is activated when the setting acceptance unit 301 is set to request a map display during execution of the automatic operation navigation, and becomes active, and the navigation execution by the automatic operation navigation function unit 300 described above is performed. When the map display is executed and the map display is not requested, the display becomes inactive. The switch 307 in FIG. 2 is for explicitly indicating that the map display unit 304 is switched between the operation and the non-operation according to the setting of the user, and is not necessarily provided in practice.

  The voice guidance unit 305 is a processing function unit that performs voice guidance processing by synthetic voice during execution of the automatic driving navigation. Since there is no need to support the driver in the navigation function for automatic driving, the voice guidance will be polite according to approaching an intersection or branch point such as "Turn right at 300 meters." Is unnecessary, and in this embodiment, the voice guidance unit 305 performs voice guidance processing for informing the driver or the passenger of what kind of action the vehicle takes at an intersection or a junction. Of course, the voice guidance unit 305 may perform the same voice guidance as the voice guidance unit 2032 of the manual operation navigation function unit 200. In that case, the voice guidance unit 2032 of the route guidance unit 203 of the manual driving navigation function unit 200 can be used as the voice guidance unit 305 of the automatic driving navigation function unit 300.

  The voice guidance unit 305 is also activated when the setting acceptance unit 301 is set to request voice guidance during execution of the automatic driving navigation, and is activated and the navigation execution by the automatic driving navigation function unit 300 described above is performed. When voice guidance is performed and voice guidance is not requested, the device becomes inoperative. The switch 308 in FIG. 2 is for explicitly indicating that the voice guidance unit 305 is switched between the operation and the non-operation according to the setting of the user, and is not necessarily provided in practice.

  The peripheral information providing unit 306 is activated when the setting accepting unit 301 accepts registration of a point for which provision of peripheral information is requested. The switch 309 in FIG. 2 is for explicitly indicating that the peripheral information providing unit 306 is switched between the operation and the non-operation according to the setting of the user, and is not necessarily provided in practice.

  The peripheral information provision unit 306 monitors the current position of the vehicle detected by the current position detection unit 110, and when the current position of the vehicle becomes a registered point or its vicinity, the car navigation database 133 The information about the registered point stored in the map database of, for example, the tourist information, the guidance information of the surrounding scenery, and the restaurant information of the surrounding restaurants etc. are read out and displayed on the display screen of the display unit 111 Or, through the audio input / output unit 122, to notify by synthetic speech through the speaker 138. In this case, when the setting accepting unit 301 allows the user to register and set in advance whether similar information is requested as the peripheral information, only the peripheral information for which the registration setting has been made. Is provided.

  During execution of the navigation functions of the manual operation navigation function unit 200 and the automatic operation navigation function unit 300, an icon button for peripheral search is displayed on the display screen of the display unit 111, and the driver or When the rider depresses and operates this icon button for peripheral search, the touch panel 112 detects it, and according to the detection result, the manual driving navigation function unit 200 or the automatic driving navigation function being executed at that time The unit 300 is configured to execute a peripheral search function centering on the current position at which the icon button for peripheral search is pressed and the search result is provided to the driver or the passenger. There is.

  As will be described later, as the destination when the manual operation mode is switched to the automatic operation mode (or the forced automatic operation mode), not the name or position information of the destination but an attribute of the destination, for example, "hospital", When “gas station” and “convenience store (hereinafter abbreviated as convenience store)” are registered, the navigation function unit 300 for automatic driving of the car navigation function unit 113 detects the current position detected by the current position detection unit 110. The peripheral search is performed on the attribute of the destination centering on the position, and the facility or place as a result of the peripheral 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 information of the latitude and longitude of the current position information detected by the current position detection unit 110 to find the location of the current position. It has a function to detect the name, facility name and address. Then, as described later, the voice guidance unit 2032 of the manual operation navigation function unit 200 of the car navigation function unit 113 and the voice guidance unit 305 of the automatic operation navigation function unit 300 detect the place name or facility name of the detected current position. It also has a function of transferring the name of the address to the synthetic speech generation unit 121 based on the control of the control unit 101.

  The image recognition unit 114 performs a matching process with the image information stored in the image information storage unit 134 and the captured image from the camera capturing the inside of the vehicle in the camera group 107 and the camera capturing the outside of the vehicle. Obtain image recognition results for judging the in-vehicle situation, such as physical abnormality of the driver or the passenger, or sleeping behavior, eating, drinking, smoking, looking aside, looking aside, etc., driver's behavior, driver's footwear, etc. The image recognition unit 114 transfers the obtained recognition result to the in-vehicle situation determination unit 117.

  In addition, the image recognition unit 114 recognizes a person standing on a pedestrian crossing from a captured image from a camera for capturing the outside of a vehicle in the camera group 107 or recognizes a crossing of a crossing, etc. The image recognition unit 114 also has a function of recognizing a road sign or a road sign from a captured image from a camera that captures the outside of the camera group 107.

  Further, in the image information storage unit 134 connected to the image recognition unit 114, image information of a comparison image for image recognition is stored. As a comparison image stored in the image information storage unit 134, an image of the state of personnel insufficiency, front and rear, ignorance, and fainting of a person sitting on a seat, for comparison with a captured image from a camera for capturing the inside of a car An image of a seizure state of an eyelid, an image of a doze (such as eyelids being closed for a certain period of time or a cocklecogly in the head), an image of a person who is looking away or looking away, an image of a person who is eating or drinking , Food and drink items (rice balls, sandwiches, lunch boxes, sweets, ice cream, water, tea, coffee, etc.) (helps with detection of food and drink) images, cigarettes (helps with detection of smoking) Images of footwear (footwear (footwear, slippers, high heels, etc. that may cause a drive mistake) or barefoot (a state in which footwear is not worn and may cause a drive error), and the like.

  In addition, as a comparison image stored in the image information storage unit 134, an image of a landscape that causes a look away and a look (for example, an image of a superb view of autumn leaves, as a comparison with a captured image from a camera that captures the outside of the vehicle Images of landmarks and historic sites, images of festival kamisu, images of fireworks, images of new store sales etc.) and images of celebrities (eg, images of famous celebrities and athletes), etc. are included.

  Further, in the image information storage unit 134, image data of road signs and road markings are registered in advance and stored as comparison images. The image recognition unit 114 includes, among the camera group 107, photographed images from one or more cameras for photographing the front, the side, the rear, etc. outside the car 1 and the image data of the road sign and the road sign. By performing the matching process, road signs and road markings are extracted from the photographed images of the one or more cameras.

  Then, the image recognition unit 114 also transfers the recognition result based on the captured image from the camera that captures the outside of the vehicle to the vehicle motion analysis and detection unit 118.

  The vehicle movement analysis and detection unit 118 detects movement of the vehicle (car 1) from start, stop, straight running, slowing, right turn, left turn, reverse, etc. from the captured image of the camera of the camera group 107 Detect movements such as moving to the left side of the road or crossing the center line of the traveling lane.

  The automatic operation switching condition determination unit 115 changes 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 normal automatic operation mode and the forced automatic operation mode). It is determined whether the in-vehicle situation of the own vehicle or the behavior in the manual operation mode by the driver agrees with any of the switching conditions to be switched, and when it is determined that the conditions coincide, the manual operation mode to the normal automatic operation mode or A switching instruction to the forced automatic operation mode is sent to the manual / automatic operation mode switching control unit 104.

  The voice recognition unit 116 performs matching processing between the voice information from the microphone 137 and the voice information stored in the voice information storage unit 136, so that the driver or passenger's physical abnormality, or the driver. And get voice recognition results for the determination of the in-vehicle situation such as the passenger's palatability and urgency. The voice recognition unit 116 transfers the obtained recognition result to the in-vehicle situation determination unit 117.

  The voice information storage unit 136 connected to the voice recognition unit 116 includes a moan, an asthmatic sound, a scream, or "suffering", "help", " Voice information such as "I'm feeling sick", "Somewhat", "Mukamuka", "I vomit", "そ う", "Gee", etc., and when the driver or passenger holds a palatability or urgency The voice information of tight voices (words) such as “toilet”, “restroom”, “restroom”, “limit”, “let's go” etc. It is stored for comparison. Furthermore, in the voice information storage unit 136, a cry of a child, a falling sound from a sheet of a child, a bark of a pet, and the like are also registered in advance and stored.

  The in-vehicle condition determination unit 117 includes one or more sensors contributing to the determination of the in-vehicle condition in the sensor group 108, the image recognition result from the image recognition unit 114, the voice recognition result from the voice recognition unit 116, and Based on the output, an in-vehicle situation which is a switching condition for switching from the manual driving mode to the automatic driving mode is determined. Then, the in-vehicle condition determination unit 117 transfers the determination result of the in-vehicle condition to the automatic driving switching condition determination unit 115.

  In this example, the mobile telephone function unit 119 is built in advance in the car 1, is registered as a subscriber, and is assigned a predetermined subscriber number. A driver or a passenger of the car 1 can make a mobile phone call by so-called hands-free operation. Then, as described later, when the report to No. 119 is stored as setting information related to the switching condition stored in the automatic driving switching condition storage unit 135, the control unit 101 of the automobile 1 is the mobile phone The telephone function unit 119 has a function of making a 119 call. The report information in the 119th report is composed of the synthesized speech from the synthesized speech generation unit 121. The mobile phone function unit 119 also has a mail function and an internet connection function.

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

  The synthetic voice generation unit 121 incorporates a memory for storing voice message data to be emitted to the outside, and the route guidance from the voice guidance unit 2032 and voice guidance unit 304 of the car navigation function unit 113 and the peripheral information provision unit 306. It has a function to convert voice data, location name of current location, facility name, and address into synthetic voice. In addition, as a voice message which the synthetic speech generation part 121 memorizes, as it mentions later, for example, it switched to "normal automatic operation mode.", "Switched to forced automatic operation mode.", And "manual operation mode. A notification message for switching the operation mode such as “switched.”, And a notification message prompting a destination setting input at the time of switching from the normal manual operation mode to the automatic operation mode or the forced automatic operation mode are prepared.

  As described above, the voice input / output unit 122 is connected to the microphone 137 and to the speaker 138. The microphone 137 and the speaker 138 are used as a hands-free handset for hands-free communication using the cellular phone function unit 119. Further, the voice input / output unit 122 not only has a function of transmitting / receiving a hands-free voice for a call using the mobile phone function unit 119, but the in-vehicle voice information for determining the in-vehicle situation can be It also has a function of collecting the sound and supplying it to the voice recognition unit 116, and a function of emitting from the speaker 138 a notification message for switching the operation mode described above, a notification message prompting for destination setting input, and the like.

[Example of storage contents of automatic driving switching condition storage unit 135]
In this embodiment, two types of switching conditions are defined. That is, the first type of switching condition is defined as an in-vehicle situation in which there is a problem in securing safety when the driver continues driving in the manual operation mode. That is, there is a danger or safety is not secured when the in-vehicle situation of the automobile 1 becomes the in-vehicle situation that matches the switching condition, so the manual operation mode is usually the normal automatic operation mode or the forced operation mode. This first type of switching condition is defined as a condition to be switched to the automatic driving mode and to be in the traveling state to maintain the safe driving.

  In addition, the second type of switching condition prevents driving that does not comply with traffic regulations such as "overtaking prohibited", "right turn (left turning) prohibited", "speed limit", "signal compliance", and "temporary stop at level crossing" To avoid a situation that is likely to cause an accident such as “ignore stop at pedestrian crossing”, “disturbing driving”, “dangerous driving, reckless driving”, “sudden acceleration, sudden braking, quick steering” etc. It is considered as a condition to secure safe driving. Then, for this second type of switching condition, the manual operation mode is switched to the normal automatic operation mode instead of the manual operation mode, including punitive meaning, so that the forced automatic operation mode can be switched.

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

  As exemplified in FIGS. 3 to 5, the first automatic driving switching condition table TBL1 includes the driving mode of the automobile 1 from the manual driving mode to the normal automatic driving mode or while the automobile 1 is traveling in the manual driving mode. Switching conditions for switching to the forced automatic operation mode, control contents when the switching condition is met, information on destinations in the normal automatic operation mode and the forced automatic operation mode, and cancellation conditions for the normal automatic operation mode and the forced automatic operation mode And are associated and stored.

  The control contents when the switching condition is met include the designation information of the automatic operation mode for switching to the normal automatic operation mode or the forced automatic operation mode when the switching condition is met, and the switching condition which is matched The vehicle 1 includes control contents to be performed in the automatic operation mode (including the forced automatic operation mode) after switching.

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

  Further, as exemplified in FIGS. 6 and 7, the second automatic driving switching condition table TBL2 causes the traveling mode of the automobile 1 to change from the manual driving mode to the forced automatic driving mode while the automobile 1 is traveling in the manual driving mode. The switching condition for switching to, the operation content in the forced automatic operation mode, and the cancellation condition of the forced automatic operation mode are stored in association with each other.

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

  Further, information on the switching conditions of the first automatic driving switching condition table TBL1 is additionally written after the predetermined operation by the user of the automobile 1, that is, the driver or the passenger through the touch panel 112. It is also possible to additionally store in the automatic driving switching condition storage unit 135. The user of the automobile 1, that is, the driver can also select whether or not to use some of the switching conditions of the first automatic driving switching condition table TBL1.

  The first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 may be set and registered in advance by each automobile company, or even if the automobile industry is standardized, Ministry of Land, Infrastructure, Transport and Tourism may set it. In this case, the user can not change or delete the stored contents. Note that the first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 are connected to the Internet provided to the mobile phone function unit 119 using a homepage such as an automobile company or the Ministry of Land, Infrastructure, Transport and Tourism. The latest condition table may be updated. The Ministry of Land, Infrastructure, Transport and Tourism is a Japanese government agency, but it can be considered the same as the government governing traffic and transportation in the country where the car 1 travels. For example, in the case of the United States, it is DOT (United States Department of Transportation; United States Department of Transportation).

  Of course, the first automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 are each country, the same state in the same country, the state (US), the province (China), the prefecture (China), It may differ depending on the region such as Japan). In this case, the radio wave from the GPS satellite and the current position during traveling are detected by the mobile phone function unit 119 or the like, and the first automatic driving switching condition table TBL1 and the first automatic driving switching condition table TBL1 are The second automatic driving switching condition table TBL2 may be switched. Also, instead of automatically switching according to the country or region in which the vehicle is traveling, the driver or passenger identifies the country or region in which the vehicle is traveling, and the first corresponding to the country or region in which the vehicle is traveling The automatic driving switching condition table TBL1 and the second automatic driving switching condition table TBL2 may be used.

  When traveling in a plurality of countries is routinely performed, such as in the EU (European Union; European Union), etc., the automobile 1 is subject to the first automatic driving switching condition in all countries where traveling is planned. The table TBL1 and the second automatic driving switching condition table TBL2 may be stored in the automatic driving switching condition storage unit 135 in association with the identification information of all countries. This is true not only in the country but also in the region.

  3 to 5 show examples of the first automatic driving switching condition table TBL1 in this embodiment. In the example of FIGS. 3 to 5, the switching condition is “a change in the driver's or passenger's state of health 1”, “a driver or a person's state of health change 2”, “the driver's nap”, “driving” Sickness or nausea of a person or passenger, "sufferability or irritability of the driver or passenger", "overwork driving", "during driving (including red lights stop, temporary stop such as crossings) Driver's drinking, "Driving by driver, looking aside", "Drinking or smoking by driver", "Deterioration of driving environment", "Abnormal behavior of children and pets on board", "How to drive of driver" Conditions for securing safe driving by avoiding an accident-prone condition such as “attitude”, “the driver is wearing footwear that has trouble driving, or not wearing footwear” are illustrated. ing. Then, in accordance with the respective switching conditions, designation of the automatic operation mode and the forced automatic operation mode after switching, the control content, the destination, and the cancellation condition of the automatic operation mode are respectively determined.

  It is needless to say that the switching conditions shown in FIGS. 3 to 5 are a part of the contents of the first automatic driving switching condition table TBL1, and various other predetermined switching conditions are registered.

  As shown in FIG. 3, for example, as the switching condition for “the driver's or passenger's abnormal state of health 1”, the driver or the passenger is registered with an emergency such as personnel infidelity, back and forth, omission, etc. ing. The automatic driving switching condition determination unit 115 determines, using the determination result of the in-vehicle condition determination unit 117, whether or not the switching condition for “the driver's or passenger's health condition change 1” is met. The in-vehicle condition determination unit 117 determines whether or not a physical abnormality such as personnel infidelity, ignorance before and after, or fainting has occurred by image recognition in the image recognition unit 114 for the driver or passenger. Do.

  For example, the case of a driver will be described. For example, the driver is photographed by a camera in a group of cameras 107 mounted on the side of the rear view mirror 2 of the car 1. When there is no physical abnormality in the driver, the driver's captured image is an image with a motion in which the driver opens his eyes and gazes forward and operates the steering wheel (handle). On the other hand, when the driver's physical abnormality occurs and becomes a state of personnel insecurity, ignorance, and fainting, the driver's captured image shows that the driver closes his eyes and the face looks down without looking forward (upward In some cases), and the image becomes limp and does not move. The in-vehicle condition determination unit 117 determines the above-described abnormal condition of the driver based on the recognition result from the image recognition unit 114, and transmits it to the automatic driving switching condition determination unit 115. Note that, in order to perform more precise medical image recognition, the image information storage unit 134 may be richly stored medically characteristic and precise comparison image information.

  The automatic driving switching condition determination unit 115 receives the determination result of the in-vehicle condition, and compares the determination result with the stored contents of the automatic driving switching condition storage unit 135 It is determined that the switching condition for the "error 1" (see FIG. 3) is met.

  In the above example, determination is made based on only the image recognition result of the image recognition unit 114. However, in this embodiment, the in-vehicle situation determination unit 117 adds the voice recognition unit 116 to the image recognition result. This "aberrantness 1 of the driver's or passenger's health condition" is determined taking into consideration the recognition of a roaring voice, a roaring voice, a whistle (in the case of cerebral hemorrhage (brain hemorrhage), etc.) by voice recognition in Let's do it. As a result, the accuracy of the determination in the in-vehicle condition determination unit 117 can be improved.

  The control content of the switching condition of “the driver or passenger's health condition abnormality 1” is a switching to the forced automatic driving mode. And a hospital is designated as a destination (destination). The designated hospital may be selected and designated in advance by a driver or the like, or may be designated at the time of switching to the automatic driving mode.

  That is, a specific hospital, for example, a family hospital can be designated. In that case, the hospital name, the address, and the telephone number of the family hospital are stored in the automatic driving switching condition storage unit 135. The control unit 101 of the car 1 calls the hospital by using the mobile phone function unit 119 using the telephone number of this hospital, tells the characteristics of the own vehicle and the driver's name, etc., and takes the sudden sick person. Let's notify the hospital. The message for this is stored in advance in the synthetic speech generation unit 121. The hospital can also be notified by mail instead of by telephone. In addition, in order to accurately convey the medical condition of a sudden sick person to the doctors of the hospital, the image information and voice information of the sudden sick person may be emailed as an attached file.

  In addition, destination attributes may be stored as in a "emergency hospital or general hospital close to the current position" instead of a specific hospital. A destination attribute may be designated as a destination, such as “emergency hospital or general hospital near current position”. When a destination attribute is designated as a destination such as “emergency hospital or general hospital near current position”, the car navigation function unit 113 searches around the corresponding hospital around the current position, as described later. Let the search results in the vicinity be the destination.

  In that case, when it is possible to acquire the telephone number of the hospital, the control unit 101 of the automobile 1 uses the mobile telephone function unit 119 to use the hospital's telephone number, as described above. Make a phone call, tell the characteristics of your vehicle and the driver's name, etc., and notify the hospital to take the sickly patient. Further, as described above, not only telephone calls but also communication applications such as mail and LINE can be used for notification. Furthermore, the image information and voice information of a sudden sick person may be mailed as an attached file.

  Further, in this embodiment, it is possible not to designate a specific destination or destination attribute as a destination, but to stop at a road shoulder or the like to select the 119th notification. In the case of the 119th report, the characteristic of the own vehicle, the driver's name, the occurrence of a sudden sickness, the place name of the current position, the address etc. I will include it.

  The car 1 may be provided with a medical information storage unit (not shown) incorporating various medical information (medical information) and a medical database (not shown). In that case, medical information such as disease name, symptoms, coping method, etc. is clearly stored in the medical information storage unit with regard to intracerebral hemorrhage, subarachnoid hemorrhage, cerebral infarction, myocardial infarction, angina pectoris and various other diseases. With regard to symptoms, image information such as eye conditions, facial expressions, sweating and spasms, and voice information such as eyebrows and whistling that are specific to various diseases are stored, and various diseases are made into initial symptoms by image recognition and voice recognition. To be able to grasp quickly and accurately. Of course, not only still images but also moving images are stored as image information. Therefore, when the variation 1 occurs, it is possible to determine the control content, the coping method, and the destination of the automobile 1 based on the medical information stored in the medical information storage unit.

  That is, when the accident 1 occurs, whether the movement to the hospital is appropriate or the movement is not stopped and the vehicle is stopped on the shoulder, etc., and the 119 call is made and it is appropriate to wait for the ambulance to arrive to decide. When the movement to the hospital is appropriate, the automobile 1 selects an optimum traveling speed (for example, 30 km / hour or less) that does not impose a load on the sudden sick person or the car navigation function unit 113 It is also possible to provide information and the like, and provide the car navigation function unit 113 with an optimum route which can travel smoothly without giving a vibration to a sudden sick person as much as possible. In addition, when the medical information storage unit stores the past illness or medical history of the driver or the rider, it is possible to respond more promptly and appropriately when the variation 1 occurs.

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

  In addition, when the driver or passenger is a pregnant woman and labor pain occurs, it is not a state such as personnel infidelity, ignorance, back and forth, fainting etc., it is not a disease, but it is a life related emergency and conforms to Variation 1. . In this case, the automobile 1 goes to a pregnant woman's usual obstetrics and gynecology department, obstetrics department or maternity hospital as a destination so that the pregnant woman can safely give birth. If there is a possibility that your obstetrics and gynecology department, obstetrics department or obstetrics hospital is far from the current position and it may not be in time for childbirth, search the obstetrics and gynecology department or obstetrics department or obstetrics hospital near the current position by the search function of car navigation function unit 113 And go to the obstetrics and gynecology department, obstetrics department, or maternity hospital that could be retrieved The same applies when a pregnant woman breaks down, and the destination is the family or the nearest obstetrics and gynecologist, obstetrics department, or maternity hospital.

  The cancellation condition of the forced automatic operation mode corresponding to the switching condition of "the driver's or passenger's health condition abnormality 1" is assumed to be "arriving at destination" or "ambulance has arrived".

  Next, as a switching condition for “the driver or passenger's health condition change 2” in FIG. 3, the driver or passenger has not reached a state such as personnel infidelity, ignorance, back and forth, etc. Physical abnormalities that make manual driving difficult due to seizures, asthma attacks and vomiting are registered. The in-vehicle condition 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 the “fault 2 of the driver's or passenger's health condition”. Make it

  The control contents for the switching condition of “the driver or passenger's health condition change 2” is the switching to the forced automatic driving mode, and the driver or passenger is awake even if a physical abnormality occurs. In consideration of the above, in this embodiment, it is considered as a destination inquiry to the driver or the passenger. Then, as a destination, the driver etc. select and designate "home (including address and position information)", "hospital (including hospital name, address and position information)" and "stop at road shoulder etc." It may be selected or designated at the time of switching to the automatic operation mode. Further, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of the "change in the driver's or passenger's health condition 2" is "when the user has arrived at the destination".

  When the switching condition of “the abnormal condition 2 of the driver's or the passenger's health condition” is met, based on the matching result of the automatic driving switching condition determination unit 115, the control unit 101 may, for example, Even if it sends out a message and asks for the safety, even if the destination is pre-registered in the automatic operation switching condition storage unit 135, as will be described later, an inquiry of "Do you want to make the destination a registered place?" To make it possible to change the destination (destination). This takes into consideration the case where the driver or the passenger decides to go to the hospital based on the degree of physical change even if "home" or "stop on the road shoulder" is selected in the pre-registration. In addition, in this embodiment, when "stop on a road shoulder etc." is registered in advance, it is defined that an inquiry "do you report 119?" Is performed.

  When the destination is not pre-registered, as described later, when switching to the automatic operation mode, destinations such as "Do you return home?", "Do you go to the hospital?", "Do you stop?" Generate an inquiry message of (destination) by synthetic voice, recognize voice of reply of driver or passenger such as "Yes" or "No" for each message, and decide destination according to the recognition result Make it

  Furthermore, in this embodiment, when there is no pre-registration as a destination corresponding to the switching condition of “the driver's or passenger's health condition change 2”, and there is no response to an inquiry by synthetic voice, the control unit 101 It is judged that the emergency hospital or general hospital near the current position is searched by the peripheral search function of the car navigation function unit 113 based on the judgment that there is a dangerous state, and the hospital which could be searched is made to head for the hospital. In this case, when the hospital can not be searched, the vehicle is stopped on the road shoulder or the like to notify the 119th. In the 119th report, as described above, the synthetic speech generation unit 121 generates the feature of the own vehicle, the driver's name, the occurrence of a sudden sickness, the name of the current position, the address, etc. Be included in the content.

  The cancellation condition of the forced automatic operation mode corresponding to the switching condition of "the abnormal condition 2 of the driver's or passenger's health condition" is considered to be "arriving at destination" or "ambulance has arrived".

  In the same manner as the above-mentioned variation 1 even when variation 2 occurs, the control content, coping method, and destination of car 1 are determined based on the medical information stored in the medical information storage unit (not shown). Of course you can do it.

  Next, the driver's drowsiness of the switching condition will be described. In this case, the in-vehicle condition determination unit 117 performs image recognition of the captured image of the camera 107a for capturing the driver 3 in the image recognition unit 114, thereby keeping the eyelid closed for a certain period of time or By recognizing, the driver's drowsy state is determined.

  The control content of this "driver's drowsy" switching condition is usually switching to the automatic driving mode, as well as sending out a call voice (synthetic voice) for awakening the driver, or an alarm sound or a buzzer. Be done. This is because it can be expected that the driver wakes up by the calling voice, the alarm sound, and the buzzer. The seat may be vibrated instead of or in addition to the calling voice or the like.

  As a destination (destination) with respect to the switching condition of the “driver's drowsy”, when the destination is set at the start of traveling of the car 1, it is set as the set destination. However, if you are not awakened by the calling voice or the like (it can be judged from the image recognition), physical trouble or mental trouble is expected instead of dozing, so the peripheral search function of the car navigation function unit 113 searches The emergency hospital or general hospital near the current location, which is obtained as Furthermore, when the hospital is not found in the vicinity search, the vehicle is stopped on the road shoulder or the like, and the 119 notification including the predetermined notification items as described above is made.

  The cancellation condition of the normal automatic operation mode corresponding to the switching condition of the “driver's drowsy” is “Destination preset” when the destination (the destination) determined at the time of switching to the automatic operation mode is “destination”. In the case of a manual operation operation, the destination is "arrived at a destination" in other cases such as a hospital.

  Next, the switching condition “a sickness of a driver or a passenger, poor health such as nausea” will be described. In this case, the in-vehicle condition determination unit 117 determines that the image recognition result of the photographed image of the driver or the passenger in the image recognition unit 114 is “bad”, “drunken by a car”, “wandering”, Based on the result of voice recognition by the voice recognition unit 116 such as “Just”, “Gee”, “Gee”, etc., the condition of “a poor health condition such as a driver or passenger's car sickness or nausea” is determined. .

  The control content of this "switching condition of driver's or passenger's sickness, nausea or other poor physical condition" is considered as switching to the forced automatic operation mode. Then, as the destination, if the current position is on the expressway, it will be the nearest PA (parking area) or SA (service area), and if the current position is a general road, it will be "stop close to the roadside" . Note that "return to home" can also be registered as a destination. Further, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of "a driver's or passenger's sickness, nausea or other physical condition" is considered to be "arriving at destination".

  Next, the switching condition “driver's or passenger's convenience and urgency” will be described. In this case, the in-vehicle situation determination unit 117 determines the appearance of the driver or the passenger by the image recognition of the photographed image of the driver or the passenger in the image recognition unit 114, and Based on the result of speech recognition by the speech recognition unit 116 of speech such as “Likely leak”, the situation of “favorability or urgency of the driver or passenger” is determined.

  The control content of the switching condition of the "driver's or passenger's palatability or urgency" is switching to the forced automatic driving mode. And if the current position is on the expressway, it will be the nearest PA (parking area) or SA (service area), and if the current position is a general road, the nearest "convenience store" or "gas station" And so on. The place where this toilet is located can be registered in advance by the attribute of the destination such as "Convenience store" or "Gas station". Further, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of the "driver's or passenger's palatability and urgency" is "when the user has arrived at the destination".

  Next, the "overwork driving" of the switching condition will be described. The switching condition in this case is one of three conditions. The first condition is that one driver continues driving continuously for a predetermined time or more, for example, 2 hours or more. The second condition is that the total driving time per day for one driver is equal to or more than a predetermined time, for example, five hours or more. The third condition is that, while one driver is driving, the number of switching between the manual operation mode and the automatic operation mode in one day is equal to or more than a predetermined number, for example, 20 or more. Ru. The situation in which any of the above three conditions is satisfied takes into consideration that the driver may have problems with safe driving due to overwork. The condition for determining overwork is not limited to the above three conditions, and image recognition of the facial expression of the driver's face taken by the camera of the camera group 107 is performed to determine whether it is a tired expression or not. A living body measurement may be performed, and the degree of overwork may be determined from the measured value.

  Based on the time information from the clock unit 120, the in-vehicle condition determination unit 117 determines whether one driver has continued driving continuously for 2 hours or more, or whether the total operation time has exceeded 5 hours. It is determined that the in-vehicle situation of the switching condition of the first condition or the second condition is reached. In addition, the in-vehicle condition 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 a single driver. In the in-vehicle situation of the switching condition of the third condition by determining that the number of switching times between the manual operation mode and the automatic operation mode in one day is 20 times or more while driving the vehicle. Determine that it has become.

  The control content of the switching condition of “overwork operation” is switching to the forced automatic operation mode. Then, as a destination for the switching condition of “overwork driving”, if a destination is set at the start of traveling of the automobile 1, it is regarded as the set destination, and the destination must be set in advance. For example, it is set as the destination set by the driver or the passenger according to the inquiry when switching to the automatic driving mode. Then, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of the "overwork operation" is considered to be "arriving at destination".

  Next, “driver's drinking” under the switching condition will be described. In this case, the in-vehicle condition determination unit 117 determines the in-vehicle condition of "drinking by the driver" from the detection result of the alcohol concentration included in the driver's breath by the breath sensor included in the sensor group 108. In the car 1, the image recognition unit 114 recognizes an image when the driver is drinking a beverage, and the bottle, bottle, or can of the beverage being drunk or held is beer, sake, Recognize whether it is for alcoholic beverages such as wine, whiskey, cocktails, shochu, etc., and let the in-vehicle situation determination unit 117 that receives the recognition result determine the in-vehicle situation of “drinking by the driver” .

  The control contents of the switching condition of the "driver's drinking" are switching to the forced automatic driving mode. Then, as a destination for the switching condition of "drinking by the driver", the destination is set at the start of traveling if the automobile 1 is traveling (including stoppages such as red light stopping and crossings). In this case, it is set as the set destination, and if the destination is not set in advance, it is set as the destination set by the driver or the passenger according to the inquiry when switching to the automatic driving mode. Ru. If the automobile 1 is in a stopped state in a parking lot, a garage, or the like, "do not start" may be used, or a destination set at the start of traveling may be used. Then, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of "drinking of the driver" is "arrived at destination" or "cancellation of switching condition". The elimination of the switching condition is performed when, for example, 8 hours have elapsed, when the alcohol concentration of the driver's breath in the breath sensor becomes less than a predetermined value or when the drinking state returns to the normal state.

  Next, the driver's "look and aside look" of the switching condition will be described. In this embodiment, the switching condition is that the driver's looking aside and looking aside last for a predetermined time or more, for example, one minute or more. The in-vehicle condition determination unit 117 is based on the image recognition result of the driver's captured image by the camera, and the driver looks away and aside from the continuation of one minute or more of the driver's state Let's determine the situation. By considering the direction of the line of sight for one minute or more of the state in which the driver keeps talking, it is possible to distinguish and judge from the case of checking the left and right for safety during driving.

The following situations can be considered as situations where it is easy to see and look away.
・ Places of famous places, historical sites, superb views (including autumn leaves). In such a place, the driver also wants to look at the scenery and the scenery, and it is likely to look away or look away, and in the manual operation mode, it is not possible to secure the safety.
-Extraordinary events, such as festival shrines, fireworks, newly opened store sale, etc. Such an event may cause the driver to want to see it, and may look away and take a look at it, and may not be able to secure safety in the manual operation mode.
・ Celebrities, such as famous celebrities and athletes, and people who have recently been in the public domain. Such a celebrity may want to look at the driver at a glance, and may look away and look at it, and may not be able to secure safety in the manual operation mode.

  In consideration of the situations as described above, the in-vehicle condition determination unit 117 detects the locations of famous places, historic sites, and scenic views (including autumn leaves) by the peripheral search function of the car navigation function unit 113 by the above-described image recognition. In addition to the above detection, it is possible to determine the in-vehicle situation of "viewing a driver, looking aside". In addition, the in-vehicle condition determination unit 117 accesses the Internet through the mobile phone function unit 119, searches for information on events around the current position, and detects the detection results of the above-mentioned events such as festivals, fireworks and newly opened store sales. In addition to the detection of the state of the vehicle by image recognition described above, it is possible to determine the in-vehicle situation of "viewing a driver, looking aside". Furthermore, the image information storage unit 134 stores image information such as famous celebrities and athletes, and a person who has recently been a topic of interest, so that the captured image information from the camera that captures the outside of the automobile 1 Based on the image information of the person, the image recognition unit 114 adds the detection results of the above-mentioned famous celebrities and athletes, and recently hot topic persons to the detection of the state of rotation by the above-mentioned image recognition. It is possible to make a judgment on the inside situation of the driver looking at the sideways and looking sideways.

  The control content of the switching condition of "viewing a driver, looking aside" is the switching to the forced automatic operation mode. And as a destination with respect to the switching condition of "the driver's looking away, looking aside", when the destination is set at the start of traveling of the car 1, it is considered as the set destination and the destination is set in advance. If it is not set, it is set as the destination set by the driver or the passenger according to the inquiry when switching to the automatic driving mode.

  It should be noted that the driver is inquired as to whether or not he / she can stop by a synthesized voice message, and when the answer is affirmative, the local landmark / historical mark detected in the vicinity search or the event site detected in the Internet search is presented as a destination. And, the driver may be made to decide whether to make the spot or the historical site the destination. Or you may make it stop on a road shoulder etc. for a look.

  Then, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of "viewing a driver, looking aside" is "arrived at destination" or "cancellation of switching condition". The disappearance of the switching condition is made after a predetermined time, for example, 5 minutes has elapsed since the state of "viewing a driver, looking aside" has disappeared. Alternatively, it may be a predetermined distance, for example, 500 meters or more, from the place where the driver's "look away, look aside" has occurred.

  Next, “driver's eating and drinking or smoking” under the switching condition will be described. In this embodiment, the switching condition is that eating and drinking or smoking by the driver lasts for a predetermined time or more, for example, 3 minutes or more. The in-vehicle state determination unit 117 determines the state in which the driver is eating, drinking or smoking based on the result of image recognition of the driver's captured image by the camera, and the state is 3 minutes or more based on time information of the clock unit 120 The in-vehicle situation of "driver's eating and drinking or smoking" is determined based on whether or not it continues. Eating, drinking and smoking in a short time of less than 3 minutes by the driver is considered to be an acceptable level of interference with manual driving.

  In this case, the image recognition unit 114 recognizes the food and drink of the driver by recognizing rice balls, sandwiches, lunchboxes, sweets, ice cream, water, tea, coffee and the like included in the photographed image of the driver by the camera. If the driver has a hand in his hand, he can recognize the driver's smoking status. However, in this embodiment, for this "driver's eating and drinking or smoking" switching condition, when the switching condition is met, the intention display from the driver may be accepted that the driver may be in automatic driving. This switching condition is valid only when the positive indication is set.

  The control content of the switching condition of the "driver's eating and drinking or smoking" is the switching to the forced automatic operation mode. Then, as a destination for the switching condition of the "driver's eating and drinking or smoking", if the destination is set at the start of traveling of the car 1, it is considered as the set destination and the destination is set in advance. If it is not set, it is set as the destination set by the driver or the passenger according to the inquiry when switching to the automatic driving mode.

  Then, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of "drinking or smoking of the driver" is "end of eating or drinking or smoking", that is, "disappearance of switching condition".

  Next, the "deterioration of the surrounding environment during driving" under the switching condition will be described. In this embodiment, the switching condition is a state in which the driver is less likely to look at the surrounding environment during driving in a backlit state, twilight (sunset) state, bad weather (rain, snow, etc.). The in-vehicle condition determination unit 117 determines the in-vehicle condition of “deterioration of the surrounding environment during driving” based on a captured image from a camera that captures an image outside, a temperature sensor, and a sensor detection output of a humidity sensor. The in-vehicle condition determination unit 117 also uses the result of voice recognition by the voice recognition unit 116 that the driver screamed out saying "It's hard to see" or "It's hard to drive" etc. "Deterioration of the surrounding environment" may be determined.

  The control content of the switching condition of “deterioration of the surrounding environment during driving” is switching to the forced automatic operation mode. Note that the normal automatic operation mode may be employed instead of the forced automatic operation mode. Then, as a destination for the switching condition of “the deterioration of the surrounding environment during driving”, the destination is set at the start of traveling of the automobile 1.

  Then, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of the "deterioration of the surrounding environment during driving" is "disappearing of the switching condition", for example, the surrounding environment during driving improves.

  Next, the "conditions of children and pets" of the switching condition will be described. In this embodiment, when the child or baby carries out a dangerous action in the car, for example, an action such as falling from a seat or crying suddenly, the driver is bothered and turns around in that direction. Consider the possibility that safety can not be secured in the manual operation mode. The same is true for pet behavior, such as excretion behavior and bark. In addition, even when a child or a pet is close to the driver or in the driver's seat, the driver can not concentrate on driving. Needless to say, if there is no driver in the driver's seat and only children and pets, it is even more dangerous. So, in this embodiment, these "children's and pet's action" are made into switching conditions.

  The in-vehicle condition determination unit 117 is an image recognition result of a photographed image from a camera for photographing a driver (driver's seat) or a passenger, a cry of the above child as a speech recognition result in the speech recognition unit 116, falling sound, From the pet's bark voice, the above-mentioned switching condition "child, pet's behavior" is determined.

  The control content of the switching condition of “the action of the child and the pet” is the switching to the forced automatic operation mode. Then, as a destination for the switching condition of “the behavior of a child or a pet”, when a destination is set at the start of traveling of the car 1, the destination is set as the destination, and the destination is set in advance. If not, it is set as the destination set by the driver or the passenger in response to the inquiry when the mode is switched to the automatic driving mode.

  And the cancellation condition of the forced automatic operation mode corresponding to the switching condition of "the action of the child and the pet" is that the state of the child and the pet return to normal (the child and the pet may move away from the driver's seat or the driver's seat) And so on, etc.).

  Next, the switching condition “one-handed driving by the driver, free driving” will be described. In this embodiment, the driver's one-handed driving state is continued and continued for a predetermined time or more, for example, 2 minutes or more, or the driver's handed driving state is continued and continued for a predetermined time or more, for example, 10 seconds or more. , And switching conditions. The in-vehicle state determination unit 117 determines the state in which the driver is driving with one hand or driving in a hand based on the result of image recognition of the driver's captured image by the camera, and the state is 2 based on time information of the clock unit 120 The in-vehicle situation of "one-handed driving by a driver, free-handed driving" is determined based on whether or not it has continued for more than a minute, or for more than 10 seconds.

  The control content of the switching condition of the “one-handed driving by the driver and the free driving” is the switching to the forced automatic driving mode. At this time, for the driver, a voice message such as “One-handed driving or manual driving is dangerous, so switching to the automatic driving mode” or an alarm sound or buzzer is emitted from the speaker 138. Alert the driver.

  Then, the destination set at the start of traveling of the automobile 1 is set as the destination for the switching condition of the “one-handed driving by the driver and the left-handed driving”. In addition, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of "one-handed driving by the driver and left-handed driving" means that the driver stops driving at one hand and releasing the left-handed driving. When it is

  Next, "the driver's footwear is inappropriate" under the switching condition will be described. In this embodiment, the driver's footwear is unsuitable for driving, for example, footwear such as clogs, slippers, high heels, etc., which may be mistaken for driving, or barefoot for which the footwear is not worn. The case is considered as the switching condition.

  The in-vehicle condition determination unit 117 determines whether the footwear is inappropriate such as clogs, slippers, high heels or the like, or is inappropriate such as barefoot, according to the image recognition result of the footwear (or foot) in the photographed image of the driver by the camera. To determine if it is

  The control content of the switching condition of “incorrect driver's footwear” is switching to the forced automatic operation mode. At this time, for the driver, a synthetic voice message saying "Please replace the footwear because the footwear is unsuitable for driving" or "Please wear shoes because the barefoot is unsuitable for driving". To warn of changing or wearing footwear.

  And as a destination with respect to the switching condition of "the driver's footwear is inappropriate", if a destination is set at the start of traveling of the automobile 1, it is considered as the set destination and the destination is in advance If it is not set to, it is set as the destination set by the driver or the passenger according to the inquiry when switching to the automatic driving mode. In addition, the cancellation condition of the forced automatic operation mode corresponding to the switching condition of “the driver's footwear is inappropriate” is when the driver changes the footwear for an appropriate one or wears the switching condition and disappears. It is assumed.

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

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

  In the example of FIG. 6 and FIG. 7, the switching conditions are “overtaking prohibited”, “right turn (left turning) prohibited”, “speed limit”, “signal compliance”, “temporary stop at level crossing”, “mobile terminal while driving” Conditions to prevent driving that does not comply with traffic regulations such as “use of traffic”, “temporary stop neglect at pedestrian crossing”, “disturbing driving”, “dangerous driving, reckless driving”, “sudden acceleration, sudden braking, abrupt The conditions for securing safe driving by avoiding an accident-prone condition such as a steering wheel are illustrated. Then, corresponding to each switching condition, the traveling control content in the forced automatic operation mode after switching and the cancellation condition of the forced automatic operation mode are set.

  The switching conditions shown in FIGS. 3 to 7 are a part of the memory contents of the automatic driving switching condition storage unit 135, and various other switching conditions predetermined to comply with traffic regulations. It is needless to say that various switching conditions predetermined to maintain safe driving are registered. Further, as described above, the switching condition, the contents of control in the forced automatic operation mode after switching and the control content in the normal automatic operation mode, and the cancellation condition may be registered and switched for each country or region.

  When switching from the manual operation mode to the forced automatic operation mode according to the second automatic operation switching condition table TBL2, as described later, after switching to the forced automatic operation mode according to the switching condition, the cancellation condition is set. The setting of the destination (destination) may not be necessary during the period until the forced automatic operation mode is canceled by satisfying the above. Of course, there is also a case where the forced automatic operation mode is continued and the vehicle is autonomously traveled to the destination, in which case the setting of the destination (destination) is necessary. If the ground is set, it is set as the set destination, and if the destination is not set in advance, set by the driver or passenger according to the inquiry when switching to the automatic operation mode It is considered a destination.

As shown in FIG. 6, for example, in order not to violate the "overtaking prohibition", as a switching condition for the "overtaking prohibition",
(Condition 1) In an overtaking prohibited section indicated by a no overtaking road sign or in a section of a yellow line which is a road marking indicating an overtaking prohibited,
(Condition 2) Even though there is no right turn or the like, it is determined that the activation of the right turn signal has been detected, or that the steering operation has been performed so as to straddle the yellow line.
(Condition 3) However, in this case, there is a vehicle traveling ahead of the host vehicle, and the vehicle at rest is parked or stopped on the left side, or an obstacle exists on the left side of the lane If it does not, it will not be a switching condition.

  The overtaking prohibited section of the above (condition 1) is shown in FIG. 8A from the captured images of one or more cameras in front of and on the side of the own vehicle in the camera group 107 in the image recognition unit 114. It can be detected by recognizing a road sign, and by recognizing a yellow line from an image of a camera imaging the road surface in the camera group 107.

  Further, as described above, the activation of the right blinker in (Condition 2) can be detected from the output of the sensor included in the sensor group 108. In addition, the fact that the steering wheel was manipulated so as to straddle the yellow line and the course was changed means that the manual driving operation detection unit 105 detected the right handle operation, and the own vehicle motion analysis detection unit 118 It can be determined by detecting that the vehicle travels across the yellow line by analyzing the image. Then, it is possible to detect from the captured image of the camera of the camera group 107 that there is no store or the like having a parking space such as a convenience store in the right turn or the right direction ahead.

  Furthermore, under (condition 3), it is possible to detect whether the vehicle ahead is traveling or stopping using the captured image of the camera of the camera group 107 and the radar group 106. That is, (Condition 3) can be detected by referring to the surrounding moving object grasping result of the surrounding moving object grasping unit 109.

  Then, the travel control content in the forced automatic operation mode after switching in accordance with the switching condition for “prohibition overtaking” is “traveling while maintaining the traveling lane”. Further, the cancellation condition of the forced automatic operation mode is detection of "detection of road sign at end of overtaking prohibited section" or "disappearance of yellow line as road marking".

  As can be understood from the above description, as the conditional element detection means used for detecting the conditional element for monitoring whether the switching condition for overtaking inhibition is met, the camera group 107, the sensor group 108, and the manual operation operation The detection unit 105, the surrounding moving object grasping unit 109, the image recognition unit 114, and the vehicle movement analysis detection unit 118 are used.

  The cancellation condition when the forced automatic operation mode is set by meeting the switching condition for this overtaking prohibition is the end of the overtaking prohibited section and the disappearance of the yellow line, so when switched to the forced automatic operation mode, the destination It may be necessary to set (destination). Therefore, when the forced automatic operation mode is set by meeting the switching condition for overtaking prohibition, if the destination is set at the start of traveling of the automobile 1, it is determined as the set destination If the ground is not set in advance, it is set as the destination set by the driver or the passenger according to the inquiry when the mode is switched to the forced automatic operation mode.

Next, for example, as a switching condition for "right turn prohibited",
(Condition 4) In the case where a right turn is prohibited by a road sign (control sign) or road sign (not shown) that is prohibited from advancing outside the designated direction as shown in FIGS. 8 (B), (C), (D) ,
(Condition 5) It is defined that detection of activation of lighting of a right blinker, or detection of change in course by steering wheel operation to turn right is determined.

  Then, the travel control content in the forced automatic operation mode after switching with the switching condition for "right turn prohibited" is "traveling with selection of designated traveling direction". Further, the cancellation condition of the forced automatic operation mode is detection of "passing the right turn prohibited point".

  8B, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C, 8C. It can be detected by recognizing the road sign shown in (D).

  Also, as described above, the activation of the right blinker in (Condition 5) can be detected from the output of the sensor included in the sensor group 108. In addition, it is possible to determine that the steering wheel has been manipulated so as to turn right and the course has been changed by detecting the right steering wheel operation in the manual driving operation detection unit 105.

  Therefore, as the condition element detection means in this case, the camera group 107, the sensor group 108, the manual driving operation detection unit 105, and the image recognition unit 114 are used. Since the cancellation condition of the forced automatic operation mode after the switching with respect to the switching condition for "right turn prohibited" is the passage of the prohibited marking point or the prohibited marking point, the setting of the destination (destination) is unnecessary.

Also, for example, as a switching condition for "crosswalk",
(Condition 6) In the case where a road sign (instruction mark) of a pedestrian crossing or a road marking is detected by the image recognition unit 114 from the camera images of the camera group 107,
(Condition 7) When the image recognition unit 114 detects a person who is about to cross a pedestrian crossing or a person in a crossing from the camera images of the camera group 107,
Is defined.

  Then, the traveling control content in the forced automatic operation mode after switching with respect to the switching condition for the “crosswalk” is “after temporary stop, confirm that there is no crossing person, and is taken off”. Further, the cancellation condition of the forced automatic operation mode is detection of "passing a pedestrian crossing". Note that a human sensor included in the sensor group 108 may be used together to detect a person. Furthermore, even when traveling between people, such as elderly people, infants and children, physically disabled people, and people with pets, safe driving is particularly desirable, so detection with higher-level image recognition is possible and selective handling You may

  As condition element detection means in this case, a camera group 107, a sensor group 108, and an image recognition unit 114 are used. Since the cancellation condition of the forced automatic operation mode after switching with respect to the switching condition for the “crosswalk” is the passage of the pedestrian crossing, the setting of the destination (destination) is unnecessary.

Next, for example, as switching conditions for "crossings",
(Condition 8) When the image recognition unit 114 detects a road sign with a level crossing (warning sign) from the camera image of the camera group 107, or the image recognition unit 114 detects an actual level crossing from the captured image of the camera The case of recognition is defined.

  Then, the travel control content in the forced automatic operation mode after switching with respect to the switching condition for this "crossing" is "take safety after safety check and take off". The safety confirmation in this case is the detection that the circuit breaker has not come down. Further, the cancellation condition of the forced automatic operation mode is detection of "passing a level crossing".

  The camera group 107 and the image recognition unit 114 are used as condition element detection means in this case. Since the cancellation condition of the forced automatic operation mode after switching with respect to the switching condition for "crossing" is passage of the crossing, setting of a destination (destination) is unnecessary.

Next, for example, as a switching condition for "speed limit",
(Condition 9) The traveling speed of the vehicle detected by the speed detection sensor of the sensor group 108 is such a speed that causes a serious danger, for example, if it is a general road, it exceeds 30 km / h or more than the speed limit. In the case of a road, it is defined that the vehicle is detected to be 40 km / h over the speed limit.

  Then, the travel control content in the forced automatic operation mode after switching with respect to the switching condition for the "limit speed" is "traveling at or below the limit speed". In addition, the cancellation condition of the forced automatic operation mode, including punitive meaning, is after a predetermined time, for example, 30 minutes. The predetermined time may be made longer depending on the degree of speed over from the switching condition. For example, the predetermined time just for the switching condition is 30 minutes, and 30 minutes are added each time 1 km / h is exceeded. In this case, when 5 km / h is exceeded, the release condition is after 3 hours.

  As the condition element detection means in this case, the speed sensor of the sensor group 108 is used. However, in order to detect the release condition, the clock unit 120 is used to measure an elapsed time after switching to the forced automatic operation. The cancellation condition of the forced automatic operation mode after switching with respect to the switching condition for the "speed limit" is after the lapse of a predetermined time such as 30 minutes, so it passes through the intersection or branch point during the predetermined time It may be necessary to set a destination (destination). Therefore, when the forced automatic operation mode is set by matching the switching condition for the "speed limit", if the destination is set at the start of traveling of the automobile 1, it is set as the set destination. If the destination is not set in advance, the destination is set by the driver or the passenger according to the inquiry when the mode is switched to the forced automatic operation mode.

  In addition, regarding this "limit speed", a road sign or a road related to "limit speed" is obtained from the captured image of one or more cameras in front of or on the side of the own vehicle in the camera group 107 in the image recognition unit 114. It can be detected by recognizing the sign.

Next, an example of the switching condition shown in FIG. 7 will be described. That is, for example, as a switching condition for "signal compliance",
(Condition 10) From the captured image of the camera of the camera group 107, although the traffic signal indicates a red signal in the vehicle motion analysis detection unit 118, the predetermined number of times that the vehicle traveled without being disregarded and ignored As mentioned above, the case where it detects three times or more, for example is defined.

  Here, the switching condition may be set as a switching condition even when the vehicle is ignoring a red light at least once, but in this embodiment, three or more red lights are considered in consideration of the driver's inadvertent oversight of the signal. Signal ignorance was made into the switching condition.

  The driving control content in the forced automatic operation mode after switching with respect to the switching condition for the "signal compliance" includes punitive meaning against intentional signal neglect, and travels only in the forced automatic operation mode on the day. It was possible. Therefore, the cancellation condition of the forced automatic operation mode is taken as the day after the intentional signal neglect. Therefore, when the forced automatic operation mode is set by matching the switching condition for the "signal compliance", if the destination is set at the start of traveling of the automobile 1, it is determined as the set destination. If the destination is not set in advance, the destination is set by the driver or the passenger according to the inquiry when the mode is switched to the forced automatic operation mode.

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

Next, for example, as switching conditions for "disturbing operation",
From the analysis result by the vehicle movement analysis detection unit 118 of the captured image of the camera of the camera group 107 and the grasping result of the surrounding moving object grasping unit 109,
(Condition 11) Approaching immediately before another traveling vehicle, or (Condition 12) strikingly approaching a person or vehicle in traffic, or (Condition 13) shifting, turning, brute force,
Is detected a predetermined number of times or more, for example, three or more times. In this case, among the conditions 11 to 13, not only the same one may be detected three or more times, but any one of the conditions 11 to 13 may be detected three or more times in total.

  The driving control contents in the forced automatic operation mode after switching with respect to the switching conditions for the "disturbing operation" are punishable for the obstructive driving, and it is possible to travel only in the forced automatic operation mode on the day. . Therefore, the cancellation condition of the forced automatic operation mode is taken as the day after the disturbance operation. Therefore, when the forced automatic operation mode is set by matching the switching condition for the "disturbing driving", if the destination is set at the start of traveling of the automobile 1, it is set as the set destination. If the destination is not set in advance, the destination is set by the driver or the passenger according to the inquiry when the mode is switched to the forced automatic operation mode.

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

Next, for example, as switching conditions for "dangerous operation, reckless operation",
From the analysis result by the vehicle movement analysis detection unit 118 of the captured image of the camera of the camera group 107 and the detection result of the manual driving operation by the manual driving operation detection unit 105,
(Condition 14) The case where the drift travel or the spin turn is detected a predetermined number of times or more, for example, twice or more, is defined.

  The driving control contents in the forced automatic operation mode after switching with respect to the switching conditions for “dangerous driving, reckless driving” are punitively meaning to dangerous driving and reckless driving, and the day is the forced automatic driving mode. It was possible to run only at. Therefore, the cancellation condition of the forced automatic operation mode is set to the day after the dangerous operation or the reckless operation. Therefore, when the forced automatic operation mode is set by matching the switching conditions for "dangerous driving, reckless driving", if the destination is set at the start of traveling of the automobile 1, the set purpose If the destination is not set in advance, it is set as the destination set by the driver or the passenger according to the inquiry when the mode is switched to the forced automatic operation mode.

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

Next, for example, as a switching condition for "a sudden acceleration, a sudden brake, a sudden steering wheel",
From the analysis result by the vehicle movement analysis detection unit 118 of the captured image of the camera of the camera group 107 and the detection result of the manual driving operation by the manual driving operation detection unit 105,
(Condition 15) The case where the sudden acceleration or the sudden braking or the sudden steering is detected a predetermined number of times or more, for example, five or more times is determined. In this case, it is not limited to the case where the same thing is detected three or more times among the sudden acceleration, the sudden brake, the sudden steering wheel, and the case where any of the sudden acceleration, the sudden brake and the sudden steering wheel is detected three or more times It is also good.

  The travel control content in the forced automatic operation mode after switching with respect to the switching conditions for this "acceleration, sudden braking, sudden steering", with punitive meaning for dangerous driving, forced automatic operation on the day It was possible to run only in the mode. Therefore, the cancellation condition of the forced automatic operation mode is the next day. Therefore, when the forced automatic operation mode is set by matching the switching condition for "a sudden acceleration, a sudden brake, a sudden steering wheel", if the destination is set when the vehicle 1 starts traveling, the setting is made. If the destination is not set in advance, it is set as the destination set by the driver or the passenger in response to the inquiry when the mode is switched to the forced automatic operation mode.

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

Next, as switching conditions for "use of a mobile terminal while traveling",
From the image recognition result of the captured image of the camera of the camera group 107 and the recognition result of the voice recognition unit 116,
(Condition 16) The case where the use of a smartphone, a tablet terminal, a mobile phone terminal, a portable game machine or the like, gaze of a display screen, or the like is detected while the driver is traveling is defined.

  The driving control contents in the forced automatic operation mode after switching with respect to the switching conditions for “use of the portable terminal” include punitive meaning for dangerous driving, and only in the forced automatic operation mode during use. It was possible to run. Therefore, the cancellation condition of the forced automatic operation mode is considered to be when the use is stopped or ended.

  In this case, the image recognition unit 114 analyzes captured image information from the camera that captures the driver in the camera group 107, and in this example, in particular, the portable device, in this example, a smartphone or a portable telephone terminal is It is detected whether or not the action taken has been taken, and the detection result is supplied to the automatic driving switching condition determination unit 115. Further, the voice recognition unit 116 automatically detects, from the voice signal collected by the microphone 137, an incoming call notification notified by a smartphone or a mobile phone terminal, for example, a detection result of a ring tone, a ring tone melody, or a detection result of a call voice of the driver. The operation switching condition determination unit 115 is notified. Furthermore, the vibration sensor included in the sensor group 108 detects vibration or the like of the vibration notified by the smartphone or the mobile phone terminal, and notifies the automatic driving switching condition determination unit 115 of the detection result.

  The automatic driving switching condition determination unit 115 monitors the detection result and the detection result from the image recognition unit 114, the voice recognition unit 116, and the sensor group 108 while the own vehicle is traveling, and the driver can Whether you are working on a telephone terminal, doing mail, doing access operations through the Internet, if you are looking at the display screen of a mobile terminal, or if you are using a mobile phone If it is determined that the game console is watching the display screen or if the finger is vigorously moved and if it is determined that those laws are in violation, the automatic operation mode is switched to the forced automatic operation mode Make it

  Further, the automatic driving switching condition determination unit 115 determines the release condition based on whether the use of the portable terminal by the driver has been stopped or ended from the recognition result from the image recognition unit 114 or the voice recognition unit 115, or Based on the output of the vehicle movement detection unit 118, whether the vehicle has stopped on the road shoulder or the like is performed.

  The storage contents of the automatic driving switching condition storage unit 135 described above store the switching conditions, the control contents after switching, the contents of forced automatic driving, the setting of destinations, and the cancellation conditions as corresponding processing programs. It is In addition, the user describes the control conditions in the switching condition, the cancellation condition, and the forced automatic operation mode as described above for each of the switching condition, the forced automatic operation content after switching, and the cancellation condition to be set later by the user. Thus, the electronic control circuit unit 10 of the automobile 1 has a processing function of automatically generating a corresponding processing program and storing the processing program in the automatic driving switching condition storage unit 135.

  As described above, although the electronic control circuit unit 10 of the automobile 1 is configured, the motor drive control unit 102, the steering drive control unit 103, and the manual / automatic operation mode switching control unit 104 among the blocks shown in FIG. , Surrounding moving body grasping unit 109, current position detection unit 110, car navigation function unit 113, image recognition unit 114, forced automatic operation mode switching processing unit 115, vehicle movement analysis detection unit 118, vehicle movement analysis detection unit 118, composition The control unit 101 can realize each processing function of the voice generation unit 121 and the voice input / output unit 122 as software processing.

[Operation Example of Electronic Control Circuit Unit 10 of Car 1 of Embodiment]
Next, an example of processing operation of the electronic control circuit unit 10 of the automobile 1 of this embodiment will be described. The control unit 101 controls the motor drive control unit 102, the steering drive control unit 103, the manual / automatic operation mode switching control unit 104, the surrounding moving object grasping unit 109, and the operation of the electronic control circuit unit 10 described below. Position detection unit 110, car navigation function unit 113, image recognition unit 114, automatic driving switching condition determination unit 115, voice recognition unit 116, vehicle movement analysis detection unit 118, vehicle movement analysis detection unit 118, mobile phone function unit 119, The processing functions of the synthetic speech generation unit 121 and the speech input / output unit 122 will be described as the case of realizing them as software processing. Therefore, the process of each step of the flowchart described below will be described as being executed by the control unit 101.

<Operation Example of Electronic Control Circuit Unit 10 at Startup>
FIG. 9 is a flow chart for explaining an operation example at the time of starting of the electronic control circuit unit 10 of the automobile 1 of this embodiment.

  The control unit 101 monitors whether or not the own vehicle has been activated (step S1), and when it is determined that the own vehicle has been activated, the driver or the driver is heard through the display screen of the display unit 111 or by voice through the speaker 138. A message is sent to the passenger asking for setting input of the destination (step S2). In the display screen of the display unit 111 at this time, it is possible to select “do not set a destination here”. This is because some users enjoy driving in the manual operation mode without setting the destination.

  Next, the control unit 101 determines whether the setting input of the destination from the driver or the passenger according to the message of step S2 is received (step S3), and when it is determined that the setting input of the destination is received , And stores the accepted destination (step S4).

  When it is determined in step S3 that the setting input of the destination has not been received, the control unit 101 determines whether "do not set the destination" is selected (step S5), "do not set the destination" When it is determined that “is not selected, the process is returned to step S3 and the processes after step S3 are repeated. When it is determined in step S5 that "do not set destination" is selected, the control unit 101 ends the processing routine as it is.

  As described above, when the destination is set at the time of activation and stored, the stored destination becomes the default value of the destination in the manual operation navigation function unit 200, and the automatic operation navigation function unit 300. Will be treated as a preset destination.

<Example of Operation Mode Switching Processing Operation of Car 1 of Embodiment>
10 to 17 are flowcharts for explaining an example of operation mode switching processing operation after activation of the electronic control circuit unit 10 of the automobile 1 of this embodiment.

  In the automobile 1 of this embodiment, immediately after being activated, the manual operation mode is initially set. Then, after starting, before the traveling of the car 1 is started, the switching operation to the normal automatic driving mode is performed by the driver or the passenger, thereby switching to the normal automatic driving mode and starting the traveling of the car 1 Being able to In addition, after starting the vehicle in the manual driving mode after starting, the driver or the passenger switches the driving mode to the normal automatic driving mode to switch to the normal automatic driving mode. After starting, after starting traveling in the manual operation mode, the above-mentioned switching conditions are monitored during traveling in the manual operation mode, and when the switching conditions are met, the normal automatic operation mode or the forced automatic operation mode is set. It can be switched.

  The operation mode immediately after startup of the automobile 1 may be selectively set by the user (driver or passenger) to either the manual operation mode or the normal automatic operation mode. Of course, it is also possible to select and set in advance for each user. In this case, when the automobile 1 is started, the user is photographed by the camera group 107, and the image recognition unit 114 recognizes the user, so that the driving mode selected and set by the user in advance can be used. In addition, the driving mode when the driving of the car 1 is finished and the power is turned off is stored, and when the car 1 is activated next, the driving mode immediately before it is stored is also set. Good.

  In this embodiment, as shown in FIG. 10, first, the control unit 101 determines whether or not the switching operation from the manual operation mode state to the normal automatic operation mode has been performed by the driver or the passenger (step S101). ). As described above, the switching operation from the manual operation mode to the normal automatic operation mode is performed before the start of traveling immediately after the automobile 1 is activated and during traveling in the manual operation mode. This determination in step S101 The operation includes both cases.

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

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

  Next, in response to the inquiry message in step S104, the control unit 101 has answered that the driver or the passenger changes the destination through the touch panel 112 or through the voice recognition unit 116. It discriminates (step S105). When it is determined in step S105 that an answer not to change the destination has been made, the control unit 101 uses the destination set in the function of the manual operation navigation function unit 200 for automatic driving. The function of the route search unit 302 of the navigation function unit 300 executes the route search (step S106).

  When it is determined in step S103 that the function of the manual operation navigation function unit 200 is not in operation, the control unit 101 determines whether there is a destination stored at the time of activation (step S111 in FIG. 11). When it is determined in step S111 that the destination stored at the time of activation is not present, the control unit 101 inputs the setting of the destination through the display image of the display screen of the display unit 111 and by the synthesized voice through the speaker 138. A message prompting the user is sent to the driver or passenger (step S112).

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

  In step S111, when it is determined that there is a destination stored at the time of activation, the control unit 101 changes the destination through the display image of the display screen of the display unit 111 or by synthetic voice through the speaker 138 An inquiry message as to whether or not it is sent to the driver or passenger (step S114).

  Next, in response to the inquiry message in step S114, the control unit 101 has answered that the driver or the passenger has changed the destination via the touch panel 112 or the voice recognition unit 116. It discriminates (step S115). Then, when it is determined in step S115 that an answer not to change the destination has been made, the control unit 101 shifts the process to step S106 in FIG. 10, and the function of the route search unit 302 Perform a route search.

  If it is determined in step S115 that the response to change the destination has been made, the control unit 101 shifts the process to step S112 in FIG. 11 and prompts the user to input the setting of the destination, and then step S113. In step S106 in FIG. 10, the process proceeds to step S106 in FIG. 10, and the function of the path search unit 302 executes path search for the automatic driving mode. Further, when it is determined in step S105 in FIG. 10 that a response to change the destination has been made, the control unit 101 shifts the processing to step S112 in FIG. 11 and performs the processing from step S112 described above. .

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

  Next, the control unit 101 causes the driver or passenger to display a map in the navigation for automatic driving, to request voice guidance, or to register a point to request provision of peripheral information. The driver or passenger is inquired through the display image of the display screen and the synthesized voice through the speaker 138 (step S108). Then, the control unit 101 receives a setting input for the inquiry in step S108 (step S109).

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

  Next, the control unit 101 determines whether a switching operation matching the switching level to the manual operation mode selected and set in step S122 is performed (step S123), and when it is determined that the switching operation is not performed, Whether or not the current position detected by the current position detection unit 110 has arrived at the destination is determined based on whether or not the current position is the destination (step S124). When it is determined in step S124 that the vehicle has not arrived at the destination, the control unit 101 continues the navigation for automatic driving (step S125), and then returns the process to step S123, and the process after step S123. repeat.

  When it is determined in step S124 that the vehicle has arrived at the destination, the control unit 101 determines whether or not the operation is stopped because the power is turned off (step S126), and when it is determined that the operation is stopped The navigation for automatic driving is ended (step S130), and this processing routine is ended.

  Further, when it is determined in step S126 that the driving is not stopped, the control unit 101 causes the driver or the passenger to see through the display image of the display screen of the display unit 111 and by the synthesized voice through the speaker 138. In response to this, a message prompting setting input of a new destination is sent out (step S127). Then, the control unit 101 determines whether the setting input of the destination has been received or not by the prompt in step S127 (step S128), and when it is determined that the setting input is received, the process proceeds to step S112 in FIG. The process after step S112 is performed.

  When it is determined in step S128 that the setting input of the destination has not been received, the control unit 101 determines whether a switching operation matching the switching level to the manual operation mode has been performed (step S129), the switching operation. If it is determined that the process has not been performed, the process returns to step S126, and the processes after step S126 are repeated.

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

  Next, the control unit 101 inquires of the driver or the passenger whether or not to start the manual driving navigation through the display image of the display screen of the display unit 111 and the synthesized voice through the speaker 138. (Step S132). Then, in response to the inquiry in step S132, the control unit 101 determines whether an answer to start the manual operation navigation has been received (step S133), and when an answer to not start the manual operation navigation is determined. The processing is returned to step S101 in FIG. 10, and the processing after step S101 is repeated.

  When it is determined in step S133 that the response to start the manual operation navigation has been received, the control unit 101 performs automatic driving through the display image of the display screen of the display unit 111 and by the synthesized voice through the speaker 138. An inquiry message is sent to the driver or the passenger as to whether or not to change the destination set during execution of the navigation (step S134).

  Next, the control unit 101 determines whether or not the driver or the passenger responds to the inquiry message in step S133 via the touch panel 112 or the voice recognition unit 116 to change the destination. (Step S135). When it is determined in step S135 that an answer not to change the destination has been made, the control unit 101 uses the function of the route search unit 202 of the manual operation navigation function unit 200 to use the destination for the automatic driving navigation The route search for the manual operation mode is performed with the destination as it is, and the function of the manual operation navigation function unit 200 is executed (step S136).

  When it is determined in step S135 that the response to change the destination has been made, the control unit 101 causes the display image of the display screen of the display unit 111 to be displayed, and the synthesized voice through the speaker 138. A message for prompting setting input is sent to the driver or passenger (step S137).

  Then, the control unit 101 receives a setting input of the changed destination through the touch panel 112 or the voice recognition unit 116 from the driver or the passenger (step S138). Thereafter, the control unit 101 sets the received destination as a new destination, and executes the route search for the automatic driving mode by the function of the route searching unit 302, and the control result of the automatic driving control information generation unit 303 The automatic driving control information is generated by the function, and the automatic driving navigation is executed (step S139).

  In the case of changing the destination, or in the case of not changing the destination, the setting accepting unit 201 of the manual operation navigation function unit 200 accepts the setting input that can be accepted other than the destination as described above. Items are accepted.

  After step S136 or step S139, the control unit 101 determines whether or not the current position detected by the current position detection unit 110 has arrived at the destination based on whether the current position is the destination (step in FIG. 14). S141).

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

  When it is determined in step S141 that the vehicle has not arrived at the destination, the control unit 101 continues the manual operation navigation (step S144). Then, the control unit 101 determines whether or not the switching operation from the manual driving mode to the automatic driving mode has been performed by the driver or the passenger (step S145), and when it is determined that the switching operation has been performed, the process shown in FIG. It returns to step S102 and repeats the process after step S102 mentioned above.

  When it is determined in step S145 that the switching operation from the manual operation mode to the normal automatic operation mode is not performed, the control unit 101 matches the switching condition stored in the automatic operation switching condition storage unit 135. Is determined (step S146).

  If it is determined in step S146 that the state matching the switching condition stored in the automatic driving switching condition storage unit 135 is detected, the control unit 101 advances the process to step S152 in FIG. In response, the mode is switched to the normal automatic operation mode or the forced automatic operation mode. If it is determined in step S146 that the state matching the switching condition stored in the automatic driving switching condition storage unit 135 is not detected, the process returns to S141.

  Further, when it is determined in step S101 of FIG. 10 that the switching operation to the normal automatic operation mode is not performed, the control unit 101 detects a state that matches the switching condition stored in the automatic driving switching condition storage unit 135. It is determined whether or not (step S151 in FIG. 15). When it is determined in step S151 that the state matching the switching condition stored in the automatic driving switching condition storage unit 135 is detected, the control unit 101 advances the process to step S152, and the switching condition is matched. In response, the mode is switched to the normal automatic operation mode or the forced automatic operation mode.

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

  When it is determined in step S161 that a request for using the manual operation navigation in the manual operation mode is not received from the driver or the passenger, the control unit 101 returns the process to step S101 in FIG. 10, and this step S101. Repeat the subsequent processing.

  When it is determined in step S161 that a request for using the manual operation navigation in the manual operation mode is received from the driver or the passenger, the control unit 101 uses the function of the setting accepting unit 201 of the manual operation navigation function unit 200. , Setting input of necessary input items is received (step S162). At this time, if there is a destination stored at the time of activation of the automobile 1, the stored destination is set as a default value in the manual operation navigation function unit 200. The driver or passenger may leave or change the destination as this stored destination.

  After step S162, the control unit 101 executes the route search by the function of the route search unit 202 of the manual operation navigation function unit 200, and executes the manual operation navigation according to the result of the route search. (Step S163). Then, after step S163, the control unit 101 shifts the process to step S141 in FIG. 14 and executes the processes after step S141.

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

  In step S153, in the normal automatic operation mode or the forced automatic operation mode according to the matched switching condition, it is determined that the setting of the destination is not unnecessary switching condition, but the switching condition is required to set the destination The control unit 101 refers to the storage content of the automatic driving switching condition storage unit 135, and determines whether the destination is determined corresponding to the matching switching condition (step S154).

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

  When it is determined in step S171 that the destination stored at the time of activation of the automobile 1 is present, the control unit 101 uses the display image of the display screen of the display unit 111 and the synthesized voice through the speaker 138. It is inquired to the driver or the passenger whether to change the ground (step S172).

  Next, the control unit 101 determines whether the driver or the rider responds to the inquiry as to whether or not to change the destination (step S173). If it is determined in step S173 that an answer not to change the destination is received, the control unit 101 determines the destination as the destination stored at the time of activation, by the function of the route search unit 302 for the automatic operation mode. A route search is performed (step S174).

  When it is determined in step S171 that the destination stored at the time of activation of the automobile 1 does not exist, and when it is determined in step S173 that an answer to change the destination is received, the control unit 101 A message prompting the user to input the setting of the destination is transmitted to the driver or the passenger through the display image of the display screen of the display unit 111 and the synthesized voice through the speaker 138 (step S175).

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

  And control part 101 generates control information for automatic driving based on a route search result of Step S174 or Step S177, and performs navigation for automatic driving (Step S178).

  When it is determined in step S154 in FIG. 15 that the destination corresponding to the matching switching condition is determined, the control unit 101 determines that the information on the determined destination is not the destination itself but the hospital. It is determined whether or not there is a destination attribute such as (step S155). In this step S155, when the information on the determined destination is the destination attribute, the control unit 101 accesses the Internet through the mobile phone function unit 119, and performs a surrounding search using the destination attribute ( Step S156), the destination is determined from the search result of the surroundings (step S157). The determination of the destination in this step S157 may be made by receiving the selection by the driver or the passenger, or may be made only by the car 1 itself.

  After step S157, the control unit 101 shifts the process to step S177 of FIG. 17 and executes the process of step S177 and subsequent steps. In addition, even when the information on the destination determined in step S155 is not the destination attribute but the destination, the control unit 101 shifts the process to step S177 in FIG. 17, and this step The process after S177 is performed.

  Next, after step S178, the control unit 101 registers the point where the driver or the passenger displays the map in the navigation for automatic driving, requests voice guidance, or requests provision of peripheral information. The driver or the passenger is inquired through the display image of the display screen of the display unit 111 and the synthesized voice through the speaker 138 (step S181 in FIG. 18). Then, the control unit 101 receives a setting input in response to the inquiry in step S181 (step S182).

  Then, after step S 182, the control unit 101 refers to the stored contents of the automatic driving switching condition storage unit 135 and determines whether or not the control condition is satisfied with the release condition determined corresponding to the matched switching condition. It is judged whether or not it is not (step S183), and it waits for the cancellation condition to be met.

  When it is determined in step S183 that the release condition is satisfied, the control unit 101 indicates that the forced automatic operation mode or the forced automatic operation mode has ended, as the driver or the passenger. In response to this, notification is given via the display image of the display screen of the display unit 111 and by synthetic speech through the speaker 138 (step S184).

  Next, the control unit 101 causes the driver or passenger to put the vehicle into the manual operation mode through the display image of the display screen of the display unit 111 and the synthesized voice through the speaker 138, or It is inquired whether to set the automatic operation mode (step S185), and it is determined which operation mode is selected in response to the inquiry (step S186).

  When it is determined in step S186 that the manual operation mode is selected, the control unit 101 shifts the process to step S131 in FIG. 13, and executes the processes of step S131 and subsequent steps. When it is determined in step S186 that the normal automatic operation mode is selected, the control unit 101 shifts the process to step S102 in FIG. 10, and executes the process of step S102 and subsequent steps.

  Then, in step S153 of FIG. 15, in the normal automatic operation mode or the forced automatic operation mode according to the matching switching condition, when it is determined that the setting of the destination is unnecessary switching condition, the control unit 101 performs the process. The process proceeds to step S183 in FIG. 18, and the processes after step S183 are repeated.

[Effect of the embodiment]
According to the automobile 1 of the embodiment described above, when switching from the manual operation mode to the automatic operation mode, the automatic operation navigation is always activated and the destination to which the traveling is to be made is set Since the vehicle 1 is configured as described above, the vehicle 1 can travel autonomously in the automatic driving mode to the destination desired by the driver or the passenger.

  In the above embodiment, when the driver or passenger gets on the car 1 and starts up, the user is prompted in advance to input the setting of the destination, and if the destination is set, the destination is set. Is stored, and when the manual driving mode is switched to the automatic driving mode, it is possible to execute an automatic driving navigation with the stored destination as a destination. Therefore, at the time of switching from the manual driving mode to the automatic driving mode, the driver or the passenger can enjoy the advantage of the function of the automatic driving navigation in the automatic driving mode without setting the destination. Play.

  Further, in the above-described embodiment, when the predetermined switching condition determined in advance is satisfied, the manual driving mode is forcibly switched from the manual driving mode to the normal automatic driving mode or the forced automatic driving mode, and the function for automatic driving navigation is activated. Since the vehicle travels toward a preset destination or a destination set by the driver or passenger, safety and convenience of the driver or passenger can be improved, and traffic regulations can be complied with. As a result, it is possible to improve the safety for the driver or the person using the automobile 1 other than the passenger.

[Other Embodiments or Modifications]
In the above-described embodiment, when the driver switches from the manual operation mode to the normal automatic operation mode and when the automobile monitors the switching condition and detects that the switching condition is met, the manual operation is performed. The case of switching from the mode to the normal automatic operation mode or the forced automatic operation mode has been described.

  However, in the automobile 1 according to the above-described embodiment, the automobile 1 can autonomously travel even when there is no driver. For this reason, when a passenger (carried person) other than the driver is on the car 1, the driver drives the car 1 in the manual operation mode and travels, and then the driver at the predetermined point A Even after getting off, it is possible to move to another point B without getting off the passenger (passenger) other than the driver.

  In such a case, when the driver is driving, the vehicle was in the manual operation mode, so the vehicle 1 from the manual operation mode to the normal automatic operation mode from the point A where the driver got off to the point B It will be switched to to run autonomously. Then, in consideration of such a situation, the automobile 1 performs a processing operation capable of autonomously traveling in the automatic driving mode from the point A to the point B where the driver got off.

  FIG. 19 is a flowchart for explaining an example of the processing operation to be performed by the automobile 1 in addition to the processing operation as in the above-described embodiment when the above situation is considered. The hardware configuration of the automobile 1 may be the same as that shown in FIG.

  That is, the control unit 101 determines whether the own vehicle is in the manual operation mode (step S201). When it is determined in step S201 that the state is not the manual operation mode, the control unit 101 determines whether the manual operation mode has been switched (step S202), and it is determined that the manual operation mode has not been switched. Sometimes, the process returns to step S201, and the processes after step S201 are repeated.

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

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

  If it is determined in step S203 that the driver has alighted while maintaining the driving state of the vehicle, it is determined whether there is another passenger (same passenger) in the vehicle (step S205). When it is determined in step S205 that no other passenger is present, the control unit 101 determines whether the driver re-rides (step S206) and determines that the driver is not re-riding. Sometimes, this step S206 is repeated to wait for the driver to get on again.

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

  FIG. 20 is a flow chart for explaining a first example of the driver getting-off process after step S207. This first example is based on the assumption that passengers other than the driver have understood the driver's subsequent behavior after getting off. For example, when the driver gets off, he / she tells other passengers to "go back soon" or "wait for about 5 minutes" or "I will get off here." It is assumed that you will not return and say that you will not get on again.

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

  When it is determined in step S212 that an instruction from another passenger has been received, the control unit 101 determines whether the instruction is an instruction to wait for the driver to re-ride (step S213). When it is determined in this step S213 that the received instruction is a driver's re-waiting instruction, the control unit 101 determines whether the driver re-rides (step S214), and the driver re-enters. When it is determined that the driver does not get on the vehicle, this step S214 is repeated to wait for the driver to get on again.

  When it is determined in step S214 that the driver re-rides, the control unit 101 shifts the process to step S101 in FIG. 10 described above, and executes the processes in step S101 and subsequent steps described above.

  When it is determined in step S213 that the received instruction is not the driver's instruction to wait for re-ride, the control unit 101 determines whether it is a travel start instruction (step S215). When it is determined in step S215 that the instruction is not the driving start instruction, the control unit 101 determines whether the received instruction is the driving stop instruction (step S216). When the control unit 101 is not the driving stop instruction, the process is performed. Is returned to step S215, and when it is determined that it is a drive stop instruction, the drive of the vehicle is stopped (step S217), and this processing routine is ended.

  Then, when it is determined in step S215 that the start instruction is given, the control unit 101 switches from the manual operation mode to the normal automatic operation mode to start autonomous traveling (step S218), and thereafter, as shown in FIG. The process proceeds to step S102 to execute the processes after step S102.

  FIG. 21 is a flow chart for explaining a second example of the driver getting-off process after step S207. This second example is based on the assumption that the driver inputs an instruction through the touch panel 112, for example, or inputs an audio instruction through the microphone 137 before getting off the vehicle. For example, as the behavior scheduled by the driver getting off the car 1 on the display screen of the display unit 111, in this example, three instructions of "re-ride", "running after getting off", and "stop driving" are given. Items are displayed, and the driver is allowed to select and enter from among the instruction items. Then, the automobile 1 performs a driver get-off process after the selection input. In this example, when the instruction of “traveling after getting off” is selected, the setting input of the destination can also be performed. However, it is configured such that it is not necessary to input the setting of this destination.

  That is, in the second example, as shown in FIG. 21, the control unit 101 analyzes and determines what the instruction selected by the driver before getting off is (step S221). Then, the control unit 101 determines whether the determined instruction is a driver's re-ride instruction (step S222). When it is determined in step S222 that the determined instruction is the driver's "re-ride" instruction, the control unit 101 determines whether the driver re-rides (step S223), and the driver re-enters. When it is determined that the driver does not get on the vehicle, this step S223 is repeated to wait for the driver to get on again.

  When it is determined in step S223 that the driver re-rides, the control unit 101 shifts the process to step S101 in FIG. 10 described above, and executes the processes in step S101 and subsequent steps described above.

  When it is determined in step S222 that the determined instruction is not the driver's "re-ride" instruction, the control unit 101 determines whether the determined instruction is the "travel after getting off" instruction (step S224). When it is determined in this step S224 that the instruction is not the “travel after getting off” instruction, the control unit 101 confirms that the determined instruction is “stop driving” and stops the driving of the own vehicle (step S225). ). Then, this processing routine is ended.

  Further, when it is determined in step S224 that the determined instruction is the “travel after getting off” instruction, the control unit 101 switches from the manual operation mode to the normal automatic operation mode to start autonomous traveling (step S226) After that, it is determined whether or not a destination is set (step S227). If it is determined in step S227 that the destination is set, the control unit 101 rewrites the stored start destination to the set destination (step S228).

  When it is determined in step S227 that the destination is not set, the control unit 101 proceeds to step S102 of FIG. 10 described above after step S228, and proceeds to step S102 and subsequent steps. Make the process run.

  As described above, according to the example of FIGS. 19 to 21, even when the driver gets off from the state of driving the automobile 1 in the manual operation mode, the automobile 1 is switched from the manual operation mode to the normal automatic operation mode The automatic driving navigation system is activated, and autonomous driving can be performed without any problem toward the destination set and input by the driver who got off or a passenger other than the driver.

  In the above-described embodiment described above, since it is an automobile having a manual operation mode and an automatic operation mode, in the manual operation mode, it is assumed that navigation is not in operation, so the purpose at the start of the automobile is By pre-setting the ground, I was able to save the trouble of setting the destination later. However, in the case of a car having only an automatic driving mode, when it is started, it will be in the automatic driving mode. In this case, according to the present invention, it is necessary to inquire the setting of the destination. It is not necessary to set and store the destination at startup.

  In the above embodiment, even if the destination set at the time of activation is stored, the driver or the passenger is inquired as to whether or not to change the destination in the storage unit, and it is answered that the change is not made. The destination of the storage unit is used for the route search of the navigation for automatic driving, but when the destination is stored in the storage unit, the destination of the storage unit is not inquired about whether to change or not. The route search for the automatic driving navigation may be performed using the destination, and the inquiry to the driver or the passenger regarding the destination when switching to the automatic driving mode may be omitted.

  In the above embodiment, the setting, storing and changing of the destination are mainly described. However, in addition to the destination, the passing point to the destination can be set, stored and changed in the same manner. For example, when it is determined in step S1 that the host vehicle has been activated, in step S2, according to the driver or passenger according to the destination through the display screen of the display unit 111 or voice through the speaker 138 Sends a message prompting for setting input or selection of the via point. In the display screen of the display unit 111 at this time, it is possible to select “do not set a via point here”. This is because there are also users who go to a destination in the manual operation mode without setting a passing point.

  Moreover, although the various databases and the various memory | storage parts were comprised by the self-vehicle mounting in the automatic driving vehicle of the above-mentioned embodiment, it is not restricted to this and, of course, may exist on a cloud. The camera group 107 is not limited to being mounted on its own vehicle, but a car may obtain images from surveillance cameras installed in traffic lights, street lights, etc. by communication, or images from cameras of other vehicles by inter-vehicle communication. You may Similarly, the radar group 106 and the sensor group 108 can obtain radar information, various sensor information, and the like by communication from an external system such as an ITS spot or another vehicle without being limited to mounting on the vehicle.

  In addition, although the vehicle of the above-described embodiment is an electric vehicle, the present invention is applicable to a gasoline vehicle, a hybrid vehicle, a fuel cell vehicle, and other drive vehicles.

  Furthermore, this invention can be used not only for ordinary cars and mini cars but also for trucks, buses, taxis, police cars, ambulances, fire engines, training cars, tractors, dump trucks, shovels, forklifts, single-person cars, motorcycles, and autos. Even tricycles and the like are applicable. Of course, the invention is also applicable to amphibians and amphibians (flying cars).

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

In order to solve the above-mentioned subject, invention of claim 1 is,
In an automobile provided with a manual operation mode in which traveling based on a driving operation by a driver and an automatic operation mode in which autonomous traveling is performed,
Navigation means for the manual driving mode for supporting the driver's driving operation to the destination in the manual driving mode;
Navigation means for an automatic driving mode for supporting the autonomous traveling to a destination in the automatic driving mode;
Starting means for starting the navigation means for the automatic operation mode when the manual operation mode is switched to the automatic operation mode;
First determining means for determining whether or not the navigation means for the manual operation mode is in operation before the switching when the manual operation mode is switched to the automatic operation mode ;
When the first determining means determines that the navigation means for the manual operation mode is in operation, the destination in the navigation means for the manual operation mode is automatically activated by the activation means Control means for controlling to be used as a destination in navigation means for driving mode;
Providing a motor vehicle, characterized in that it comprises a.

In the invention of the above configuration, the navigation means for the automatic operation mode is activated by the activation means when the manual operation mode is switched to the automatic operation mode, and the manual operation mode is switched before the switching by the first determination means. It is determined whether or not the navigation means for the user is in operation . Then, when it is determined by the first determination means that the navigation means for the manual operation mode is in operation before switching , the control means activates the destination in the navigation means for the manual operation mode by the activation means It is controlled to use as a destination in the navigation means for the automatic driving mode.

According to an automobile according to the present invention, the manual operation mode to when it is switched to the automatic operation mode, but when the navigation unit for the switching the manual operation mode before was operating, for the manual operation mode since the destination in the navigation device is used as the destination for definitive navigation means for automatic operation mode, even without receiving an instruction by the driver or passenger, to a predetermined destination at the time of switching can be autonomous .

Claims (20)

In an automobile provided with a manual operation mode in which traveling based on a driving operation by a driver and an automatic operation mode in which autonomous traveling is performed,
Navigation means for an automatic driving mode for supporting the autonomous traveling to a destination in the automatic driving mode;
Starting means for starting the navigation means for the automatic operation mode when the manual operation mode is switched to the automatic operation mode;
Destination setting presence / absence determination means for determining whether or not a destination is set when the manual operation mode is switched to the automatic operation mode;
Destination prompting means for prompting the driver or passenger to enter a destination when it is determined by the destination setting presence / absence judging means that the setting of the destination is not made;
Destination receiving means for receiving a setting input of a destination by the driver or the passenger in response to the prompting by the destination prompting means;
Equipped with
The navigation means for the automatic driving mode generates information for supporting the autonomous traveling to the destination accepted by the destination accepting means, and executes the assistance of the autonomous traveling. When the destination setting presence / absence determination means determines that the destination is set, the navigation means for the automatic operation mode does not operate the destination prompting means, and the destination set for the automatic driving mode is The vehicle according to claim 1, wherein information for supporting the autonomous traveling is generated to execute the assistance of the autonomous traveling. When the destination setting presence / absence determination means determines that the destination is set, the inquiry means inquires whether to change the set destination without operating the destination prompting means. Equipped
When receiving an answer not to change the destination according to the inquiry means, the navigation means for the automatic driving mode generates information for supporting the autonomous traveling to the destination for which the setting is made. When the support for the autonomous traveling is executed and the answer to change the destination according to the inquiry means is received, the change input for the destination is accepted, and the navigation means for the automatic operation mode The vehicle according to claim 1, wherein information for supporting the autonomous traveling to the destination to which the change input has been made is generated to execute the assistance of the autonomous traveling. In the manual operation mode, navigation means for the manual operation mode for guiding the driver to a route to a destination is provided.
The destination setting presence / absence determination unit determines whether the destination is set by determining whether the navigation unit for manual operation is in operation before switching to the automatic operation mode. The vehicle according to claim 3, wherein the vehicle is determined. The vehicle according to any one of claims 1 to 4, further comprising a first operation mode switching unit configured to switch from the manual operation mode to the automatic operation mode based on an operation input by the driver. Switching condition determination means for determining whether or not a predetermined switching condition for switching from the manual operation mode to the automatic operation mode is met;
Storage means for storing information on a destination in the automatic operation mode after switching, which is associated with each of the switching conditions;
A second operation mode switching unit that switches from the manual operation mode to the automatic operation mode when it is determined by the switching condition determination unit that the switching condition is met;
Equipped with
When the destination setting presence / absence determination unit switches the manual operation mode to the automatic operation mode by the second operation mode switching unit, the destination is set with reference to the storage content of the storage unit. The vehicle according to any one of claims 1 to 5, wherein it is determined whether the vehicle is moving or not. The automatic driving mode switched by the second driving mode switching means includes a forced automatic driving mode in which the autonomous traveling is performed with the switching operation to the manual driving mode by the driver disabled.
The vehicle according to claim 6, wherein the storage means stores a cancellation condition of the forced automatic operation mode set corresponding to the switching condition. In-vehicle condition determination means for determining the in-vehicle condition,
The vehicle according to claim 6 or 7, wherein the switching condition determination means determines whether or not the switching state is met based on the determination result of the in-vehicle situation determination means. The switching condition determined by the switching condition determining means is a condition set in advance to comply with traffic regulations or a condition set in advance to maintain safe driving. The vehicle according to any one of claims 6 to 8, characterized in that: The destination prompting means is, in addition to prompting for setting input of the destination, prompts to input whether or not to output a route guidance message at the time of execution of the navigation means for the automatic operation mode. An automobile according to any one of claims 1 to 9. A display means having a display screen,
The destination prompting means urges, in addition to prompting for setting input of the destination, whether or not to output a map display for route guidance on the display screen at the time of execution of the navigation means for the automatic operation mode. An automobile according to any one of claims 1 to 10, characterized in that. 12. The destination prompting means according to any one of claims 1 to 11, further prompting input of a condition for switching from the automatic operation mode to the manual operation mode, in addition to the prompt of setting input of the destination. The car described in. A display means having a display screen,
The destination prompting means acquires information on the vicinity of the current location upon execution of the navigation means for the automatic operation mode in addition to the prompting of the setting input of the destination and provides the information to the driver or the passenger. The vehicle according to any one of claims 1 to 12, which prompts input of whether or not. The destination prompting means acquires information on the vicinity of the current location upon execution of the navigation means for the automatic operation mode, in addition to prompting for setting input of the destination, and provides the driver or the passenger with the information. The vehicle according to any one of claims 1 to 13, which promotes registration of a desired point. In the manual operation mode, navigation means for the manual operation mode for guiding the driver to a route to a destination is provided.
And a first inquiring means for inquiring whether or not to activate the navigation means for the manual operation mode when the automatic operation mode is switched to the manual operation mode.
Whether to change the destination set during execution of the navigation means for the automatic operation mode when receiving an answer to activate the navigation means for the manual operation mode according to the first inquiry means A second inquiry means for inquiring whether or not
When receiving an answer not to change the destination according to the second inquiring means, the navigation means for the manual operation mode performs route guidance to the set destination. The automobile according to any one of claims 1 to 14. When the own vehicle is activated, it has a means for prompting for setting input of the destination, and for storing the destination input for setting,
16. The destination setting presence / absence determination means determines that the destination is set when the stored destination is present. Described car. The destination setting presence / absence determination means comprises means for inquiring whether or not to change the destination when it is determined that the stored destination is present and the destination is set. The vehicle according to claim 16, characterized in that: 18. The vehicle control system according to any one of claims 1 to 17, further comprising means for switching from the manual operation mode to the normal automatic operation mode when the driver starts traveling after getting off the vehicle in the manual operation mode. Described car. The destination prompting means is also adapted to prompt entry of setting of a passing place,
The vehicle according to any one of claims 1 to 18, wherein the destination receiving means also receives a setting input of the via point. A computer provided in a vehicle including a manual operation mode for performing traveling based on a driving operation by a driver and an automatic operation mode for performing autonomous traveling,
Navigation means for an automatic driving mode for supporting the autonomous traveling to a destination in the automatic driving mode;
Starting means for starting navigation means for the automatic operation mode when switched from the manual operation mode to the automatic operation mode;
Destination setting presence / absence determination means for determining whether or not a destination is set when the manual operation mode is switched to the automatic operation mode;
The destination prompting means for prompting the driver or passenger to enter the destination when it is determined by the destination setting presence / absence judging means that the destination is not set.
Destination accepting means for accepting a setting input of a destination by the driver or the passenger in response to the prompting by the destination prompting means;
A program to run as
The navigation means for the automatic driving mode generates information for supporting the autonomous traveling to the destination accepted by the destination accepting means, and executes the assistance of the autonomous traveling. program.

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