Self-driving vehicles

Abstract

The present invention relates to and improves a vehicle capable of automatic driving. The vehicle capable of automatic driving (1) comprises: a driving control unit (14) that switches between automatic driving and manual driving and controls the driving of the vehicle; an automatic driving indicator light (5) that can be illuminated during automatic driving so as to be identified from outside the vehicle; and a light control unit (19) that controls the automatic driving indicator light to illuminate during automatic driving in which the driving control unit (14) controls the driving of the vehicle to indicate an automatic driving state. The driving control unit (14) has a normal moving mode for driving the vehicle and an automatic parking mode for parking the vehicle (1) in a parking lot by automatic driving in automatic driving. The light control unit (19) controls the automatic driving indicator light (5) during automatic driving to a lighting state different from that in the normal moving mode when the driving control unit (14) controls the driving of the vehicle (1) by automatic driving according to the automatic parking mode.

Description

Technical Field

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

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

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

[0004] Such an autonomously driven vehicle needs to appropriately select a travel route, confirm the safety of the route ahead, and perform hazard avoidance control so as to travel to the destination without causing an accident.

[0005] However, even if such safe driving control can be implemented, it does not necessarily guarantee 100% safety. The safety that can be ensured by driving control alone in a vehicle capable of autonomous driving may have limits.

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

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

[0008] Prior art literature

[0009] Patent Literature

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

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

[0012] Problems to be solved by the invention

[0013] However, it is conceivable that such a vehicle capable of autonomous driving can be driven by autonomous driving even in a parking lot and can enter a parking space (parking area) or exit a parking space by autonomous driving.

[0014] However, in parking lots, vehicles not only move forward and turn left or right, but also sometimes move backward and turn left or right. Furthermore, vehicles sometimes move forward and then immediately reverse, or move forward again immediately to turn back while moving backward for parking. Unlike when driving in lanes, vehicles in parking lots often exhibit erratic behavior.

[0015] When autonomous driving is used in parking lots, other pedestrians and vehicles in the parking lot have difficulty predicting the behavior of the vehicle being parked. While other pedestrians and vehicles in the parking lot can detect danger through the behavior or eye contact of the occupants of the vehicle being parked, autonomous driving makes it difficult to avoid such dangers.

[0016] This type of self-driving vehicle needs improvement.

[0017] Solutions to Problems

[0018] The present invention provides a vehicle capable of automatic driving, comprising: a driving control unit that switches between automatic driving and manual driving and controls the driving of the vehicle; an automatic driving display light that can be lit during automatic driving so as to be identified from outside the vehicle; and a light control unit that controls in the following manner: lighting the automatic driving display light during automatic driving in which the driving control unit controls the driving of the vehicle by automatic driving to indicate that the vehicle is in an automatic driving state, wherein the driving control unit has a normal moving mode for driving the vehicle and an automatic parking mode for parking the vehicle in a parking lot by automatic driving in automatic driving, and when the driving control unit controls the driving of the vehicle by automatic driving and by the automatic parking mode, the light control unit controls the automatic driving display light in automatic driving to a lighting state different from that in the normal moving mode.

[0019] Preferably, the light control unit can switch the lighting state of the automatic driving indicator light in the automatic parking mode according to movement control before moving to a parking space in a parking lot and parking control into the parking space.

[0020] Preferably, the light control unit can switch the lighting state of the automatic driving display light in the automatic parking mode according to the exploration of a parking space in the parking lot, the movement control until moving to the explored parking space, and the entry control into the parking space.

[0021] Preferably, there may be a turn signal lamp that can be lit so as to be identified from outside the vehicle, and the light control unit, in the automatic parking mode when leaving the warehouse, lights up the turn signal lamp indicating the direction of leaving the warehouse after lighting up the automatic driving display lamp.

[0022] Preferably, the driving control unit can obtain the position information of the vehicle and determine whether it is in a parking lot. If the vehicle is in a parking lot, the vehicle is controlled by the automatic parking mode. If the vehicle is not in a parking lot, the vehicle is controlled by the normal moving mode.

[0023] Effects of the Invention

[0024] In the present invention, the driving control unit's automatic driving includes an automatic parking mode for parking the vehicle in a parking lot, as opposed to a normal travel mode for driving the vehicle. Furthermore, when the driving control unit is controlling the vehicle's driving in the automatic parking mode through automatic driving, the light control unit controls the automatic driving indicator light during automatic driving to a flashing state, as opposed to the continuous lighting state during the normal travel mode.

[0025] As a result, other vehicles and their passengers traveling around the vehicle attempting to park using automated driving can easily recognize that the vehicle is attempting to park using automated driving by observing the automated driving indicator light being illuminated in a different state than during normal automated driving. This allows other vehicles and their passengers traveling around the vehicle to be aware of and respond to any irregular behavior of the vehicle attempting to park using automated driving.

[0026] In contrast, when automated driving control from moving to parking is controlled in a single mode, it is difficult to change the lighting state of the automated driving indicator light in parking lots, where there is a high risk of intersecting with the paths of other moving vehicles. Without special equipment at parking lot entrances and exits or high-precision location information about the parking lot, it would be impossible to change the lighting state of the automated driving indicator light in parking lot control. The present invention makes it possible to change the lighting state of the automated driving indicator light in parking lot control even without such equipment and high-precision information. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 1(A) to (C) are explanatory diagrams of an autonomously driven vehicle according to an embodiment of the present invention.

[0028] Figure 2 1(A) to 1(C) are explanatory diagrams of the control system of the vehicle.

[0029] Figure 3 This is a flowchart of the control for switching between automatic driving and manual assisted driving.

[0030] Figure 4 This is a flowchart of driving control of a car performed by autonomous driving.

[0031] Figure 5 is with Figure 3Flowchart of the lighting control of the automatic driving display light corresponding to the driving switching control.

[0032] Figure 6 This is a flowchart of controlling the lighting state of the automatic driving indicator light when the vehicle is parked in a parking space in the automatic parking mode.

[0033] Figure 7 This is a flowchart of controlling the lighting state of the automatic driving indicator light when the vehicle is pulled out of a parking space by automatic driving.

[0034] Explanation of symbols

[0035] 1…Car (vehicle), 5…Autonomous driving display light, 14…Autonomous driving / driving assistance ECU, 19…Light ECU, 20…Alarm ECU, 59…Memory, 61…External speaker DETAILED DESCRIPTION

[0036] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0037] 1(A) to (C) are explanatory diagrams of an autonomously driven car 1 according to an embodiment of the present invention.

[0038] Figure 1(A) is a top view of a car 1. In Figure 1(A), car 1 is traveling in a parking lot. Figure 1(A) also shows another car 2 and a pedestrian 3 parked in a parking space. Figure 1(B) is a side view of car 1. Figure 1(C) is a rear view of car 1.

[0039] The automobile 1 shown in FIG. 1(A) to FIG. 1(C) is a car 1 that can be driven by switching between automatic driving and manual driving, and is provided with an automatic driving indicator light 5 that lights up during automatic driving.

[0040] The automatic driving indicator lights 5 are lights that illuminate to indicate the automatic driving state. For example, the automatic driving indicator lights 5 are located along the entire perimeter of the vehicle body 6, including the front, rear, left, and right sides. This allows pedestrians 3 and occupants of other vehicles 2 near the vehicle 1 to recognize the automatic driving indicator lights 5 illuminated during automatic driving from outside the vehicle 1. By illuminating the automatic driving indicator lights 5 during automatic driving, cooperation from pedestrians 3 and occupants of other vehicles 2 near the vehicle 1 can be expected, providing a level of safety not achieved through driving control by the vehicle 1 alone.

[0041] In addition, for example, the automatic driving display lights 5 can also be separately set at the four corners of the front, rear, left and right of the vehicle body 6, or set along the outer periphery of the roof panel above the vehicle cabin, or protrude from the roof panel.

[0042] The automatic driving indicator light 5 illuminates when the car 1 is operating in automatic driving. Furthermore, even during the daytime in summer when the surrounding area of the car 1 is exposed to strong sunlight, it is desirable that pedestrians 3 outside the car 1 and the occupants of other cars 2 be able to clearly discern whether the automatic driving indicator light 5 is illuminated. Therefore, the automatic driving indicator light 5 may be illuminated in a color and brightness that is not commonly found in nature, such as greenish-blue. Alternatively, the automatic driving indicator light 5 may be illuminated in a brighter color and brightness than those found in nature. By emitting a strong greenish-blue light, pedestrians 3 outside the car 1 and the occupants of other cars 2 are more likely to be able to discern whether the automatic driving indicator light 5 is illuminated or not. As a result, pedestrians 3 outside the car 1 and the occupants of other cars 2 can prepare actions or take precautions accordingly, for example, when the car 1 is operating in automatic driving.

[0043] However, it is conceivable that such an autonomously driving car 1 can be driven by autonomous driving even in a parking lot and enter a parking space or exit a parking space by autonomous driving.

[0044] However, in a parking lot, the car 1 not only moves forward and turns left or right, but also sometimes moves backward and turns left or right. Furthermore, the car 1 sometimes moves forward and then immediately reverses, or moves forward again to turn back while backing to park. Unlike when driving in a lane, the car 1 often behaves erratically in a parking lot.

[0045] When autonomous driving is performed in a parking lot, it is difficult for other cars 2 and pedestrians 3 in the parking lot to predict the behavior of the car 1 being parked in the parking lot by autonomous driving. While other cars 2 and pedestrians 3 in the parking lot can detect danger, the next direction of movement, or a detour by observing the occupants of the car 1 being parked or by making eye contact with them, autonomous driving makes it difficult to employ these avoidance strategies.

[0046] Thus, the autonomous driving car 1 requires improvement.

[0047] Figure 2 1(A) to (C) are explanatory diagrams of the control system 10 of the automobile 1. Figure 2 In the figure, the multiple control devices constituting the control system 10 of the automobile 1 are represented by respective built-in control ECUs (Electronic Control Units). In addition to the control ECUs, the control devices may also include, for example, a storage device for recording control programs and data, input / output ports for connecting to controlled objects or devices detecting their states, a timer for measuring time or instant, and an internal bus connecting these.

[0048] Specifically, Figure 2The control ECUs shown include, for example, a drive ECU 11, a steering ECU 12, a brake ECU 13, an automatic driving / driving assistance ECU 14, a driving operation ECU 15, a detection ECU 16, an external communication ECU 17, a UI operation ECU 18, a lighting ECU 19, and an alarm ECU 20. The control system 10 of the automobile 1 may also include other control ECUs not shown.

[0049] Multiple control ECUs are connected to a vehicle network 26, such as a CAN (Controller Area Network) or a LIN (Local Interconnect Network), employed in automobile 1. Vehicle network 26 can also be constructed using multiple bus cables 27 that can connect multiple control ECUs, and a central gateway (CGW) 28 that serves as a relay device connecting these multiple bus cables 27. Each control ECU is assigned a unique ID, which serves as identification information. A control ECU typically periodically outputs notification data to other control ECUs. This notification data includes the ID of the source control ECU and the ID of the destination control ECU. The other control ECUs monitor bus cables 27 and, if the destination ID is their own, retrieve the notification data and execute processing based on the notification data. Central gateway 28 monitors each of the multiple connected bus cables 27 and, upon detecting a control ECU connected to a bus cable 27 different from the source control ECU, outputs the notification data to that bus cable 27. This relay processing by central gateway 28 enables multiple control ECUs to exchange notification data with other control ECUs connected to bus cables 27 different from the respective control ECUs.

[0050] The external communication ECU 17 wirelessly communicates with, for example, a communication base station 101 existing outside the car 1 and a communication device of another car 2. The communication base station 101 can be, for example, a base station of an ADAS (Advanced Driver Assistance System) communication network or a base station of a carrier communication network. The base station of the carrier communication network communicates not only with the communication device of another car 2, but also with a portable device 102 held by a pedestrian 3. The external communication ECU 17 can also be divided into multiple types according to the type of the other party with which direct communication is performed and installed in the car 1. Moreover, the communication base station 101, the communication device of another car 2, and the portable device 102 together with the server device 103 constitute the traffic system 100. The external communication ECU 17 sends and receives communication data between the server device 103, another car 2, or the portable device 102 by directly wirelessly communicating with the communication base station 101 or the communication device of another car 2.

[0051] In the UI operation ECU 18, a display device 21 and an operation device 22 are connected as user interface devices for, for example, passengers. The display device 21 can be, for example, a liquid crystal device or an image projection device. The operation device 22 can be, for example, a touch panel, a keyboard, or a contactless operation detection device. The display device 21 and the operation device 22 can also be set on, for example, the inner surface of the vehicle cabin where the passengers sit. The UI operation ECU 18 obtains notification data from the vehicle network 26 and displays it on the display device 21. The UI operation ECU 18 outputs the operation input for the operation device 22 to the vehicle network 26. In addition, the UI operation ECU 18 can also perform processing based on the operation input and include the processing results in the notification data. For example, the UI operation ECU 18 can also display a navigation screen for setting a destination on the display device 21, search for a route to the destination selected by the operation input, and include the route data in the notification data. The route data can also include attribute information such as lanes of the road used in moving from the current position to the destination.

[0052] The driving operation ECU 15 is connected to operating components such as a steering wheel 31, brake pedal 32, accelerator pedal 33, and a gear shift lever 34, which are used by the occupants to control the driving of the vehicle 1. When an operating component is operated, the driving operation ECU 15 outputs notification data to the vehicle network 26, including information such as the presence or absence of the operation and the amount of operation. Furthermore, the driving operation ECU 15 may also perform processing related to the operation of the operating component and include the processing results in the notification data. For example, if the accelerator pedal 33 is operated while another moving object or stationary object is in the direction of travel of the vehicle 1, the driving operation ECU 15 may determine that this is an abnormal operation and include the determination result in the notification data.

[0053] The detection ECU 16 is connected to detection components for detecting the driving state of the vehicle 1, such as a speed sensor 41 for detecting the speed of the vehicle 1, an acceleration sensor 42 for detecting the acceleration of the vehicle 1, an external camera 43, such as a stereo camera, for capturing images of the surroundings outside the vehicle 1, and a GPS receiver 44 for detecting the position of the vehicle 1. The detection ECU 16 obtains detection information from the detection components and outputs notification data containing the detection information to the vehicle network 26. Furthermore, the detection ECU 16 may perform processing based on the detection information and include the processing results in the notification data. For example, if the acceleration sensor 42 detects an acceleration exceeding a collision detection threshold, the detection ECU 16 may determine that a collision has been detected and include the collision detection result in the notification data. The detection ECU 16 may also extract moving objects such as pedestrians 3 and other vehicles 2 around the vehicle based on images from the external camera 43, determine the type and attributes of the moving objects, and estimate the relative direction, relative distance, and movement direction of the moving objects based on their position, size, and changes in the images. The detection ECU 16 includes the moving object information, including these estimated results, in the notification data and outputs it to the vehicle network 26.

[0054] The automatic driving / driving support ECU 14 acquires notification data from the vehicle network 26 and switches the driving of the automobile 1 between automatic driving and manual driving.

[0055] The automatic driving / driving assistance ECU 14 receives notification data from the vehicle network 26, executes control for automatic driving or driving assistance of the automobile 1, generates driving control data, and outputs it to the drive ECU 11, the steering ECU 12, and the brake ECU 13. The drive ECU 11, the steering ECU 12, and the brake ECU 13 control the driving of the automobile 1 based on the input driving control data.

[0056] When the vehicle 1 is operating autonomously, the autonomous driving / driving assistance ECU 14, acting as a driving control unit, receives notification data from the vehicle network 26 and searches for or acquires a route to the destination. The autonomous driving / driving assistance ECU 14 receives notification data from the vehicle network 26 and determines whether there are any abnormalities or hazards in the vehicle 1. If so, it generates driving control data for the route along the route and outputs it as notification data. Based on the vehicle's position information from the GPS receiver 44 and other sources, the autonomous driving / driving assistance ECU 14 controls the vehicle 1's travel along the route until it reaches the destination, such as in a parking lot at the destination. If there are abnormalities or hazards associated with the vehicle 1, the autonomous driving / driving assistance ECU 14 generates driving control data to avoid the abnormality or hazard and outputs it as notification data.

[0057] To assist the driving of automobile 1, the autonomous driving / driving assistance ECU 14 receives notification data regarding operational input from the UI operation ECU 18 via the vehicle network 26, generates and outputs driving control data that adjusts for the operational input as notification data. The autonomous driving / driving assistance ECU 14 controls the driving of automobile 1 based on the occupant's driving operations. If an abnormality or danger exists regarding automobile 1, the autonomous driving / driving assistance ECU 14 generates and outputs driving control data as notification data to avoid the abnormality or danger.

[0058] Connected to the lighting ECU 19 are headlights 51 installed on the front of the vehicle body 6 of the automobile 1, turn signals 52 installed on the front, rear, and left sides of the vehicle body 6, brake lights 53 installed on the rear of the vehicle body 6, and the automatic driving indicator lights 5. Also shown in the figure is a memory 59 connected to the lighting ECU 19. The memory 59 connected to the lighting ECU 19 stores control settings and other information used by the lighting ECU 19. As a lighting control unit, the lighting ECU 19 receives notification data for controlling lighting devices from the vehicle network 26 and controls the lighting status of the headlights 51, turn signals 52, brake lights 53, and automatic driving indicator lights 5 based on this data. For example, when the automatic driving / driving assistance ECU 14 controls the vehicle 1 in automatic driving, the lighting ECU 19 illuminates the automatic driving indicator lights 5 during automatic driving. This allows external moving objects, such as pedestrians 3 or other vehicles 2, to recognize that the vehicle 1 is in automatic driving mode by the illuminated automatic driving indicator lights 5 and respond to the vehicle 1's automatic driving. Even during automatic driving, for example, when the driving environment does not require lighting, the light ECU 19 can perform lighting control such that the automatic driving indicator light 5 is turned off, for example, according to the driving environment.

[0059] An external speaker 61 is connected to the alarm ECU 20. The alarm ECU 20 acquires notification data for alarm output from the vehicle network 26, and outputs an alarm sound from the external speaker 61 based on the data.

[0060] Figure 3 This is a flowchart of the control for switching between automatic driving and manual assisted driving.

[0061] The automatic driving / driving support ECU 14 repeatedly executes the Figure 3 processing.

[0062] In step ST1, the automatic driving / driving assistance ECU 14 determines whether the vehicle 1 starts running. If the vehicle 1 does not start running, the automatic driving / driving assistance ECU 14 ends the process. Figure 3 When the vehicle 1 starts traveling, the automatic driving / driving support ECU 14 advances the process to step ST2.

[0063] In step ST2, the automatic driving / driving assistance ECU 14 determines whether the vehicle 1 is being driven in an automatic manner. The automatic driving / driving assistance ECU 14 may also determine whether the vehicle 1 is being driven in an automatic manner based on, for example, the driving mode setting value obtained from the UI operation ECU 18. If the vehicle 1 is being driven in an automatic manner, the automatic driving / driving assistance ECU 14 proceeds to step ST3. If the vehicle 1 is being driven in a mode other than automatic driving, such as a mode with driving assistance, the automatic driving / driving assistance ECU 14 proceeds to step ST7.

[0064] In step ST3 , the automatic driving / driving assistance ECU 14 starts driving in automatic driving. The automatic driving / driving assistance ECU 14 controls the driving of the automobile 1 in automatic driving.

[0065] In step ST4, the automatic driving / driving assistance ECU 14 determines whether to terminate the driving of the automobile 1. The automatic driving / driving assistance ECU 14 determines that the driving of the automobile 1 is terminated when the vehicle position information obtained from the external communication ECU 17 or the GPS receiver 44 indicates that the vehicle is at the destination of the automatic driving, such as a parking lot, and the vehicle is parked with the acceleration set to zero. If it is determined that the driving of the automobile 1 is terminated, the automatic driving / driving assistance ECU 14 terminates the driving. Figure 3 Thus, the automatic driving driving ends. If it is not determined that the driving of the automobile 1 ends, the automatic driving / driving support ECU 14 advances the processing to step ST5.

[0066] In step ST5, the automatic driving / driving assistance ECU 14 determines whether the driving of the vehicle 1 has switched from automatic driving to a mode other than automatic driving, such as manual driving. The automatic driving / driving assistance ECU 14 may also determine whether the switch from automatic driving has been made based on, for example, the driving mode setting value obtained from the UI operation ECU 18. If the switch from automatic driving to a mode other than automatic driving has not been made, the automatic driving / driving assistance ECU 14 returns the process to step ST4. The automatic driving / driving assistance ECU 14 repeatedly performs the determinations of steps ST4 and ST5 during automatic driving. If the switch from automatic driving to a mode other than automatic driving has been made, the automatic driving / driving assistance ECU 14 proceeds to step ST6.

[0067] In step ST6, the automatic driving / driving assistance ECU 14 switches the driving of the vehicle 1 from automatic driving to a mode other than automatic driving, such as manual assisted driving. This ends the automatic driving mode and restarts the manual driving mode. The automatic driving / driving assistance ECU 14 then proceeds to step ST8.

[0068] In step ST7 , the automatic driving / driving support ECU 14 starts manual support driving other than automatic driving.

[0069] In step ST8, the automatic driving / driving assistance ECU 14 determines whether to terminate the driving of the automobile 1. The automatic driving / driving assistance ECU 14 determines that the driving of the automobile 1 is terminated when, for example, the automobile 1 is parked so that the acceleration becomes zero and the ignition switch of the automobile 1 is operated. If it is determined that the driving of the automobile 1 is terminated, the automatic driving / driving assistance ECU 14 terminates the driving. Figure 3 Thus, the driving with manual assisted driving ends. If it is not determined that the driving of the automobile 1 ends, the automatic driving / driving assistance ECU 14 advances the processing to step ST9.

[0070] In step ST9, the automatic driving / driving assistance ECU 14 determines whether the driving of the automobile 1 has switched from manual assisted driving to automatic driving. The automatic driving / driving assistance ECU 14 may also determine whether the switch from manual assisted driving has been made based on, for example, the driving mode setting value obtained from the UI operation ECU 18. If the switch from manual assisted driving to automatic driving has not been made, the automatic driving / driving assistance ECU 14 returns the process to step ST8. During manual assisted driving, the automatic driving / driving assistance ECU 14 repeatedly performs the determinations of steps ST8 and ST9. If the switch from manual assisted driving to automatic driving has been made, the automatic driving / driving assistance ECU 14 proceeds to step ST10.

[0071] In step ST10, the automatic driving / driving assistance ECU 14 switches the driving of the vehicle 1 from manual assisted driving to automatic driving. This ends the manual assisted driving mode and starts the automatic driving mode. The automatic driving / driving assistance ECU 14 then proceeds to step ST4.

[0072] In this way, the automatic driving / driving support ECU 14 repeatedly executes the following operations when, for example, a passenger is in the car 1 and the car is traveling. Figure 3 For example, the automatic driving / driving assistance ECU 14 may also obtain notification data including setting information of the driving mode from the UI operation ECU 18 through the vehicle network 26, and switch the driving of the automobile 1 between automatic driving and manual assisted driving. In addition, the automatic driving / driving assistance ECU 14 may also obtain notification data including a switching instruction to mandatory manual driving based on an abnormality detection such as from the detection ECU 16, and switch the driving of the automobile 1 between automatic driving and manual assisted driving. In addition, the automatic driving / driving assistance ECU 14 may also generate notification data including a switching instruction to mandatory manual driving based on its own abnormality detection, and switch the driving of the automobile 1 between automatic driving and manual assisted driving.

[0073] Figure 4 This is a flowchart of driving control of the automobile 1 performed by automatic driving.

[0074] The automatic driving / driving assistance ECU 14 repeatedly executes the following operations when the automobile 1 is driven by automatic driving: Figure 4 processing.

[0075] During automatic driving, the automatic driving / driving support ECU 14 has a normal travel mode for causing the automobile 1 to travel normally on a road or the like, and an automatic parking mode for causing the automobile 1 to park in a parking lot.

[0076] When parking car 1 in a parking lot, unlike normal driving, the automatic driving / driving assistance ECU 14 may cause car 1 to frequently and minutely move back and forth, left and right. Furthermore, the parking space in the parking lot where car 1 is parked is approximately one circumference larger than the outer circumference of car 1. Sometimes, space must be ensured between the parked car 1 and other cars 2 parked around it, for example, for passengers to get on and off. Therefore, the automatic driving / driving assistance ECU 14 may frequently and minutely move car 1 back and forth, left and right. Furthermore, in a parking lot, there is a high probability that the path of pedestrians 3 moving through the parking lot will intersect with the path of car 1. In addition to a normal movement mode, the automatic driving / driving assistance ECU 14 also has an automatic parking mode specifically for parking lot control.

[0077] In step ST11 , the automatic driving / driving assistance ECU 14 starts automatic driving.

[0078] In step ST12, the automatic driving / driving support ECU 14 obtains navigation information such as the destination and route of the vehicle 1 in order to enable the vehicle 1 to travel in automatic driving. The automatic driving / driving support ECU 14 may also obtain navigation information from the UI operation ECU 18 or the external communication ECU 17, for example.

[0079] In step ST13, the automatic driving / driving support ECU 14 obtains the current position of the vehicle 1. The automatic driving / driving support ECU 14 may obtain the position of the vehicle 1 detected by the GPS receiver 44 from the detection ECU 16 as the current position, for example.

[0080] In step ST14, the automatic driving / driving assistance ECU 14 determines whether the current location of the vehicle 1 is a parking lot. For example, if the destination in the navigation information is a parking lot at a facility and movement to the destination is complete, the automatic driving / driving assistance ECU 14 determines that the current location of the vehicle 1 is a parking lot and proceeds to step ST15. For example, even if the destination in the navigation information is a parking lot at a facility, if the current location of the vehicle 1 is away from the parking lot, the automatic driving / driving assistance ECU 14 determines that the current location of the vehicle 1 is not a parking lot and proceeds to step ST19.

[0081] In step ST15 , the automatic driving / driving support ECU 14 starts driving control of the automobile 1 in an automatic parking mode for parking the automobile 1 in a parking lot.

[0082] In step ST16 of the automatic parking mode, the automatic driving / driving support ECU 14 first searches for a parking space where the vehicle can be parked. The automatic driving / driving support ECU 14 obtains information about parking spaces in the parking lot through, for example, the external communication ECU 17 .

[0083] In step ST17, the automatic driving / driving assistance ECU 14 starts slow driving in the parking lot and moves the vehicle 1 to a vacant parking space. The automatic driving / driving assistance ECU 14 uses images captured by the external camera 43 to confirm whether the parking space is vacant and available for parking. The automatic driving / driving assistance ECU 14 parks the vehicle 1 in front of the vacant parking space.

[0084] In step ST18 , the automatic driving / driving support ECU 14 executes a parking control for parking the automobile 1 in an empty parking space. As a result, the automobile 1 parks in a parking space of the destination parking lot.

[0085] In step ST19 , the automatic driving / driving support ECU 14 starts driving control of the vehicle 1 in a normal travel mode for moving the vehicle 1 to the destination.

[0086] In step ST20 of the normal travel mode, the automatic driving / driving support ECU 14 first obtains information for driving the vehicle 1 and selects a route. The automatic driving / driving support ECU 14 selects a route along the travel route from the current position on the travel route to the destination.

[0087] In step ST21 , the automatic driving / driving support ECU 14 executes mobile driving control for causing the automobile 1 to travel along the selected route.

[0088] Thus, the automatic driving / driving assistance ECU 14 obtains the position information of the vehicle 1 and determines whether it is in a parking lot. If the vehicle 1 is in a parking lot, the vehicle 1 is controlled in the automatic parking mode. Otherwise, the vehicle 1 is controlled in the normal travel mode.

[0089] Figure 5 is with Figure 3 Flowchart of the lighting control of the automatic driving display light 5 corresponding to the driving switching control.

[0090] For example, when the automatic driving / driving support ECU 14 controls the driving of the automobile 1, the light ECU 19 continuously acquires the information as notification data and repeatedly executes Figure 5 processing.

[0091] In step ST31, the light ECU 19 determines whether the automatic driving of the car 1 has started. The light ECU 19 can obtain information and notifications output to the vehicle network 26 for the control of the automatic driving by the automatic driving / driving assistance ECU 14, and determine whether the automatic driving of the car 1 has started. If the automatic driving of the car 1 has not started, the light ECU 19 ends. Figure 5 When the vehicle 1 starts traveling by automatic driving, the light ECU 19 advances the process to step ST32.

[0092] In step ST32 , the light ECU 19 turns on the automatic driving indicator light 5 that was off.

[0093] In step ST33, the light ECU 19 determines whether the autonomous driving of the vehicle 1 has ended. The light ECU 19 can determine whether the autonomous driving of the vehicle 1 has ended by, for example, failing to obtain information output by the autonomous driving / driving assistance ECU 14 to the vehicle network 26 for autonomous driving control, or receiving a notification of the end of autonomous driving. If the autonomous driving of the vehicle 1 has not ended, the light ECU 19 repeats the determination process of step ST33. If the autonomous driving of the vehicle 1 has ended, the light ECU 19 proceeds to step ST34.

[0094] In step ST34 , the light ECU 19 turns off the automatically driving indicator light 5 that is on.

[0095] In this manner, the light ECU 19 basically lights the automatic driving indication light 5 during automatic driving in which the automatic driving / driving support ECU 14 controls the travel of the automobile 1 by automatic driving.

[0096] Figure 6 This is a flowchart of controlling the lighting state of the automatic driving indicator lamp 5 when the vehicle is parked in a parking space in a parking lot in the automatic parking mode.

[0097] The light ECU 19, as a light control unit, repeatedly executes the following operations while continuously acquiring notification data during the period when the driving support ECU 14 controls the driving of the automobile 1 by automatic driving, for example. Figure 6 processing.

[0098] In step ST41, the lighting ECU 19 determines whether the vehicle is in autonomous driving mode. The lighting ECU 19 can determine whether the vehicle is in autonomous driving mode by, for example, obtaining information or notifications output by the autonomous driving / driving assistance ECU 14 to the vehicle network 26 for autonomous driving control. If the vehicle is not in autonomous driving mode, the lighting ECU 19 repeats the determination process of step ST51. If the vehicle is in autonomous driving mode, the lighting ECU 19 proceeds to step ST52.

[0099] In step ST42, the light ECU 19 determines whether the automatic driving / driving assistance ECU 14 is controlling the driving of the vehicle 1 in the automatic parking mode. If the automatic driving / driving assistance ECU 14 is not controlling the driving of the vehicle 1 in the automatic parking mode, the light ECU 19 repeats the determination process of step ST42. If the automatic driving / driving assistance ECU 14 is controlling the driving of the vehicle 1 in the automatic parking mode, the light ECU 19 proceeds to step ST43.

[0100] In step ST43, the light ECU 19 determines whether there are other moving objects around the vehicle 1, which is being driven in automatic parking mode. These other moving objects may be, for example, another vehicle 2 or a pedestrian. The light ECU 19 can determine whether there are other moving objects around based on the presence or absence of other moving objects extracted from images captured by the external camera. If there are no other moving objects around, the light ECU 19 proceeds to step ST44. If there are other moving objects around, the light ECU 19 proceeds to step ST45.

[0101] In step ST44, the light ECU 19 turns off the automatic driving indicator light 5. The light ECU 19 then returns the process to step ST42. While the vehicle is in automatic driving mode and there are no other moving objects around, the light ECU 19 repeats the processes from step ST42 to step ST44, maintaining the automatic driving indicator light 5 turned off.

[0102] On the other hand, when there are other moving objects around the vehicle while the automatic driving is controlled by the automatic parking mode, the light ECU 19 executes the processing from step ST45 onwards to light the automatic driving indicator light 5 .

[0103] In step ST45, the light ECU 19 determines whether the vehicle 1 is currently being controlled to enter a parking space. If the automatic driving / driving assistance ECU 14 is executing the process of step ST18 in the automatic parking mode, the light ECU 19 determines that the vehicle 1 is currently being controlled to enter a parking space and proceeds to step ST50. If the vehicle 1 is not currently being controlled to enter a parking space, the light ECU 19 proceeds to step ST46.

[0104] In step ST46, the lighting ECU 19 determines whether the vehicle 1 is currently being controlled to move to a parking space. If the automatic driving / driving assistance ECU 14 is executing the process of step ST17 in the automatic parking mode, the lighting ECU 19 determines that the vehicle 1 is currently being controlled to move to a parking space and proceeds to step ST49. If the vehicle 1 is not currently being controlled to move to a parking space, the lighting ECU 19 proceeds to step ST47.

[0105] In step ST47, the light ECU 19 determines whether the vehicle 1 is currently searching for a parking space. If the automatic driving / driving assistance ECU 14 is executing the process of step ST16 in the automatic parking mode, the light ECU 19 determines that the vehicle 1 is currently searching for a parking space and proceeds to step ST48. If the vehicle 1 is not currently searching for a parking space, the light ECU 19 returns to step ST42.

[0106] In step ST48, the light ECU 19 flashes the automatic driving indicator light 5 at a low speed. The automatic driving indicator light 5 is lit in a state different from the continuous lighting in the normal travel mode. Then, the light ECU 19 returns the process to step ST42.

[0107] In step ST49, the light ECU 19 flashes the automatic driving indicator light 5 at a medium speed. The automatic driving indicator light 5 flashes at a faster cycle than in step ST48. Then, the light ECU 19 returns the process to step ST42.

[0108] In step ST50, the light ECU 19 flashes the automatic driving indicator light 5 at a high speed. The automatic driving indicator light 5 flashes at a faster cycle than in step ST49. Then, the light ECU 19 advances the process to step ST51.

[0109] In step ST51, the light ECU 19 determines whether the car 1 has been parked in a parking space where parking is possible and whether parking is completed. When the automatic driving / driving assistance ECU 14 completes the processing of step ST18, the light ECU 19 determines that parking is completed and causes the processing to enter step ST52. If parking is not completed, the light ECU 19 returns the processing to step ST42. Thus, the light ECU 19 repeatedly performs the processing from step ST42 to step ST50 until parking is completed. During this period, the automatic driving display light 5 switches the lighting state between low-speed flashing, medium-speed flashing, or high-speed flashing according to the parking processing stage performed by the automatic driving / driving assistance ECU 14. Normally, the automatic driving display light 5 switches the lighting state by flashing at a low speed in the initial stage of exploring the parking lot, flashing at a medium speed in the stage before moving to the parking space, and flashing at a high speed in the stage of entering the parking space.

[0110] In step ST52, the light ECU 19 turns off the automatic driving indicator light 5. As a result, the automatic driving indicator light 5 of the car 1 entering the parking space is turned off during parking.

[0111] Thus, when the automatic driving / driving support ECU 14 controls the driving of the automobile 1 in the automatic parking mode and automatic driving, the light ECU 19 controls the automatic driving indicator light 5 in the automatic driving to a lighting state different from that in the normal driving mode.

[0112] In the automatic parking mode when entering a parking space in a parking lot, the light ECU 19 switches the lighting state of the automatic driving indicator light 5 according to the search for a parking space in the parking lot, the movement control until the vehicle moves to the searched parking space, and the entry control into the parking space.

[0113] Furthermore, the light ECU 19 may switch the lighting state of the automatic driving indicator light 5 in the automatic parking mode when entering a parking space in the parking lot, depending on the control before moving to the parking space after finding the parking space in the parking lot and the control of entering the parking space.

[0114] Figure 7 This is a flowchart of controlling the lighting state of the automatic driving indicator light 5 when leaving the parking space by automatic driving.

[0115] The light ECU 19 as a light control unit repeatedly executes the following operations while continuously acquiring notification data, for example, when the vehicle is parked in a parking space by automatic driving. Figure 7 processing.

[0116] In step ST61, the lighting ECU 19 determines whether the vehicle is in autonomous driving mode. The lighting ECU 19 can determine whether the vehicle is in autonomous driving mode by, for example, obtaining information or notifications output by the autonomous driving / driving assistance ECU 14 to the vehicle network 26 for autonomous driving control. If the vehicle is not in autonomous driving mode, the lighting ECU 19 repeats the determination process of step ST61. If the vehicle is in autonomous driving mode, the lighting ECU 19 proceeds to step ST62.

[0117] In step ST62, the light ECU 19 determines whether the vehicle is parked in a parking space in the parking lot. For example, when the vehicle 1 is parked in the automatic parking mode, the light ECU 19 determines that the vehicle is parked in a parking space in the parking lot and proceeds to step ST63. If the vehicle is not parked in a parking space in the parking lot, the light ECU 19 ends the process. Figure 7 processing.

[0118] In step ST63, the light ECU 19 determines whether the vehicle is leaving the parking space. For example, if the detection ECU 16 detects that a new passenger is getting on the parked vehicle 1, the light ECU 19 determines that the vehicle is leaving the parking space based on the detection notification data of the detection ECU 16 and proceeds to step ST64. If the vehicle is not leaving the parking space, the light ECU 19 ends the process. Figure 7 processing.

[0119] In step ST64 , the light ECU 19 turns on the automatic driving indicator light 5 that was off during parking.

[0120] In step ST65 , the light ECU 19 turns on the automatic driving indicator light 5 and then turns on the turn signal lamp indicating the direction of departure.

[0121] Thus, when the vehicle is in automatic parking mode when exiting a parking space, the lighting ECU 19 first illuminates the automatic driving indicator light 5 and then illuminates the turn signal indicating the direction of exit. Passengers of other vehicles 2 and pedestrians 3 surrounding the vehicle 1 can detect that the vehicle 1 is exiting the space automatically by illuminating the automatic driving indicator light 5. Furthermore, the illumination of the turn signal allows the user to determine the direction in which the vehicle 1 has begun its automatic driving movement.

[0122] As described above, in this embodiment, the automatic driving of the automatic driving / driving assistance ECU 14 includes, in addition to the normal travel mode for driving the vehicle 1, an automatic parking mode for parking the vehicle 1 in a parking lot through automatic driving. Furthermore, when the automatic driving / driving assistance ECU 14 is controlling the driving of the vehicle 1 through automatic driving and the automatic parking mode, the lighting ECU 19 controls the automatic driving indicator light 5 during automatic driving to a flashing state, as opposed to the continuous lighting state during the normal travel mode.

[0123] As a result, other vehicles and their passengers traveling around the vehicle 1 to be parked by automatic driving can easily understand that the vehicle 1 is to be parked by automatic driving by observing the lighting state of the automatic driving indicator light 5, which is illuminated in a state different from that during normal automatic driving. Other vehicles and their passengers traveling around the vehicle 1 can be aware of and respond to any irregular behavior of the vehicle 1 to be parked by automatic driving.

[0124] In contrast, when the automated driving control from moving to parking is controlled in a single mode, it is difficult to change the lighting state of the automated driving indicator light 5 for parking lot control, which is likely to intersect with the path of other moving objects. Without special equipment at the entrance and exit of the parking lot or high-precision location information about the parking lot, it would be impossible to change the lighting state of the automated driving indicator light 5 for parking lot control. In this embodiment, even without such equipment and high-precision location information, it is possible to change the lighting state of the automated driving indicator light 5 for parking lot control.

[0125] In particular, the lighting ECU 19 can switch the lighting state of the automatic driving indicator light 5 during the automatic parking mode when entering a parking space in a parking lot, depending on whether the vehicle is moving to a parking space in the parking lot or entering the parking space after finding one. Alternatively, the lighting ECU 19 can switch the lighting state of the automatic driving indicator light 5 during the automatic parking mode when entering a parking space in the parking lot, depending on whether the vehicle is searching for a parking space in the parking lot, moving to a found parking space, or entering the parking space after finding one. This allows other vehicles traveling nearby and their occupants to easily distinguish visually between the vehicle 1 moving within the parking lot through automatic driving and the vehicle 1 entering the parking space, and to take appropriate actions accordingly. By setting the automatic driving indicator light 5 to a special lighting state during the parking space entry control, special attention can be paid to and responses can be taken to the special movements during parking. For example, even if the car 1 finds a parking space during parking space exploration, makes an emergency stop, and then immediately begins backing up, by setting the automatic driving indicator light 5 to a special lighting state during parking entry control, the likelihood that other vehicles traveling nearby and their occupants will be able to cope with the situation increases. This can prevent accidents caused by communication errors. Furthermore, in parking lots where erratic movements are possible, the car 1 can safely perform automatic parking without endangering pedestrians or the car 1.

[0126] Furthermore, in this embodiment, when exiting a parking space in automatic parking mode, the light ECU 19 illuminates the turn signal indicating the exit direction after illuminating the automatic driving indicator light 5. This allows other vehicles and their occupants traveling around the vehicle 1 to exit to easily understand the vehicle's automatic driving exit and the direction of the exit by observing the lighting sequence of the vehicle's lights.

[0127] The above-mentioned embodiments are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and various modifications and changes can be made without departing from the spirit of the invention.

Claims

1. A self-driving vehicle comprising: A driving control unit that switches between automatic driving and manual driving and controls the driving of the vehicle; an automatic driving indicator light capable of being illuminated during automatic driving so as to be discernible from outside the vehicle; and a light control unit configured to control the automatic driving display light to light up during the automatic driving in which the driving control unit controls the driving of the vehicle to indicate that the vehicle is in the automatic driving state; The driving control unit has a normal travel mode for driving the vehicle in automatic driving and an automatic parking mode for parking the vehicle in a parking lot by automatic driving. When the driving control unit controls the driving of the vehicle through the automatic driving and the automatic parking mode, the light control unit controls the automatic driving indicator light in the automatic driving to a lighting state different from that in the normal driving mode. In the automatic parking mode, the light control unit switches the lighting state of the automatic driving display light between low-speed flashing, medium-speed flashing, or high-speed flashing according to the exploration of a parking space in the parking lot, the movement control before moving to the explored parking space, and the parking control into the parking space.

2. The autonomously driven vehicle according to claim 1, wherein: In the automatic parking mode, the light control unit switches the lighting state of the automatic driving display light by flashing at a low speed in the initial stage of exploring the parking lot, flashing at a medium speed in the stage before moving to the parking space, and flashing at a high speed in the stage of entering the parking space.

3. The autonomously driven vehicle according to claim 1 or 2, wherein: having a turn signal lamp capable of being illuminated so as to be identifiable from outside the vehicle, Among them, in the automatic parking mode when leaving the warehouse, the light control unit lights up the turn signal indicating the direction of leaving the warehouse after lighting up the automatic driving display light.

4. The autonomously driven vehicle according to claim 1 or 2, wherein: The driving control unit obtains the position information of the vehicle and determines whether the vehicle is in a parking lot. When the vehicle is in a parking lot, controlling the vehicle through the automatic parking mode, When the vehicle is not in a parking lot, the vehicle is controlled in the normal travel mode.

5. The autonomously driven vehicle according to claim 3, wherein: The driving control unit obtains the position information of the vehicle and determines whether the vehicle is in a parking lot. When the vehicle is in a parking lot, controlling the vehicle through the automatic parking mode, When the vehicle is not in a parking lot, the vehicle is controlled in the normal travel mode.

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