Self-driving vehicles

Abstract

The present invention relates to and improves a vehicle capable of automatic driving. The vehicle capable of automatic driving (1) comprises: an automatic driving indicator light (5) which can be illuminated during automatic driving of the vehicle (1) capable of automatic driving so as to be distinguishable from outside the vehicle (1); other lights (51 to 54) which are provided on the vehicle (1) separately from the automatic driving indicator light (5); and a light control unit (19) which controls the lighting state of the automatic driving indicator light (5) and the other lights (51 to 54). When the vehicle (1) is started from a parking state in which the lights including the automatic driving indicator light (5) are extinguished, the light control unit (19) starts to illuminate the extinguished automatic driving indicator light (5) before the other lights (51 to 54).

Description

Technical Field

[0001] The present invention relates to autonomously driven vehicles. Background Art

[0002] In vehicles, research and development of autonomous driving, which automates vehicle driving, is progressing.

[0003] In the future, it is expected that, for example, when a destination is set, the vehicle will travel to the destination through automatic control and stop at the destination.

[0004] Such an autonomously driven vehicle needs to perform appropriate selection of a travel route, confirmation of the safety of the route ahead, and risk avoidance control so as to travel to a destination without causing an accident.

[0005] However, even if such control for safe driving can be performed, it does not necessarily guarantee 100% safety. There may be a limit to the safety that can be ensured by driving control of a vehicle that can be driven automatically alone.

[0006] Therefore, in such an autonomously driven vehicle, when the vehicle is in autonomous driving, it is considered that, for example, an autonomous driving indicator light is turned on so as to be visible from outside the vehicle (Patent Documents 1 and 2).

[0007] When a self-driving vehicle illuminates its autonomous driving indicator light during autonomous driving, occupants of other vehicles on the road or lane where the vehicle is traveling, as well as pedestrians nearby, can recognize that the vehicle is operating autonomously and prepare appropriate actions and countermeasures. Thus, in an environment where a self-driving vehicle is operating, independent control by the vehicle alone has its limits, and cooperation with pedestrians and other vehicles is essential to improve safety.

[0008] Prior art literature

[0009] Patent Literature

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

[0011] Patent Document 2: Japanese Patent Application Publication No. 2019-064471 Summary of the Invention

[0012] Problems to be solved by the invention

[0013] However, for vehicles capable of autonomous driving, the power consumption of the autonomous driving indicator light, which remains on during autonomous driving, becomes a problem. To reduce the power consumption of the autonomous driving indicator light, one approach is to turn it off, for example, when the vehicle is parked on the side of the road.

[0014] However, when the automatic driving indicator light is turned off during parking, for example, the following problems may occur.

[0015] For example, in an automatic parking situation, if the vehicle suddenly starts due to a passenger getting on, pedestrians and passengers in other vehicles around it may be startled by the vehicle starting suddenly as the automatic driving indicator light turns on.

[0016] Furthermore, if other lights are illuminated simultaneously with the Autopilot indicator light, for example, during a start, the color of the Autopilot indicator light may be difficult to discern. Even if the Autopilot indicator light is illuminated during a start, its color cannot be discerned, and pedestrians may not be able to correctly recognize that the car has started to drive autonomously.

[0017] Thus, autonomous vehicles need to be improved.

[0018] Solutions to Problems

[0019] The present invention provides a vehicle capable of automatic driving, which may include: an automatic driving indicator light, which can be lit during automatic driving of the vehicle capable of driving by automatic driving so as to be identified from outside the vehicle; other lights, which are arranged on the vehicle separately from the automatic driving indicator light; a light control unit, which controls the lighting status of the automatic driving indicator light and the other lights, wherein the light control unit starts to light up the extinguished automatic driving indicator light before the other lights when starting from a parking state in which the lights of the vehicle including the automatic driving indicator light are extinguished by automatic driving.

[0020] Preferably, the light control unit can light up the extinguished automatic driving display light and then light up the other extinguished lights when the vehicle starts in automatic driving from a parked state in which the lights of the vehicle, including the automatic driving display light, are extinguished. After the automatic driving display light and the other lights start to light up, the vehicle starts in automatic driving.

[0021] Preferably, it can have: an indication output unit, which can output a lighting indication of the automatic driving display light and a control indication of the lighting of the other lights to the light control unit; a memory, which records the current lighting control indication related to the automatic driving display light and the other lights provided on the vehicle, wherein the light control unit updates the memory when obtaining the lighting control indication of the automatic driving display light or the lighting control indication of the other lights from the indication output unit.

[0022] Preferably, when the control instruction for lighting the other lights is recorded as off in the memory in the parking state during automatic driving, the light control unit may not light up the other lights involved in the instruction even if a control instruction for lighting up the other lights is obtained from the instruction output unit, but may update the memory. Then, after obtaining the control instruction for lighting up the automatic driving display lights from the instruction output unit and lighting up the automatic driving display lights, the other lights that already have lighting instructions are lit based on the memory.

[0023] Preferably, the light control unit may light up the other lights when a control instruction to light up the other lights is obtained from the instruction output unit, when a control instruction to light up the other lights is recorded in the memory.

[0024] Preferably, the light control unit can turn off all the lights of the vehicle when the vehicle is parked in automatic driving, regardless of the control instructions recorded in the memory. When the vehicle starts from a parked state in automatic driving, the automatic driving display light that has been turned off is turned on based on the control instructions recorded in the memory, and then the other lights that have been turned off are turned on.

[0025] Preferably, the other lights may be direction indicators or reversing lights of the vehicle.

[0026] Effects of the Invention

[0027] In the present invention, when a vehicle starts in automatic driving mode from a parked state in which all vehicle lights, including the automatic driving indicator light, are turned off, the automatic driving indicator light, which was turned off, is turned on before other lights. Here, the other lights may be, for example, the vehicle's turn indicators or backup lights.

[0028] As a result, the automatic driving indicator light illuminates first in the parked vehicle. Pedestrians and occupants of other vehicles in the vicinity of the vehicle can accurately recognize that the vehicle is starting automatically by observing the automatic driving indicator light that illuminates first in the parked vehicle. This eliminates the difficulty of recognizing the color of the automatic driving indicator light, as occurs when other vehicle lights illuminate simultaneously with the automatic driving indicator light, and allows accurate recognition that the vehicle is starting automatically. For example, even if the occupants of the vehicle starting to move are not looking in the direction of the movement, or even if the vehicle starts with no one in the vehicle, pedestrians and occupants of other vehicles in the vicinity can accurately recognize that the vehicle is starting automatically. The illumination of the automatic driving indicator light can alert surrounding personnel.

[0029] In particular, when the vehicle is started from a parked state with all the vehicle lights, including the automatic driving indicator light, turned off by automatic driving, the vehicle first lights up the turned-off automatic driving indicator light, then lights up the other turned-off lights, and then starts to start by automatic driving. As a result, the vehicle can start to start by automatic driving while people around it correctly recognize that the vehicle is starting by automatic driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 1(A) to (C) are explanatory diagrams of an autonomously driven vehicle according to an embodiment of the present invention.

[0031] Figure 2 1(A) to 1(C) are explanatory diagrams of the control system of the vehicle.

[0032] Figure 3 This is a flowchart of the control for switching between automatic driving and manual assisted driving.

[0033] Figure 4 This is a flowchart of driving control of a car performed by autonomous driving.

[0034] Figure 5 This is a flowchart for controlling the lighting of the automatic driving indicator light and other lights.

[0035] Figure 6 This is an explanatory diagram of an example of a lighting instruction management table recorded in the memory.

[0036] Explanation of symbols

[0037] 1...Car (vehicle), 5...Autonomous driving indicator light, 14...Autonomous driving / driving assistance ECU, 16...Detection ECU, 19...Light ECU, 44...GPS receiver, 51...Headlight (other lights), 52...Turn signal (other lights), 53...Brake light (other lights), 54...Taillight (other lights), 59...Memory, 70...Lighting indication management table DETAILED DESCRIPTION

[0038] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0039] 1(A) to (C) are explanatory diagrams of an autonomously driven car 1 according to an embodiment of the present invention.

[0040] Figure 1(A) is a top view of a car 1. In Figure 1(A), car 1 is parked along the curb of a roadway, for example, to wait for passenger 3 to board. Another car 2 is parked behind car 1. Passenger 3 boards car 1 from the curb. Figure 1(B) is a side view of car 1. Figure 1(C) is a rear view of car 1.

[0041] The automobile 1 shown in FIG. 1(A) to FIG. 1(C) is a car 1 that can be driven by switching between automatic driving and manual driving, and is provided with an automatic driving indicator light 5 that lights up during automatic driving.

[0042] The automatic driving indicator lights 5 are lights that illuminate to indicate the automatic driving state. For example, the automatic driving indicator lights 5 are located along the entire perimeter of the vehicle body 6, including the front, rear, left, and right sides. This allows passengers 3 in the vicinity of the vehicle 1 and passengers 3 in other vehicles 2 to recognize the automatic driving indicator lights 5 illuminated during automatic driving from outside the vehicle 1. By illuminating the automatic driving indicator lights 5 during automatic driving, it is expected that the passengers 3 in the vicinity of the vehicle 1 and passengers 3 in other vehicles 2 will cooperate, providing a level of safety not possible with vehicle 1 alone controlling its driving.

[0043] In addition, for example, the automatic driving display lights 5 can also be separately set at the four corners of the front, rear, left and right of the vehicle body 6, or set along the outer periphery of the roof panel above the vehicle cabin, or protrude from the roof panel.

[0044] However, the automatic driving indicator light 5 illuminates when the vehicle 1 is operating in automatic driving mode. However, in a vehicle 1 capable of automatic driving, continuously lighting the automatic driving indicator light 5 during automatic driving increases power consumption. In particular, in electrically driven vehicles 1, this constant increase in power consumption during automatic driving reduces the drivable range, directly impacting driving performance. Therefore, it is conceivable to turn off the automatic driving indicator light 5 during parking mode, for example. This would reduce power consumption by the automatic driving indicator light 5.

[0045] However, when the automatic driving indicator light 5 is turned off during parking, for example, the following problems may occur.

[0046] For example, in automatic parking, when car 1 starts suddenly due to, for example, passengers getting on the car, pedestrians and passengers of other cars 1 around it are startled by the starting car 1 as the automatic driving indicator light 5 is turned on.

[0047] In addition, for example, when starting the vehicle, if other lights such as the turn signal lamp 52 are illuminated simultaneously with the automatic driving indicator light 5, the luminous colors may be mixed, making it difficult to distinguish the luminous color of the illuminated automatic driving indicator light 5. Even if the automatic driving indicator light 5 is illuminated at the time of starting the vehicle, its luminous color cannot be distinguished, and therefore, pedestrians and the like in the surrounding area may not be able to correctly recognize that the vehicle 1 has started to move in an automatic driving manner.

[0048] Thus, the autonomous driving car 1 requires improvement.

[0049] Figure 21(A) to (C) are explanatory diagrams of the control system 10 of the automobile 1. Figure 2 In the figure, the multiple control devices constituting the control system 10 of the automobile 1 are represented by respective built-in control ECUs (Electronic Control Units). In addition to the control ECUs, the control devices may also include, for example, a storage device for recording control programs and data, input / output ports for connecting to controlled objects or devices detecting their states, a timer for measuring time or instant, and an internal bus connecting these.

[0050] Specifically, Figure 2 The control ECUs shown include, for example, a drive ECU 11, a steering ECU 12, a brake ECU 13, an automatic driving / driving assistance ECU 14, a driving operation ECU 15, a detection ECU 16, an external communication ECU 17, a UI operation ECU 18, a lighting ECU 19, and an alarm ECU 20. The control system 10 of the automobile 1 may also include other control ECUs not shown.

[0051] Multiple control ECUs are connected to a vehicle network 26, such as a CAN (Controller Area Network) or a LIN (Local Interconnect Network), employed in automobile 1. Vehicle network 26 can be constructed using multiple bus cables 27 that connect the multiple control ECUs and a central gateway (CGW) 28 that acts as a relay device connecting the multiple bus cables 27. Each control ECU is assigned a unique ID, which serves as identification information. A control ECU typically periodically outputs notification data to other control ECUs. The notification data is accompanied by the IDs of the source and destination control ECUs. The other control ECUs monitor bus cables 27 and, if the destination ID is their own, retrieve the notification data and execute processing based on the notification data. The central gateway 28 monitors each of the multiple connected bus cables 27 and, upon detecting a control ECU connected to a bus cable 27 different from the source control ECU, outputs the notification data to that bus cable 27. This relay processing by the central gateway 28 enables multiple control ECUs to exchange notification data with other control ECUs connected to bus cables 27 different from the respective control ECUs.

[0052] The external communication ECU 17 wirelessly communicates with, for example, a communication base station 101 existing outside the car 1 and a communication device of another car 2. The communication base station 101 can be, for example, a base station of 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 communicates not only with the communication device of another car 2, but also with a portable device 102 held by the passenger 3. The external communication ECU 17 can also be divided into multiple types according to the type of the other party with which direct communication is performed and installed in the car 1. Moreover, the communication base station 101, the communication device of another car 2, and the portable device 102 together with the server device 103 constitute the transportation system 100. The external communication ECU 17 sends and receives communication data between the server device 103, the other car 2, or the portable device 102 by directly wirelessly communicating with the communication base station 101 or the communication device of another car 2.

[0053] In the UI operation ECU 18, for example, a display device 21 and an operation device 22 are connected as user interface devices for the passenger 3. The display device 21 can be, for example, a liquid crystal device or an image projection device. The operation device 22 can be, for example, a touch panel, a keyboard, or a contactless operation detection device. The display device 21 and the operation device 22 can be set on, for example, the inner surface of the vehicle cabin where the passenger 3 sits. The UI operation ECU 18 obtains notification data from the vehicle network 26 and displays it on the display device 21. The UI operation ECU 18 outputs the operation input for 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 results in the notification data. For example, the UI operation ECU 18 can also display a navigation screen for setting a destination 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. The route data can also include attribute information such as lanes of the road used in moving from the current position to the destination.

[0054] The driving operation ECU 15 is connected to operating components such as a steering wheel 31, brake pedal 32, accelerator pedal 33, and a gearshift lever 34, which allow the occupant 3 to control the vehicle 1's travel. When these operating components are operated, the driving operation ECU 15 outputs notification data to the vehicle network 26, including information such as the presence or absence of the operation and the amount of operation. Furthermore, the driving operation ECU 15 may also perform processing related to the operation of these operating components and include the results of this processing in the notification data. For example, if the accelerator pedal 33 is operated while another moving object or stationary object is in the direction of travel of the vehicle 1, the driving operation ECU 15 may determine that this is an abnormal operation and include this determination result in the notification data.

[0055] The detection ECU 16 is connected to detection components for detecting the driving state of the vehicle 1, such as a speed sensor 41 for detecting the speed of the vehicle 1, an acceleration sensor 42 for detecting the acceleration of the vehicle 1, an external camera 43 such as a stereo camera that captures images of the surroundings outside the vehicle 1, and a GPS receiver 44 for detecting the position of the vehicle 1. The detection ECU 16 obtains detection information from the detection components and outputs notification data containing the detection information to the vehicle network 26. Furthermore, the detection ECU 16 can perform processing based on the detection information and include the processing results in the notification data. For example, if the acceleration sensor 42 detects an acceleration exceeding a collision detection threshold, the detection ECU 16 can determine that a collision has been detected and include the collision detection result in the notification data. The detection ECU 16 can also extract moving objects such as the occupant 3 and other vehicles 2 around the vehicle based on images from the external camera 43, determine the type and attributes of the moving objects, and estimate the relative direction, relative distance, and movement direction of the moving objects based on their position, size, and changes in the images. The detection ECU 16 includes the moving object information including these estimated results in the notification data and outputs it to the vehicle network 26.

[0056] The automatic driving / driving assistance ECU 14 acquires notification data from the vehicle network 26 and switches the driving of the automobile 1 between automatic driving and manual driving.

[0057] The automatic driving / driving assistance ECU 14 receives notification data from the vehicle network 26, executes control for automatic driving or driving assistance of the automobile 1, generates driving control data, and outputs it 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 driving of the automobile 1 based on the input driving control data.

[0058] When the vehicle 1 is operating autonomously, the autonomous driving / driving assistance ECU 14 receives notification data from the vehicle network 26 and searches for or acquires a route to the destination. The autonomous driving / driving assistance ECU 14 receives notification data from the vehicle network 26 and determines whether the vehicle 1 is free of any abnormalities or hazards. If so, it generates and outputs driving control data for the route along the route as notification data. Based on the vehicle's position information from the GPS receiver 44 and other sources, the autonomous driving / driving assistance ECU 14 controls the vehicle 1's travel along the route until it reaches the destination, such as in a parking lot at the destination. If there is an abnormality or hazard associated with the vehicle 1, the autonomous driving / driving assistance ECU 14 generates and outputs driving control data as notification data to avoid the abnormality or hazard.

[0059] To assist driving of the vehicle 1, the autonomous driving / driving assistance ECU 14 receives notification data regarding operational input from the UI operation ECU 18 via the vehicle network 26, generates and outputs driving control data that adjusts for the operational input as notification data. The autonomous driving / driving assistance ECU 14 controls the driving of the vehicle 1 based on the driving operations of the occupant 3. If an abnormality or danger exists regarding the vehicle 1, the autonomous driving / driving assistance ECU 14 generates and outputs driving control data as notification data to avoid the abnormality or danger.

[0060] Connected to the lighting ECU 19 are a headlight 51 provided at the front of the vehicle body 6 of the automobile 1, turn signals 52 provided at the front, rear, left, and right sides of the vehicle body 6 as direction indicators, a brake light 53 provided at the rear of the vehicle body 6, a taillight 54 provided at the rear of the vehicle body 6 as a backup light, and the automatic driving indicator light 5. The headlight 51, turn signal 52, brake light 53, and taillight 54 are other lights provided on the automobile 1 in addition to the automatic driving indicator light 5.

[0061] The figure also shows a memory 59 connected to the light ECU 19. The memory 59 connected to the light ECU 19 stores programs, set values, and a lighting instruction management table 70 (described later) used by the light ECU 19 for control. The lighting instruction management table 70 stores the latest lighting control instructions for multiple lights issued to the light ECU 19. The memory 59 stores the current lighting control instructions for the automatic driving indicator lights 5 provided in the vehicle 1, as well as other lights such as the turn signals 52 and tail lights 54 in this example.

[0062] The lamp ECU 19 reads and executes the program recorded in the memory 59. Thus, the lamp ECU 19 functions as a lamp control unit.

[0063] The light ECU 19, acting as a light control unit, receives notification data for light control from the vehicle network 26 and controls the lighting status of the headlights 51, turn signals 52, brake lights 53, taillights 54, and the automatic driving indicator lights 5 based on this data. For example, when the automatic driving / driving assistance ECU 14 is controlling the vehicle 1's driving in automatic driving, the light ECU 19 illuminates the automatic driving indicator lights 5 based on the notification data from the automatic driving / driving assistance ECU 14, so that the vehicle 1 can be seen from outside the vehicle 1 in automatic driving. This allows external mobile objects, such as passengers 3 and other vehicles 2, to recognize that the vehicle 1 is in automatic driving mode by the illuminated automatic driving indicator lights 5 and respond to the vehicle 1's driving in automatic driving. Even when the vehicle is in automatic driving mode, such as when the vehicle is parked and does not need to be illuminated, the light ECU 19 can extinguish the automatic driving indicator lights 5 according to the driving environment.

[0064] An external speaker 61 is connected to the alarm ECU 20. The alarm ECU 20 acquires notification data for alarm output from the vehicle network 26, and outputs an alarm sound from the external speaker 61 based on the data.

[0065] Figure 3 This is a flowchart of the control for switching between automatic driving and manual assisted driving.

[0066] The automatic driving / driving support ECU 14 repeatedly executes the following operations when, for example, the passenger 3 is in the car 1. Figure 3 processing.

[0067] In step ST1, the automatic driving / driving assistance ECU 14 determines whether the vehicle 1 starts running. If the vehicle 1 does not start running, the automatic driving / driving assistance ECU 14 ends the process. Figure 3 When the vehicle 1 starts traveling, the automatic driving / driving support ECU 14 advances the process to step ST2.

[0068] In step ST2, the automatic driving / driving assistance ECU 14 determines whether the vehicle 1 is being driven in an automatic manner. The automatic driving / driving assistance ECU 14 can determine whether the vehicle 1 is being driven in an automatic manner based on, for example, the driving mode setting value obtained from the UI operation ECU 18. If the vehicle 1 is being driven in an automatic manner, the automatic driving / driving assistance ECU 14 advances the process to step ST3. If the vehicle 1 is being driven in a mode other than automatic driving, such as a mode with driving assistance, the automatic driving / driving assistance ECU 14 advances the process to step ST7.

[0069] In step ST3 , the automatic driving / driving assistance ECU 14 starts driving in automatic driving. The automatic driving / driving assistance ECU 14 controls the driving of the automobile 1 in automatic driving.

[0070] In step ST4, the automatic driving / driving assistance ECU 14 determines whether to terminate the driving of the automobile 1. The automatic driving / driving assistance ECU 14 determines that the driving of the automobile 1 is terminated when the position information of the vehicle obtained from the external communication ECU 17 or the GPS receiver 44 indicates that the vehicle is at the destination of the automatic driving, such as a parking lot, and the vehicle is parked with the acceleration reduced to zero. If it is determined that the driving of the automobile 1 is terminated, the automatic driving / driving assistance ECU 14 terminates the driving. Figure 3 Thus, the automatic driving driving ends. If it is not determined that the driving of the automobile 1 ends, the automatic driving / driving support ECU 14 advances the processing to step ST5.

[0071] In step ST5, the automatic driving / driving assistance ECU 14 determines whether the driving of the vehicle 1 has switched from automatic driving to a mode other than automatic driving, such as manual driving. The automatic driving / driving assistance ECU 14 can determine whether the switch from automatic driving has been made based on, for example, the driving mode setting value obtained from the UI operation ECU 18. If the switch from automatic driving to a mode other than automatic driving has not been made, the automatic driving / driving assistance ECU 14 returns the process to step ST4. The automatic driving / driving assistance ECU 14 repeatedly performs the determinations of steps ST4 and ST5 during automatic driving. If the switch from automatic driving to a mode other than automatic driving has been made, the automatic driving / driving assistance ECU 14 proceeds to step ST6.

[0072] In step ST6, the automatic driving / driving assistance ECU 14 switches the driving of the vehicle 1 from automatic driving to a mode other than automatic driving, such as manual assisted driving. This ends the automatic driving mode and restarts the manual driving mode. The automatic driving / driving assistance ECU 14 then proceeds to step ST8.

[0073] In step ST7 , the automatic driving / driving support ECU 14 starts manual support driving other than automatic driving.

[0074] In step ST8, the automatic driving / driving assistance ECU 14 determines whether to terminate the driving of the automobile 1. The automatic driving / driving assistance ECU 14 determines that the driving of the automobile 1 is terminated when, for example, the automobile 1 is parked so that the acceleration becomes zero and the ignition switch of the automobile 1 is operated. If it is determined that the driving of the automobile 1 is terminated, the automatic driving / driving assistance ECU 14 terminates the driving. Figure 3 Thus, the driving with manual assisted driving ends. If it is not determined that the driving of the automobile 1 ends, the automatic driving / driving assistance ECU 14 advances the processing to step ST9.

[0075] In step ST9, the automatic driving / driving assistance ECU 14 determines whether the driving of the automobile 1 has switched from manual assisted driving to automatic driving. The automatic driving / driving assistance ECU 14 can determine whether the switch from manual assisted driving has been made based on, for example, the driving mode setting value obtained from the UI operation ECU 18. If the switch from manual assisted driving to automatic driving has not been made, the automatic driving / driving assistance ECU 14 returns the process to step ST8. During manual assisted driving, the automatic driving / driving assistance ECU 14 repeatedly performs the determinations in steps ST8 and ST9. If the switch from manual assisted driving to automatic driving has been made, the automatic driving / driving assistance ECU 14 proceeds to step ST10.

[0076] In step ST10, the automatic driving / driving assistance ECU 14 switches the driving of the vehicle 1 from manual assisted driving to automatic driving. This ends driving in other modes, such as manual assisted driving, and begins automatic driving. The automatic driving / driving assistance ECU 14 then proceeds to step ST4.

[0077] In this way, the automatic driving / driving support ECU 14 repeatedly executes the following operations when, for example, the passenger 3 rides on the car 1 and the car 1 is traveling. Figure 3 For example, the automatic driving / driving assistance ECU 14 can obtain notification data including setting information of the driving mode from the UI operation ECU 18 through the vehicle network 26, and switch the driving of the automobile 1 between automatic driving and manual assisted driving. In addition, the automatic driving / driving assistance ECU 14 can also obtain notification data including a switching instruction to mandatory manual driving based on abnormality detection, such as from the detection ECU 16, and switch the driving of the automobile 1 between automatic driving and manual assisted driving. In addition, the automatic driving / driving assistance ECU 14 can also generate notification data including a switching instruction to mandatory manual driving based on its own abnormality detection, and switch the driving of the automobile 1 between automatic driving and manual assisted driving.

[0078] Figure 4 This is a flowchart of driving control of the automobile 1 performed by automatic driving.

[0079] When the automatic driving / driving assistance ECU 14 determines that the automatic driving is started in step ST3 or step ST10, it repeatedly executes the automatic driving Figure 4 processing.

[0080] In step ST21, the automatic driving / driving assistance ECU 14 determines whether automatic driving has been initiated. The automatic driving / driving assistance ECU 14 repeatedly performs the process of step ST21 until, for example, step ST3 or step ST10 is executed and it is determined that automatic driving has been initiated. If it is determined that automatic driving has been initiated, the automatic driving / driving assistance ECU 14 proceeds to step ST22.

[0081] In step ST22, the automatic driving / driving assistance ECU 14 obtains navigation information in preparation for starting automatic driving. The automatic driving / driving assistance ECU 14 can obtain the travel route until reaching the destination by automatic driving, road information on the travel route, etc. from, for example, the UI operation ECU 18 or the external communication ECU 17.

[0082] In step ST23 , the automatic driving / driving support ECU 14 acquires the current position. The automatic driving / driving support ECU 14 may acquire the current position of the vehicle from the latitude and longitude information detected by the GPS receiver 44 from the detection ECU 16 , for example.

[0083] In step ST24, the automatic driving / driving assistance ECU 14 selects a forward path for starting from the current position. Here, the forward path may be, for example, a path included in the moving path that is shortest from the current position. The automatic driving / driving assistance ECU 14 may repeatedly perform the following steps: Figure 4 In the process, based on the current position updated with movement, a short distance from the current position is cut from the movement path and set as the forward path. During the automatic driving control, the automatic driving / driving assistance ECU 14 controls the driving of the automobile 1 so that the automobile 1 drives on the forward path.

[0084] In step ST25, the automatic driving / driving assistance ECU 14 determines whether the vehicle 1 can start. For example, if the vehicle is parked to wait for passengers to board, the detection ECU 16 can detect that the passenger 3 has boarded the vehicle and determine that the vehicle 1 can start. Alternatively, if the vehicle is parked at a traffic light, the vehicle 1 can be determined to be ready for start based on the light turning blue. Furthermore, if the vehicle is parked at a temporary stop line, the detection ECU 16 can determine that the vehicle 1 can start after confirming, based on images from the external camera 43, that there are no pedestrians waiting to cross the road. If the vehicle 1 is not determined to be ready for start, the automatic driving / driving assistance ECU 14 returns the process to step ST23. If the vehicle 1 is determined to be ready for start, the automatic driving / driving assistance ECU 14 proceeds to step ST26.

[0085] In step ST26 , the automatic driving / driving assistance ECU 14 outputs a control instruction to light up the automatic driving display light 5 to the light ECU 19 via the vehicle network 26 before starting the automatic driving driving control.

[0086] In step ST27, the automatic driving / driving assistance ECU 14 determines whether a predetermined lighting control waiting time has elapsed since the processing in step ST26. If the lighting control waiting time has not elapsed, the automatic driving / driving assistance ECU 14 repeats the processing in step ST27. If the lighting control waiting time has elapsed, the automatic driving / driving assistance ECU 14 proceeds to step ST28.

[0087] In step ST28, the automatic driving / driving support ECU 14 starts automatic driving control. The automatic driving / driving support ECU 14 drives the vehicle 1 along the route selected in step ST24. If the vehicle 1 is parked immediately, the vehicle 1 starts moving by automatic driving.

[0088] In step ST29 , the automatic driving / driving support ECU 14 determines whether lighting control of various other lamps of the automobile 1 is required for automatic driving control.

[0089] As described above, the automobile 1 includes, in addition to the automatic driving indicator light 5 , a headlight 51 , a turn signal light 52 , a brake light 53 , a taillight 54 , and the like.

[0090] For example, when turning left or right on the road ahead in automatic driving, or when driving diagonally to start a journey or change lanes, the automatic driving / driving assistance ECU 14 determines that control of lighting the turn signal 52 is required and enters the processing into step ST30.

[0091] When the vehicle is decelerating during automatic driving, if the automatic driving / driving support ECU 14 determines that control to light the brake lights 53 is necessary, the process proceeds to step ST30 .

[0092] When the surroundings of the automobile 1 become dark, the automatic driving / driving support ECU 14 determines that control to light the headlights 51 is necessary, and advances the process to step ST30 .

[0093] When the automobile 1 is started by reversing, for example, the automatic driving / driving support ECU 14 determines that control to light the tail lamps 54 is necessary, and advances the processing to step ST30 .

[0094] When the automobile 1 starts traveling, for example, straight ahead, along the road, it is determined that control to turn off the turn signal lamp 52 or the tail light 54 is necessary, and the process proceeds to step ST30 .

[0095] When the automobile 1 starts moving forward along the road after reversing, it is determined that control to turn off the taillights 54 is necessary, and the process proceeds to step ST30.

[0096] In other cases, the automatic driving / driving assistance ECU 14 advances the process to step ST31 .

[0097] In addition, the automatic driving / driving assistance ECU14 can also judge these situations through the control of the self-executed automatic driving itself, or it can judge these situations in the automatic driving at a level that can receive these situations based on the input of detection or operation from the detection ECU16 or the driving operation ECU15.

[0098] In step ST30, the automatic driving / driving support ECU 14 outputs a control instruction for lighting lamps other than the automatic driving indicator lamp 5 to the lamp ECU 19 via the vehicle network 26. The control instruction includes information on the lamp to be controlled and information on whether to light it up or turn it off.

[0099] As a result, the automatic driving / driving assistance ECU 14 outputs to the light ECU 19 a control instruction for lighting other lights, for example, the turn signal lamp 52 , in addition to the lighting instruction for the automatic driving display light 5 .

[0100] In step ST31, the automatic driving / driving assistance ECU 14 determines whether automatic driving has been terminated. For example, if the vehicle has reached its destination and is parked, the automatic driving / driving assistance ECU 14 determines that automatic driving has been terminated and proceeds to step ST32. If the vehicle has not been determined to have terminated automatic driving, the automatic driving / driving assistance ECU 14 returns the process to step ST23. The automatic driving / driving assistance ECU 14 repeats the processes from step ST23 to step ST31 until the vehicle reaches its destination and is parked.

[0101] In step ST32, the automatic driving / driving assistance ECU 14 outputs a control instruction to turn off the automatic driving display light 5 to the light ECU 19 via the vehicle network 26. Then, the automatic driving / driving assistance ECU 14 ends the process. Figure 4 processing.

[0102] Figure 5 This is a flowchart of lighting control of the automatic driving indicator light 5 and other lights.

[0103] The light ECU 19, as a light control unit, repeatedly executes the following operations when the car 1 is started, regardless of whether the car is traveling. Figure 5 processing.

[0104] In step ST41, the light ECU 19 determines whether it has reacquired a control instruction for lighting the lights. If, for example, the light ECU 19 has received a new control instruction for lighting the lights from the automatic driving / driving assistance ECU 14, the light ECU 19 determines that the control instruction has been reacquired and proceeds to step ST44. If the control instruction has not been reacquired, the light ECU 19 proceeds to step ST42.

[0105] In step ST42, the light ECU 19 determines whether the vehicle 1 is parked during automatic driving. For example, if the automatic driving / driving assistance ECU 14 has parked the vehicle 1 during automatic driving, the light ECU 19 determines that the vehicle 1 is parked during automatic driving and proceeds to step ST47. If the vehicle is not parked during automatic driving or is not parked, the light ECU 19 proceeds to step ST43.

[0106] In step ST43, the light ECU 19 determines whether the vehicle 1 has started a new journey through automatic driving. For example, if the automatic driving / driving assistance ECU 14 starts a new journey of the parked vehicle 1, the light ECU 19 determines that the vehicle 1 has started a new journey through automatic driving and proceeds to step ST49. If the vehicle 1 has not started a new journey through automatic driving, the light ECU 19 returns to step ST41. In this case, the light ECU 19 repeats the determination process from steps ST41 to ST43.

[0107] When a new control instruction for lighting the lights is received, the light ECU 19 executes step ST44. The light ECU 19 updates the lighting instruction management table 70 stored in the memory 59 with the new control instruction. The information on the lighting control state of the lights associated with the instruction in the lighting instruction management table 70 is overwritten with the new control instruction. For example, if a new control instruction for lighting the turn signal lamp 52 is received, the previously processed control information for turning off the turn signal lamp 52 in the lighting instruction management table 70 is overwritten with the control information for lighting the turn signal lamp 52.

[0108] In step ST45, the light ECU 19 determines whether the vehicle 1 is in a state where the automatic driving indicator light 5 is turned off and the vehicle is parked. For example, if the automatic driving / driving assistance ECU 14 makes the vehicle 1 parked by automatic driving for example to allow passengers to get on or off, and based on this, the light ECU 19 turns off the automatic driving indicator light 5 in step ST47 described later, the light ECU 19 determines that the vehicle is parked with the automatic driving indicator light 5 turned off, and ends the process. Figure 5 In other cases, the lamp ECU 19 advances the process to step ST46.

[0109] In step ST46, the lamp ECU 19 performs lighting control of the lamp related to the instruction. The lamp ECU 19 turns on or off the lamp related to the instruction based on the new lighting control instruction. As a result, the lighting state of the lamp related to the instruction is switched from the previous lighting state.

[0110] Thus, the light ECU 19 obtains a control instruction to light up the automatic driving display light 5 from the automatic driving / driving assistance ECU 14, and records the control instruction to light up the automatic driving display light 5 in the memory 59. When the control instruction is obtained from the automatic driving / driving assistance ECU 14, the lighting status of other lights such as the turn signal 52 is switched based on the control instruction.

[0111] On the other hand, when the automobile 1 is parked with the automatic driving indicator light 5 turned off, the light ECU 19 does not execute the process of step ST46 as described above, and ends the process. Figure 5In this case, the memory 59 records the automatic driving indicator light 5 as being turned off during the parking state during automatic driving. Even if the light ECU 19 receives a control instruction to light other lights, such as the turn signal 52, from the automatic driving / driving assistance ECU 14, the light ECU 19 does not light the other lights 52 indicated by the instruction, but updates the memory 59.

[0112] When the car 1 is parked in automatic driving, the light ECU 19 executes step ST47 and turns off the automatic driving indicator light 5 of the parked car 1.

[0113] In step ST48, the light ECU 19 further turns off all lights 51 to 54 except the automatic driving indicator light 5. Thus, when the vehicle 1 is parked in automatic driving, the light ECU 19 turns off all lights of the vehicle 1 regardless of the contents of the control instructions recorded in the lighting instruction management table 70 in the memory 59.

[0114] When the car 1 starts a new start by automatic driving, the light ECU 19 executes step ST49 and lights up the automatic driving indicator light 5 of the car 1 that has started a new trip from the parked state.

[0115] In step ST50, the light ECU 19 controls the lighting of the lights 51 to 54 other than the automatic driving indicator light 5 based on the contents of the control instructions recorded in the memory 59. The light ECU 19 controls the lighting of the lights 51 to 54 other than the automatic driving indicator light 5 based on the contents of the control instructions recorded in the lighting instruction management table 70 in the memory 59. After lighting the automatic driving indicator light 5, the light ECU 19 lights the other lights 51 to 54 that have been instructed to light up based on the memory 59.

[0116] Thus, when the vehicle 1 starts in automatic driving from a parked state in which all lights, including the automatic driving indicator light 5, are turned off, the light ECU 19 first illuminates the previously turned off automatic driving indicator light 5 and then, based on the control instruction stored in the memory 59, illuminates the remaining lights 51 to 54 that were previously turned off. For example, the automatic driving indicator light 5 is illuminated before other lights, such as the turn signal 52. Furthermore, the automatic driving / driving assistance ECU 14 may output a control instruction to illuminate the automatic driving indicator light 5 in step ST26 before starting the vehicle from a parked state. Even in this case, the light ECU 19 first illuminates the previously turned off automatic driving indicator light 5 and then illuminates the remaining lights 51 to 54 that were previously turned off.

[0117] As described above, the automatic driving / driving assistance ECU 14 waits for the predetermined lighting control waiting time to elapse in step ST27 following step ST26, and then starts automatic driving control in step ST28. The vehicle 1 can start driving automatically after the automatic driving indicator light 5 and the other lights 51 to 54 begin lighting up simultaneously.

[0118] Figure 6 It is an explanatory diagram of an example of the lighting instruction management table 70 recorded in the memory 59 .

[0119] Figure 6 The lighting instruction management table 70 in (A) has a record for each lamp of the automobile 1. Here, it has a record for the automatic driving indicator lamp 5, a record for the tail lamp 54, and a record for the turn signal lamp 52.

[0120] In addition, each lamp record records the lamp name information and the latest lighting control instruction information. For example, the record of the turn signal lamp 52 records the lamp name "turn signal lamp" and "off" information.

[0121] Moreover, in Figure 6 When the control instruction of lighting the tail lamp 54 is obtained in the state where the lighting instruction management table 70 of (A) is recorded in the memory 59, the light ECU 19 updates the record of the tail lamp 54 in the lighting instruction management table 70 in step ST44. Figure 6 Update the "extinguish" in (A) to Figure 6 "Light up" in (B).

[0122] In addition, Figure 6 When the lighting indication management table 70 in (B) is recorded in the memory 59, when the car 1 in automatic driving is parked, the light ECU 19 turns off the automatic driving display light 5 through the processing of step ST47, and turns off the other lights 51 to 54 through the processing of step ST48.

[0123] Then, when the parked car 1 starts to move through automatic driving, the light ECU 19 lights up the automatic driving display light 5 that was off during the parked car through the processing of step ST49, and performs lighting control of other lights 51 to 54 based on the lighting indication management table 70 through the processing of step ST50. The light corresponding to the record with the information "lit" in the lighting indication management table 70 is lit. The light corresponding to the record with the information "off" in the lighting indication management table 70 remains off. Figure 6 In the case of the lighting instruction management table 70 , the light ECU 19 can control the lighting state of the turn lamp 52 serving as a direction indicator of the automobile 1 and the lighting state of the tail lamp 54 serving as a backup lamp.

[0124] As described above, in this embodiment, when the vehicle 1 starts in an automatic driving mode from a parked state in which all lights of the vehicle 1, including the automatic driving indicator light 5, are turned off, the automatic driving indicator light 5, which was turned off, is turned on before the other lights. Here, the other lights, such as the turn signal light 52, may also be, for example, the direction indicators or backup lights of the vehicle 1.

[0125] As a result, the automatic driving indicator light 5 is illuminated first in the parked vehicle 1. Pedestrians and other passengers in the vehicle 1 can accurately recognize that the vehicle 1 is starting automatically by illuminating the automatic driving indicator light 5, which is illuminated first in the parked vehicle 1. Unlike when other lights on the vehicle 1, such as the turn signal 52, are illuminated simultaneously with the automatic driving indicator light 5, making it difficult to recognize the color of the automatic driving indicator light 5, the automatic driving indicator light 5 can be accurately recognized. For example, even if the passengers of the vehicle 1 starting to move are not looking in the direction of the movement, or even if the vehicle 1 is moving with no one in the vehicle, pedestrians and other passengers in the vehicle 1 can accurately recognize that the vehicle 1 is starting automatically. The illumination of the automatic driving indicator light 5 can serve as a warning to those around them.

[0126] In particular, when starting from a parked state in which all lights of the car 1, including the automatic driving indicator light 5, are turned off by automatic driving, the car 1 first turns on the turned-off automatic driving indicator light 5, then turns on other lights that have been turned off, such as the turn signal light 52, and then starts to start by automatic driving. As a result, the car 1 can start to start by automatic driving while people around it correctly recognize that the car is starting by automatic driving.

[0127] In this embodiment, the automatic driving / driving assistance ECU 14 is configured to independently output lighting instructions for the automatic driving indicator light 5 and lighting control instructions for other lights, such as the turn signal 52, to the lighting ECU 19. Furthermore, the lighting ECU 19 includes a memory 59 that stores the current lighting control instructions for the automatic driving indicator light 5 and other lights, such as the turn signal 52, installed in the vehicle 1. Furthermore, the lighting ECU 19 updates the memory 59 upon receiving the lighting control instructions for the automatic driving indicator light 5 or other lights, such as the turn signal 52, from the automatic driving / driving assistance ECU 14. This allows the lighting ECU 19 to understand the lights that should be illuminated based on the current lighting control instructions stored in the memory 59 and control the illumination of other lights, such as the turn signal 52. This eliminates the need for the automatic driving / driving assistance ECU 14 to re-output lighting control instructions for other lights, such as the turn signal 52, after illuminating the automatic driving indicator light 5.

[0128] For example, if the automatic driving indicator light 5 is turned off as a control instruction recorded in the memory 59 during the parking state during automatic driving, even if a control instruction to light another light, such as the turn signal 52, is received from the automatic driving / driving assistance ECU 14, the other light, such as the turn signal 52, that is instructed to light will not be turned on. However, the memory 59 is updated. Then, after the automatic driving / driving assistance ECU 14 receives a control instruction to light the automatic driving indicator light 5 and the automatic driving indicator light 5 is turned on, the other light, such as the turn signal 52, that has already been instructed to light up, is turned on based on the memory 59. In this case, the automatic driving / driving assistance ECU 14 does not need to re-output a control instruction to light another light, such as the turn signal 52.

[0129] In addition, for example, when a control instruction to light up another lamp, such as the turn signal lamp 52, is received from the automatic driving / driving assistance ECU 14 while a control instruction to light up another lamp, such as the turn signal lamp 52, is already recorded in the memory 59, the other lamp, such as the turn signal lamp 52, is lit. In this way, the other lamp, such as the turn signal lamp 52, can be immediately lit based on the control instruction.

[0130] In addition, for example, when the vehicle 1 is parked in automatic driving, all lights of the vehicle 1 can be turned off regardless of the control instructions recorded in the memory 59. Even in this case, when the vehicle 1 starts driving automatically from the parked state, the previously turned-off automatic driving indicator light 5 and other lights, such as the turn signal 52, can be turned on based on the control instructions recorded in the memory 59. In this case, the automatic driving indicator light 5 can be turned on first, and then other lights, such as the turn signal 52, that have been turned off can be turned on.

[0131] The above-mentioned embodiments are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and various modifications and changes can be made without departing from the spirit of the invention.

Claims

1. An autonomous driving vehicle comprising: an automatic driving display light capable of being illuminated during automatic driving of a vehicle that can be driven by automatic driving so as to be discernible from outside the vehicle; other lights, which are provided on the vehicle separately from the automatic driving display lights; as well as a light control unit that controls the lighting status of the automatic driving indicator light and the other lights; When the light control unit detects the parking state of the vehicle during automatic driving, the light control unit turns off the automatic driving indicator light and the other lights, including the automatic driving indicator light. When the vehicle is ready to start, the light control unit turns on the automatic driving display light before starting the vehicle in automatic driving, and then turns on the other lights that were turned off when the vehicle was parked after a certain period of time has passed.

2. The autonomously driven vehicle according to claim 1, comprising: an instruction output unit capable of outputting, to the light control unit, an instruction to turn on the automatic driving indicator light and an instruction to control the turning on of the other lights; as well as a memory that records current lighting control instructions related to the automatic driving indicator light and the other lights provided on the vehicle, In which, the light control unit updates the memory when obtaining a control instruction for lighting the automatic driving display light or a control instruction for lighting the other lights from the instruction output unit.

3. The autonomously driven vehicle according to claim 2, wherein: When the light control unit records the control instruction of the automatic driving display light as being off in the memory in the parking state during automatic driving, even if the control instruction of lighting the other lights is obtained from the instruction output unit, the other lights involved in the instruction are not lit, but the memory is updated. Then, after obtaining a control instruction to light up the automatic driving display light from the instruction output unit and lighting up the automatic driving display light, the other lights that already have a lighting instruction are lit based on the memory.

4. The autonomously driven vehicle according to claim 2, wherein: When the control instruction to light the automatic driving display light is recorded in the memory, the light control unit lights the other light upon obtaining the control instruction to light the other light from the instruction output unit.

5. The autonomously driven vehicle according to claim 3, wherein: When the control instruction to light the automatic driving display light is recorded in the memory, the light control unit lights the other light upon obtaining the control instruction to light the other light from the instruction output unit.

6. The autonomously drivable vehicle according to claim 2, wherein: When the vehicle is parked in automatic driving, the light control unit turns off all of the automatic driving indicator light and the other lights regardless of the control instruction recorded in the memory. When the vehicle starts from a parked state in automatic driving, the automatic driving indicator light that has been extinguished is turned on based on the control instruction recorded in the memory, and then the other lights that have been extinguished are turned on.

7. The autonomously drivable vehicle according to claim 3, wherein: When the vehicle is parked in automatic driving, the light control unit turns off all of the automatic driving indicator light and the other lights regardless of the control instruction recorded in the memory. When the vehicle starts from a parked state in automatic driving, the automatic driving indicator light that has been extinguished is turned on based on the control instruction recorded in the memory, and then the other lights that have been extinguished are turned on.

8. The autonomously driven vehicle according to any one of claims 1 to 7, wherein: The other lights are direction indicators or backup lights of the vehicle.

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