Autonomous vehicle

Abstract

The present invention relates to a vehicle capable of autonomous driving, and can improve 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 during autonomous driving to be recognized from outside the vehicle (1); and a lamp control unit (19) that controls, during autonomous driving in which the travel control unit (14) controls the travel of the vehicle (1) in autonomous driving, to turn on the autonomous driving display lamp (5) indicating the autonomous driving state. The lamp control unit (19) acquires attribute information of the place where the vehicle (1) travels during autonomous driving, and performs lighting control of the autonomous driving display lamp (5) during autonomous driving according to the place where the vehicle (1) travels during autonomous driving.

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 by automatic control and park at the destination.

[0004] It is considered that in 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, for example, 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 around it 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 and directly affects the driving performance.

[0014] In addition, in the future, it is considered that there may be places such as parking lots where only vehicles capable of autonomous driving can park. It is thought that in such places dedicated to autonomous driving, pedestrians and other vehicles that are not autonomous driving will basically not enter.

[0015] Among such vehicles capable of autonomous driving, improvements are required.

[0016] Technical solution for solving the problem

[0017] The present invention provides a vehicle capable of autonomous driving, having: 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 in which the driving control unit controls the driving of the vehicle in autonomous driving, to light the autonomous driving display lamp indicating the autonomous driving state, wherein the lamp control unit obtains attribute information of the place where the vehicle is driving during autonomous driving, and performs lighting control of the autonomous driving display lamp during autonomous driving according to the place where the vehicle is driving during autonomous driving.

[0018] Preferably, when the vehicle during autonomous driving is driving in a place dedicated to autonomous driving, the lamp control unit can turn off the autonomous driving display lamp during autonomous driving.

[0019] Preferably, the lamp control unit can obtain information on other moving bodies existing around the vehicle that is driving in a place dedicated to autonomous driving by autonomous driving, and when there are other moving bodies around the vehicle, even when driving in a place dedicated to autonomous driving by autonomous driving, the autonomous driving display lamp during autonomous driving is lit.

[0020] Preferably, the lamp control unit can obtain information on other moving bodies existing around the vehicle that is driving in a place dedicated to autonomous driving by autonomous driving. When there are other moving bodies other than autonomous driving vehicles around the vehicle during autonomous driving, even when driving in a place dedicated to autonomous driving by autonomous driving, the autonomous driving display lamp during autonomous driving is lit, and when there are only autonomous driving vehicles around the vehicle during autonomous driving, the autonomous driving display lamp is turned off during autonomous driving.

[0021] Preferably, after the lamp control unit turns off 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 the place dedicated to autonomous driving, the autonomous driving display lamp that was turned off during autonomous driving is lit again.

[0022] Preferably, when the driving control unit switches the driving of the vehicle from autonomous driving after the lamp control unit turns off the autonomous driving display lamp during autonomous driving, the lamp control unit can 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 can turn on the autonomous driving display lamp that was turned off during autonomous driving.

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

[0025] Preferably, an alarm device can be provided to give a warning when the lamp control unit changes the lighting state of the autonomous driving display lamp during autonomous driving in which the driving of the vehicle is controlled by 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 by autonomous driving, the autonomous driving display lamp indicating the autonomous driving state is turned on. Thus, an occupant of a vehicle outside the vehicle, such as a pedestrian or another vehicle, can recognize that the vehicle is in autonomous driving.

[0028] Moreover, the autonomous driving display lamp of the present invention does not always maintain a lit state during autonomous driving, and the lighting state changes according to the place where the vehicle is driving during autonomous driving. Specifically, for example, when the vehicle in autonomous driving is driving in a place dedicated to autonomous driving, the autonomous driving display lamp is turned off during autonomous driving. Thus, the power consumption generated by the autonomous driving display lamp is reduced. Compared with the case where the autonomous driving display lamp is always maintained lit, the power consumption of the autonomous driving display lamp can be reduced, and the waste of electricity can be reduced. In addition, considering that other vehicles and pedestrians that are not in autonomous driving basically do not enter places such as a parking lot dedicated to autonomous driving, the possibility of damaging the lighting notification function of the autonomous driving display lamp for these other moving bodies is low. Description of the Drawings

[0029] Figs. 1(A)-(C) are explanatory views of an autonomous-driving capable vehicle according to an embodiment of the present invention.

[0030] Figure 2 is an explanatory view of a control system of the vehicle of Figs. 1(A)-(C).

[0031] Figure 3It is a flowchart of the control for switching between autonomous driving and manual assisted driving.

[0032] Figure 4 It is related to Figure 3 a flowchart of the lighting control of the autonomous driving display lamp corresponding to the driving switching control.

[0033] Figure 5 It is a flowchart of the lighting state control of the autonomous driving display lamp in autonomous driving in an embodiment of the present invention.

[0034] Figure 6 It is a flowchart of the lighting state control of the autonomous driving display lamp when canceling autonomous driving.

[0035] Figure 7 It is a flowchart of the lighting state control of the autonomous driving display lamp when detecting or predicting interference or abnormality in autonomous driving.

[0036] Figure 8 It is a flowchart for controlling the lighting state of the autonomous driving display lamp in autonomous driving according to user settings for startup.

[0037] Symbol Explanation

[0038] 1…Automobile (vehicle), 5…Autonomous driving display lamp, 14…Autonomous driving / driving assistance ECU, 19…Lamp ECU, 20…Alarm ECU, 59…Memory, 61…External speaker Detailed Embodiment

[0039] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0040] Figs. 1(A)-(C) are explanatory diagrams of an automobile 1 capable of autonomous driving in an embodiment of the present invention.

[0041] Figs. 1(A)-(C) are explanatory diagrams of an automobile 1 as an example of a vehicle in an embodiment of the present invention.

[0042] Fig. 1(A) is a top view of the automobile 1. In Fig. 1(A), other automobiles 2 and 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.

[0043] As shown in Figs. 1(A)-(C), the automobile 1 capable of autonomous driving can travel in a parking lot where other automobiles 2 are parked. In the parking lot, in the future, dedicated areas for the automobile 1 capable of autonomous driving may be provided.

[0044] The automobile 1 in Figs. 1(A)-(C) is an automobile 1 that can switch between and travel in both autonomous driving and manual driving, and is equipped with an autonomous driving display lamp 5 that lights up in autonomous driving.

[0045] The autonomous driving display lamp 5 is a lighting device that lights up to indicate the autonomous driving state. The autonomous driving display lamp 5 is provided, for example, around the entire circumference of the front, rear, left, and right sides of the vehicle body 6. Thus, pedestrians 3 around the vehicle 1 and the occupants of other vehicles 2 can identify the autonomous driving display lamp 5 that lights up during autonomous driving from outside the vehicle 1. By lighting up the autonomous driving display lamp 5 during autonomous driving, it is possible to expect cooperation from pedestrians 3 around the vehicle 1 and the occupants of other vehicles 2, and to obtain safety that cannot be achieved only by the driving control of the vehicle 1 itself.

[0046] In addition, for example, the autonomous driving display lamp 5 can 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.

[0047] The autonomous driving display lamp 5 lights up when the vehicle 1 is driving in autonomous driving. Moreover, it is desired that pedestrians 3 outside the vehicle 1 and the occupants of other vehicles 2 can sufficiently identify whether the autonomous driving display lamp 5 is lit or not. Therefore, the autonomous driving display lamp 5 can also be lit in a color and brightness that do not exist much in nature, such as greenish-blue. 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 identify 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 actions or respond in advance to the vehicle 1 during autonomous driving, for example.

[0048] However, in the vehicle 1 that can be autonomously driven, continuously lighting up the autonomous driving display lamp 5 during autonomous driving will increase the power consumption. Moreover, especially in an electric vehicle 1, this constant increase in power consumption during autonomous driving results in a shortened driving range, which has a direct impact on the driving performance.

[0049] In addition, when a bright color that does not exist much in nature, such as greenish-blue, is selected as the autonomous driving display lamp 5, for those who can identify the color, due to the continuous lighting of the autonomous driving display lamp 5, they may feel disgusted or uncomfortable. For people moving in places where the vehicle 1 that can be autonomously driven often exists, they always receive light of a bright color that does not exist much in nature, such as greenish-blue.

[0050] Thus, in the vehicle 1 that can be autonomously driven, improvement is needed.

[0051] Figure 2 It is an explanatory diagram of the control system of the vehicle 1 in FIGS. 1(A)-(C).

[0052] Figure 2In this case, the multiple control devices that make up the control system 10 of the vehicle 1 are represented by control ECUs (Electronic Control Unit) respectively installed. In addition to the control ECU, the control device may, for example, also have a storage component for recording control programs and data, an input / output port connected to the control object or its state detection device, a timer for measuring time or moment, and an internal bus connecting them.

[0053] Specifically, Figure 2 The control ECUs shown are, 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.

[0054] The multiple 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 composed of multiple bus cables 27 that can connect multiple control ECUs and a central gateway (CGW) 28 as a relay device for connecting the multiple bus cables 27. IDs are assigned to the multiple 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, they acquire the notification data and execute processing based on the notification data. The central gateway 28 monitors each of the multiple connected bus cables 27, and when it detects a control ECU connected to a bus cable 27 different from the bus cable 27 of the output source control ECU, it outputs the notification data to that bus cable 27. Through this relay processing of the central gateway 28, the multiple control ECUs can input and output notification data between other control ECUs connected to bus cables 27 different from the bus cables 27 to which each control ECU is connected.

[0055] The external communication ECU 17 performs wireless communication with, for example, a communication base station 101 existing outside the vehicle 1 and communication devices of other vehicles 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 devices of other vehicles 2 but also with the portable device 102 held by a pedestrian 3. The external communication ECU 17 can also be divided into multiple units according to the type of the direct communication partner and installed in the vehicle 1. Moreover, the communication base station 101, the communication devices of other vehicles 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 devices of other vehicles 2, and transmits and receives communication data between the server device 103, other vehicles 2, or the portable device 102.

[0056] In the UI operation ECU 18, a display device 21 and an operation device 22 are connected as, for example, a user interface device for an occupant. The display device 21 can be, for example, a liquid crystal device or an image projection device. The operation device 22 can be, for example, a touch panel, a keyboard, or a non-contact operation detection device. The display device 21 and the operation device 22 can also be provided on, for example, the inner surface of the passenger compartment where 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 can also execute processing based on the operation input and include the processing result in the notification data. For example, the UI operation ECU 18 can 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 can also include attribute information such as lanes of the road used during the movement from the current position to the destination.

[0057] 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, and a shift lever 34 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 can also execute processing regarding the operation of the operation components and include the processing result in the notification data. The driving operation ECU 15 can also determine an abnormal operation when, for example, the accelerator pedal 33 is operated in a situation where there is another moving body or fixed object in the traveling direction of the vehicle 1, and include the determination result in the notification data.

[0058] In the detection ECU 16, as detection components for detecting the driving state of the vehicle 1, 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, etc. are connected. 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 perform 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 type 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 change 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.

[0059] The automatic driving / driving assistance ECU 14 obtains notification data from the vehicle network 26 and switches the driving of the vehicle 1 between automatic driving and manual driving.

[0060] In addition, the automatic driving / driving assistance ECU 14 obtains 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.

[0061] When the vehicle 1 is in automatic driving, the automatic driving / driving assistance ECU 14 obtains 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 notification data from the vehicle network 26, determines whether there is no abnormality or danger in the vehicle 1, and when there is no abnormality or danger in the vehicle 1, 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 so as to travel 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 manner to avoid the abnormality or danger and outputs it as notification data.

[0062] When assisting in 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 adjusted for the operation input, and outputs it 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. When 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 it as notification data.

[0063] Connected to the lamp ECU 19 are a headlamp 51 provided at the front 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 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. Set values and the like used by the lamp ECU 19 for control are recorded in the memory 59 connected to the lamp ECU 19. The lamp ECU 19 obtains notification data for controlling the lighting devices 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, the vehicle exterior moving bodies such as the pedestrian 3 and other vehicles 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 so as to turn off the autonomous driving display lamp 5 according to the driving environment when it is not necessary to turn it on, for example, in a driving environment where it is not required to be lit.

[0064] 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.

[0065] Figure 3 It is a flowchart for controlling the switching between autonomous driving and manual assisted driving.

[0066] When, for example, an occupant gets into the vehicle 1, the autonomous driving / driving assistance ECU 14 repeatedly executes Figure 3 the processing.

[0067] 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 processing. If the driving of the vehicle 1 has started, the autonomous driving / driving assistance ECU 14 advances the processing to step ST2.

[0068] In step ST2, the autonomous driving / driving assistance ECU 14 determines whether the vehicle 1 is in autonomous driving. The autonomous driving / driving assistance ECU 14 can also determine whether the vehicle 1 is 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 advances the process to step ST3. In the case of driving other than autonomous driving, such as driving assistance, the autonomous driving / driving assistance ECU 14 advances the process to step ST7.

[0069] 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.

[0070] 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 position information of the own vehicle obtained from the external communication ECU 17 or the GPS receiver 44 is, for example, a parking lot that is the destination of autonomous driving, and the vehicle stops with the acceleration becoming 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 advances the process to step ST5.

[0071] 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 it does not 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 determinations in step ST4 and step ST5 during autonomous driving. In the case where it switches from autonomous driving to other than autonomous driving, the autonomous driving / driving assistance ECU 14 advances the process to step ST6.

[0072] 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 advances the process to step ST8.

[0073] In step ST7, the autonomous driving / driving assistance ECU 14 starts manual assisted driving other than autonomous driving.

[0074] In step ST8, the autonomous driving / driving assistance ECU 14 determines whether the driving of vehicle 1 ends. The autonomous driving / driving assistance ECU 14 determines that the driving of vehicle 1 ends when, for example, 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 ends, the autonomous driving / driving assistance ECU 14 ends Figure 3 the process. Thus, the driving of the manual assisted driving ends. When it is not determined that the driving of vehicle 1 ends, the autonomous driving / driving assistance ECU 14 advances the process to step ST9.

[0075] In step ST9, the autonomous driving / driving assistance ECU 14 determines whether the driving of vehicle 1 switches 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 does not occur, the autonomous driving / driving assistance ECU 14 returns the process to step ST8. The autonomous driving / driving assistance ECU 14 repeatedly makes the determinations in step ST8 and step ST9 during the 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.

[0076] In step ST10, the autonomous driving / driving assistance ECU 14 switches the driving of vehicle 1 from manual assisted driving to autonomous driving. Thus, 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.

[0077] In this way, the autonomous driving / driving assistance ECU 14 repeatedly executes Figure 3 the process when, for example, 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.

[0078] Figure 4 is related to Figure 3Flowchart for controlling the lighting of the automatic driving display lamp 5 corresponding to driving switching control.

[0079] When the lamp ECU 19 controls the running of the vehicle 1, for example, under the control of the automatic driving / driving assistance ECU 14, while continuously obtaining this information as notification data, it repeatedly executes Figure 4 processing.

[0080] 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 information and notifications output by the automatic driving / driving assistance ECU 14 to the vehicle network 26 for automatic driving control, and determine whether the running of the vehicle 1 in automatic driving has started. When the running of the vehicle 1 in automatic driving has not started, the lamp ECU 19 ends Figure 4 processing. When the running of the vehicle 1 in automatic driving has started, the lamp ECU 19 advances the processing to step ST12.

[0081] In step ST12, the lamp ECU 19 determines whether the place where the vehicle is running is an automatic driving dedicated area. The automatic driving dedicated area has, for example, a parking lot dedicated to automatic driving vehicles. In addition to this, the automatic driving dedicated area can also be, for example, a place where only automatic driving vehicles can enter. When not running in the automatic driving dedicated area, the lamp ECU 19 advances the processing to step ST13. When running in the automatic driving dedicated area, the lamp ECU 19 bypasses step ST13 and advances the processing to step ST14.

[0082] In the dedicated parking lot for automatic driving vehicles, in principle, pedestrians, non-automatic driving vehicles, and vehicles not in the automatic driving state will not intrude. In this case, the external communication ECU 17 can obtain information about the running place included in the navigation information or ETC information from the server device 103, and the external communication ECU 17 or the lamp ECU 19 determines whether the running place is a dedicated parking lot for automatic driving vehicles based on the obtained information. In addition, for example, the external communication ECU 17 can also obtain these information through vehicle-to-vehicle communication, etc. In addition, the detection ECU 16 can use the external camera 43 to photograph the running place, and the detection ECU 16 or the lamp ECU 19 detects the parking lot road signs, signs, and entrance / exit gates included in the photographed image, thereby determining whether the running place is a dedicated parking lot for automatic driving.

[0083] In step ST13, the lamp ECU 19 lights up the automatic driving display lamp 5. Thus, when the vehicle 1 starts running in automatic driving outside the automatic driving dedicated area, the automatic driving display lamp 5 lights up.

[0084] In step ST14, the lamp ECU 19 determines whether the running of the self-driving vehicle 1 has ended. For example, the lamp ECU 19 can determine whether the running of the self-driving vehicle 1 has ended by not obtaining the information output by the self-driving / driving assistance ECU 14 to the vehicle network 26 for the control of self-driving, or by receiving a notification of the end of self-driving. When the running of the self-driving vehicle 1 has not ended, the lamp ECU 19 returns the process to step ST12. When the running of the self-driving vehicle 1 has ended, the lamp ECU 19 advances the process to step ST15.

[0085] In step ST15, the lamp ECU 19 determines whether the self-driving display lamp 5 is lit. When the self-driving display lamp 5 is lit, the lamp ECU 19 advances the process to step ST16. When the self-driving display lamp 5 is not lit, the lamp ECU 19 skips the process of step ST16 and ends Figure 4 the process.

[0086] In step ST16, the lamp ECU 19 turns off the lit self-driving display lamp 5.

[0087] In this way, in the self-driving where the self-driving / driving assistance ECU 14 controls the running of the vehicle 1 by self-driving, the lamp ECU 19 basically keeps the self-driving display lamp 5 lit.

[0088] Figure 5 It is a flowchart of the control of the lighting state of the self-driving display lamp 5 in the self-driving in the embodiment of the present invention.

[0089] The lamp ECU 19, as a lamp control unit, for example, when the driving assistance ECU 14 controls the running of the vehicle 1 by self-driving or the like, continuously obtains this information as notification data while repeatedly executing Figure 5 the process.

[0090] In step ST21, the lamp ECU 19 determines whether it is in self-driving. The lamp ECU 19 can also obtain, for example, the information or notification output by the self-driving / driving assistance ECU 14 to the vehicle network 26 for the control of self-driving and determine whether it is in self-driving. When it is not in self-driving, the lamp ECU 19 ends Figure 5 the process. When it is in self-driving, the lamp ECU 19 advances the process to step ST22.

[0091] In step ST22, the lamp ECU 19 obtains, as notification data, the information on the running control state of the vehicle 1 from various control ECUs of the vehicle 1 through the vehicle network 26. The lamp ECU 19 obtains, for example, the information on the position, speed, acceleration, forward road, presence or absence of a fault, and the lighting state of various lamps of the vehicle itself.

[0092] In step ST23, the lamp ECU 19 obtains information on the driving environment as notification data from various control ECUs of the vehicle 1 such as the external communication ECU 17 and the detection ECU 16 via the vehicle network 26.

[0093] The lamp ECU 19 obtains, for example, attribute information on the location where the vehicle is traveling. The attribute information on the location may also include information indicating whether the location is an area dedicated to autonomous driving. The external communication ECU 17 can obtain the attribute information of the driving location through navigation information, received V2V information, and ETC information of ADAS communication. The detection ECU 16 can detect the location where the vehicle is traveling based on the captured image of the external camera 43. In addition, the detection ECU 16 can detect whether the location where the vehicle is traveling is a parking lot dedicated to autonomous driving based on road signs, signs, and entrance / exit gates of the autonomous driving dedicated parking lot shown in the captured image.

[0094] In addition, for example, the lamp ECU 19 can also obtain information on the position, speed, predicted forward path, possibility of collision, attributes, etc. of other moving objects existing around the vehicle. The external communication ECU 17 can obtain information on other moving objects existing around the vehicle through navigation information, received V2V information, and ETC information of ADAS communication. The detection ECU 16 can detect other moving objects existing around the vehicle based on the captured image of the external camera 43 and determine the attributes of the other moving objects. In addition, the detection ECU 16 can also detect other moving objects existing around the vehicle through a rider (not shown) and laser and determine the attributes of the detected other moving objects.

[0095] In step ST24, the lamp ECU 19 determines whether the driving position of the vehicle is in an area dedicated to autonomous driving. If the vehicle is driving in an area dedicated to autonomous driving, the lamp ECU 19 proceeds with the process to step ST25. If the vehicle is not driving in an area dedicated to autonomous driving, the lamp ECU 19 proceeds with the process to step ST29.

[0096] In step ST25, the lamp ECU 19 determines whether there are other moving objects such as other vehicles or pedestrians around the vehicle. If there are other moving objects around the vehicle, the lamp ECU 19 proceeds with the process to step ST26. If there are no other moving objects around the vehicle, the lamp ECU 19 proceeds with the process to step ST27.

[0097] In step ST26, the lamp ECU 19 determines whether other vehicles present around the host vehicle are only autonomous driving vehicles. When the other vehicles present around the host vehicle are only autonomous driving vehicles, the lamp ECU 19 advances the process to step ST27. When the other vehicles present around the host vehicle include vehicles other than autonomous driving vehicles, the lamp ECU 19 advances the process to step ST29.

[0098] In step ST27, the lamp ECU 19 determines whether the autonomous driving display lamp 5 is lit. When the autonomous driving display lamp 5 is lit, the lamp ECU 19 advances the process to step ST28. When the autonomous driving display lamp 5 is not lit, the lamp ECU 19 advances the process to step ST31.

[0099] In step ST28, the lamp ECU 19 turns off the lit autonomous driving display lamp 5. Then, the lamp ECU 19 advances the process to step ST31.

[0100] In step ST29, the lamp ECU 19 determines whether the autonomous driving display lamp 5 is off. When the autonomous driving display lamp 5 is off, the lamp ECU 19 advances the process to step ST30. When the autonomous driving display lamp 5 is not off, that is, when the autonomous driving display lamp 5 is lit, the lamp ECU 19 advances the process to step ST31.

[0101] In step ST30, the lamp ECU 19 turns on the off autonomous driving display lamp 5. Then, the lamp ECU 19 advances the process to step ST31.

[0102] In step ST31, the lamp ECU 19 determines whether the lit state of the autonomous driving display lamp 5 has changed. When the lit autonomous driving display lamp 5 is turned off, or when the off autonomous driving display lamp 5 is lit again, the lit state of the autonomous driving display lamp 5 has changed. In this case, the lamp ECU 19 advances the process to step ST32. When the lit state of the autonomous driving display lamp 5 has not changed, the lamp ECU 19 ends Figure 5 the process.

[0103] In step ST32, the lamp ECU 19 outputs an indication to output an alarm to the vehicle network 26. When the alarm ECU 20 obtains an indication to output an alarm from the vehicle network 26, an alarm sound is output from the external speaker 61. When the lamp ECU 19 changes the lit state of the autonomous driving display lamp 5 during autonomous driving in which the vehicle 1 is controlled to drive autonomously, the alarm ECU 20 issues a warning. The occupants of the other vehicles 2 in the vicinity can hear the alarm sound.

[0104] In this way, the lamp ECU 19 can change the lighting state of the autonomous driving display lamp 5 according to at least one of the change in the driving control state and the change in the driving environment during autonomous driving. Even in the case of an autonomous driving dedicated place or other driving environments where lighting is not required during autonomous driving, the lamp ECU 19 can turn off the autonomous driving display lamp 5 during autonomous driving. In addition, when the vehicle 1 during autonomous driving leaves the autonomous driving dedicated area and travels, the autonomous driving display lamp 5 that was turned off during autonomous driving can be re-lit.

[0105] In addition, in the case of a driving environment other than the autonomous driving dedicated place, the lamp ECU 19 can re-light the autonomous driving display lamp 5 that was turned off during autonomous driving in the autonomous driving dedicated place. In addition, even when other moving bodies other than the autonomous driving vehicle are present in the vicinity during autonomous driving in the autonomous driving dedicated place, the lamp ECU 19 can re-light the autonomous driving display lamp 5 that was turned off during autonomous driving. Moreover, when changing the lighting state of the autonomous driving display lamp 5 during autonomous driving, the alarm ECU 20 can issue a warning.

[0106] Figure 6 It is a flowchart of the lighting state control of the autonomous driving display lamp 5 when autonomous driving is released.

[0107] As a lamp control unit, when the driving assistance ECU 14 controls the driving of the vehicle 1 through autonomous driving or the like, the lamp ECU 19 continuously obtains this information as notification data while repeatedly executing Figure 6 processing.

[0108] 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 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 ST41. If it is in autonomous driving, the lamp ECU 19 proceeds to step ST42.

[0109] In step ST42, after starting autonomous driving, the lamp ECU 19 determines whether the autonomous driving has been released. 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 autonomous driving control, and determine whether autonomous driving has been released. If the autonomous driving has not been released, the lamp ECU 19 ends Figure 6 processing. If the autonomous driving is released, the lamp ECU 19 proceeds to step ST43.

[0110] In step ST43, the lamp ECU 19 acquires information on the lighting state of the autonomous driving display lamp 5 and determines whether the autonomous driving display lamp 5 is turned off during autonomous driving. When the autonomous driving display lamp 5 is not turned off, that is, when the autonomous driving display lamp 5 is lit during autonomous driving, the lamp ECU 19 proceeds to step ST45. When the autonomous driving display lamp 5 is turned off during autonomous driving, the lamp ECU 19 proceeds to step ST44.

[0111] In step ST44, the lamp ECU 19 re-lights the autonomous driving display lamp 5 that is turned off during autonomous driving.

[0112] In step ST45, the lamp ECU 19 turns off the autonomous driving display lamp 5 that is temporarily re-lit or lit.

[0113] Thus, in a situation where the autonomous driving display lamp 5 is turned off and the vehicle 1 is in autonomous driving, when the autonomous driving / driving assistance ECU 14 switches the driving state of the vehicle 1 from autonomous driving to manual assisted driving, etc., the autonomous driving display lamp 5 can be re-lit and then turned off. In the case of an override from autonomous driving to manual driving during autonomous driving with the autonomous driving display lamp 5 turned off, even if it is assumed that the vehicle is traveling in an autonomous driving dedicated area, the lamp ECU 19 can temporarily turn on and then turn off the autonomous driving display lamp 5. Other vehicles 2 present in the autonomous driving dedicated area, their occupants, pedestrians 3, etc. can recognize the change in the driving state of the vehicle 1 through the re-lighting of the autonomous driving display lamp 5.

[0114] Figure 7 It is a flowchart of the lighting state control of the autonomous driving display lamp 5 when interference or abnormality during autonomous driving is detected or predicted.

[0115] The lamp ECU 19, as a lamp control unit, while continuously acquiring notification data during this period, repeatedly executes, for example, when the driving assistance ECU 14 controls the driving of the vehicle 1 through autonomous driving, etc. Figure 7 the processing.

[0116] 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 acquires information such as traffic jams and fallen objects in the lane or road where the vehicle is traveling through 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.

[0117] In step ST51, 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 controlling autonomous driving, and determine whether it is in the autonomous driving state. When it is not in the autonomous driving state, the lamp ECU 19 repeatedly performs the determination process of step ST51. When it is in the autonomous driving state, the lamp ECU 19 proceeds to step ST52.

[0118] 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. When there are no interference or anomalies after the start of autonomous driving, the lamp ECU 19 ends Figure 7 the process. When there are interference or anomalies after the start of autonomous driving, the lamp ECU 19 proceeds to step ST53.

[0119] 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. When the autonomous driving display lamp 5 is not extinguished, that is, when the autonomous driving display lamp 5 is lit during autonomous driving, the lamp ECU 19 ends Figure 7 the process. When the autonomous driving display lamp 5 is extinguished during autonomous driving, the lamp ECU 19 proceeds to step ST54.

[0120] In step ST54, the lamp ECU 19 relights the autonomous driving display lamp 5 that has been extinguished during autonomous driving.

[0121] Thus, when there are interference or anomalies after the autonomous driving display lamp 5 is extinguished during autonomous driving, the lamp ECU 19 relights the autonomous driving display lamp 5 that has been extinguished during autonomous driving. When the lamp ECU 19 detects or predicts anomalies or interference that affect the driving of the vehicle 1 while the autonomous driving display lamp 5 is in the extinguished state during autonomous driving, it can relight the autonomous driving display lamp 5 that has been extinguished during autonomous driving. Following vehicles in an autonomous driving dedicated lane, etc., can recognize that some changes including abnormal situations have occurred in the vehicle 1 during autonomous driving through the relighting of the autonomous driving display lamp 5.

[0122] Figure 8 It is a flowchart for controlling the lighting state of the autonomous driving display lamp 5 in autonomous driving according to user settings.

[0123] The lamp ECU 19 repeatedly executes, for example, when an occupant gets into the vehicle 1 and the vehicle 1 starts Figure 8Processing. The lamp ECU 19 can also repeatedly execute, for example, when an operation starts a start switch provided outside the illustration of the vehicle 1 and acquisition of notification data of a start instruction from the UI operation ECU 18. Figure 8 Processing.

[0124] In step ST61, the lamp ECU 19 determines whether the vehicle 1 is started. When the vehicle 1 is not started, the lamp ECU 19 ends Figure 8 Processing. When the vehicle 1 is started, the lamp ECU 19 advances the process to step ST62.

[0125] In step ST62, the lamp ECU 19 acquires a 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 lighting device acquired from the UI operation ECU 18 through a user's preset operation. The user setting value can also include a setting value regarding whether lighting control of the autonomous driving display lamp 5 during autonomous driving is possible. The default setting value can be a value that permits lighting control or a value that prohibits lighting control.

[0126] In step ST63, the lamp ECU 19 determines whether the acquired setting value regarding whether lighting control of the autonomous driving display lamp 5 is possible is a value that permits lighting control. When it is a prohibited setting value that does not permit lighting control, the lamp ECU 19 ends Figure 8 Processing. When it is a setting value that permits lighting control, the lamp ECU 19 advances the process to step ST64.

[0127] In step ST64, the lamp ECU 19 starts processing for controlling the lighting state of the autonomous driving display lamp 5 during autonomous driving. Here, the started processing can also include, for example, Figure 5 , Figure 6 , and Figure 7 Processing. When the user permits lighting control of the autonomous driving display lamp 5 during autonomous driving, based on this user setting, the autonomous driving display lamp 5 controls its lighting state during autonomous driving.

[0128] In contrast, when the user prohibits 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 control its lighting state during autonomous driving and remains lit during autonomous driving.

[0129] In this way, based on the user setting regarding lighting control of the autonomous driving display lamp 5 during autonomous driving, the lamp ECU 19 can control the presence or absence of a change in the lighting state of the autonomous driving display lamp 5 during autonomous driving.

[0130] In addition, for lighting devices other than the autonomous driving display lamp 5, the lamp ECU 19 can also control the lighting state based on user settings according to whether it is in the medium control lighting state of autonomous driving. For example, based on the lighting control of the autonomous driving display lamp 5 during autonomous driving, the lamp ECU 19 can control the lighting of other lighting devices other than the autonomous driving display lamp 5.

[0131] As described above, in this embodiment, when the driving control unit of the vehicle 1 controls the driving of the vehicle 1 in autonomous driving, the autonomous driving display lamp 5 indicating the autonomous driving state is lit. Thus, for example, pedestrians 3 outside the vehicle 1 and occupants of other vehicles 2 can recognize that the vehicle 1 is in autonomous driving.

[0132] Moreover, the autonomous driving display lamp 5 in this embodiment is not always maintained in the lit state during autonomous driving, and the lighting state changes according to the place where the vehicle 1 is driving during autonomous driving.

[0133] Specifically, for example, when the vehicle 1 in autonomous driving is driving in an autonomous driving dedicated place, the autonomous driving display lamp 5 is turned off during autonomous driving. Thus, the power consumption generated by the autonomous driving display lamp 5 can be reduced. Compared with the case where the autonomous driving display lamp 5 is always 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, considering that in places such as autonomous driving dedicated parking lots, other vehicles 2 and pedestrians 3 that are not in autonomous driving basically do not enter, the possibility of impairing the lighting notification function of the autonomous driving display lamp 5 for the autonomous driving state of these other moving bodies is relatively low.

[0134] In addition, when other moving bodies exist around the vehicle 1 that is driving in an autonomous driving dedicated place with the autonomous driving display lamp 5 turned off, or when the situation changes like this, the autonomous driving display lamp 5 in autonomous driving is lit. In this case, the autonomous driving display lamp 5 can be lit only according to whether there are other moving bodies around the vehicle 1, or it can also be lit according to whether the moving bodies existing around the vehicle 1 are autonomous driving vehicles. In any case, for ordinary pedestrians 3 and occupants of other vehicles 2 that are not in autonomous driving who are considered to need the lighting notification of the autonomous driving display lamp 5 during autonomous driving around the vehicle 1, the lighting notification of the autonomous driving display lamp 5 during autonomous driving is carried out, and when the necessity is relatively low, the autonomous driving display lamp 5 can be turned off or set to the off state.

[0135] The above embodiments are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and various deformations or changes can be made without departing from the spirit of the invention.

[0136] For example, in the above-described 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.

[0137] In addition, for example, when the lighting state of the autonomous driving display lamp 5 changes, the external communication ECU 17 may also transmit the driving state of the host vehicle through communication data.

[0138] Further, when the external communication ECU 17 turns off the autonomous driving display lamp 5 during autonomous driving, it may periodically transmit through communication data that the driving state of the host vehicle is in autonomous driving.

[0139] When the alarm ECU 20 turns off the autonomous driving display lamp 5 during autonomous driving, it may also output an alarm sound from the external speaker 61 at intermittent intervals.

[0140] When the UI operation ECU 18 turns off the autonomous driving display lamp 5 during autonomous driving, it may also cause the display device 21 to continuously display this content.

[0141] In the above-described embodiment, Figures 5 to 8 all of the described determination processes are implemented in the lamp ECU 19.

[0142] In addition, for example, Figures 5 to 8 part or all of the described determination processes may also be implemented in, for example, the autonomous driving / driving assistance ECU 14 other than the lamp ECU 19.

Claims

1. An autonomously drivable 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 in which 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, the lamp control unit obtains attribute information of the place where the vehicle is driving during autonomous driving, and performs lighting control of the autonomous driving display lamp during autonomous driving according to the place where the vehicle is driving during autonomous driving. When the vehicle during autonomous driving is driving in a place dedicated for autonomous driving, the lamp control unit turns off the autonomous driving display lamp during autonomous driving. After the lamp control unit turns off the autonomous driving display lamp during autonomous driving, when the driving control unit switches the driving of the vehicle from autonomous driving to manual driving, the turned-off autonomous driving display lamp is turned on again and then turned off.

2. The autonomously drivable vehicle according to claim 1, wherein The lamp control unit obtains information about other moving bodies existing around the vehicle that is driving in a place dedicated for autonomous driving by autonomous driving, and When there are other moving bodies around the vehicle, even when driving in a place dedicated for autonomous driving by autonomous driving, the autonomous driving display lamp during autonomous driving is turned on.

3. The autonomously drivable vehicle according to claim 1 or 2, wherein The lamp control unit obtains information about other moving bodies existing around the vehicle that is driving in a place dedicated for autonomous driving by autonomous driving, When there are other moving bodies other than autonomous driving vehicles around the vehicle during autonomous driving, even when driving in a place dedicated for autonomous driving by autonomous driving, the autonomous driving display lamp during autonomous driving is turned on, and When there are only autonomous driving vehicles around the vehicle during autonomous driving, the autonomous driving display lamp is turned off during autonomous driving.

4. The autonomously drivable vehicle according to claim 1 or 2, wherein After the lamp control unit turns off 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 place dedicated for autonomous driving, the autonomous driving display lamp that was turned off during autonomous driving is turned on again.

5. The autonomously drivable vehicle according to claim 1 or 2, wherein When the lamp control unit detects or predicts an abnormality or interference that affects the driving of the vehicle in a state where the autonomous driving display lamp is turned off during autonomous driving, the autonomous driving display lamp that was turned off during autonomous driving is turned on again.

6. The autonomously drivable vehicle 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 a user setting for controlling the lighting of the autonomous driving display lamp during autonomous driving.

7. The vehicle capable of autonomous driving according to claim 1 or 2, wherein an alarm device is provided, and a warning is issued when the lamp control unit changes the lighting state of the autonomous driving display lamp during autonomous driving in which the vehicle is controlled to travel in autonomous driving.

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