Autonomous vehicle

Abstract

The present invention relates to and improves a vehicle capable of autonomous driving. The vehicle (1) capable of autonomous driving has: a travel control unit (14) that switches between autonomous driving and manual driving and controls the travel of the vehicle (1); an autonomous driving display lamp (5) that can be lit to be recognized from outside the vehicle (1) during autonomous driving; and a lamp control unit (19) that controls to turn on the autonomous driving display lamp (5) indicating the autonomous driving state during autonomous driving in which the travel control unit (14) controls the vehicle (1) to travel in autonomous driving. The lamp control unit (19) changes the lighting state of the autonomous driving display lamp (5) during autonomous driving according to at least one of a change in the travel control state and a change in the travel environment.

Description

Technical Field

[0001] The present invention relates to a vehicle capable of autonomous driving. Background Art

[0002] In vehicles, research and development of autonomous driving that automates the driving of vehicles has been continuously 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] In consideration of such a vehicle capable of autonomous driving, it is necessary to perform appropriate selection of a driving route, confirmation of the safety of the forward road, avoidance control of danger, and travel to the destination without causing an accident or the like.

[0005] However, even if such control for safe driving can be executed, 100% safety may not necessarily be guaranteed. There may be a limit to the safety that can be ensured only by the driving control of a vehicle capable of autonomous driving.

[0006] Prior Art Documents

[0007] Patent Documents

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

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

[0010] Problems to be Solved by the Invention

[0011] Therefore, in such a vehicle capable of autonomous driving, when the vehicle is in autonomous driving, it is considered to turn on an autonomous driving display lamp for identification from outside the vehicle (Patent Documents 1 and 2).

[0012] By turning on the autonomous driving display lamp during autonomous driving of a vehicle capable of autonomous driving, the occupants of other vehicles on the road or lane where the vehicle capable of autonomous driving is traveling and pedestrians in the vicinity can recognize that the vehicle is in autonomous driving and can prepare corresponding actions and respond in advance. Thus, in the environment where a vehicle capable of autonomous driving is traveling, in order to improve safety, there is a limit to the control of only the vehicle itself, and it is considered that the cooperation of pedestrians and other vehicles other than the vehicle is indispensable.

[0013] However, in a vehicle capable of autonomous driving, continuously turning on the autonomous driving display lamp during autonomous driving increases power consumption. Especially in the case of an electric vehicle, a constant increase in power consumption results in a shortening of the travelable distance, directly affecting the driving performance.

[0014] In addition, it is necessary to be able to recognize that the autonomous driving display light is lit not only at night but also in a bright environment during the day. Therefore, there is a possibility of selecting a bright color such as greenish blue for the autonomous driving display light. Moreover, since greenish blue is a bright color, there is a possibility that people outside the vehicle may feel discomfort due to it being constantly lit.

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

[0016] Solution to the problem

[0017] The present invention provides a vehicle capable of autonomous driving, which has: a driving control unit that switches between autonomous driving and manual driving and controls the driving of the vehicle; an autonomous driving display light that can be lit during autonomous driving to be recognized from outside the vehicle; and a light control unit that controls during autonomous driving when the driving control unit controls the driving of the vehicle in autonomous driving so that the autonomous driving display light indicating the autonomous driving state is lit, wherein the light control unit changes the lighting state of the autonomous driving display light according to at least one of a change in the driving control state and a change in the driving environment during autonomous driving.

[0018] Preferably, the light control unit can turn off the autonomous driving display light during autonomous driving in a driving environment where it is not necessary to be lit even during autonomous driving.

[0019] Preferably, the light control unit can obtain attribute information of the place where the vehicle is traveling during autonomous driving, and turn off the autonomous driving display light during autonomous driving when the vehicle during autonomous driving is traveling on a road or lane dedicated to autonomous driving.

[0020] Preferably, after the light control unit turns off the autonomous driving display light during autonomous driving, it can obtain attribute information of the place where the vehicle is traveling during autonomous driving, and when the vehicle during autonomous driving deviates from a road or lane dedicated to autonomous driving and travels, turn on again the autonomous driving display light that was turned off during autonomous driving.

[0021] Preferably, when the vehicle during autonomous driving is traveling on a road or lane dedicated to autonomous driving, the light control unit can further obtain information on the lighting state of signal lights or headlights other than the brake light, direction indicator, and reverse light of the vehicle, and turn off the autonomous driving display light during autonomous driving when the vehicle has its lights off and travels through autonomous driving, while maintaining the autonomous driving display light in a lit state when the vehicle has its lights on and travels through autonomous driving.

[0022] Preferably, when the driving control unit switches the driving of the vehicle from autonomous driving after turning off the autonomous driving display lamp during autonomous driving, the lamp control unit may turn on the autonomous driving display lamp again and then turn it off.

[0023] Preferably, when the lamp control unit detects or predicts an abnormality or interference affecting the driving of the vehicle while the autonomous driving display lamp is turned off during autonomous driving, the lamp control unit may turn on again the autonomous driving display lamp that was turned off during autonomous driving.

[0024] Preferably, the lamp control unit may change the lighting state of the autonomous driving display lamp during autonomous driving based on a user setting regarding the lighting control of the autonomous driving display lamp during autonomous driving.

[0025] Preferably, an alarm device may be provided, which gives a warning when the lighting state of the autonomous driving display lamp changes during autonomous driving in which the driving control unit controls the driving of the vehicle in autonomous driving.

[0026] Advantages of the Invention

[0027] In the present invention, during autonomous driving in which the driving control unit of the vehicle controls the driving of the vehicle in autonomous driving, the autonomous driving display lamp is turned on. Thus, a pedestrian or an occupant of another vehicle outside the vehicle can recognize that the vehicle is in autonomous driving.

[0028] Moreover, in the present invention, the lighting state of the autonomous driving display lamp turned on during autonomous driving changes according to at least one of a change in the driving control state and a change in the driving environment. Thus, a pedestrian or an occupant of another vehicle outside the vehicle can not only recognize that the vehicle is merely in autonomous driving, but also recognize a change in the driving control state for autonomous driving or a change in the driving environment based on the change in the lighting state of the autonomous driving display lamp. Not only can it be understood from the lighting of the autonomous driving display lamp that the vehicle in autonomous driving is in autonomous driving, but also a change in the driving control state for autonomous driving or a change in the driving environment can be understood based on the change in the lighting state of the autonomous driving display lamp. As a result, the autonomous driving display lamp can be used not only as a lamp for understanding that the vehicle is in autonomous driving, but also as a multifunctional lamp used in communication with people outside the vehicle.

[0029] In particular, the autonomous driving display lamp is not always maintained in a lit state during autonomous driving, and its lit state changes according to at least one of the changes in the driving control state and the driving environment. For example, in a driving environment where it is not necessary to be lit even during autonomous driving, the lamp control unit turns off the autonomous driving display lamp during autonomous driving. Specifically, for example, when a vehicle in autonomous driving is traveling on a road or lane dedicated to autonomous driving, the autonomous driving display lamp is turned off during autonomous driving. Thereby, the power consumption of the autonomous driving display lamp is reduced. Compared with the case where the autonomous driving display lamp is always continuously lit, the power consumption of the autonomous driving display lamp is reduced, and it is possible to reduce the power consumption in a situation where, for example, communication with pedestrians and occupants of other vehicles outside the vehicle is not required. In addition, people outside the vehicle will not feel disgusted or uncomfortable due to the light of the always-lit autonomous driving display lamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIGS. 1(A)-(C) are explanatory views of an autonomously drivable vehicle according to an embodiment of the present invention.

[0031] Figure 2 is an explanatory view of the control system of the vehicle of FIGS. 1(A)-(C).

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

[0033] Figure 4 is related to Figure 3 a flowchart of the lighting control of the autonomous driving display lamp corresponding to the driving switching control.

[0034] Figure 5 is a flowchart of the lighting state control of the autonomous driving display lamp during autonomous driving in the first embodiment of the present invention.

[0035] Figure 6 is a flowchart of the lighting state control of the autonomous driving display lamp when autonomous driving is canceled.

[0036] Figure 7 is a flowchart of the lighting state control of the autonomous driving display lamp when interference or abnormality during autonomous driving is detected or predicted.

[0037] Figure 8 is a flowchart for controlling the lighting state of the autonomous driving display lamp during autonomous driving according to a user setting.

[0038] Figure 9 is a flowchart of the lighting state control of the autonomous driving display lamp during autonomous driving in the second embodiment of the present invention.

[0039] REFERENCE SIGNS LIST

[0040] 1…Automobile (vehicle), 5…Autopilot display lamp, 14…Autopilot / driving assistance ECU, 19…Lamp ECU, 20…Alarm ECU, 59…Memory, 61…External speaker Detailed implementation manners

[0041] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0042] [First Embodiment]

[0043] Figs. 1(A)-(C) are explanatory views of an automobile 1 capable of autopilot according to an embodiment of the present invention.

[0044] Figs. 1(A)-(C) are explanatory views of an automobile 1 as an example of a vehicle according to an embodiment of the present invention.

[0045] Fig. 1(A) is a top view of the automobile 1. In Fig. 1(A), another automobile 2 and a plurality of pedestrians 3 are shown together. Fig. 1(B) is a side view of the automobile 1. Fig. 1(C) is a rear view of the automobile 1.

[0046] The automobile 1 in Figs. 1(A)-(C) is an automobile 1 that can switch between autopilot and manual driving and travel, and is equipped with an autopilot display lamp 5 that lights up during autopilot.

[0047] The autopilot display lamp 5 is a lamp that lights up to indicate the autopilot state. The autopilot display lamp 5 is provided around the entire circumference of the front, rear, left, and right sides of the vehicle body 6, for example. Thus, pedestrians 3 around the automobile 1 and the occupants of other automobiles 2 can identify the autopilot display lamp 5 that lights up during autopilot from outside the automobile 1. By the autopilot display lamp 5 lighting up during autopilot, cooperation from pedestrians 3 around the automobile 1 and the occupants of other automobiles 2 can be obtained, and safety that cannot be obtained only through the driving control of the automobile 1 itself is expected.

[0048] In addition, for example, the autopilot display lamp 5 may also be separately provided at the four corners of the front, rear, left, and right of the vehicle body 6, or along the outer periphery of the roof panel above the passenger compartment, or protrudingly provided on the roof panel.

[0049] The autonomous driving display lamp 5 is lit when the vehicle 1 is driving in autonomous driving. Moreover, even during the daytime in summer when the surroundings of the vehicle 1 are strongly irradiated by sunlight, it is expected that pedestrians 3 outside the vehicle 1 and the occupants of other vehicles 2 can sufficiently recognize whether the autonomous driving display lamp 5 is lit or not. Therefore, the autonomous driving display lamp 5 can also be a lamp of a color and brightness that do not exist much in nature, such as greenish blue. In addition, the autonomous driving display lamp 5 can also be a lamp that can emit light in a more vivid color and brightness than those existing in nature. By emitting strong light in greenish blue light, the possibility that pedestrians 3 outside the vehicle 1 and the occupants of other vehicles 2 can recognize whether the autonomous driving display lamp 5 is lit or not becomes higher. As a result, pedestrians 3 outside the vehicle 1 and the occupants of other vehicles 2 can prepare corresponding behaviors or respond in advance to, for example, the vehicle 1 in autonomous driving.

[0050] However, in the vehicle 1 capable of autonomous driving, continuously lighting the autonomous driving display lamp 5 during autonomous driving will increase the power consumption. In order to make the autonomous driving display lamp 5 emit light with high brightness, more power is required. Moreover, especially in the case of an electrically driven vehicle 1, this constant increase in power consumption during autonomous driving leads to a shortening of the driving range. It has a direct impact on the driving performance.

[0051] In addition, in the case of selecting a vivid color that does not exist much in nature, such as greenish blue, as the autonomous driving display lamp 5, for people who can recognize this color, due to the continuous lighting of the autonomous driving display lamp 5, they may feel disgusted or uncomfortable. For people who often move in places where the vehicle 1 capable of autonomous driving exists, they always receive light of a vivid color that does not exist much in nature, such as greenish blue.

[0052] Thus, in the vehicle 1 capable of autonomous driving, improvements are needed.

[0053] Figure 2 It is an explanatory diagram of the control system 10 of the vehicle 1 in FIGS. 1(A)-(C). Figure 2 Herein, multiple control devices constituting the control system 10 of the vehicle 1 are represented by using the respectively installed control ECUs (Electronic Control Units). In addition to the control ECUs, the control devices can also have, for example, a storage component for recording control programs and data, an input / output port connected to a controlled object or its state detection device, a timer for measuring time or moment, and an internal bus connecting them.

[0054] Specifically, Figure 2The illustrated control ECU is, for example, a drive ECU 11, a steering ECU 12, a brake ECU 13, an autonomous 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 lamp ECU 19, and an alarm ECU 20. The control system 10 of the vehicle 1 may also include other control ECUs (not shown).

[0055] A plurality of control ECUs are connected to a vehicle network 26 such as CAN (Controller Area Network) or LIN (Local Interconnect Network) used in the vehicle 1. The vehicle network 26 may also be constituted by a plurality of bus cables 27 capable of connecting a plurality of control ECUs and a central gateway (CGW) 28 as a relay device for connecting the plurality of bus cables 27. IDs are assigned to the plurality of control ECUs as mutually different identification information. The control ECU basically outputs notification data to other control ECUs regularly. The ID of the control ECU that is the output source and the ID of the control ECU that is the output destination are attached to the notification data. Other control ECUs monitor the bus cable 27, and when the ID of the output destination is, for example, its own ID, acquire the notification data and execute processing based on the notification data. The central gateway 28 monitors each of the plurality of connected bus cables 27, and when detecting a control ECU connected to a bus cable 27 different from the bus cable 27 of the output source control ECU, outputs the notification data to that bus cable 27. Through the relay processing of this central gateway 28, the plurality of control ECUs can input and output notification data between other control ECUs connected to a bus cable 27 different from the bus cable 27 to which each control ECU is connected.

[0056] The external communication ECU 17 performs wireless communication with, for example, a communication base station 101 existing outside the vehicle 1 and a communication device of another vehicle 2. The communication base station 101 may 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 vehicle 2 but also with a portable device 102 held by a pedestrian 3. The external communication ECU 17 may also be divided into a plurality of types according to the type of the direct communication partner and provided in the vehicle 1. Moreover, the communication base station 101, the communication device of another vehicle 2, and the portable device 102 together with the server device 103 constitute a traffic system 100. The external communication ECU 17 directly performs wireless communication with the communication base station 101 or the communication device of another vehicle 2, and transmits and receives communication data between the server device 103, another vehicle 2, or the portable device 102.

[0057] In the UI operation ECU 18, a display device 21 and an operation device 22 are connected as user interface devices for an occupant, for example. The display device 21 may also be, for example, a liquid crystal device or an image projection device. The operation device 22 may also be, for example, a touch panel, a keyboard, or a non-contact operation detection device. The display device 21 and the operation device 22 may also be provided on, for example, the inner surface of the passenger compartment in which the occupant is seated. The UI operation ECU 18 acquires notification data from the vehicle network 26 and displays it on the display device 21. The UI operation ECU 18 outputs the operation input to the operation device 22 to the vehicle network 26. In addition, the UI operation ECU 18 may also execute processing based on the operation input and include the processing result in the notification data. For example, the UI operation ECU 18 may also display a navigation screen for setting a destination or the like on the display device 21, search for a route to the destination selected by the operation input, and include the route data in the notification data. The route data may also include attribute information such as lanes of the road used during the movement from the current position to the destination.

[0058] In the driving operation ECU 15, in order for the occupant to control the driving of the vehicle 1, operation components such as a steering wheel 31, a brake pedal 32, an accelerator pedal 33, a shift lever 34, etc. are connected. When the operation components are operated, the driving operation ECU 15 outputs notification data including the presence or absence of the operation, the operation amount, etc. to the vehicle network 26. In addition, the driving operation ECU 15 may also execute processing regarding the operation of the operation components and include the processing result in the notification data. The driving operation ECU 15 may also determine an abnormal operation when, for example, the accelerator pedal 33 is operated in a situation where there is another moving body or a stationary object in the traveling direction of the vehicle 1, and include the determination result in the notification data.

[0059] In the detection ECU 16, as detection components for detecting the driving state of the vehicle 1, there are connected, for example, 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 photographing the surroundings outside the vehicle 1, a GPS receiver 44 for detecting the position of the vehicle 1, and so on. The detection ECU 16 obtains detection information from the detection components, and outputs notification data including the detection information to the vehicle network 26. In addition, the detection ECU 16 may also execute processing based on the detection information, and include the processing result in the notification data. The detection ECU 16 may also, for example, when the acceleration sensor 42 detects an acceleration exceeding the collision detection threshold, 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 existing around the host vehicle from the image of the external camera 43, determine the types and attributes of the moving objects, and estimate the relative direction, relative distance, and moving direction of the moving objects based on the position, size, and changes of the moving objects in the image, and include the information of the moving objects including these estimation results in the notification data and output it to the vehicle network 26.

[0060] The automatic driving / driving assistance ECU 14 obtains the notification data from the vehicle network 26, and switches the driving of the vehicle 1 between automatic driving and manual driving.

[0061] In addition, the automatic driving / driving assistance ECU 14 obtains the notification data from the vehicle network 26, executes control for the automatic driving or driving assistance of the vehicle 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 vehicle 1 based on the input driving control data.

[0062] When the vehicle 1 is in automatic driving, the automatic driving / driving assistance ECU 14 obtains the notification data from the vehicle network 26 as a driving control unit, and explores or obtains a path to the destination. The automatic driving / driving assistance ECU 14 obtains the notification data from the vehicle network 26, determines whether there is no abnormality or danger in the vehicle 1. When there is no abnormality or danger in the vehicle 1, it generates driving control data for the forward road along the path and outputs it as notification data. The automatic driving / driving assistance ECU 14 controls the driving of the vehicle 1 based on the position information of the host vehicle such as the GPS receiver 44 in such a way that it travels along the moving path until it stops at a parking lot or the like at the destination. When there is an abnormality or danger regarding the vehicle 1, the automatic driving / driving assistance ECU 14 generates driving control data in a way to avoid the abnormality or danger and outputs it as notification data.

[0063] In the case of assisting the driving of the vehicle 1, the autonomous driving / driving assistance ECU 14 obtains notification data of the operation input from the UI operation ECU 18 via the vehicle network 26, generates driving control data for the operation with the operation input adjusted, and outputs the data as notification data. The autonomous driving / driving assistance ECU 14 controls the driving of the vehicle 1 according to the driving operation of the occupant. In the case where there is an abnormality or danger regarding the vehicle 1, the autonomous driving / driving assistance ECU 14 generates driving control data in a manner to avoid the abnormality or danger and outputs the data as notification data.

[0064] Connected to the lamp ECU 19 are a headlamp 51 provided at the front part of the vehicle body 6 of the vehicle 1, a turn signal lamp 52 provided on the front, rear, left, and right of the vehicle body 6, a brake lamp 53 provided at the rear part of the vehicle body 6, and an autonomous driving display lamp 5. In addition, a memory 59 connected to the lamp ECU 19 is shown in the figure. Stored in the memory 59 connected to the lamp ECU 19 are set values and the like used by the lamp ECU 19 for control. The lamp ECU 19 obtains notification data for controlling the lamps from the vehicle network 26 as a lamp control unit, and controls the lighting states of the headlamp 51, the turn signal lamp 52, the brake lamp 53, and the autonomous driving display lamp 5 according to the data. When the autonomous driving / driving assistance ECU 14 controls the driving of the vehicle 1 in autonomous driving, for example, the lamp ECU 19 turns on the autonomous driving display lamp 5 during autonomous driving. Thus, for example, an external moving body such as a pedestrian 3 and another vehicle 2 can recognize that the vehicle 1 is in autonomous driving by using the lit autonomous driving display lamp 5, and can respond to the driving of the vehicle 1 in autonomous driving. Even during autonomous driving, the lamp ECU 19 can perform lighting control to turn off the autonomous driving display lamp 5 according to the driving environment when lighting is not required, for example.

[0065] Connected to the alarm ECU 20 is an external speaker 61. The alarm ECU 20 obtains notification data for alarm output from the vehicle network 26, and outputs an alarm sound from the external speaker 61 according to the data.

[0066] Figure 3 It is a flowchart for controlling the switching between autonomous driving and manual assisted driving.

[0067] When an occupant gets into the vehicle 1, for example, the autonomous driving / driving assistance ECU 14 repeatedly executes Figure 3 the process.

[0068] In step ST1, the autonomous driving / driving assistance ECU 14 determines whether to start the driving of the vehicle 1. If the driving of the vehicle 1 has not started, the autonomous driving / driving assistance ECU 14 ends Figure 3 the process. If the driving of the vehicle 1 has started, the autonomous driving / driving assistance ECU 14 advances the process to step ST2.

[0069] In step ST2, the autonomous driving / driving assistance ECU 14 determines whether the vehicle 1 is driving in autonomous driving. The autonomous driving / driving assistance ECU 14 can also determine whether the vehicle 1 is driving in autonomous driving based on the set value of the driving mode obtained from the UI operation ECU 18, etc. In the case of driving in autonomous driving, the autonomous driving / driving assistance ECU 14 proceeds to step ST3. In the case of driving other than autonomous driving, such as driving assistance, the autonomous driving / driving assistance ECU 14 proceeds to step ST7.

[0070] In step ST3, the autonomous driving / driving assistance ECU 14 starts driving in autonomous driving. The autonomous driving / driving assistance ECU 14 controls the driving of the vehicle 1 in autonomous driving.

[0071] In step ST4, the autonomous driving / driving assistance ECU 14 determines whether to end the driving of the vehicle 1. The autonomous driving / driving assistance ECU 14 determines that the driving of the vehicle 1 has ended when, for example, the vehicle position information obtained from the external communication ECU 17 or the GPS receiver 44 is the destination of autonomous driving, such as a parking lot, and the vehicle stops with an acceleration of 0. In the case where it is determined that the driving of the vehicle 1 has ended, the autonomous driving / driving assistance ECU 14 ends Figure 3 the process. Thus, the autonomous driving ends. In the case where it is not determined that the driving of the vehicle 1 has ended, the autonomous driving / driving assistance ECU 14 proceeds to step ST5.

[0072] In step ST5, the autonomous driving / driving assistance ECU 14 determines whether the driving of the vehicle 1 switches from autonomous driving to other than autonomous driving, such as manual driving. The autonomous driving / driving assistance ECU 14 can also determine the switch from autonomous driving based on the set value of the driving mode obtained from the UI operation ECU 18, etc. In the case where there is no switch from autonomous driving to other than autonomous driving, the autonomous driving / driving assistance ECU 14 returns the process to step ST4. The autonomous driving / driving assistance ECU 14 repeatedly makes the judgments of step ST4 and step ST5 during autonomous driving. In the case where there is a switch from autonomous driving to other than autonomous driving, the autonomous driving / driving assistance ECU 14 proceeds to step ST6.

[0073] In step ST6, the autonomous driving / driving assistance ECU 14 switches the driving of the vehicle 1 from autonomous driving to other than autonomous driving, such as manual assisted driving. Thus, the autonomous driving ends and the manual driving starts. Then, the autonomous driving / driving assistance ECU 14 proceeds to step ST8.

[0074] In step ST7, the autonomous driving / driving assistance ECU 14 starts manual assisted driving other than autonomous driving.

[0075] In step ST8, the autonomous driving / driving assistance ECU 14 determines whether the driving of vehicle 1 has ended. The autonomous driving / driving assistance ECU 14 determines that the driving of vehicle 1 has ended, for example, when the vehicle stops in such a way that the acceleration becomes 0 and an operation is performed on, for example, the ignition switch of vehicle 1. When it is determined that the driving of vehicle 1 has ended, the autonomous driving / driving assistance ECU 14 ends Figure 3 the process. Thereby, the driving of the manual assisted driving ends. When it is not determined that the driving of vehicle 1 has ended, the autonomous driving / driving assistance ECU 14 advances the process to step ST9.

[0076] In step ST9, the autonomous driving / driving assistance ECU 14 determines whether the driving of vehicle 1 has switched from manual assisted driving to autonomous driving. The autonomous driving / driving assistance ECU 14 can also determine the switch from manual assisted driving based on, for example, the set value of the driving mode obtained from the UI operation ECU 18. When the switch from manual assisted driving to autonomous driving has not occurred, the autonomous driving / driving assistance ECU 14 returns the process to step ST8. The autonomous driving / driving assistance ECU 14 repeatedly makes the determinations of step ST8 and step ST9 during manual assisted driving. When the switch from manual assisted driving to autonomous driving occurs, the autonomous driving / driving assistance ECU 14 advances the process to step ST10.

[0077] In step ST10, the autonomous driving / driving assistance ECU 14 switches the driving of vehicle 1 from manual assisted driving to autonomous driving. Thereby, the driving of the manual assisted driving ends, and the driving of the autonomous driving starts. Then, the autonomous driving / driving assistance ECU 14 advances the process to step ST4.

[0078] In this way, the autonomous driving / driving assistance ECU 14 repeatedly executes Figure 3 the process, for example, when an occupant rides in vehicle 1 and drives. For example, the autonomous driving / driving assistance ECU 14 can also acquire notification data including the set information of the driving mode from the UI operation ECU 18 via the vehicle network 26 and switch the driving of vehicle 1 between autonomous driving and manual assisted driving. In addition, the autonomous driving / driving assistance ECU 14 can also acquire notification data including an instruction to switch to mandatory manual driving based on, for example, an abnormality detection from the detection ECU 16 or the like and switch the driving of vehicle 1 between autonomous driving and manual assisted driving. In addition, the autonomous driving / driving assistance ECU 14 can also generate notification data including an instruction to switch to mandatory manual driving based on its own abnormality detection and switch the driving of vehicle 1 between autonomous driving and manual assisted driving.

[0079] Figure 4 is related to Figure 3Flowchart of the lighting control of the automatic driving display lamp 5 corresponding to the driving switching control.

[0080] When the lamp ECU 19 controls the running of the vehicle 1 by, for example, the automatic driving / driving assistance ECU 14, while continuously obtaining this information as notification data, it repeatedly executes Figure 4 processing.

[0081] In step ST11, the lamp ECU 19 determines whether the running of the vehicle 1 in automatic driving has started. The lamp ECU 19 can also obtain, for example, the information and notification output by the automatic driving / driving assistance ECU 14 to the vehicle network 26 for the control of automatic driving, and determine whether the running of the vehicle 1 in automatic driving has started. If the running of the vehicle 1 in automatic driving has not started, the lamp ECU 19 ends Figure 4 processing. If the running of the vehicle 1 in automatic driving has started, the lamp ECU 19 makes the process enter step ST12.

[0082] In step ST12, the lamp ECU 19 lights up the extinguished automatic driving display lamp 5.

[0083] In step ST13, the lamp ECU 19 determines whether the running of the vehicle 1 in automatic driving has ended. The lamp ECU 19 can determine whether the running of the vehicle 1 in automatic driving has ended, for example, by not obtaining the information output by the automatic driving / driving assistance ECU 14 to the vehicle network 26 for the control of automatic driving, or by obtaining the notification of the end of automatic driving. If the running of the vehicle 1 in automatic driving has not ended, the lamp ECU 19 repeatedly performs the determination process of step ST13. If the running of the vehicle 1 in automatic driving has ended, the lamp ECU 19 makes the process enter step ST14.

[0084] In step ST14, the lamp ECU 19 turns off the lit automatic driving display lamp 5.

[0085] In this way, the lamp ECU 19 basically lights up the automatic driving display lamp 5 during the automatic driving in which the automatic driving / driving assistance ECU 14 controls the running of the vehicle 1 by automatic driving.

[0086] Figure 5 It is a flowchart of the lighting state control of the automatic driving display lamp 5 during automatic driving in the first embodiment of the present invention.

[0087] The lamp ECU 19, as a lamp control unit, when the driving assistance ECU 14 controls the running of the vehicle 1 by automatic driving or the like, while continuously obtaining this information as notification data, repeatedly executes Figure 5 processing.

[0088] In step ST21, the lamp ECU 19 determines whether it is in the autonomous driving state. The lamp ECU 19 can also obtain, for example, information or notifications output by the autonomous driving / driving assistance ECU 14 to the vehicle network 26 for autonomous driving control, and determine whether it is in the autonomous driving state. If it is not in the autonomous driving state, the lamp ECU 19 ends Figure 5 the process. If it is in the autonomous driving state, the lamp ECU 19 proceeds to step ST22.

[0089] In step ST22, the lamp ECU 19 obtains, via the vehicle network 26, information on the driving control state of the vehicle 1 from various control ECUs of the vehicle 1 as notification data. The lamp ECU 19 obtains information such as the position, speed, acceleration, forward road, presence or absence of faults, and lighting states of various lamps of the vehicle itself.

[0090] In step ST23, the lamp ECU 19 obtains, via the vehicle network 26, information on the driving environment from various control ECUs of the vehicle 1 such as the external communication ECU 17 and the detection ECU 16 as notification data. The lamp ECU 19 obtains, for example, attribute information on the lane in which the vehicle is traveling. In addition, for example, the lamp ECU 19 can also obtain information such as the position, speed, predicted forward road, possibility of collision, and attributes of other moving objects around the vehicle. The external communication ECU 17 can obtain attribute information on the lane of the driving road based on navigation information, received V2V information, and ETC information of ADAS communication. The detection ECU 16 can detect the lane in which the vehicle is traveling through the captured image of the external camera 43. In addition, the detection ECU 16 can detect whether the lane in which the vehicle is traveling is a lane dedicated to autonomous driving through road signs, markings, and entrance / exit gates of the autonomous driving dedicated lane reflected in the captured image.

[0091] In step ST24, the lamp ECU 19 determines whether the driving position of the vehicle is in a lane dedicated to autonomous driving. If it is in a lane dedicated to autonomous driving, the lamp ECU 19 proceeds to step ST25. If it is not in a lane dedicated to autonomous driving, the lamp ECU 19 proceeds to step ST27.

[0092] A dedicated lane for autonomous driving is a situation where a part of multiple lanes in the same direction is set as a lane dedicated to autonomous vehicles. The dedicated lane for autonomous driving may also include a road that is itself dedicated to autonomous vehicles. In this case, basically only the vehicle 1 in the autonomous driving state travels on the dedicated lane for autonomous driving. In contrast, the vehicle 1 that cannot perform autonomous driving and the vehicle 1 that has not entered the autonomous driving state travel on the normal lanes and roads other than the dedicated lane for autonomous driving. Moreover, it is also possible that the external communication ECU 17 obtains the lane information, which is the attribute information of the road in the navigation information of the route and the ETC information, from the server device 103, and the external communication ECU 17 or the lamp ECU 19 determines whether the lane in which the vehicle is traveling is a dedicated lane for autonomous driving based on the information obtained by the external communication ECU 17. In addition, for example, the external communication ECU 17 can also obtain and judge this information through vehicle-to-vehicle communication or the like. Further, it is possible that the external camera 43 captures the road on which the vehicle is traveling, and the detection ECU 16 or the lamp ECU 19 detects the road signs, markings, and entrance / exit gates of the dedicated lane for autonomous driving included in the captured image. The external communication ECU 17 only needs to judge whether the lane in which the vehicle is traveling is a dedicated lane for autonomous driving based on this information.

[0093] In step ST25, the lamp ECU 19 determines whether the autonomous driving display lamp 5 is lit. If the autonomous driving display lamp 5 is lit, the lamp ECU 19 advances the process to step ST26. If the autonomous driving display lamp 5 is not lit, the lamp ECU 19 advances the process to step ST29.

[0094] In step ST26, the lamp ECU 19 turns off the lit autonomous driving display lamp 5. The lamp ECU 19 may also turn off the lit autonomous driving display lamp 5 after a certain period of time has elapsed since the judgment process in step ST24. Thereby, at the timing of turning off the autonomous driving display lamp 5, it can be ensured that the vehicle is traveling in a dedicated place for autonomous driving.

[0095] In step ST27, the lamp ECU 19 determines whether the autonomous driving display lamp 5 is turned off. If the autonomous driving display lamp 5 is not turned off, the lamp ECU 19 advances the process to step ST29. If the autonomous driving display lamp 5 is turned off, the lamp ECU 19 advances the process to step ST28.

[0096] In step ST28, the lamp ECU 19 turns on again the turned-off autonomous driving display lamp 5.

[0097] In step ST29, the lamp ECU 19 determines whether the lighting state of the autonomous driving display lamp 5 has changed. When the lit autonomous driving display lamp 5 is turned off, or when the extinguished autonomous driving display lamp 5 is lit again, the lighting state of the autonomous driving display lamp 5 has changed. In this case, the lamp ECU 19 proceeds to step ST30. When the lighting state of the autonomous driving display lamp 5 has not changed, the lamp ECU 19 ends Figure 5 the process.

[0098] In step ST30, the lamp ECU 19 outputs an indication for output of an alarm to the vehicle network 26. When the alarm ECU 20 obtains the indication for output of an alarm from the vehicle network 26, an alarm sound is output from the external speaker 61. The alarm ECU 20 issues a warning when the lighting state of the autonomous driving display lamp 5 changes during autonomous driving in which the autonomous driving / driving assistance ECU 14 controls the driving of the vehicle 1 in autonomous driving. The occupants of other surrounding vehicles 2 can hear the alarm sound.

[0099] In this way, the lamp ECU 19 can change the lighting state of the autonomous driving display lamp 5 during autonomous driving according to at least one of a change in the driving control state and a change in the driving environment. Even in a driving environment such as a dedicated place for autonomous driving where lighting is not required during autonomous driving, the lamp ECU 19 can turn off the autonomous driving display lamp 5 during autonomous driving.

[0100] In addition, the lamp ECU 19 can relight the autonomous driving display lamp 5 that was turned off during autonomous driving in a dedicated lane for autonomous driving in a driving environment other than a dedicated place for autonomous driving. In addition, when the lighting state of the autonomous driving display lamp 5 is changed during autonomous driving, the alarm ECU 20 can issue a warning.

[0101] Figure 6 It is a flowchart of the lighting state control of the autonomous driving display lamp 5 when autonomous driving is released.

[0102] The lamp ECU 19, as a lamp control unit, while continuously obtaining this information as notification data, repeatedly executes Figure 6 the process.

[0103] In step ST41, the lamp ECU 19 determines whether it is in autonomous driving. The lamp ECU 19 can obtain, for example, information or notification output by the autonomous driving / driving assistance ECU 14 to the vehicle network 26 for controlling autonomous driving, and determine whether it is in autonomous driving. When it is not in autonomous driving, the lamp ECU 19 repeatedly performs the determination process of step ST41. When it is in autonomous driving, the lamp ECU 19 proceeds to step ST42.

[0104] In step ST42, after starting the automatic driving, the lamp ECU 19 determines whether the automatic driving is cancelled. The lamp ECU 19 can obtain, for example, information or notifications 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 is cancelled. If the automatic driving is not cancelled, the lamp ECU 19 ends Figure 6 the process. If the automatic driving is cancelled, the lamp ECU 19 advances the process to step ST43.

[0105] In step ST43, the lamp ECU 19 obtains information on the lighting state of the automatic driving display lamp 5, and determines whether the automatic driving display lamp 5 is turned off during the automatic driving. If the automatic driving display lamp 5 is not turned off, that is, if the automatic driving display lamp 5 is lit during the automatic driving, the lamp ECU 19 advances the process to step ST45. If the automatic driving display lamp 5 is turned off during the automatic driving, the lamp ECU 19 advances the process to step ST44.

[0106] In step ST44, the lamp ECU 19 re-lights the automatic driving display lamp 5 that is turned off during the automatic driving.

[0107] In step ST45, the lamp ECU 19 turns off the temporarily re-lit or lit automatic driving display lamp 5.

[0108] Thus, when the driving state of the vehicle 1 is switched from the automatic driving to the manual assistance driving or the like by the automatic driving / driving assistance ECU 14 after the automatic driving display lamp 5 is turned off during the automatic driving, the automatic driving display lamp 5 can be re-lit and then turned off. When an override from the automatic driving to the manual driving occurs during the automatic driving in which the automatic driving display lamp 5 is turned off, even if the vehicle is traveling in the automatic driving dedicated lane, the lamp ECU 19 can temporarily turn on and then turn off the automatic driving display lamp 5. The following vehicle or the like in the automatic driving dedicated lane or the like can recognize that the driving state of the vehicle 1 has changed by the re-lighting of the automatic driving display lamp 5.

[0109] Figure 7 It is a flowchart of the lighting state control of the automatic driving display lamp 5 when interference or abnormality in the automatic driving is detected or predicted.

[0110] The lamp ECU 19, as a lamp control unit, while continuously obtaining the notification data during that period, repeatedly executes Figure 7 the process, for example, when the driving assistance ECU 14 controls the driving of the vehicle 1 through the automatic driving or the like.

[0111] For example, the detection ECU 16 predicts a collision with a surrounding moving object captured by the external camera 43, and uses the acceleration sensor 42 to detect the collision, and outputs this data as notification data. The external communication ECU 17 obtains information such as traffic jams and falling objects in the lane or road where the vehicle is traveling through traffic information of the ADAS communication, and outputs it as notification data. The autonomous driving / driving assistance ECU 14 determines the failure state of the equipment of the vehicle, and outputs it as notification data.

[0112] In step ST51, the lamp ECU 19 determines whether it is in autonomous driving. The lamp ECU 19 can also obtain, for example, information or notifications output to the vehicle network 26 for the autonomous driving / driving assistance ECU 14 to perform autonomous driving control, and determine whether it is in autonomous driving. If it is not in autonomous driving, the lamp ECU 19 repeatedly performs the determination process of step ST51. If it is in autonomous driving, the lamp ECU 19 advances the process to step ST52.

[0113] In step ST52, after starting autonomous driving, the lamp ECU 19 determines whether it has detected interference or anomalies, or whether it has predicted such interference or anomalies. The lamp ECU 19 can also obtain notifications from, for example, the autonomous driving / driving assistance ECU 14, etc., and determine the presence or absence of interference or anomalies after the start of autonomous driving. If there are no interference or anomalies after the start of autonomous driving, the lamp ECU 19 ends Figure 7 the process. If there are interference or anomalies after the start of autonomous driving, the lamp ECU 19 advances the process to step ST53.

[0114] In step ST53, the lamp ECU 19 obtains information on the lighting state of the autonomous driving display lamp 5, and determines whether the autonomous driving display lamp 5 is extinguished during autonomous driving. If the autonomous driving display lamp 5 is not extinguished, that is, if the autonomous driving display lamp 5 is lit during autonomous driving, the lamp ECU 19 ends Figure 7 the process. If the autonomous driving display lamp 5 is extinguished during autonomous driving, the lamp ECU 19 advances the process to step ST54.

[0115] In step ST54, the lamp ECU 19 relights the autonomous driving display lamp 5 that has been extinguished during autonomous driving.

[0116] Accordingly, when there is interference or an abnormality after the automatic driving display lamp 5 is turned off during automatic driving, the lamp ECU 19 will relight the automatic driving display lamp 5 that was turned off during automatic driving. When the lamp ECU 19 detects or predicts an abnormality or interference that affects the driving of the vehicle 1 while the automatic driving display lamp 5 is in a state of being turned off during automatic driving, it can relight the automatic driving display lamp 5 that was turned off during automatic driving. The following vehicle in an automatic driving dedicated lane or the like can recognize that some changes including abnormal situations have occurred in the vehicle 1 during automatic driving through the relighting of the automatic driving display lamp 5.

[0117] Figure 8 It is a flowchart for controlling the lighting state of the automatic driving display lamp 5 that starts during automatic driving according to user settings.

[0118] When, for example, an occupant gets into the vehicle 1 and the vehicle 1 starts, the lamp ECU 19 repeatedly executes Figure 8 the process. The lamp ECU 19 can also repeatedly execute Figure 8 the process when, for example, an operation is performed on a start switch (not shown in the figure) provided in the vehicle 1 and notification data of a start instruction is obtained from the UI operation ECU 18.

[0119] In step ST61, the lamp ECU 19 determines whether the vehicle 1 has started. If the vehicle 1 has not started, the lamp ECU 19 ends Figure 8 the process. If the vehicle 1 has started, the lamp ECU 19 advances the process to step ST62.

[0120] In step ST62, the lamp ECU 19 obtains the user setting value from the memory 59 connected to the lamp ECU 19. The user setting value recorded in the memory 59 can also be a lighting setting value of the lamp obtained from the UI operation ECU 18 through a user's preset operation. The user setting value can also include a setting value for whether lighting control of the automatic driving display lamp 5 during automatic driving is possible. The default setting value can be a value that allows lighting control or a value that prohibits lighting control.

[0121] In step ST63, the lamp ECU 19 determines whether the obtained setting value for whether lighting control of the automatic driving display lamp 5 is possible is a value that allows lighting control. If it is a prohibited setting value that does not allow lighting control, the lamp ECU 19 ends Figure 8 the process. If it is a setting value that allows lighting control, the lamp ECU 19 advances the process to step ST64.

[0122] In step ST64, the lamp ECU 19 starts the process of controlling the lighting state of the automatic driving display lamp 5 during automatic driving. Here, the started process can include, for example, Figure 5 、 Figure 6 、and Figure 7Processing. When the user permits the lighting control of the autonomous driving display lamp 5 during autonomous driving, based on this user setting, the autonomous driving display lamp 5 is controlled to be in a lit state during autonomous driving.

[0123] In contrast, when the user prohibits the lighting control of the autonomous driving display lamp 5 during autonomous driving, the process of step ST64 is not executed. The lamp ECU 19 only executes Figure 4 Processing. In this case, the autonomous driving display lamp 5 cannot be controlled to be in a lit state during autonomous driving, and remains lit during autonomous driving.

[0124] In this way, the lamp ECU 19 can, based on the user setting for the lighting control of the autonomous driving display lamp 5 during autonomous driving, change the lighting state of the autonomous driving display lamp 5 during autonomous driving according to at least one of the change in the driving control state and the change in the driving environment.

[0125] In addition, the lamp ECU 19 can also, based on the user setting, control the lighting state of other lamps other than the autonomous driving display lamp 5 according to whether it is during autonomous driving. For example, according to the lighting control of the autonomous driving display lamp 5 during autonomous driving, the lamp ECU 19 can control the lighting of other lamps other than the autonomous driving display lamp 5.

[0126] As described above, in this embodiment, during autonomous driving in which the driving control unit of the vehicle 1 controls the driving of the vehicle 1 in autonomous driving, the autonomous driving display lamp 5 is lit. Thus, for example, pedestrians 3 outside the vehicle 1 and the occupants of other vehicles 2 can recognize that the vehicle 1 is in autonomous driving.

[0127] Moreover, in this embodiment, the lighting state of the autonomous driving display lamp 5 lit during autonomous driving changes according to at least one of the change in the driving control state and the change in the driving environment. Thus, for example, pedestrians 3 outside the vehicle 1 and the occupants of other vehicles 2 can not only recognize that the vehicle 1 is in autonomous driving, but also recognize the change in the driving control state for autonomous driving or the change in the driving environment according to the change in the lighting state of the autonomous driving display lamp 5. The vehicle 1 in autonomous driving can not only understand that it is in autonomous driving according to the lighting of the autonomous driving display lamp 5, but also understand the change in the driving control state for autonomous driving or the change in the driving environment according to the change in the lighting state of the autonomous driving display lamp 5. The autonomous driving display lamp 5 can not only be set to indicate that it is in autonomous driving, but can also be used as a multi-functional lamp for communication with people outside the vehicle.

[0128] In particular, the autonomous driving display lamp 5 does not remain lit during autonomous driving, and its lit state changes. For example, the lamp ECU 19, which is the lamp control unit, turns off the autonomous driving display lamp 5 during autonomous driving even in a driving environment where lighting is not required. Specifically, for example, when it can be determined from the attribute information of the place where the vehicle 1 is traveling during autonomous driving that the vehicle 1 during autonomous driving is traveling on a road or lane dedicated to autonomous driving, the autonomous driving display lamp 5 is turned off during autonomous driving. Thereby, the power consumption generated by the autonomous driving display lamp 5 is reduced. Compared with the case where the autonomous driving display lamp 5 is continuously lit, the power consumption of the autonomous driving display lamp 5 can be reduced, and the waste of electricity can be reduced. In addition, people outside the vehicle will not feel disgusted or uncomfortable due to the light of the autonomous driving display lamp 5 that is always lit.

[0129] [Second Embodiment]

[0130] Next, the vehicle 1 according to the second embodiment of the present invention will be described. In the following description, mainly the differences from the above-described embodiment will be described. The same reference numerals as those in the above-described embodiment are used for the same constituent elements as those in the above-described embodiment, and the description thereof is omitted.

[0131] Figure 9 It is a flowchart of the lighting state control of the autonomous driving display lamp 5 during autonomous driving in the second embodiment of the present invention.

[0132] When the driving assistance ECU 14 controls the driving of the vehicle 1 by autonomous driving, for example, the lamp ECU 19 acquires this information and repeatedly executes Figure 9 the processing.

[0133] When it is determined in step 25 that the autonomous driving display lamp 5 is lit while driving in the autonomous driving dedicated lane in autonomous driving, the lamp ECU 19 advances the processing to step ST71.

[0134] In step ST71, the lamp ECU 19 determines whether lamps other than the autonomous driving display lamp 5, for example, the brake lamp 53 as a brake lamp, the turn signal lamp 52 as a direction indicator, signal lamps other than the reverse lamp 54, or the headlamp 51 as a headlamp, are not lit. When none of these lamps are lit, the lamp ECU 19 advances the processing to step ST26. Thereby, the lamp ECU 19 turns off the autonomous driving display lamp 5 during autonomous driving.

[0135] On the contrary, when any of these lamps is lit, the lamp ECU 19 skips the processing of step ST26 and advances the processing to step ST29. In this case, the autonomous driving display lamp 5 remains lit.

[0136] In this way, when the vehicle 1 in autonomous driving is traveling on a road or lane dedicated to autonomous driving, the lamp ECU 19 can further obtain information on the lighting state of the headlamp or the lighting state of the signal lamp of the vehicle 1. When the headlamp or the signal lamp is turned off and the vehicle is traveling in autonomous driving, the autonomous driving display lamp 5 is turned off during autonomous driving, and when the headlamp or the signal lamp is turned on and the vehicle is traveling in autonomous driving, the autonomous driving display lamp 5 is maintained in the lit state. The autonomous driving display lamp 5 is maintained in the lit state at night when the headlamp is on, and can be turned off when traveling in the autonomous driving dedicated lane during the day when the headlamp is off.

[0137] The above embodiments are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and various modifications or changes can be made without departing from the spirit of the invention.

[0138] For example, in the above embodiment, when the lighting state of the autonomous driving display lamp 5 changes, the alarm ECU 20 outputs an alarm sound from the external speaker 61.

[0139] In addition, for example, when the lighting state of the autonomous driving display lamp 5 changes, the external communication ECU 17 can also transmit the driving state of the vehicle through communication data.

[0140] In addition, when the external communication ECU 17 turns off the autonomous driving display lamp 5 during autonomous driving, it can also periodically transmit through communication data that the driving state of the vehicle is in autonomous driving.

[0141] When the alarm ECU 20 turns off the autonomous driving display lamp 5 during autonomous driving, it can also output an alarm sound from the external speaker 61 at intermittent intervals.

[0142] When the UI operation ECU 18 turns off the autonomous driving display lamp 5 during autonomous driving, it can also cause the display device 21 to continuously display this content.

[0143] In the above embodiment, Figures 5 to 9 All of the described judgment processes are implemented in the lamp ECU 19.

[0144] In addition, for example, Figures 5 to 9 Part or all of the described judgment processes can also be implemented in, for example, the autonomous driving / driving assistance ECU 14 other than the lamp ECU 19.

Claims

1. An autonomous vehicle, comprising: A driving control unit that switches between autonomous driving and manual driving and controls the driving of the vehicle; An autonomous driving display lamp that can be lit during autonomous driving for identification from outside the vehicle; And A lamp control unit that controls during autonomous driving when the driving control unit controls the driving of the vehicle in autonomous driving to turn on the autonomous driving display lamp indicating the autonomous driving state, wherein, during autonomous driving, the lamp control unit changes the lighting state of the autonomous driving display lamp in a lighting or extinguishing manner according to at least one of a change in the driving control state and a change in the driving environment, when the driving control unit switches the driving of the vehicle from autonomous driving to manual driving in a state where the autonomous driving display lamp is extinguished during autonomous driving, the lamp control unit turns on the autonomous driving display lamp again and then extinguishes the autonomous driving display lamp.

2. An autonomous vehicle, comprising: A driving control unit that switches between autonomous driving and manual driving and controls the driving of the vehicle; An autonomous driving display lamp that can be lit during autonomous driving for identification from outside the vehicle; And A lamp control unit that controls during autonomous driving when the driving control unit controls the driving of the vehicle in autonomous driving to turn on the autonomous driving display lamp indicating the autonomous driving state, wherein, during autonomous driving, the lamp control unit changes the lighting state of the autonomous driving display lamp in a lighting or extinguishing manner according to at least one of a change in the driving control state and a change in the driving environment, when an abnormality or interference affecting the driving of the vehicle is detected or predicted in a state where the autonomous driving display lamp is extinguished during autonomous driving, the lamp control unit turns on again the autonomous driving display lamp that was extinguished during autonomous driving.

3. The autonomous vehicle according to claim 1 or 2, wherein, the lamp control unit extinguishes the autonomous driving display lamp even during autonomous driving in a driving environment where lighting is not required.

4. The autonomous vehicle according to claim 1 or 2, wherein, the lamp control unit obtains attribute information of the place where the vehicle is driving during autonomous driving, and extinguishes the autonomous driving display lamp during autonomous driving when the vehicle during autonomous driving is driving on a road or lane dedicated to autonomous driving.

5. The autonomous vehicle according to claim 1 or 2, wherein, after the lamp control unit extinguishes the autonomous driving display lamp during autonomous driving, it obtains attribute information of the place where the vehicle is driving during autonomous driving, and when the vehicle during autonomous driving drives out of a road or lane dedicated to autonomous driving, it turns on again the autonomous driving display lamp that was extinguished during autonomous driving.

6. The autonomous vehicle according to claim 1 or 2, wherein, When the vehicle in autonomous driving is traveling on a road or lane dedicated to autonomous driving, the lamp control unit further obtains information on the lighting state of signal lights or headlights other than the brake lamp, turn indicator, and reverse lamp of the vehicle. When the vehicle's lights are off and it is traveling in autonomous driving, the autonomous driving display lamp is turned off during autonomous driving. When the vehicle's lights are on and it is traveling in autonomous driving, the autonomous driving display lamp is maintained in the lit state.

7. The vehicle capable of autonomous driving according to claim 1 or 2, wherein the lamp control unit changes the lighting state of the autonomous driving display lamp during autonomous driving based on user settings related to the lighting control of the autonomous driving display lamp during autonomous driving.

8. The vehicle capable of autonomous driving according to claim 1 or 2, wherein it has an alarm device that issues a warning when the lighting state of the autonomous driving display lamp changes during autonomous driving in which the lamp control unit controls the vehicle's driving in autonomous driving.

Images