Autonomously drivable vehicle

Abstract

The present application relates to and improves an automatically drivable vehicle. The automatically drivable vehicle (1) has: a travel control section (14) that switches between automatic driving and manual driving and controls travel of the vehicle (1); an automatic driving display lamp (5) that is lightable when in automatic driving to be recognized from outside the vehicle (1); and a lamp control section (19) that controls in such a manner that, in automatic driving in which the travel control section (14) controls travel of the vehicle (1) in automatic driving, the automatic driving display lamp (5) is lighted to indicate an automatic driving state. The lamp control section (19) starts light control of the already-extinguished automatic driving display lamp (5) before the vehicle (1) starts in automatic driving in a case where the vehicle (1) starts from a stop state in which the automatic driving display lamp (5) is extinguished.

Description

TECHNICAL FIELD

[0001] The present application relates to an automatically drivable vehicle. BACKGROUND

[0002] In a vehicle, research and development of automatic driving that automates travel of the vehicle is advancing.

[0003] In the future, it is expected that, for example, when a destination is set, the vehicle travels to the destination by automatic control and stops at the destination.

[0004] It is considered that, in such an automatically drivable vehicle, appropriate selection of a travel route, confirmation of safety of a forward road, avoidance control of danger, and the like are required to travel to the destination without causing an accident or the like.

[0005] However, even if such control for safe travel can be performed, 100% safety cannot necessarily be ensured. There can be a limit to safety that can be ensured in travel control of an automatically drivable vehicle alone.

[0006] Therefore, in such an automatically drivable vehicle, in a case where the vehicle is in automatic driving, it is considered that, for example, an automatic driving display lamp is lit up to be recognized from the outside of the vehicle (Patent Documents 1 and 2).

[0007] By the automatically drivable vehicle lighting up the automatic driving display lamp in automatic driving, passengers of other vehicles on a road or a lane on which the automatically drivable vehicle travels and pedestrians in the surroundings thereof can grasp that the vehicle is in automatic driving, and can prepare for actions and pre-responds corresponding thereto. Thus, in the environment in which the automatically drivable vehicle travels, in order to improve safety, there is a limit to control of the vehicle alone, and it is considered that cooperation of pedestrians and other vehicles other than the vehicle is indispensable.

[0008] PRIOR ART DOCUMENTS

[0009] PATENT DOCUMENTS

[0010] Patent Document 1: Japanese Patent Application Publication No. 2018-032433

[0011] Patent Document 2: Japanese Patent Application Publication No. 2019-064471 SUMMARY

[0012] PROBLEMS TO BE SOLVED BY THE INVENTION

[0013] However, in the case of the automatically drivable vehicle, in a case where the automatic driving display lamp is continuously lit up in such automatic driving, power consumption by the automatic driving display lamp becomes a problem. In order to suppress the power consumption of the automatic driving display lamp, it is considered that, for example, in a case where the vehicle in automatic driving stops at a roadside or the like, the automatic driving display lamp is turned off.

[0014] However, in a case where the vehicle is parked in a state where the automatic driving display lamp is turned off and starts from the state by automatic driving, the vehicle in which the automatic driving display lamp is turned off suddenly starts moving while parked. It cannot be recognized by pedestrians and other vehicles around the vehicle. Even when the automatic driving display lamp starts to be lit at the start by automatic driving, the same is true.

[0015] Thus, the vehicle that can be automatically driven needs to be improved.

[0016]

[0017] The present application provides a vehicle that can be automatically driven, having: a travel control unit that switches between automatic driving and manual driving and controls travel of the vehicle; an automatic driving display lamp that can be lit when in automatic driving, to be recognized from outside the vehicle; and a lamp control unit that controls in such a manner that, in automatic driving in which the travel control unit controls travel of the vehicle by automatic driving, the automatic driving display lamp is lit to indicate an automatic driving state, wherein the lamp control unit, in a case where the vehicle starts from a parked state in which the automatic driving display lamp is turned off by automatic driving, starts the lit control of the automatic driving display lamp that has been turned off before the vehicle starts by automatic driving.

[0018] Preferably, the lamp control unit can start the lit control of the automatic driving display lamp that has been turned off before the vehicle starts by automatic driving, in a case where the vehicle can start while parked.

[0019] Preferably, the lamp control unit can control the automatic driving display lamp to a first lit state until the vehicle starts by automatic driving, in a case where the vehicle starts from a parked state in which the automatic driving display lamp is turned off by automatic driving.

[0020] Preferably, the lamp control unit can increase or decrease the brightness of the automatic driving display lamp or increase or decrease the light emission range of the automatic driving display lamp in the first lit state.

[0021] Preferably, the lamp control unit can control in such a manner that, after the vehicle starts by automatic driving, the automatic driving display lamp is switched to a second lit state different from the first lit state.

[0022]

[0023] ​​In the present application, in automatic driving in which a vehicle is controlled to travel in automatic driving, an automatic driving display lamp is illuminated to indicate a lamp control section in an automatic driving state. In the case where the vehicle starts from a stop state in which the automatic driving display lamp is turned off in automatic driving, the lamp control section starts the illumination control of the automatic driving display lamp that has been turned off before the vehicle starts in automatic driving. The lamp control section starts the illumination control of the automatic driving display lamp that has been turned off before the vehicle starts in automatic driving, for example, in the case where a person gets on the vehicle in the stop state. The pedestrians and other vehicles around the vehicle can recognize that the vehicle starts to move out after the automatic driving display lamp that has been illuminated before the vehicle starts to move out, and can implement the preparation for coping with the movement out before the actual movement out. BRIEF DESCRIPTION OF DRAWINGS

[0024] FIG. 1(A) - (C) is an explanatory view of an automatic drivable automobile of an embodiment of the present application.

[0025] Figure 2 is an explanatory view of a control system of the automobile of FIG. 1(A) - (C).

[0026] Figure 3 is a flowchart of control that switches between automatic driving and manual assisted driving.

[0027] Figure 4 is a flowchart of the illumination control of the automatic driving display lamp corresponding to the driving switch control of Figure 3

[0028] Figure 5 is a flowchart of the illumination state control of the automatic driving display lamp in automatic driving in the case where the vehicle stops for the passenger to get off.

[0029] Figure 6 is a flowchart of the illumination state control of the automatic driving display lamp in the case where the vehicle starts from a stop state in automatic driving after the passenger gets on in the first embodiment of the present application.

[0030] Figure 7 is a flowchart of the travel control in which the vehicle starts from a stop state in automatic driving.

[0031] Figure 8 is a flowchart of the illumination state control of the automatic driving display lamp in the case where the vehicle starts from a stop state in automatic driving after the passenger gets on in the second embodiment of the present application.

[0032] SYMBOL EXPLANATION

[0033] 1... automobile (vehicle), 5... automatic driving display lamp, 14... automatic driving / driving assistance ECU, 19... lamp ECU, 20... alarm ECU, 59... memory, 61... external speaker DETAILED DESCRIPTION​

[0034] Hereinafter, an embodiment of the present application will be described based on the drawings.

[0035] [First Embodiment]

[0036] FIGS. 1(A) - (C) are explanatory views of an automatic drivable car 1 of an embodiment of the present application.

[0037] FIG. 1(A) is a plan view of the car 1. In FIG. 1(A), the car 1 is parked, for example, along a roadside of a lane to wait for a passenger 3 to get on. At the rear side of the car 1, there is another car 2 parked. The passenger 3 and the like get on the car 1 from a sidewalk of the roadside. FIG. 1(B) is a side view of the car 1. FIG. 1(C) is a rear view of the car 1.

[0038] The car 1 of FIGS. 1(A) - (C) is an automatic drivable car 1 that can travel by switching between automatic driving and manual driving, and is provided with an automatic driving display lamp 5 that is lit in automatic driving.

[0039] The automatic driving display lamp 5 is a light device that is lit to indicate that it is in an automatic driving state. The automatic driving display lamp 5 is provided on the entire circumference of the side surfaces of, for example, a vehicle body 6. Thereby, the passenger 3 and the passenger 3 of the other car 2 who are present around the car 1 can recognize the automatic driving display lamp 5 that is lit in automatic driving from the outside of the car 1. By the automatic driving display lamp 5 being lit in automatic driving, it is expected that the cooperation of the passenger 3 and the passenger 3 of the other car 2 who are present around the car 1 is obtained, and the safety that is not obtained in only the travel control of the car 1 itself is obtained.

[0040] In addition thereto, for example, the automatic driving display lamp 5 can be provided separately at the four corners of the front, rear, left, and right of the vehicle body 6, or along the outer periphery of a roof panel above the vehicle cabin, or can be provided protruding on the roof panel.

[0041] However, the automatic driving display lamp 5 is lit in the case where the car 1 travels in automatic driving. However, in the automatic drivable car 1, the continuous lighting of the automatic driving display lamp 5 in automatic driving increases the power consumption. In particular, in a drive-type car 1 that travels by electricity, this constant increase in power consumption in automatic driving leads to a reduction in the travel distance. It directly affects the travel performance. Therefore, even in, for example, a stop in automatic driving, during which the passenger 3 is waiting to get on, in order to reduce the power consumption, it is considered to turn off the automatic driving display lamp 5.

[0042] However, when the car 1 suddenly lights the automatic driving display lamp 5 from the stop state in automatic driving in which the automatic driving display lamp 5 is turned off and departs, the other passengers, pedestrians, and occupants of the other car 2 who are present around can not be able to respond to this sudden movement well.

[0043] In this way, improvement is required in the self-driving vehicle 1.

[0044] Figure 2 Fig. 1 (A) - (C) is an explanatory diagram of the control system of the vehicle 1. Figure 2 In the present embodiment, a plurality of control devices constituting the control system 10 of the vehicle 1 are represented by respective control ECUs (Electronic Control Units) incorporated therein. The control devices can have, in addition to the control ECUs, for example, storage components that record control programs and data, input / output ports that are connected to control objects or state detection devices thereof, timers that measure time or time of day, and internal buses that connect them.

[0045] Specifically, Figure 2 The control ECUs shown are, for example, a drive ECU 11, a steering ECU 12, a brake ECU 13, a self-driving / driving assist ECU 14, a driving operation ECU 15, a detection ECU 16, an external communication ECU 17, a UI operation ECU 18, a light ECU 19, and an alarm ECU 20. The control system 10 of the vehicle 1 can also have other control ECUs not shown.

[0046] The plurality of control ECUs are connected to a vehicle network 26 such as a CAN (Controller Area Network) or a LIN (Local Interconnect Network) employed in the vehicle 1. The vehicle network 26 can also be constituted by a plurality of bus cables 27 to which the plurality of control ECUs can be connected, and a central gateway (CGW) 28 as a relay device that connects the plurality of bus cables 27. The plurality of control ECUs are assigned IDs as mutually different identification information. The control ECUs basically periodically output notification data to other control ECUs. The notification data has attached thereto the ID of the control ECU that is the source of the output and the ID of the control ECU that is the destination of the output. The other control ECUs monitor the bus cables 27, and in the case where the ID of the destination of the output is, for example, the own ID, acquire the notification data and perform processing based on the notification data. The central gateway 28 monitors the plurality of bus cables 27 connected thereto respectively, and when detecting a control ECU connected to a bus cable 27 different from the bus cable 27 to which the control ECU that is the source of the output is connected, outputs the notification data to the bus cable 27. Through this relay processing by the central gateway 28, the plurality of control ECUs can input and output the notification data between the other control ECUs connected to bus cables 27 different from the bus cable 27 to which each control ECU is connected.

[0047] The external communication ECU 17 performs wireless communication with, for example, a communication base station 101 existing outside the vehicle 1, a communication device of another vehicle 2. The communication base station 101 can be a base station of, for example, an ADAS (Advanced Driver Assistance System) communication network, or a base station of a carrier communication network. The base station of the carrier communication network performs communication not only with the communication device of the other vehicle 2 but also with a portable device 102 held by the passenger 3. The external communication ECU 17 can also be divided into a plurality of types according to the type of the counterpart of direct communication and provided in the vehicle 1. Further, the communication base station 101, the communication device of the other vehicle 2, and the portable device 102 constitute a traffic system 100 together with a server device 103. The external communication ECU 17 transmits and receives communication data between the server device 103, the other vehicle 2, or the portable device 102 by performing wireless communication directly with the communication base station 101 or the communication device of the other vehicle 2.

[0048] In the UI operation ECU 18, a display device 21 and an operation device 22 are connected as user interface devices for, for example, a passenger. The display device 21 can be, for example, a liquid crystal device, an image projection device. The operation device 22 can be, for example, a touch panel, a keyboard, a non-contact operation detection device. The display device 21 and the operation device 22 can also be provided on, for example, the inner surface of the passenger room in which the passenger sits. The UI operation ECU 18 acquires notification data from the vehicle network 26 and displays it on the display device 21. The UI operation ECU 18 outputs operation input to the operation device 22 to the vehicle network 26. In addition, the UI operation ECU 18 can also perform processing based on the operation input and include the processing result in the notification data. The UI operation ECU 18 can also display, for example, a navigation screen for setting a destination or the like on the display device 21, search for a route to the destination selected by the operation input, and include the route data in the notification data. Attribute information of, for example, a lane or the like of a road used in moving from the current position to the destination can also be included in the route data.

[0049] In the driving operation ECU 15, for example, a steering wheel 31, a brake pedal 32, an accelerator pedal 33, a shift lever 34, or the like are connected as operation members for the passenger to control the running of the vehicle 1. When the operation members are operated, the driving operation ECU 15 outputs notification data including, for example, the presence or absence of operation, the operation amount, or the like to the vehicle network 26. In addition, the driving operation ECU 15 can also perform processing regarding the operation of the operation members and include the processing result in the notification data. The driving operation ECU 15 can also judge an abnormal operation when, for example, the accelerator pedal 33 is operated in a situation where there is another moving body or a fixed object in the traveling direction of the vehicle 1, and include the judgment result in the notification data.

[0050] In the detection ECU 16, as detection means for detecting the running state of the vehicle 1, there are connected, for example, a speed sensor 41 that detects the speed of the vehicle 1, an acceleration sensor 42 that detects the acceleration of the vehicle 1, an external camera 43 such as a stereo camera that captures the surroundings outside the vehicle 1, a GPS receiver 44 that detects the position of the vehicle 1, and the like. The detection ECU 16 acquires detection information from the detection means, and outputs notification data including the detection information to the vehicle network 26. In addition, the detection ECU 16 can also perform processing based on the detection information, and include the processing result in the notification data. The detection ECU 16 can also determine collision detection in the case where, for example, the acceleration sensor 42 detects acceleration exceeding a collision detection threshold, and include the collision detection result in the notification data. The detection ECU 16 can also extract a moving body such as the passenger 3 and the other vehicle 2 existing in the surroundings of the host vehicle based on the image of the external camera 43, determine the kind and attribute of the moving body, and estimate the relative direction, relative distance, and moving direction of the moving body from the position, size, and change of the moving body in the image, and include the information of the moving body including these estimation results in the notification data and output to the vehicle network 26.

[0051] The automatic driving / driving assist ECU 14 acquires the notification data from the vehicle network 26, and switches the running of the vehicle 1 between automatic driving and manual driving.

[0052] In addition, the automatic driving / driving assist ECU 14 acquires the notification data from the vehicle network 26, performs control for automatic driving or driving assist of the vehicle 1, generates running control data and outputs to the drive ECU 11, the steering ECU 12, and the brake ECU 13. The drive ECU 11, the steering ECU 12, and the brake ECU 13 control the running of the vehicle 1 based on the input running control data.

[0053] In the case where the vehicle 1 is caused to run in automatic driving, the automatic driving / driving assist ECU 14 acquires the notification data from the vehicle network 26 as a running control section, and explores or acquires a route to the destination. The automatic driving / driving assist ECU 14 acquires the notification data from the vehicle network 26, determines whether there is no abnormality or danger in the vehicle 1, and in the case where there is no abnormality or danger in the vehicle 1, generates running control data on the forward road along which to move and outputs as notification data. The automatic driving / driving assist ECU 14 controls the running of the vehicle 1 based on the position information of the host vehicle of the GPS receiver 44 or the like in such a manner as to run along the moving route to reach the destination, until parking at a parking lot or the like at the destination. In the case where there is an abnormality or danger with respect to the vehicle 1, the automatic driving / driving assist ECU 14 generates running control data in such a manner as to avoid the abnormality or danger and outputs as notification data.

[0054] In the case of assisting the driving of the vehicle 1, the automatic driving / driving assist ECU 14 acquires the notification data of the operation input from the UI operation ECU 18 through the vehicle network 26, and generates travel control data that adjusts the operation of the operation input and outputs it as notification data. The automatic driving / driving assist ECU 14 controls the travel of the vehicle 1 according to the driving operation of the passenger. In the case where there is an abnormality or danger with respect to the vehicle 1, the automatic driving / driving assist ECU 14 generates travel control data in such a manner as to avoid the abnormality or danger and outputs it as notification data.

[0055] The lamp ECU 19 is connected with the head lamp 51 provided at the front portion of the vehicle body 6 of the vehicle 1, the turn signal lamp 52 provided at the front and rear and left and right of the vehicle body 6, the brake lamp 53 provided at the rear portion of the vehicle body 6, and the automatic driving display lamp 5. Further, a memory 59 connected to the lamp ECU 19 is shown in the figure. The memory 59 connected to the lamp ECU 19 has recorded therein setting values and the like used by the lamp ECU 19 for control. The lamp ECU 19 acquires notification data for controlling the light from the vehicle network 26 as a lamp control section, and controls the lighting state of the head lamp 51, the turn signal lamp 52, the brake lamp 53, and the automatic driving display lamp 5 according to the data. The lamp ECU 19 lights the automatic driving display lamp 5 in the automatic driving in the case where, for example, the automatic driving / driving assist ECU 14 controls the travel of the vehicle 1 in the automatic driving. Thereby, for example, the passenger 3 and the moving body outside the vehicle such as the other vehicle 2 can recognize that the vehicle 1 is in the automatic driving by the automatic driving display lamp 5 being lit, and can cope with the travel of the vehicle 1 in the automatic driving. The lamp ECU 19 can perform the lighting control in such a manner that, for example, the automatic driving display lamp 5 is turned off according to the travel environment even in the automatic driving, for example, in the case where the travel environment does not require the lighting.

[0056] The alarm ECU 20 is connected with the external speaker 61. The alarm ECU 20 acquires notification data of the alarm output from the vehicle network 26, and outputs an alarm sound from the external speaker 61 according to the data.

[0057] Figure 3 is a flowchart of control that switches between the automatic driving and the manual assist driving.

[0058] The automatic driving / driving assist ECU 14 repeatedly executes the processing of Figure 3 in the case where, for example, the passenger gets on the vehicle 1.

[0059] In step ST1, the automatic driving / driving assist ECU 14 determines whether or not the travel of the vehicle 1 is started. In the case where the travel of the vehicle 1 is not started, the automatic driving / driving assist ECU 14 ends the processing of Figure 3 In the case where the travel of the vehicle 1 is started, the automatic driving / driving assist ECU 14 causes the processing to proceed to step ST2.

[0060] In step ST2, the automated driving / driving assist ECU 14 determines whether the travel of the vehicle 1 is automated driving. The automated driving / driving assist ECU 14 can also determine whether the travel of the vehicle 1 is automated driving based on the set value of the driving mode or the like acquired from the UI operation ECU 18. In the case of travel in automated driving, the automated driving / driving assist ECU 14 causes the process to proceed to step ST3. In the case of driving assist travel other than automated driving, for example, the automated driving / driving assist ECU 14 causes the process to proceed to step ST7.

[0061] In step ST3, the automated driving / driving assist ECU 14 starts travel in automated driving. The automated driving / driving assist ECU 14 controls the travel of the vehicle 1 in automated driving.

[0062] In step ST4, the automated driving / driving assist ECU 14 determines whether to end the travel of the vehicle 1. The automated driving / driving assist ECU 14 determines to end the travel of the vehicle 1 in the case where the own vehicle position information acquired from the external communication ECU 17 or the GPS receiver 44 is the destination of automated driving, for example, a parking lot, and the vehicle is parked in a manner with an acceleration of 0. In the case where it is determined that the travel of the vehicle 1 is ended, the automated driving / driving assist ECU 14 ends the process. Thus, the travel in automated driving is ended. In the case where it is not determined that the travel of the vehicle 1 is ended, the automated driving / driving assist ECU 14 causes the process to proceed to step ST5. Figure 3

[0063] In step ST5, the automated driving / driving assist ECU 14 determines whether the travel of the vehicle 1 is switched from automated driving to driving other than automated driving, for example, manual driving. The automated driving / driving assist ECU 14 can also determine the switch from automated driving based on the set value of the driving mode or the like acquired from the UI operation ECU 18. In the case where the switch from automated driving to driving other than automated driving is not made, the automated driving / driving assist ECU 14 causes the process to return to step ST4. The automated driving / driving assist ECU 14 repeatedly performs the determinations of steps ST4 and ST5 in automated driving. In the case where the switch from automated driving to driving other than automated driving is made, the automated driving / driving assist ECU 14 causes the process to proceed to step ST6.

[0064] In step ST6, the automated driving / driving assist ECU 14 switches the travel of the vehicle 1 from automated driving to driving other than automated driving, for example, manual driving. Thus, the travel in automated driving is ended, and the travel in manual driving is started. Then, the automated driving / driving assist ECU 14 causes the process to proceed to step ST8.

[0065] In step ST7, the automated driving / driving assist ECU 14 starts manual driving other than automated driving.​

[0066] In step ST8, the automated driving / driving assist ECU 14 determines whether or not to end the travel of the vehicle 1. The automated driving / driving assist ECU 14 determines to end the travel of the vehicle 1, for example, in a case where the vehicle 1 is parked in a manner that the acceleration becomes 0 and the ignition switch or the like that operates the vehicle 1 is turned off. In a case where it is determined that the travel of the vehicle 1 is ended, the automated driving / driving assist ECU 14 ends the processing. Thus, the travel of the manual assist driving ends. In a case where it is not determined that the travel of the vehicle 1 is ended, the automated driving / driving assist ECU 14 causes the processing to proceed to step ST9. Figure 3

[0067] In step ST9, the automated driving / driving assist ECU 14 determines whether or not the travel of the vehicle 1 is switched from the manual assist driving to the automated driving. The automated driving / driving assist ECU 14 can also determine the switching from the manual assist driving based on the set value of the driving mode or the like acquired from the UI operation ECU 18. In a case where the travel is not switched from the manual assist driving to the automated driving, the automated driving / driving assist ECU 14 causes the processing to return to step ST8. The automated driving / driving assist ECU 14 repeatedly performs the determination of step ST8 and step ST9 in the manual assist driving. In a case where the travel is switched from the manual assist driving to the automated driving, the automated driving / driving assist ECU 14 causes the processing to proceed to step ST10.

[0068] In step ST10, the automated driving / driving assist ECU 14 switches the travel of the vehicle 1 from the manual assist driving to the automated driving. Thus, the travel in the manual assist driving ends and the travel in the automated driving starts. Then, the automated driving / driving assist ECU 14 causes the processing to proceed to step ST4.

[0069] In this way, the automated driving / driving assist ECU 14 repeatedly performs the processing of steps ST4 to ST10, for example, in a case where the passenger gets on the vehicle 1 and travels. The automated driving / driving assist ECU 14 can also acquire the notification data including the set information of the driving mode from the UI operation ECU 18 through the vehicle network 26 and switch the travel of the vehicle 1 between the automated driving and the manual assist driving, for example. Figure 3 The automated driving / driving assist ECU 14 can also acquire the notification data including the switching instruction to the mandatory manual driving based on the abnormality detection from the detection ECU 16 or the like and switch the travel of the vehicle 1 between the automated driving and the manual assist driving. The automated driving / driving assist ECU 14 can also generate the notification data including the switching instruction to the mandatory manual driving based on the self abnormality detection and switch the travel of the vehicle 1 between the automated driving and the manual assist driving.

[0070] Figure 4 is the same as Figure 3 ​the driving switch control of the automatic driving display lamp 5.

[0071] The lamp ECU 19 repeatedly executes the process of Figure 4 while continuously acquiring the information as notification data, in a case where the automatic driving / drive assist ECU 14 controls the travel of the vehicle 1 by automatic driving.

[0072] In step ST11, the lamp ECU 19 determines whether or not the travel of the vehicle 1 by automatic driving is started. The lamp ECU 19 can also acquire the information and notification output to the vehicle network 26 by the automatic driving / drive assist ECU 14 for the control of automatic driving, and determine whether or not the travel of the vehicle 1 by automatic driving is started. In a case where the travel of the vehicle 1 by automatic driving is not started, the lamp ECU 19 ends the process of Figure 4 In a case where the travel of the vehicle 1 by automatic driving is started, the lamp ECU 19 causes the process to proceed to step ST12.

[0073] In step ST12, the lamp ECU 19 lights up the automatic driving display lamp 5 that is turned off.

[0074] In step ST13, the lamp ECU 19 determines whether or not the travel of the vehicle 1 by automatic driving is ended. The lamp ECU 19 can determine whether or not the travel of the vehicle 1 by automatic driving is ended, for example, by failing to acquire the information output to the vehicle network 26 by the automatic driving / drive assist ECU 14 for the control of automatic driving, or by acquiring the notification of the end of automatic driving. In a case where the travel of the vehicle 1 by automatic driving is not ended, the lamp ECU 19 repeatedly performs the determination process of step ST13. In a case where the travel of the vehicle 1 by automatic driving is ended, the lamp ECU 19 causes the process to proceed to step ST14.

[0075] In step ST14, the lamp ECU 19 turns off the automatic driving display lamp 5 that is lit up.

[0076] Thus, the lamp ECU 19 basically lights up the automatic driving display lamp 5 in the automatic driving in which the automatic driving / drive assist ECU 14 controls the travel of the vehicle 1 by automatic driving.

[0077] Figure 5 is a flowchart of the lighting state control of the automatic driving display lamp 5 in automatic driving in a case where the passenger 3 gets off the vehicle 1 to stop the vehicle.

[0078] The lamp ECU 19, as the lamp control section, repeatedly executes the process of Figure 5 while continuously acquiring the information as notification data, in a case where the drive assist ECU 14 controls the travel of the vehicle 1 by automatic driving or the like.

[0079] In step ST21, the lamp ECU 19 determines whether or not the vehicle 1 is in automatic driving. The lamp ECU 19 can also acquire information or notification output to the vehicle network 26 by the automatic driving / driving assist ECU 14 for the purpose of controlling automatic driving, for example, and determine whether or not the vehicle 1 is in automatic driving. The lamp ECU 19 repeatedly performs the determination process of step ST21 until the vehicle 1 becomes in automatic driving. When the vehicle 1 becomes in automatic driving, the lamp ECU 19 causes the process to proceed to step ST22.

[0080] In step ST22, the lamp ECU 19 determines whether or not the vehicle 1 that is running with automatic driving control is in a stop state for getting off the vehicle, for example. The lamp ECU 19 determines that the vehicle 1 is not in a stop state when the detected speed of the speed sensor 41 or the detected acceleration of the acceleration sensor 41 is equal to or greater than a predetermined value, for example, and ends the process. When the vehicle 1 is in a stop state, the lamp ECU 19 causes the process to proceed to step ST23. Figure 5

[0081] In step ST23, the lamp ECU 19 turns off the automatic driving display lamp 5 that is lit during running by automatic driving. Thereby, it is possible to maintain the automatic driving display lamp 5 in an off state when the vehicle 1 is in a stop state.

[0082] Figure 6 is a flowchart of the control of the lighting state of the automatic driving display lamp 5 in the first embodiment of the present application in the case where the vehicle 1 starts from a stop state by automatic driving after getting on the vehicle.

[0083] The lamp ECU 19, as a lamp control section, repeatedly performs the process of step ST21 while continuously acquiring information as notification data when the driving assist ECU 14 controls the running of the vehicle 1 by automatic driving or the like, for example. Figure 6

[0084] In step ST31, the lamp ECU 19 determines whether or not the vehicle 1 is in automatic driving. The lamp ECU 19 can acquire information or notification output to the vehicle network 26 by the automatic driving / driving assist ECU 14 for the purpose of controlling automatic driving, for example, and determine whether or not the vehicle 1 is in automatic driving. The lamp ECU 19 repeatedly performs the determination process of step ST31 until the vehicle 1 becomes in automatic driving. When the vehicle 1 becomes in automatic driving, the lamp ECU 19 causes the process to proceed to step ST32. The lamp ECU 19 determines that the vehicle 1 becomes in automatic driving when the vehicle 1 that is in a stop state switches to automatic driving, and causes the process to proceed to step ST32.

[0085] In step ST32, the lamp ECU 19 determines whether or not the vehicle 1 is in a stop state. The lamp ECU 19 determines that the vehicle 1 is not in a stop state when the detected speed of the speed sensor 41 or the detected acceleration of the acceleration sensor 41 is equal to or greater than a predetermined value, for example, and ends the process. Figure 6 ​​In the case of the vehicle 1 in the stop, the lamp ECU 19 makes the process proceed to step ST33.

[0086] In step ST33, the lamp ECU 19 determines whether the vehicle 1 in the stop can start by the automatic driving. The lamp ECU 19 can determine whether it is possible to start, based on, for example, the detection ECU 16 whether a new passenger has gotten on the vehicle 1 for the automatic driving and in the stop. In the case where the vehicle 1 in the stop cannot start by the automatic driving, the lamp ECU 19 repeatedly performs the determination process of step ST33. When the vehicle 1 in the stop can start by the automatic driving, the lamp ECU 19 makes the process proceed to step ST34.

[0087] In step ST34, the lamp ECU 19 starts the lighting control of the automatic driving display lamp 5 which has been turned off in the stop by the automatic driving, and makes the automatic driving display lamp 5 blink. The automatic driving display lamp 5 is lit in the first lighting state in which the brightness is increased and decreased.

[0088] In step ST35, the lamp ECU 19 determines whether the lighting period in the first lighting state in which the automatic driving display lamp 5 is made to blink continues for a prescribed known time. In the case where the prescribed known time does not elapse, the lamp ECU 19 makes the process return to step ST34, and continues the blinking of the automatic driving display lamp 5. When the prescribed known time elapses, the lamp ECU 19 makes the process proceed to step ST36.

[0089] In step ST36, the lamp ECU 19 lights the turn signal lamp which is one of the lamps. The lamp ECU 19 lights the turn signal lamp of the vehicle 1 in the direction of the start.

[0090] In step ST37, the lamp ECU 19 outputs the start permission after the automatic driving display lamp 5 is lit. As described later, the automatic driving / driving assist ECU 14 starts the travel by the automatic driving of the vehicle 1 based on the start permission of the lamp ECU 19.

[0091] In step ST38, the lamp ECU 19 determines whether the vehicle 1 starts and travels. The lamp ECU 19 determines that the vehicle 1 does not start and travel in the case where, for example, the detected speed of the speed sensor 41 or the detected acceleration of the acceleration sensor 41 is not the prescribed value or more, and repeatedly performs the determination process of step ST38. When the vehicle 1 starts and travels, the lamp ECU 19 makes the process proceed to step ST39.

[0092] In step ST39, the lamp ECU 19 switches the lighting state of the automatic driving display lamp 5 to the second lighting state in which the automatic driving display lamp 5 is continuously lit at a certain brightness, different from the first lighting state, after the vehicle 1 starts by the automatic driving.

[0093] Figure 7is a flowchart of travel control that starts from a stop state by automatic driving.

[0094] The automatic driving / drive assist ECU 14 sets the case where automatic driving is performed in Figure 3 The processing of steps ST43 to ST45 is repeated until the start permission of the lamp ECU 19 is obtained. Figure 7 The processing of steps ST43 to ST45 is repeated until the start permission of the lamp ECU 19 is obtained.

[0095] In step ST41, the automatic driving / drive assist ECU 14 starts travel control of the automobile 1 by automatic driving.

[0096] In step ST42, the automatic driving / drive assist ECU 14 acquires navigation information of a route and the like for causing the automobile 1 to travel by automatic driving. The automatic driving / drive assist ECU 14 acquires the navigation information as notification data from various control ECUs of the automobile 1 such as the external communication ECU 17 through the vehicle network 26.

[0097] In step ST43, the automatic driving / drive assist ECU 14 acquires the current position of the automobile 1. The automatic driving / drive assist ECU 14 acquires information of the current position from various control ECUs of the automobile 1 such as the detection ECU 16 as notification data through the vehicle network 26.

[0098] In step ST44, the automatic driving / drive assist ECU 14 selects a forward road from the current position in the acquired route. Thereby, the automatic driving / drive assist ECU 14 becomes a state where travel control of the automobile 1 by automatic driving can be started in accordance with the selected forward road.

[0099] In step ST45, the automatic driving / drive assist ECU 14 determines whether or not there is a start permission. In a case where the start permission is not output from the lamp ECU 19 in step ST37, the automatic driving / drive assist ECU 14 returns the processing to step ST43. The automatic driving / drive assist ECU 14 repeatedly performs the processing from step ST43 to step ST45 until the start permission of the lamp ECU 19 is obtained. When the start permission of the lamp ECU 19 is obtained, the automatic driving / drive assist ECU 14 advances the processing to step ST46.

[0100] In step ST46, the automatic driving / drive assist ECU 14 starts travel control in the latest forward road selected in step ST44. Thereby, the automobile 1 starts by automatic driving and starts traveling.

[0101] In step ST47, the automated driving / driving assist ECU 14 determines whether the control by automated driving is ended. In a case where the vehicle 1 reaches, for example, a destination, the automated driving / driving assist ECU 14 can determine that the control by automated driving is ended. Also, in a case where the control by automated driving is not ended, the automated driving / driving assist ECU 14 returns the process to step ST43. The automated driving / driving assist ECU 14 repeatedly performs the process from step ST43 to step ST47 until the vehicle 1 reaches, for example, a destination. When it is determined that the vehicle 1 reaches, for example, a destination and the control by automated driving is ended, the automated driving / driving assist ECU 14 ends the process. Figure 7

[0102] Thus, after the automated driving / driving assist ECU 14 acquires the start permission from the lamp ECU 19, the automated driving / driving assist ECU 14 starts the start control of the vehicle 1 in the stop state by automated driving.

[0103] As described above, in the present embodiment, in a case where the vehicle 1 starts by automated driving from the stop state in which the automated driving display lamp 5 is turned off, the lamp ECU 19 starts the lighting control of the automated driving display lamp 5 that has been turned off before the vehicle 1 starts by automated driving, the lamp ECU 19 being controlled so that the automated driving display lamp 5 is lit in a manner indicating that the vehicle 1 is in the automated driving state in the automated driving that controls the travel of the vehicle 1 by automated driving. The lamp ECU 19 starts the lighting control of the automated driving display lamp 5 that has been turned off before the vehicle 1 starts by automated driving in a case where, for example, a person gets in the vehicle 1 in the stop state. The pedestrians and other vehicles 1 in the surroundings recognize that the vehicle 1 is going to start after the automated driving display lamp 5 that is lit before the start is lit and can perform the preparation for the start before the actual start.

[0104] In particular, in the present embodiment, in a case where the vehicle 1 starts by automated driving from the stop state in which the automated driving display lamp 5 is turned off, the automated driving display lamp 5 is controlled to the first lighting state for a predetermined period of time until the vehicle 1 starts by automated driving. In the first lighting state, the brightness of the automated driving display lamp 5 can be increased or decreased, or the emission range of the automated driving display lamp 5 can be increased or decreased. Thus, the pedestrians and other vehicles 1 in the surroundings recognize that the vehicle 1 is going to start after the automated driving display lamp 5 that is lit for the period of time is lit and can perform the preparation for the start before the actual start.

[0105] ​In the present embodiment, the automobile 1 is controlled so that the automatic driving display lamp 5 is switched from the first lighting state to the second lighting state in which the automatic driving display lamp 5 is continuously lit at a certain brightness after the start of actual driving by automatic driving. Thus, the automatic driving display lamp 5 is lit in the first lighting state until the start of actual driving by automatic driving, and is switched to the second lighting state in which the automatic driving display lamp 5 is continuously lit at a certain brightness after the start of actual driving by automatic driving. A person around the automobile 1 and other automobiles 1 in the vicinity of the automobile 1 in driving can easily recognize that the automobile 1 stopped at a stop is started by automatic driving by switching the lighting state of the automatic driving display lamp 5 indicating that the automobile 1 is in the automatic driving state to the continuous lighting state.

[0106] In the present embodiment, the lamp ECU 19 outputs the start permission after the automatic driving display lamp 5 is lit, and the automatic driving / driving assist ECU 14 starts the start control of the automobile 1 in the stopped state by automatic driving after the start permission is acquired. Thus, in the present embodiment, it is possible to ensure that the automatic driving display lamp 5 is lit until the automobile 1 actually starts from the stopped state. It is possible to reliably perform the automatic driving display lamp 5 lit before the start of the automobile 1.

[0107] [Second Embodiment]

[0108] Next, the automobile 1 according to the second embodiment of the present application will be described. In the following description, mainly the differences from the above-described embodiment will be described. For the same constituent elements as those of the above-described embodiment, the same symbols as those of the above-described embodiment are used, and the description thereof will be omitted.

[0109] Figure 8 is a flowchart of the lighting state control of the automatic driving display lamp 5 in the case where the automobile 1 is started from the stopped state by automatic driving after getting on the automobile in the second embodiment of the present application.

[0110] The lamp ECU 19 as the lamp control section repeatedly performs the processing of Figure 8 while continuously acquiring the information as notification data in the case where the driving assist ECU 14 controls the driving of the automobile 1 by automatic driving or the like.

[0111] In step ST33, when the automobile 1 in the stopped state is started by automatic driving, the lamp ECU 19 causes the processing to proceed to step ST51.

[0112] In step ST51, the lamp ECU 19 starts the light-up control of the automatic driving display lamp 5 that has been turned off in the stoppage. The lamp ECU 19 varies the brightness and the light emission range of the automatic driving display lamp 5 in an increasing and decreasing manner, and starts the light-up of the automatic driving display lamp 5 that has been turned off in the stoppage. Then, the lamp ECU 19 continues the first light-up state of step ST51 until the light-up period in the first light-up state in step ST35 elapses for a predetermined period. In addition, after the vehicle 1 starts by the automatic driving, the lamp ECU 19 switches the light-up state of the automatic driving display lamp 5 to a second light-up state in which the automatic driving display lamp 5 is continuously lighted up at a certain brightness, which is different from the first light-up state, in step ST39.

[0113] The above-described embodiments are examples of preferred embodiments of the present application, but the present application is not limited thereto, and various modifications or changes can be made within the scope of the present application.

[0114] For example, in the above-described embodiments, the lamp ECU 19 outputs the start permission after starting the light-up of the automatic driving display lamp 5, and the automatic driving / driving assist ECU 14 starts the start control of the vehicle 1 in the stoppage by the automatic driving after the start permission is acquired. Thus, the automatic driving / driving assist ECU 14 can start the start of the vehicle 1 in a state in which the automatic driving display lamp 5 is lighted up.

[0115] In addition to this, for example, the automatic driving / driving assist ECU 14 can wait for a certain period after step ST44, and start the start of the vehicle 1 after the waiting period elapses. Even in this case, it is expected that the lamp ECU 19 starts the light-up of the automatic driving display lamp 5 during the waiting period, and the start of the vehicle 1 can be started in a state in which the automatic driving display lamp 5 is lighted up.

Claims

1. An autonomous vehicle, comprising: The driving control unit switches between automatic and manual driving and controls the vehicle's movement; An autonomous driving indicator light, which illuminates during autonomous driving to be identifiable from outside the vehicle; and The lighting control unit controls the automatic driving indicator light to illuminate during automatic driving mode, when the driving control unit controls the vehicle's movement in automatic driving mode, to indicate that the vehicle is in automatic driving mode. Specifically, when the lighting control unit detects that the vehicle is in a parked state during autonomous driving, it turns off the autonomous driving indicator light. When the vehicle is ready to start after the autonomous driving indicator light has been turned off, the autonomous driving indicator light is turned on from the off state to a first lighting state with increasing or decreasing brightness or increasing or decreasing light emission range until the vehicle begins to drive automatically. When it is detected that the vehicle has started autonomous driving from the parking state, the illumination state of the autonomous driving indicator light is switched from the first illumination state to a second illumination state that is continuously illuminated at a certain brightness, which is different from the first illumination state. When a predetermined period of time has elapsed in the first illumination state and before the illumination state of the autonomous driving indicator light is switched from the first illumination state to the second illumination state, the light control unit illuminates the vehicle's turn signal in the starting direction.

2. The autonomous vehicle according to claim 1, wherein, The lighting control unit determines whether the vehicle can start based on whether it detects a new passenger boarding while the vehicle is in autonomous driving and parked.

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