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: a driving control unit (14) for switching between automatic driving and manual driving and controlling the driving of the vehicle; an automatic driving indicator light (5) that can be illuminated to be identifiable during automatic driving; and a light control unit (19) for controlling the lighting of the automatic driving indicator light during automatic driving. The light control unit obtains attribute information of the location where the vehicle is traveling and information about other moving bodies existing around the vehicle during automatic driving, and turns off the automatic driving indicator light during automatic driving when the vehicle is traveling in a location dedicated to automatic driving. When the automatic driving indicator light is turned off and the vehicle is traveling in a location dedicated to automatic driving by automatic driving, if there are other moving bodies around the vehicle, the automatic driving indicator light during automatic driving is controlled to be re-illuminated based on the attributes of the other moving bodies relative to the location dedicated to automatic driving.

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, for example, when a destination is set, it is expected that the vehicle will travel to the destination through automatic control and park at the destination.

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

[0005] However, even if such safe driving control can be implemented, it does not necessarily guarantee 100% safety. There may be limits to the safety that can be ensured by simply controlling the driving of an autonomously driven vehicle.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2018-032433

[0009] Patent Document 2: Japanese Patent Application Publication No. 2019-064471 Summary of the Invention

[0010] Problems to be solved by the invention

[0011] 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).

[0012] When a vehicle capable of autonomous driving 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 autonomously driving and prepare appropriate actions and countermeasures. Thus, in order to improve safety in an environment where a vehicle capable of autonomous driving is operating, independent vehicle control alone has its limits, and consideration of the cooperation of pedestrians and other vehicles is essential.

[0013] However, in vehicles capable of autonomous driving, continuously lighting the autonomous driving indicator light increases power consumption. Especially in electric vehicles, this constant increase in power consumption reduces the drivable range and directly impacts driving performance.

[0014] Furthermore, it is possible that parking lots and other areas will be designated in the future where only autonomous vehicles can park. It is assumed that pedestrians and other vehicles not designed for autonomous driving will rarely enter these areas. However, these areas may contain personnel and other personnel assigned to autonomous driving, and there is no guarantee that pedestrians and other vehicles not designed for autonomous driving will not enter.

[0015] Thus, improvements are needed in autonomous driving vehicles.

[0016] Solutions to Problems

[0017] The present invention provides a vehicle capable of automatic driving, comprising: a driving control unit that switches between automatic driving and manual driving and controls the driving of the vehicle; an automatic driving display light that can be lit during automatic driving so as to be identified from outside the vehicle; and a light control unit that controls the automatic driving display light indicating that the vehicle is in an automatic driving state during automatic driving in which the driving control unit controls the driving of the vehicle by automatic driving, wherein the light control unit obtains attribute information of a place where the vehicle is driving and information of other moving bodies existing around the vehicle during automatic driving, and turns off the automatic driving display light during automatic driving when the vehicle is driving in a place dedicated to automatic driving; and when the automatic driving display light is turned off and the vehicle is driving in a place dedicated to automatic driving by automatic driving, if there are other moving bodies around the vehicle, the automatic driving display light is controlled to be turned on again during automatic driving based on the attributes of the other moving bodies relative to the place dedicated to automatic driving.

[0018] Preferably, the light control unit can maintain the automatic driving display light in an off state during automatic driving when other moving bodies existing around the vehicle are moving bodies belonging to a place dedicated to automatic driving, and can light up the automatic driving display light that was off during automatic driving again when other moving bodies existing around the vehicle are moving bodies other than those belonging to a place dedicated to automatic driving.

[0019] Preferably, the light control unit can maintain the automatic driving display light in the automatic driving in an off state when other mobile bodies other than the mobile bodies involved in the place dedicated to automatic driving recognize the vehicle, and can light up the automatic driving display light that was off in the automatic driving again when other mobile bodies other than the mobile bodies involved in the place dedicated to automatic driving do not recognize the vehicle.

[0020] Preferably, the light control unit can maintain the automatic driving display light in the automatic driving in an off state when the other moving bodies involved in the place dedicated to automatic driving are only automatic driving vehicles, and can light up the automatic driving display light that was off in the automatic driving again when the other moving bodies involved in the place dedicated to automatic driving include vehicles other than automatic driving vehicles.

[0021] Preferably, the light control unit may turn on the automatic driving display light and then turn it off again when the driving control unit switches the driving of the vehicle from automatic driving.

[0022] Preferably, the light control unit can re-light the automatic driving display light that was extinguished during automatic driving when it detects or predicts an abnormality or interference that affects the vehicle's driving while the automatic driving display light is extinguished during automatic driving.

[0023] Preferably, the light control unit can change the lighting state of the automatic driving display light during automatic driving based on user settings regarding lighting control of the automatic driving display light during automatic driving.

[0024] Preferably, there is an alarm device that issues a warning when the lighting state of the automatic driving display light is changed during automatic driving in which the light control unit controls the travel of the vehicle by automatic driving.

[0025] Effects of the Invention

[0026] In the present invention, when the vehicle's driving control unit is controlling the vehicle's driving in autonomous mode, an autonomous driving indicator light is illuminated to indicate the vehicle is in autonomous driving mode. This allows people outside the vehicle, such as pedestrians or occupants of other vehicles, to recognize that the vehicle is in autonomous driving mode.

[0027] Moreover, the automatic driving display light of the present invention does not always remain in a lit state during automatic driving. When the place where the vehicle is traveling in automatic driving is a place dedicated to automatic driving, the lighting state changes according to the presence of other moving objects around the vehicle and the type of the moving object.

[0028] Specifically, for example, when the vehicle is traveling in a place dedicated to autonomous driving by autonomous driving, the autonomous driving indicator light during autonomous driving is basically turned off.

[0029] Furthermore, for example, when the automatic driving indicator light is off and the vehicle is operating in a designated area for automatic driving, if another mobile object is present around the vehicle, the automatic driving indicator light during automatic driving is controlled to be re-illuminated based on the attributes of the other mobile object relative to the designated area for automatic driving. For example, if the other mobile object around the vehicle is a mobile object in the designated area for automatic driving, the light control unit maintains the automatic driving indicator light during automatic driving in an extinguished state. Conversely, if the other mobile object around the vehicle is not a mobile object in the designated area for automatic driving, the automatic driving indicator light, which was extinguished during automatic driving, is re-illuminated.

[0030] This allows the automatic driving indicator light, which is intended to remain lit continuously to indicate the state of automatic driving, to be used to notify other vehicles while the vehicle is in automatic driving. This reduces the power consumption of the automatic driving indicator light by essentially turning it off in locations dedicated to automatic driving where it is assumed to be unnecessary. This reduces power consumption compared to a scenario where the automatic driving indicator light is always on, thus reducing power waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 1(A) to (C) are explanatory diagrams of an autonomously driven vehicle according to an embodiment of the present invention.

[0032] Figure 2 1(A) to 1(C) are explanatory diagrams of the control system of the vehicle.

[0033] Figure 3 This is a flowchart of the control for switching between automatic driving and manual assisted driving.

[0034] Figure 4 is with Figure 3 Flowchart of the lighting control of the automatic driving display light corresponding to the driving switching control.

[0035] Figure 5 This is a flowchart of controlling the lighting state of the automatic driving indicator light during automatic driving in an embodiment of the present invention.

[0036] Figure 6 This is a flowchart for controlling the lighting state of the automatic driving indicator light when automatic driving is released.

[0037] Figure 7 This is a flowchart for controlling the lighting state of the automatic driving indicator light when interference or abnormality during automatic driving is detected or predicted.

[0038] Figure 8 This is a flowchart for controlling the lighting state of the automatic driving indicator light during automatic driving according to user settings.

[0039]

Explanation of symbols

[0040] 1…Car (vehicle), 5…Autonomous driving display light, 14…Autonomous driving / driving assistance ECU, 19…Light ECU, 20…Alarm ECU, 59…Memory, 61…External speaker DETAILED DESCRIPTION

[0041] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0042] 1(A) to (C) are explanatory diagrams of an autonomously driven car 1 according to an embodiment of the present invention.

[0043] 1(A) to 1(C) are explanatory diagrams of a car 1 as an example of a vehicle according to an embodiment of the present invention.

[0044] FIG1(A) is a top view of a car 1. FIG1(A) also shows another car 2 and a pedestrian 3. FIG1(B) is a side view of the car 1. FIG1(C) is a rear view of the car 1.

[0045] As shown in Figure 1 (A) to (C), an autonomously driven car 1 can travel in a parking lot where other cars 2 are parked. In the future, facilities dedicated to autonomously driven cars 1 may be provided in the parking lot.

[0046] The automobile 1 shown in FIG. 1(A) to FIG. 1(C) is a car 1 that can switch between automatic driving and manual driving and is provided with an automatic driving indicator light 5 that lights up during automatic driving.

[0047] 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 pedestrians 3 and occupants of other vehicles 2 near the vehicle 1 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, the cooperation of pedestrians 3 and occupants of other vehicles 2 near the vehicle 1 can be obtained, and safety improvements that cannot be achieved through driving control alone by the vehicle 1 are expected.

[0048] 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.

[0049] The automatic driving indicator light 5 illuminates when the vehicle 1 is operating in automatic driving mode. Furthermore, it is desirable that pedestrians 3 outside the vehicle 1 and occupants of other vehicles 2 be able to clearly discern whether the automatic driving indicator light 5 is illuminated. Therefore, the automatic driving indicator light 5 may be illuminated in a color and brightness that is rarely found in nature, such as blue-green (ターコイズブルー). By emitting a strong blue-green light, the likelihood that pedestrians 3 outside the vehicle 1 and occupants of other vehicles 2 will be able to discern whether the automatic driving indicator light 5 is illuminated or not increases. As a result, pedestrians 3 outside the vehicle 1 and occupants of other vehicles 2 can prepare actions or take precautions in response to, for example, the vehicle 1 operating in automatic driving mode.

[0050] However, in an autonomous vehicle 1, continuously lighting the autonomous driving indicator light 5 during autonomous driving increases power consumption. Furthermore, in electrically driven vehicles 1, in particular, this constant increase in power consumption during autonomous driving shortens the drivable range, directly impacting driving performance.

[0051] Furthermore, if a bright color, such as blue-green, which is not commonly found in nature, is selected as the automatic driving indicator light 5, a person who recognizes this color may feel disgusted or uncomfortable due to the continuous lighting of the automatic driving indicator light 5. For people who are active in places where the autonomous driving capable car 1 is often present, they will be constantly exposed to bright colors such as blue-green, which are not commonly found in nature.

[0052] Thus, improvements are needed in the autonomous driving car 1 .

[0053] Figure 2 1(A) to (C) are explanatory diagrams of a control system of the automobile 1 .

[0054] 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.

[0055] 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.

[0056] 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 also be constructed using multiple bus cables 27 that can connect multiple control ECUs, and a central gateway (CGW) 28 that serves as a relay device connecting these 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. This notification data includes the ID of the source control ECU and the ID of the destination control ECU. 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. 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 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.

[0057] 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 a pedestrian 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 traffic system 100. The external communication ECU 17 sends and receives communication data between the server device 103, another 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.

[0058] In the UI operation ECU 18, a display device 21 and an operation device 22 are connected as user interface devices for, for example, passengers. The display device 21 can also be, for example, a liquid crystal device or an image projection device. The operation device 22 can also be, for example, a touch panel, a keyboard, or a contactless operation detection device. The display device 21 and the operation device 22 can also be set on, for example, the inner surface of the vehicle cabin where the passengers sit. 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.

[0059] The driving operation ECU 15 is connected to operating components such as a steering wheel 31, brake pedal 32, accelerator pedal 33, and a gear shift lever 34, which are used by the occupants to control the driving of the vehicle 1. When an operating component is 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 the operating component and include the processing results 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 the determination result in the notification data.

[0060] 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, for capturing 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 may 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 may determine that a collision has been detected and include the collision detection result in the notification data. The detection ECU 16 may also extract moving objects such as pedestrians 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.

[0061] The automatic driving / driving support ECU 14 acquires notification data from the vehicle network 26 and switches the driving of the automobile 1 between automatic driving and manual driving.

[0062] 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.

[0063] When the vehicle 1 is operating autonomously, the autonomous driving / driving assistance ECU 14, acting as a driving control unit, 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 there are any abnormalities or hazards in the vehicle 1. If so, it generates driving control data for the route along the route and outputs it 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 are abnormalities or hazards associated with the vehicle 1, the autonomous driving / driving assistance ECU 14 generates driving control data to avoid the abnormality or hazard and outputs it as notification data.

[0064] To assist the driving of automobile 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 automobile 1 based on the occupant's driving operations. If an abnormality or danger exists regarding automobile 1, the autonomous driving / driving assistance ECU 14 generates and outputs driving control data as notification data to avoid the abnormality or danger.

[0065] Connected to the lighting ECU 19 are headlights 51 installed on the front of the vehicle body 6 of the automobile 1, turn signals 52 installed on the front, rear, and left sides of the vehicle body 6, brake lights 53 installed on the rear of the vehicle body 6, and the automatic driving indicator lights 5. Also shown in the figure is a memory 59 connected to the lighting ECU 19. The memory 59 connected to the lighting ECU 19 stores control settings and other information used by the lighting ECU 19. As a lighting control unit, the lighting ECU 19 receives notification data for controlling lighting devices from the vehicle network 26 and controls the lighting status of the headlights 51, turn signals 52, brake lights 53, and automatic driving indicator lights 5 based on this data. For example, when the automatic driving / driving assistance ECU 14 controls the vehicle 1 in automatic driving, the lighting ECU 19 illuminates the automatic driving indicator lights 5 during automatic driving. This allows external moving objects, such as pedestrians 3 or 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 automatic driving. Even during automatic driving, for example, when the driving environment does not require lighting, the light ECU 19 can perform lighting control such that the automatic driving indicator light 5 is turned off, for example, according to the driving environment.

[0066] 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.

[0067] Figure 3 This is a flowchart of the control for switching between automatic driving and manual assisted driving.

[0068] The automatic driving / driving support ECU 14 repeatedly executes the Figure 3 processing.

[0069] 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.

[0070] 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 may also 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 proceeds 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 proceeds to step ST7.

[0071] 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.

[0072] 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 vehicle position information 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 set 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.

[0073] 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 may also 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.

[0074] 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.

[0075] In step ST7 , the automatic driving / driving support ECU 14 starts manual support driving other than automatic driving.

[0076] 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.

[0077] 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 may also 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 of 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.

[0078] 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 the manual assisted driving mode and starts the automatic driving mode. The automatic driving / driving assistance ECU 14 then proceeds to step ST4.

[0079] In this way, the automatic driving / driving support ECU 14 repeatedly executes the following operations when, for example, a passenger is in the car 1 and the car is traveling. Figure 3 For example, the automatic driving / driving assistance ECU 14 may also 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 may also obtain notification data including a switching instruction to mandatory manual driving based on an 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 may 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.

[0080] Figure 4 is with Figure 3Flowchart of the lighting control of the automatic driving display light 5 corresponding to the driving switching control.

[0081] For example, when the automatic driving / driving support ECU 14 controls the driving of the automobile 1, the light ECU 19 continuously acquires the information as notification data and repeatedly executes Figure 4 processing.

[0082] In step ST11, the light ECU 19 determines whether the driving of the autonomous vehicle 1 has started. The light ECU 19 may also obtain information and notifications output to the vehicle network 26 by the autonomous driving / driving assistance ECU 14 for the control of the autonomous driving, and determine whether the driving of the autonomous vehicle 1 has started. If the driving of the autonomous vehicle 1 has not started, the light ECU 19 ends. Figure 4 When the automatic driving of the automobile 1 is started, the light ECU 19 advances the process to step ST12.

[0083] In step ST12, the light ECU 19 determines whether the vehicle is traveling in a dedicated autonomous driving area. An example of a dedicated autonomous driving area is a parking lot dedicated to autonomous vehicles. Alternatively, a dedicated autonomous driving area may be a location accessible only to autonomous vehicles. If the vehicle is not traveling in a dedicated autonomous driving area, the light ECU 19 proceeds to step ST13. If the vehicle is traveling in a dedicated autonomous driving area, the light ECU 19 skips step ST13 and proceeds to step ST14.

[0084] In principle, pedestrians, vehicles that are not capable of autonomous driving, or vehicles not in autonomous driving mode are not permitted to enter parking lots dedicated to autonomous vehicles. In this case, the external communication ECU 17 can obtain information about the location of travel, contained in navigation or ETC information, from the server device 103. Based on this information, the external communication ECU 17 or the lighting ECU 19 determines whether the location of travel is a parking lot dedicated to autonomous vehicles. Alternatively, the external communication ECU 17 can obtain this information through, for example, inter-vehicle communication. Furthermore, the detection ECU 16 can use an external camera 43 to capture the location of travel. The detection ECU 16 or the lighting ECU 19 can detect parking lot signs, markings, and entrance / exit gates contained in the captured image to determine whether the location of travel is a parking lot dedicated to autonomous vehicles.

[0085] In step ST13, the light ECU 19 lights up the automatic driving indicator light 5. Thus, when the car 1 starts traveling in an autonomous driving manner outside the autonomous driving dedicated area, the automatic driving indicator light 5 is lit.

[0086] In step ST14, the light ECU 19 determines whether the autonomous vehicle 1 has completed its operation. The light ECU 19 can also determine whether the autonomous vehicle 1 has completed its operation by, for example, failing to obtain information output by the autonomous driving / driving assistance ECU 14 to the vehicle network 26 for autonomous driving control, or receiving a notification of the completion of autonomous driving. If the autonomous vehicle 1 has not completed its operation, the light ECU 19 returns the process to step ST12. If the autonomous vehicle 1 has completed its operation, the light ECU 19 proceeds to step ST15.

[0087] In step ST15, the light ECU 19 determines whether the automatic driving indicator light 5 is on. If the automatic driving indicator light 5 is on, the light ECU 19 proceeds to step ST16. If the automatic driving indicator light 5 is not on, the light ECU 19 skips step ST16 and ends the process. Figure 4 processing.

[0088] In step ST16 , the light ECU 19 turns off the automatically driving indicator light 5 that was on.

[0089] In this manner, the light ECU 19 basically lights the automatic driving indication light 5 during automatic driving in which the automatic driving / driving support ECU 14 controls the travel of the automobile 1 by automatic driving.

[0090] Figure 5 This is a flowchart of the lighting state control of the automatic driving indicator light 5 during automatic driving in the embodiment of the present invention.

[0091] The light ECU 19, as a light control unit, repeatedly executes the following operations while continuously acquiring the information as notification data when the driving support ECU 14 controls the driving of the automobile 1 by, for example, automatic driving. Figure 5 processing.

[0092] In step ST21, the light ECU 19 determines whether the vehicle is in automatic driving. The light ECU 19 may also obtain information or notification output to the vehicle network 26 by the automatic driving / driving assistance ECU 14 for controlling automatic driving, and determine whether the vehicle is in automatic driving. If the vehicle is not in automatic driving, the light ECU 19 ends the process. Figure 5 If the vehicle is in automatic driving, the light ECU 19 proceeds to step ST22.

[0093] In step ST22, the lighting ECU 19 obtains information on the driving control status of the vehicle 1 as notification data from various control ECUs of the vehicle 1 via the vehicle network 26. The lighting ECU 19 obtains information on, for example, the vehicle's position, speed, acceleration, route, presence of faults, and the lighting status of various lights.

[0094] In step ST23 , the light ECU 19 obtains information on the driving environment as notification data from various control ECUs of the automobile 1 , such as the external communication ECU 17 and the detection ECU 16 , via the vehicle network 26 .

[0095] The light ECU 19 obtains, for example, attribute information about the place where the vehicle is traveling. The attribute information about the place may also include information indicating whether the place is an area dedicated to autonomous driving. The area dedicated to autonomous driving includes, for example, a parking lot dedicated to autonomous driving vehicles. The external communication ECU 17 can obtain attribute information of the driving place through navigation information, V2V reception information, and ETC information of ADAS communication. The detection ECU 16 can detect the driving place based on the image captured by the external camera 43. In addition, the detection ECU 16 can detect whether the place where the vehicle is traveling is a parking lot dedicated to autonomous driving based on the road signs, signs, and entrance and exit gates of the parking lot dedicated to autonomous driving reflected in the captured image.

[0096] In addition, for example, the lighting ECU 19 can also obtain information about the position, speed, predicted path, collision potential, and attributes of other mobile objects around the vehicle. The external communication ECU 17 can obtain information about other mobile objects around the vehicle based on navigation information, V2V reception information, and ETC information from ADAS communications. The detection ECU 16 can detect other mobile objects around the vehicle using images captured by the external camera 43 and determine the attributes of these other mobile objects. Furthermore, the detection ECU 16 can also detect other mobile objects around the vehicle using a driver (not shown) or laser, and determine the attributes of these detected other mobile objects.

[0097] In step ST24, the light ECU 19 determines whether the vehicle is traveling in an area dedicated to autonomous driving. If the vehicle is traveling in an area dedicated to autonomous driving, the light ECU 19 proceeds to step ST25. If the vehicle is not traveling in an area dedicated to autonomous driving, the light ECU 19 proceeds to step ST31.

[0098] In step ST25, the light ECU 19 determines whether there are other moving objects such as cars or pedestrians around the vehicle. If there are other moving objects around the vehicle, the light ECU 19 proceeds to step ST26. If there are no other moving objects around the vehicle, the light ECU 19 proceeds to step ST29.

[0099] In step ST26, the light ECU 19 determines whether the other moving objects around the vehicle are personnel in the autonomous driving zone. The light ECU 19 may further determine whether the other moving objects around the vehicle are vehicles in the autonomous driving zone. If the moving objects around the vehicle are personnel, the light ECU 19 proceeds to step ST31. If the moving objects around the vehicle are other than personnel, the light ECU 19 proceeds to step ST27.

[0100] In step ST27, the lighting ECU 19 determines whether other mobile objects surrounding the vehicle have recognized the presence of the vehicle. The lighting ECU 19 may also determine that the vehicle has been recognized if a pedestrian's head is facing the vehicle in the image captured by the external camera. If the other mobile objects have recognized the presence of the vehicle, the lighting ECU 19 proceeds to step ST31. If the other mobile objects have not recognized the presence of the vehicle, the lighting ECU 19 proceeds to step ST28.

[0101] In step ST28, the light ECU 19 determines whether the other vehicles surrounding the vehicle are solely autonomous vehicles. If the other vehicles surrounding the vehicle are solely autonomous vehicles, the light ECU 19 proceeds to step ST31. If the other vehicles surrounding the vehicle include vehicles other than autonomous vehicles, the light ECU 19 proceeds to step ST29.

[0102] In step ST29, the light ECU 19 determines whether the automatic driving indicator light 5 is on. If the automatic driving indicator light 5 is on, the light ECU 19 proceeds to step ST30. If the automatic driving indicator light 5 is not on, the light ECU 19 proceeds to step ST33.

[0103] In step ST30, the light ECU 19 turns off the lit automatic driving indicator light 5. Then, the light ECU 19 advances the process to step ST33.

[0104] In step ST31, the light ECU 19 determines whether the automatic driving indicator light 5 is off. If the automatic driving indicator light 5 is off, the light ECU 19 proceeds to step ST32. If the automatic driving indicator light 5 is not off, that is, if the automatic driving indicator light 5 is on, the light ECU 19 proceeds to step ST33.

[0105] In step ST32, the light ECU 19 turns on the extinguished automatic driving indicator light 5. Then, the light ECU 19 advances the process to step ST33.

[0106] In step ST33, the light ECU 19 determines whether the lighting state of the automatic driving indicator light 5 has changed. If the automatic driving indicator light 5 that was lit turns off, or if the automatic driving indicator light 5 that was turned off turns on again, the lighting state of the automatic driving indicator light 5 has changed. In this case, the light ECU 19 advances the processing to step ST34. If the lighting state of the automatic driving indicator light 5 has not changed, the light ECU 19 ends the process. Figure 5 processing.

[0107] In step ST34, the light ECU 19 outputs an alarm output instruction to the vehicle network 26. Upon receiving the alarm output instruction from the vehicle network 26, the alarm ECU 20 outputs an alarm sound from the external speaker 61. The alarm ECU 20 issues a warning when the lighting state of the automatic driving indicator light 5 changes during automatic driving, where the automatic driving / driving assistance ECU 14 is controlling the driving of the vehicle 1. The occupants of other vehicles 2 in the vicinity can hear the alarm sound.

[0108] In this way, the lighting ECU 19 can change the lighting state of the automatic driving indicator light 5 during automatic driving based on at least one of a change in the driving control state and a change in the driving environment. Even during automatic driving, the lighting ECU 19 can extinguish the automatic driving indicator light 5 in driving environments where lighting is not required, such as in areas dedicated to automatic driving. Furthermore, if the vehicle 1 in automatic driving leaves an area dedicated to automatic driving and drives, the automatic driving indicator light 5, which was extinguished during automatic driving, can be re-illuminated.

[0109] Furthermore, even during autonomous driving in a dedicated area for autonomous driving, the lighting ECU 19 can re-light the autonomous driving indicator lights 5, which have been extinguished during autonomous driving, if other mobile objects are present around the vehicle. The lighting ECU 19 controls the re-lighting of the extinguished autonomous driving indicator lights 5 during autonomous driving in the dedicated area for autonomous driving, based on, for example, the attributes of other mobile objects present around the vehicle. Furthermore, if the lighting state of the autonomous driving indicator lights 5 changes during autonomous driving, the alarm ECU 20 can issue a warning.

[0110] Figure 6 This is a flowchart for controlling the lighting state of the automatic driving indicator light 5 when the automatic driving is cancelled.

[0111] The light ECU 19, as a light control unit, repeatedly executes the following operations while continuously acquiring the information as notification data when the driving support ECU 14 controls the driving of the automobile 1 by, for example, automatic driving. Figure 6 processing.

[0112] In step ST41, the lighting ECU 19 determines whether the vehicle is in autonomous driving mode. The lighting ECU 19 may also determine whether the vehicle is in autonomous driving mode by obtaining information or notifications output to the vehicle network 26 by the autonomous driving / driving assistance ECU 14, for example, for autonomous driving control. If the vehicle is not in autonomous driving mode, the lighting ECU 19 repeats the determination process of step ST41. If the vehicle is in autonomous driving mode, the lighting ECU 19 proceeds to step ST42.

[0113] In step ST42, the light ECU 19 determines whether the automatic driving has been released after the automatic driving has been started. The light ECU 19 may also obtain information or notification output to the vehicle network 26 by the automatic driving / driving assistance ECU 14 for controlling the automatic driving, and determine whether the automatic driving has been released. If the automatic driving has not been released, the light ECU 19 ends the process. Figure 6 When the automatic driving is cancelled, the light ECU 19 advances the process to step ST43.

[0114] In step ST43, the light ECU 19 obtains information on the lighting status of the automatic driving indicator light 5 and determines whether the automatic driving indicator light 5 is off during automatic driving. If the automatic driving indicator light 5 is not off, that is, if the automatic driving indicator light 5 is lit during automatic driving, the light ECU 19 advances the process to step ST45. If the automatic driving indicator light 5 is off during automatic driving, the light ECU 19 advances the process to step ST44.

[0115] In step ST44 , the light ECU 19 re-lights the automatic driving indication light 5 that was turned off during the automatic driving.

[0116] In step ST45 , the lamp ECU 19 turns off the temporarily turned-on automatic driving indication lamp 5 or the turned-on lamp.

[0117] Thus, when the vehicle 1 is operating autonomously with the automatic driving indicator light 5 extinguished, the automatic driving / driving assistance ECU 14 can re-illuminate the automatic driving indicator light 5 and then extinguish it if, for example, the vehicle switches the driving state from automatic driving to manual assisted driving. If an override occurs during automatic driving with the automatic driving indicator light 5 extinguished, the lighting ECU 19 can temporarily illuminate the automatic driving indicator light 5 and then extinguish it, even if the vehicle is assuming that the vehicle is traveling in an automatic driving-only zone. The re-illumination of the automatic driving indicator light 5 allows other vehicles 2, their occupants, pedestrians 3, and the like in the automatic driving-only zone to recognize the change in the vehicle 1's driving state.

[0118] Figure 7This is a flowchart for controlling the lighting state of the automatic driving indicator light 5 when a disturbance or abnormality in the automatic driving is detected or predicted.

[0119] The light ECU 19, as a light control unit, repeatedly executes the following operations while continuously acquiring notification data during the period when the driving support ECU 14 controls the driving of the automobile 1 by automatic driving, for example. Figure 7 processing.

[0120] For example, the detection ECU 16 predicts collisions with surrounding moving objects captured by the external camera 43 and detects collisions using the acceleration sensor 42, outputting this data as notification data. The external communication ECU 17 uses traffic information communicated by the ADAS to obtain information such as traffic congestion and fallen objects in the lane or road where the vehicle is traveling, and outputs this information as notification data. The automated driving / driving assistance ECU 14 determines the fault status of the vehicle's equipment and outputs this information as notification data.

[0121] In step ST51, the lighting ECU 19 determines whether the vehicle is in autonomous driving mode. The lighting ECU 19 can determine whether the vehicle is in autonomous driving mode by, for example, obtaining information or notifications output by the autonomous driving / driving assistance ECU 14 to the vehicle network 26 for autonomous driving control. If the vehicle is not in autonomous driving mode, the lighting ECU 19 repeats the determination process of step ST51. If the vehicle is in autonomous driving mode, the lighting ECU 19 proceeds to step ST52.

[0122] In step ST52, the light ECU 19 determines whether interference or abnormality is detected or predicted after the start of the automatic driving. The light ECU 19 can obtain notification from, for example, the automatic driving / driving assistance ECU 14, and determine whether there is interference or abnormality after the start of the automatic driving. If there is no interference or abnormality after the start of the automatic driving, the light ECU 19 ends the process. Figure 7 If there is interference or abnormality after the start of automatic driving, the light ECU 19 advances the process to step ST53.

[0123] In step ST53, the light ECU 19 obtains the information of the lighting state of the automatic driving indicator light 5 and determines whether the automatic driving indicator light 5 is off during automatic driving. If the automatic driving indicator light 5 is not off, that is, the automatic driving indicator light 5 is on during automatic driving, the light ECU 19 ends. Figure 7 When the automatic driving display light 5 is off during automatic driving, the light ECU 19 advances the processing to step ST54.

[0124] In step ST54 , the light ECU 19 re-lights the automatic driving indication light 5 that was turned off during the automatic driving.

[0125] Thus, if interference or anomalies occur after the automatic driving indicator light 5 is extinguished during automatic driving, the lighting ECU 19 will re-illuminate the automatic driving indicator light 5 that was extinguished during automatic driving. If the lighting ECU 19 detects or predicts an anomaly or interference that could affect the operation of the vehicle 1 while the automatic driving indicator light 5 is extinguished during automatic driving, it can re-illuminate the automatic driving indicator light 5 that was extinguished during automatic driving. Following vehicles in lanes dedicated to automatic driving, etc., can recognize that some changes, including anomalies, have occurred in the vehicle 1 that is operating in automatic driving due to the re-illumination of the automatic driving indicator light 5.

[0126] Figure 8 This is a flowchart for controlling the lighting state of the automatic driving indicator light 5 during the activation of automatic driving according to user settings.

[0127] The light ECU 19 repeatedly executes the following operations when, for example, a passenger gets on the vehicle 1 and the vehicle 1 starts. Figure 8 The light ECU 19 can repeatedly execute the process of, for example, operating a start switch (not shown) provided on the vehicle 1 and obtaining notification data of a start instruction from the UI operation ECU 18. Figure 8 processing.

[0128] In step ST61, the light ECU 19 determines whether the car 1 is started. If the car 1 is not started, the light ECU 19 ends. Figure 8 When the vehicle 1 is started, the light ECU 19 advances the process to step ST62.

[0129] In step ST62, the lighting ECU 19 retrieves user settings from the memory 59 connected to the lighting ECU 19. The user settings stored in the memory 59 may be lighting settings for the lighting device acquired from the UI operation ECU 18 through a user's pre-set operation. The user settings may include settings for enabling or disabling lighting control of the automatic driving indicator light 5 during automatic driving. The default setting may be a value that allows or prohibits lighting control.

[0130] In step ST63, the light ECU 19 determines whether the acquired setting value of the lighting control permission of the automatic driving display light 5 is a value that allows lighting control. If it is a prohibition setting value that does not allow lighting control, the light ECU 19 ends the process. Figure 8 If the setting value is such that lighting control is permitted, the lamp ECU 19 proceeds with the process to step ST64.

[0131] In step ST64, the light ECU 19 starts the process of controlling the lighting state of the automatic driving display light 5 during automatic driving. Figure 5 、 Figure 6 ,and Figure 7 When the user permits the lighting control of the automatic driving indicator light 5 during automatic driving, the automatic driving indicator light 5 is controlled to be lit during automatic driving based on the user setting.

[0132] On the other hand, if the user prohibits the lighting control of the automatic driving display lamp 5 during automatic driving, the processing of step ST64 is not executed. The lamp ECU 19 only executes Figure 4 In this case, the automatic driving indicator light 5 cannot be controlled to be lit during automatic driving, and continues to be lit during automatic driving.

[0133] In this way, the light ECU 19 can control whether or not the lighting state of the automatic driving indicator light 5 during automatic driving is changed based on the user setting for the lighting control of the automatic driving indicator light 5 during automatic driving.

[0134] Furthermore, the lighting ECU 19 can also control the lighting status of other lighting devices besides the automatic driving indicator light 5 based on user settings, depending on whether the automatic driving mode is in the middle state. For example, the lighting ECU 19 can control the lighting of other lighting devices besides the automatic driving indicator light 5 based on the lighting control of the automatic driving indicator light 5 during automatic driving.

[0135] As described above, in this embodiment, while the automatic driving / driving assistance ECU 14 of the automobile 1 is in automatic driving mode, the automatic driving indicator light 5 is illuminated to indicate that the automobile is in automatic driving mode. This allows pedestrians 3 or occupants of other automobiles 2, for example, who are outside the automobile 1, to recognize that the automobile 1 is in automatic driving mode.

[0136] Moreover, the automatic driving display light 5 of this embodiment will not remain in a lit state during automatic driving. When the place where the car 1 in automatic driving is traveling is a place dedicated to automatic driving, the lighting state changes according to the presence of other moving objects around the car 1 and the type of the moving object.

[0137] Specifically, for example, when the vehicle is traveling in a place dedicated to automatic driving by automatic driving, the automatic driving display light 5 during automatic driving is basically turned off.

[0138] Furthermore, when the automatic driving indicator light 5 is extinguished and the vehicle 1 is driving in a designated area for automatic driving, if there are other moving objects around the vehicle 1, the automatic driving indicator light 5 during automatic driving is controlled to be re-illuminated based on the attributes of the other moving objects relative to the designated area for automatic driving. For example, if the other moving objects around the vehicle 1 are moving objects in the designated area for automatic driving, the light ECU 19 maintains the automatic driving indicator light 5 during automatic driving in an extinguished state. If the other moving objects around the vehicle 1 are moving objects other than those in the designated area for automatic driving, the light ECU 19 re-illuminates the automatic driving indicator light 5 that was extinguished during automatic driving.

[0139] As a result, the function of lighting the automatic driving indicator light 5, which is intended to be continuously illuminated to indicate that the vehicle is in automatic driving, to notify other vehicles during automatic driving is not lost. In places dedicated to automatic driving where the automatic driving indicator light 5 is generally unnecessary, the automatic driving indicator light 5 is essentially turned off, thereby reducing the power consumption of the automatic driving indicator light 5. Compared to a case where the automatic driving indicator light 5 is continuously illuminated, the power consumption of the automatic driving indicator light 5 can be reduced, thereby reducing wasteful electricity.

[0140] Furthermore, even when the autonomous driving indicator light 5 is off and the vehicle is driving in autonomous driving mode in a designated area, the autonomous driving indicator light 5 is still illuminated if there are other moving objects around the vehicle 1 other than those in the designated area. Thus, even if pedestrians 3 or other vehicles 2 not in autonomous driving mode intrude into the designated area, which is not expected to be accessible to vehicles other than the autonomous driving vehicle, the autonomous driving indicator light 5 can be illuminated to notify these moving objects that the vehicle is in autonomous driving mode.

[0141] Furthermore, even when personnel and management vehicles are traveling in a dedicated autonomous driving area where autonomous driving indicator light 5 is off and autonomous driving is permitted, the power consumption of autonomous driving indicator light 5 can be effectively reduced while autonomous driving indicator light 5 is off. For personnel and occupants of management vehicles operating in a dedicated autonomous driving area, it is generally known that autonomous driving indicator light 5 is off when vehicle 1 is operating autonomously in the area, and they can recognize that vehicle 1 is operating autonomously even when autonomous driving indicator light 5 is off.

[0142] 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.

[0143] For example, in the above-described embodiment, when the lighting state of the automatic driving indicator light 5 changes, the alarm ECU 20 outputs an alarm sound from the external speaker 61 .

[0144] In addition to this, for example, when the lighting state of the automatic driving indicator light 5 changes, the external communication ECU 17 may transmit the driving state of the vehicle via communication data.

[0145] Furthermore, when the automatic driving display lamp 5 is turned off during automatic driving, the external communication ECU 17 may periodically transmit the information indicating that the driving state of the vehicle is in automatic driving through communication data.

[0146] When the alarm ECU 20 turns off the automatic driving indicator light 5 during automatic driving, the alarm ECU 20 may output an alarm sound from the external speaker 61 at an intermittent cycle.

[0147] When the UI operation ECU 18 turns off the automatic driving display light 5 during automatic driving, it may cause the display device 21 to continue displaying the content.

[0148] In the above-mentioned embodiment, Figures 5 to 8 All of the described determination processes are executed in the lamp ECU 19 .

[0149] In addition, for example, Figures 5 to 8 A part or all of the described determination process may be executed in a unit other than the light ECU 19 , for example, the automatic driving / driving assistance ECU 14 .

Claims

1. A self-driving vehicle comprising: A driving control unit that switches between automatic driving and manual driving and controls the driving of the vehicle; an automatic driving indicator light capable of illuminating during automatic driving so as to be identifiable from outside the vehicle; as well as a light control unit configured to control the automatic driving in which the driving control unit controls the driving of the vehicle by automatic driving, so as to light the automatic driving indicator light indicating that the vehicle is in an automatic driving state; The light control unit obtains attribute information of the place where the vehicle is traveling and information of other moving objects existing around the vehicle during automatic driving, and turns off the automatic driving display light during automatic driving when the vehicle is traveling in a place dedicated to automatic driving. However, when the automatic driving display light is turned off and the vehicle is traveling in a place dedicated to automatic driving by automatic driving, if there are other moving objects around the vehicle, the automatic driving display light during automatic driving is controlled to be re-lit according to the attributes of the other moving objects relative to the place dedicated to automatic driving. The light control unit maintains the automatic driving display light in an off state during automatic driving when the other moving bodies existing around the vehicle are moving bodies belonging to a dedicated area for automatic driving, and lights up the automatic driving display light that was off during automatic driving again when the other moving bodies existing around the vehicle are moving bodies other than those belonging to a dedicated area for automatic driving.

2. The autonomously driven vehicle according to claim 1, wherein: The light control unit maintains the automatic driving display light during automatic driving in an extinguished state when a mobile object other than a mobile object belonging to the automatic driving dedicated area recognizes the presence of the vehicle. When other mobile bodies other than the mobile bodies belonging to the autonomous driving dedicated area do not recognize the existence of the vehicle, the autonomous driving display light that was extinguished during autonomous driving is turned on again.

3. The autonomously driven vehicle according to claim 1 or 2, wherein: The light control unit maintains the automatic driving indicator light during automatic driving in an off state when the only moving objects other than the moving objects belonging to the automatic driving dedicated area are automatic driving vehicles. When other moving bodies other than the moving bodies belonging to the autonomous driving dedicated area include vehicles other than the autonomous driving vehicle, the autonomous driving display light that was turned off during the autonomous driving is turned on again.

4. The autonomously driven vehicle according to claim 1 or 2, wherein: The light control unit turns off the automatic driving indicator light during automatic driving, and then turns off the automatic driving indicator light when the driving control unit switches the driving of the vehicle from automatic driving.

5. The autonomously driven vehicle according to claim 1 or 2, wherein: When the light control unit detects or predicts an abnormality or interference that affects the vehicle's driving while the automatic driving display light is off during automatic driving, the light control unit lights up the automatic driving display light that was off during automatic driving.

6. The autonomously driven vehicle according to claim 1 or 2, wherein: The light control unit changes a lighting state of the automatic driving display light during automatic driving based on a user setting regarding lighting control of the automatic driving display light during automatic driving.

7. The autonomously driven vehicle according to claim 1 or 2, wherein: An alarm device is provided for issuing a warning when the light control unit changes the lighting state of the automatic driving display light during automatic driving for controlling the travel of the vehicle by automatic driving.

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