Autonomous vehicle

Abstract

The present invention relates to an autonomous vehicle. A driving control device controls the driving of the autonomous vehicle. The driving control device includes a control unit, and the control unit has at least two driving modes including an autonomous driving mode and a manual driving mode as driving modes. The autonomous driving mode performs automatic control of the driving of the vehicle, and the manual driving mode controls the driving of the vehicle in response to the operation of an operator sitting on the vehicle. When the driving mode is switched from the autonomous driving mode to the manual driving mode, the control unit sets the upper speed limit in the manual driving mode to a vehicle speed lower than the upper speed limit in the autonomous driving mode.

Description

Technical Field

[0001] The present invention relates to an autonomous vehicle having an autonomous driving mode and a manual driving mode as driving modes. Background Art

[0002] Conventionally, autonomous vehicles are known to be capable of performing autonomous driving. Autonomous driving means driving in which a computer performs driving control including at least a part of cornering control (steering control) and vehicle speed control of a vehicle, and generally means driving in which the running control of the vehicle is performed without an operation of an operator such as a driver.

[0003] Even autonomous vehicles capable of performing autonomous driving generally have a manual driving mode because an operator should manually perform driving control of the vehicle according to circumstances.

[0004] Japanese Unexamined Patent Application Publication No. 2019-206257 (JP 2019-206257 A) discloses that when reaching the planned end point of autonomous driving or in the case of a vehicle failure, the driving mode is switched from autonomous driving control to manual driving control. Further, in JP 2019-206257 A, when the switching from autonomous driving control to manual driving control is inadvertently performed by a driver, in the case where the driving force of one driving wheel is equal to or higher than a predetermined force (exceeding the maximum frictional force) in consideration of the maximum frictional coefficient of the road surface on which the vehicle travels, the driving force of one driving wheel is distributed to the other driving wheel. Summary of the Invention

[0005] The object of JP 2019-206257 A is to prevent the vehicle from skidding due to a driver stepping on an accelerator pedal forcefully when the switching from autonomous driving control to manual driving control is inadvertently performed by the driver. Skidding is likely to occur during steering, and in the autonomous driving mode, the vehicle is controlled so as not to skid due to steering. On the other hand, in the manual driving mode, there are often no restrictions on steering, and skidding is likely to occur.

[0006] The autonomous vehicle according to the present invention has at least two driving modes including an autonomous driving mode and a manual driving mode, the autonomous driving mode performing automatic control of running of the vehicle, the manual driving mode controlling the running of the vehicle in response to an operation of an operator riding on the vehicle, and when the driving mode is switched from the autonomous driving mode to the manual driving mode, the autonomous vehicle sets the upper limit vehicle speed in the manual driving mode to a vehicle speed lower than the upper limit vehicle speed in the autonomous driving mode.

[0007] The manual driving mode includes multiple types of manual driving modes, and when the driving mode is switched from the autonomous driving mode to the manual driving mode, a type of manual driving mode in which the upper speed limit in the manual driving mode is lower than the upper speed limit in the autonomous driving mode can be selected from the multiple types of manual driving modes.

[0008] During driving in the manual driving mode, the selection of the type of the manual driving mode can be controlled according to environmental information about the road on which the vehicle is traveling.

[0009] With the present invention, the occurrence of slipping and the like in the manual driving mode can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the drawings, in which the same reference numerals denote the same elements, and wherein:

[0011] Figure 1 is an external view of an autonomous driving vehicle 10 according to an embodiment;

[0012] Figure 2 is a functional block diagram of a driving control device 20 according to an embodiment;

[0013] Figure 3 is a diagram showing an exemplary screen displayed on a touch panel 22 and showing a state when parking in the autonomous driving mode;

[0014] Figure 4 is a diagram showing an exemplary screen displayed on a touch panel 22 and showing a state when driving in the autonomous driving mode;

[0015] Figure 5 is a perspective view of a mechanical operation unit 24 in an embodiment; and

[0016] Figure 6 is a diagram showing an exemplary display of a type selection button in the manual driving mode. DETAILED DESCRIPTION

[0017] Hereinafter, embodiments of the present invention will be described based on the drawings. The present invention is not limited to the embodiments described herein.

[0018] OVERALL CONFIGURATION

[0019] Figure 1is an external view of the autonomous vehicle 10 according to the present embodiment. In the figure, "front (FR)" and "rear" indicate "front" and "rear" in the vehicle front-rear direction, "left (FR)" and "right" indicate "left" and "right" when the autonomous vehicle 10 faces forward, and "up (UP)" and "down" indicate "up" and "down" in the vehicle up-down direction.

[0020] The autonomous vehicle 10 has a substantially rectangular parallelepiped shape and has a shape that is almost symmetric in the front and rear, and the external design also has a shape that is symmetric in the front and rear. In a plan view, columns 12 extending in the up-down direction are provided at four corners of the autonomous vehicle 10. Wheels 14 are provided below the columns 12. Transparent or semi-transparent panels 16 are partially provided on each of the front, rear, left, and right side walls of the autonomous vehicle 10. The panel 16 can be a display panel, and characters and the like can be displayed on the display panel.

[0021] A panel that is part of the left side is a slidable door 18, and the door 18 slides and opens so that passengers can get on and off the autonomous vehicle 10. Although Figure 1 not shown in the figure, a ramp that can be put in and taken out is stored below the door 18. For example, when a person in a wheelchair gets on and off the autonomous vehicle 10, the ramp is used.

[0022] The autonomous vehicle 10 is a shared vehicle for multiple and unspecified passengers. The multiple and unspecified passengers include an operator who executes the control (including driving control) of the autonomous vehicle 10. In the present embodiment, the autonomous vehicle 10 is used as a bus that transports passengers while traveling along a specified route in a specific place. Therefore, it is assumed that the autonomous vehicle 10 stops and starts repeatedly at a relatively high frequency. In addition, it is assumed that the autonomous vehicle 10 travels at a relatively low speed (for example, 30 km / h or less).

[0023] The usage form of the autonomous vehicle 10 disclosed in this specification can be changed at an appropriate time. For example, the autonomous vehicle 10 can be used as a movable commercial space, or can be used as a store such as a retail store that displays and sells various products, and a restaurant that cooks and provides food and beverages. As another form, the autonomous vehicle 10 can be used as an office for performing paperwork, meeting customers, etc. The usage scenarios of the autonomous vehicle 10 are not limited to commerce, and for example, the autonomous vehicle 10 can be used as a personal mobility device. In addition, the driving mode of the autonomous vehicle 10 can be changed at an appropriate time.

[0024] In this embodiment, the autonomous driving mode 10 is an electric vehicle that includes a drive motor receiving power supply from a battery as a prime mover. The battery is a rechargeable secondary battery and is regularly charged by an external power source. The autonomous driving vehicle 10 is not limited to an electric vehicle and may adopt other types of vehicles. For example, the autonomous driving vehicle 10 may be an engine vehicle equipped with an engine as a prime mover, or may be a hybrid vehicle equipped with an engine and a drive motor as prime movers. In addition, the autonomous driving vehicle 10 may be a hydrogen fuel vehicle that uses electric power generated by a fuel cell to drive the drive motor.

[0025] The autonomous driving vehicle 10 is a vehicle capable of performing autonomous driving. Specifically, the autonomous driving vehicle 10 is capable of traveling in a variety of driving modes including an autonomous driving mode, a semi-autonomous driving mode, and a manual driving mode.

[0026] Functional block

[0027] Figure 2 is a functional block diagram of the driving control device 20 according to this embodiment. In this embodiment, each unit included in the driving control device 20 is provided in the autonomous driving vehicle 10.

[0028] The touch panel 22 is configured to include a flat panel display such as a liquid crystal display and an organic electroluminescent display, and a touch sensor that detects touches on the display. The touch panel 22 may be provided in the vehicle near the operator's seat so that the operator riding in the autonomous driving vehicle 10 can appropriately operate the touch panel 22.

[0029] The operator manually operates the mechanical operation unit 24 so that the driving control of the autonomous driving vehicle 10 is performed. The mechanical operation unit 24 mechanically operates by being operated by the operator. Different from the accelerator pedal and the brake pedal provided in a conventional automobile, the mechanical operation unit 24 is operated by hand. Therefore, the mechanical operation unit 24 is at least provided on the upper side of the seat surface of the operator's seat. In order for the operator to easily operate the mechanical operation unit 24 by hand, it is preferable to provide the mechanical operation unit 24 on the armrest where the operator's arm is placed.

[0030] When the mechanical operation unit 24 is operated by the operator, operation information indicating the operation content (for example, the operation direction) and the operation amount is sent from the mechanical operation unit 24 to the control unit 34 described later. Based on the operation information, various driving controls of the autonomous driving vehicle 10 are performed by the control unit 34. In this embodiment, the vehicle speed control and the steering angle control of the autonomous driving vehicle 10 can be performed by the mechanical operation unit 24.

[0031] The mechanical operation unit 24 is mainly used when the driving mode of the autonomous vehicle 10 is the manual driving mode. However, even when the driving mode of the autonomous vehicle 10 is the autonomous driving mode or the semi-autonomous driving mode, a configuration that enables driving control to be executed by the mechanical operation unit 24 may be permitted. In the autonomous driving mode or the semi-autonomous driving mode, the driving control instruction from the mechanical operation unit 24 has priority over the driving control instruction from the management center or the driving control based on the detection results of various sensors (such as cameras or LIDARs, etc.) included in the autonomous vehicle 10.

[0032] Return to Figure 2 , for example, the range measurement sensor 26 is configured to include a camera that captures the surroundings (front, rear, left, and right sides) of the vehicle, or a LIDAR that measures the distance to obstacles located around the vehicle. The range measurement sensor 26 is a sensor that detects the size of the drivable area around the autonomous vehicle 10. The drivable area is the area where the autonomous vehicle 10 can travel. For example, the road width of the road on which the autonomous vehicle 10 is traveling can be detected based on the image captured by the camera that serves as the range measurement sensor 26. In addition, the distances to obstacles (such as side walls, etc.) on the front side, rear side, right side, and left side of the autonomous vehicle 10 can be measured by the camera or LIDAR that serves as the range measurement sensor 26.

[0033] The GPS receiver 28 is a device that receives signals from satellites and detects the current position, and other global navigation satellite systems (GNSS), etc. can be used.

[0034] The communication unit 30 can communicate with the management center, etc. via, for example, the Internet, and can obtain information (driving control instructions, etc.) required for driving. For example, when the navigation device is operating, the map database 32 is used, and the map database 32 stores map information about the area where the autonomous vehicle 10 can travel. In addition, in the map database 32, environmental information about the road on which the autonomous vehicle 10 travels is also stored as map information. The environmental information includes road information such as the curvature and width of the road, and facility information such as information about whether there is a school in the vicinity.

[0035] The control unit 34 is configured to include a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), or an embedded multimedia card (eMMC). The control unit 34 performs various arithmetic processes required in the driving control device 20, and performs acceleration-deceleration control, steering control, etc. In the control unit 34, a maximum vehicle speed storage unit 36 is provided, and the control unit 34 limits the vehicle speed during driving by the maximum vehicle speed stored in the maximum vehicle speed storage unit 36. The maximum vehicle speed includes the maximum vehicle speed in the autonomous driving mode and the maximum vehicle speed in the manual driving mode, and the maximum vehicle speed in the manual driving mode includes a plurality of maximum vehicle speeds corresponding to a plurality of driving types.

[0036] Configuration of the touch panel

[0037] Figure 3 and Figure 4 is a diagram showing an exemplary screen displayed on the touch panel 22. Figure 3 shows the state when the vehicle is parked in the autonomous driving mode, and Figure 4 shows the state when driving in the autonomous driving mode. The drawings show the state in the autonomous driving mode, and "Auto" (sand-like display) is selected and displayed as the driving mode (driving). In the case of the manual driving mode, "Manual" is selected and displayed.

[0038] Various buttons are displayed on the touch panel 22, and the operator can input driving control instructions to the autonomous driving vehicle 10 through the buttons displayed on the touch panel 22. In particular, the operator can start the autonomous driving vehicle 10 by operating the travel button 40 displayed on the touch panel 22 shown in Figure 3 . When the driving mode of the autonomous driving vehicle 10 is the autonomous driving mode or the semi-autonomous driving mode, autonomous driving starts after the autonomous driving vehicle 10 is started by the operation of the travel button 40. In this case, after the autonomous driving vehicle 10 is started, as shown in Figure 4 , a deceleration button 42 and an acceleration button 44 for decelerating the autonomous driving vehicle 10 are displayed on the touch panel 22 instead of the travel button 40. By operating the deceleration button 42, the operator can perform deceleration control of the autonomous driving vehicle 10 even during autonomous driving. In addition, when the vehicle speed is equal to or lower than the maximum vehicle speed in autonomous driving, acceleration control can be performed by the acceleration button 44. When the driving mode of the autonomous driving vehicle 10 is the manual driving mode, the operator drives the autonomous driving vehicle 10 by operating the mechanical operation unit 24 described later after operating the travel button. When acceleration and deceleration can be performed by the mechanical operation unit 24 described later, the operation of the deceleration button 42 and the acceleration button 44 can be prohibited.

[0039] Configuration of the mechanical operation unit

[0040] Figure 5 This is a perspective view of the mechanical operation unit 24 in the present embodiment. In the present embodiment, the mechanical operation unit 24 has a rod shape extending in the vertical direction. Specifically, the mechanical operation unit 24 is configured to include a grip portion 24a having a shape extending in the vertical direction, and a switch base 24b located on the upper side of the grip portion 24a. The operator can perform the lever operation of the mechanical operation unit 24 while holding the grip portion 24a. Specifically, the mechanical operation unit 24 can be pressed in the forward, backward, right, and left directions while using the lower end as a pivot point. In the case where the operator loses the grip on the mechanical operation unit 24 of the operator, that is, when the operator does not operate the mechanical operation unit 24, the mechanical operation unit 24 automatically returns to a state where the extending direction of the grip portion 24a coincides with the vertical direction (referred to as the "neutral state" in this specification).

[0041] When the mechanical operation unit 24 is pressed in any one of the forward, backward, right, and left directions, operation information indicating the pressing direction as the operation content and the pressing angle as the operation amount is sent to the control unit 34. In the present embodiment, when the mechanical operation unit 24 is pressed forward, the autonomous driving vehicle 10 accelerates, when the mechanical operation unit 24 is pressed backward, the autonomous driving vehicle 10 decelerates, when the mechanical operation unit 24 is pressed right, the autonomous driving vehicle 10 turns in the right direction (that is, the turning angle of the autonomous driving vehicle 10 becomes larger in the right direction), and when the mechanical operation unit 24 is pressed left, the autonomous driving vehicle 10 turns in the left direction (that is, the turning angle of the autonomous driving vehicle 10 becomes larger in the left direction).

[0042] The switch base 24b is provided with a direction indicator switch 24c for operating the direction indicator and a horn switch 24d for operating the horn. Thus, through the mechanical operation unit 24, in addition to driving control, it is also possible to control devices (direction indicator and horn) provided in the autonomous driving vehicle 10.

[0043] In the present embodiment, as shown in Figure 5 the mechanical operation unit 24 is located on the armrest 50 on which the operator's arm is placed in a usable state. By pushing it downward in the usable state, the mechanical operation unit 24 can be stored in the storage portion 52 provided in the armrest 50. Preferably, the storage portion 52 is provided with a lid 54. When the mechanical operation unit 24 is not in use, the mechanical operation unit 24 is stored in the storage portion 52, thereby preventing the mechanical operation unit 24 from being erroneously operated.

[0044] Except for the mechanical operation unit 24, the autonomous vehicle 10 does not include an operation unit that mechanically operates for the driving control of the autonomous vehicle 10. For example, the autonomous vehicle 10 is not provided with a foot-operated pedal for inputting a vehicle speed control command, such as an acceleration pedal and a brake pedal provided in a conventional vehicle or the like.

[0045] Regarding the relationship between the operation amount (the amount of pressing right or left) of the mechanical operation unit 24 and the turning angle, in the region where the operation amount is large, the change amount is large, rather than a linear relationship. In addition, the above relationship can be changed according to the driving environment.

[0046] Driving mode

[0047] The driving mode of the autonomous vehicle 10 includes three driving modes: an autonomous driving mode, a semi-autonomous driving mode, and a manual driving mode.

[0048] The autonomous driving mode is a driving mode in which a computer (control unit 34) equipped in the autonomous vehicle 10 performs most of the driving control. In this specification, driving control is a concept that includes shift control, vehicle speed control, or steering control (i.e., turning angle control of the autonomous vehicle 10). Vehicle speed control is a concept that includes start control, stop control, and acceleration-deceleration control of the autonomous vehicle 10. The autonomous vehicle 10 can communicate with a management center that manages and controls multiple autonomous vehicles 10, and in the autonomous driving mode, the autonomous vehicle 10 travels along a previously determined lane line through control from the management center. In the autonomous driving mode, the computer performs driving control according to a driving control command from the management center. However, the start control in the stopped state can be performed in response to the operation of the operator. In addition, during autonomous driving in the autonomous driving mode, the operator can accelerate or decelerate the autonomous vehicle 10. The control performed by the operator can be limited to deceleration, and acceleration can be performed according to the control performed by the driving control device 20.

[0049] In the autonomous driving mode, the vehicle speed is controlled by the control unit 34. The upper limit vehicle speed of the autonomous vehicle 10 in the autonomous driving mode can be set in the upper limit vehicle speed storage unit 36, and for example, the upper limit vehicle speed can be set to 19 km / h. Depending on the driving environment, the specifications of the autonomous vehicle 10, etc., the upper limit vehicle speed can be set to a desired value and is not limited to 19 km / h, and for example, it is set to 30 km / h. Thus, when the vehicle speed exceeds the upper limit vehicle speed stored as the vehicle speed obtained by an optimized calculation considering the vehicle ahead, road surface conditions, speed limit, etc., the vehicle speed is limited to that upper limit vehicle speed. In addition, the upper limit vehicle speed can be changed to decrease. Thus, the upper limit vehicle speed can be set for each vehicle without changing the optimized calculation itself.

[0050] Similar to the autonomous driving mode, the semi-autonomous driving mode is a driving mode in which the driving control device 20 executes most of the driving controls of the autonomous driving vehicle 10. In the semi-autonomous driving mode, without relying on driving control instructions from the management center, the driving control device 20 executes driving control based on the detection results of various sensors (such as cameras or LIDAR, etc.) included in the autonomous driving vehicle 10. Similarly, in the semi-autonomous driving mode, start control in the parked state can be executed through the operation of the operator. In addition, even during autonomous driving in the semi-autonomous driving mode, the operator can decelerate the autonomous driving vehicle 10. The setting of the upper speed limit can be the same as that in the autonomous driving mode.

[0051] The manual driving mode is a mode in which the autonomous driving vehicle 10 does not perform autonomous driving and the operator executes the driving control of the autonomous driving vehicle 10. For example, the manual driving mode includes three types of manual driving modes described below.

[0052] (i) Default type: The upper speed limit is 7 km / h, and stationary steering (steering operation in the parked state) is prohibited.

[0053] (ii) Narrow road type: The upper speed limit is 7 km / h, and stationary steering is allowed. The turning angle that can be executed by the operation is larger than that in the default type.

[0054] (iii) High-speed type: The upper speed limit is 19 km / h, and stationary steering is prohibited. The upper speed limit can be changed to the upper speed limit in the autonomous driving mode.

[0055] As described above, when the autonomous driving vehicle 10 travels along a specified route in a specific location, the autonomous driving vehicle 10 basically travels in the autonomous driving mode. For example, the manual driving mode is used when the autonomous driving vehicle 10 moves from a waiting location to a specified route, when the autonomous driving vehicle 10 moves from a specified route to a waiting location, or when an abnormality such as communication failure or emergency stop occurs. For example, the semi-autonomous driving mode is used in cases where no instruction is sent from the management center due to communication failure or the like.

[0056] Switching of driving modes

[0057] As Figure 3 and Figure 4 shown, “Auto” for the autonomous driving mode, “Semi-auto” for the semi-autonomous driving mode, and “Manual” for the manual driving mode are displayed on the touch panel 22. Therefore, by operating them, the driving mode can be switched. However, the timing of mode switching can be restricted, and the driving mode can only be switched through the operation of the above display buttons when the switching can be executed.

[0058] Driving control

[0059] For example, when the system is activated while the autonomous vehicle 10 is waiting in the garage (when the power supply and ignition are on and the autonomous vehicle 10 is in a state where it is allowed to travel), the system is first activated as a manual driving mode (default type). In this case, the cover 54 can be automatically opened, and the mechanical operation unit 24 can be in an upright operating state. Then, through the operation of the operator, the autonomous vehicle 10 moves to a waiting location for entering a specified route.

[0060] Then, upon entering the waiting location, the autonomous vehicle 10 enters a waiting state in the autonomous driving mode, and in response to an entry instruction from the management center, the autonomous vehicle 10 enters the specified route and starts traveling in the autonomous driving mode.

[0061] After that, the autonomous vehicle 10 travels along the specified route at a specified vehicle speed according to an instruction sent from the management center. In the case where the autonomous vehicle 10 is a fixed-route bus or the like, a stop procedure or a start procedure is executed at a station so that stopping or starting is performed. In this embodiment, when the autonomous vehicle 10 stops at a station or the like, the autonomous vehicle 10 starts in response to the operation of the operator on the travel button 40 on the touch panel 22.

[0062] When the travel in the autonomous driving mode ends according to the schedule, the autonomous vehicle enters an exit waiting location in the garage and stops based on the autonomous driving control by executing an exit procedure. Thereby, the autonomous driving mode ends, and the driving mode is switched to the manual driving mode (default type). In this case, the cover 54 can be automatically opened, and the mechanical operation unit 24 can be in an upright operating state. Then, through the operation of the operator, the autonomous vehicle 10 parks at a desired parking position in the garage and prepares for the next travel (such as charging).

[0063] In the case where an obstacle is detected during travel in the autonomous driving mode, when the emergency stop button is pressed, or in other cases, an emergency stop procedure is executed so that the autonomous vehicle 10 immediately stops or stops at a safe location such as the roadside. In this case, the driving mode is switched to the manual driving mode (default type).

[0064] In the case of the semi-autonomous driving mode, when the operator operates the travel button 40 on the touch panel 22 and the control unit 34 receives a start instruction from the touch panel 22, the control unit 34 starts the autonomous vehicle 10. After that, the control unit 34 performs vehicle speed control and steering angle control based on the detection results of various sensors included in the autonomous vehicle 10.

[0065] Switching from the autonomous driving mode to the manual driving mode

[0066] In some cases, even during driving in the autonomous driving mode, it is desired to switch to the manual driving mode for any reason. Examples of such cases include a situation where, although the autonomous driving vehicle 10 is driving safely, the autonomous driving vehicle 10 needs to perform driving other than the prescribed driving based on information from the management center. In that case, by the operation of the operator, the mechanical operation unit 24 is placed in an operable state. As a result, the "Manual" button for the manual driving mode on the touch panel 22 becomes operable, enabling the driving mode to be changed. When the "Manual" button for the manual driving mode is operated, the driving mode is switched to the manual driving mode (default type).

[0067] In this way, in the case of switching from the autonomous driving mode to the manual driving mode, the driving mode is basically switched to the default type. The upper limit driving speed in the default type is set lower than the upper limit vehicle speed in the autonomous driving mode. In addition, in the case where the driving mode is switched to the manual driving mode during driving in the autonomous driving mode, a configuration may be adopted that allows switching to the high-speed type only after the driving mode has been switched to the default type once. Thus, in the case where the high-speed type is selected due to an operator's erroneous operation, it is possible to prevent the driving force of the drive wheels from becoming too high.

[0068] In the autonomous driving mode, both the vehicle speed control and the steering control are performed by the driving control unit 20. Therefore, it is possible to prevent the driving force of the drive wheels from exceeding the maximum frictional force due to steering, making it possible to prevent skidding driving. On the other hand, in the manual driving mode, the steering is also performed manually, and therefore, the driving force of the drive wheels can exceed the maximum frictional force, resulting in skidding driving. In the present embodiment, the upper limit vehicle speed in the manual driving mode is set to a vehicle speed lower than the upper limit vehicle speed in the autonomous driving mode. Thus, it is possible to suppress skidding due to steering.

[0069] Switching to other driving modes

[0070] In the case where the manual driving mode ends, the autonomous driving vehicle 10 can return to the garage once and then the driving mode can be switched to the autonomous driving mode at a normal entry waiting location. For example, after an emergency stop, there are times when it is desired to return to autonomous driving at that location. In this case, the autonomous driving vehicle 10 can be placed in a waiting state once, and in response to an instruction from the management center, the driving mode can return to the autonomous driving mode.

[0071] In the case where communication failure or the like occurs during driving in the autonomous driving mode, the driving mode is switched to the semi-autonomous driving mode. In the case of driving in the semi-autonomous driving mode, the autonomous driving vehicle 10 can return to the garage once by driving along a specified route. Further, in the case where communication is restored during driving in the semi-autonomous driving mode, based on an instruction from the management center, the driving mode can be changed back to the autonomous driving mode again.

[0072] Driving in the manual driving mode

[0073] As described above, the manual driving mode includes multiple (three) types: (i) the default type, (ii) the narrow road type, and (iii) the high-speed type. For example, in the case where the manual driving mode is selected, the type can be displayed at an appropriate position on the touch panel 22 (for example, displayed at a position where it is not shown, or displayed instead of the deceleration button or the acceleration button). Figure 6 FIG. is an exemplary display of the type selection button in the manual driving mode. The vertical long form, the horizontal long form, etc. can be adopted as the display form according to the display position.

[0074] The operator selects one of the above buttons, and thereby, can select the type of the manual driving mode so that driving control is performed under the selected type.

[0075] The selection of the type of the manual driving mode can be controlled as follows.

[0076] (i) Automatically select the type of the manual driving mode based on the driving environment, where the driving environment is, for example, the road on which the autonomous driving vehicle 10 is driving, the road width of the set route to the destination, and the surrounding facilities (such as schools).

[0077] (ii) Restrict the type selection based on the above driving environment. For example, the high-speed type is prohibited from being selected on a curve.

[0078] Control using the mechanical operation unit

[0079] Regardless of the driving mode of the autonomous driving vehicle 10, the control unit 34 performs the driving control of the autonomous driving vehicle 10 in response to the operation of the mechanical operation unit 24.

[0080] Specifically, the control unit 34 controls the turning angle of the (wheel 14 of) the autonomous driving vehicle 10 based on the operation amount of the mechanical operation unit 24 in the right or left direction. In addition, the control unit 34 controls the drive motor, the engine, or the braking device based on the operation amount of the mechanical operation unit 24 in the forward or backward direction, and thereby, performs the vehicle speed control of the autonomous driving vehicle 10. In this way, the control unit 34 serves as a vehicle speed control unit. More specifically, the control unit 34 accelerates the autonomous driving vehicle 10 as the mechanical operation unit 24 is pressed in the forward direction, and decelerates the autonomous driving vehicle 10 as the mechanical operation unit 24 is pressed in the backward direction.

[0081] In the present embodiment, when the driving mode of the autonomous driving vehicle 10 is the manual driving mode, the autonomous driving vehicle 10 is traveling and the mechanical operation unit 24 is not operated by the operator (the mechanical operation unit 24 is in the neutral state), the control unit 34 controls the autonomous driving vehicle 10 to decelerate. Thereby, when the driving mode of the autonomous driving vehicle 10 is the manual driving mode, the autonomous driving vehicle 10 is traveling and the operator cannot operate the mechanical operation unit 24 for any reason, the autonomous driving vehicle 10 can be prevented from continuing to travel. That is, the safety of the autonomous driving vehicle 10 can be ensured.

[0082] In addition, when the driving mode of the autonomous driving vehicle 10 is the manual driving mode, the autonomous driving vehicle is in the parking state and the mechanical operation unit 24 is not operated by the operator, the control unit 34 controls the autonomous driving vehicle 10 to maintain the autonomous driving vehicle 10 in the parking state. More specifically, the control unit 34 maintains the autonomous driving vehicle 10 in the parking state, thereby preventing the autonomous driving vehicle 10 from moving forward due to the creep phenomenon, or preventing the autonomous driving vehicle 10 from sliding down due to the inclination when the autonomous driving vehicle 10 is parked on a slope road.

[0083] As the control for maintaining the autonomous driving vehicle 10 in the parking state, the braking device can be controlled so that the autonomous driving vehicle 10 is braked, or the drive motor or the engine can be controlled to generate a torque that allows the parking state to be maintained.

[0084] Other configurations of the mechanical operation unit

[0085] In the above-described embodiment, the mechanical operation unit 24 has a rod shape and can be pressed in the forward, backward, right, and left directions. However, the mechanical operation unit 24 is not limited thereto. For example, the mechanical operation unit 24 may be a slide knob that can move in the forward, backward, right, and left directions. In this case, the operation amount of the mechanical operation unit 24 is the amount of movement of the slide knob in the right or left direction, and the control unit 34, as a corner control unit, controls the corner of the autonomous driving vehicle 10 based on the selected corner characteristics and the amount of movement of the slide button in the right or left direction.

[0086] The mechanical operation unit 24 may be an arrow key (a composite button composed of four buttons corresponding to the forward, backward, right, and left directions) included in a game controller. In this case, the operation amount of the mechanical operation unit 24 is the time during which the left or right button of the arrow key is continuously pressed, and the control unit 34, as a corner control unit, controls the corner of the autonomous driving vehicle 10 based on the selected corner characteristics and the time during which the left or right button of the arrow key is continuously pressed.

[0087] In the above-described embodiment, the respective units of the driving control device 20 are provided in the autonomous driving vehicle 10, and the mechanical operation unit 24 is operated by an operator riding in the autonomous driving vehicle 10. However, the mechanical operation unit 24 may be provided outside the autonomous driving vehicle 10. For example, the mechanical operation unit 24 may be provided in a management center that manages a plurality of autonomous driving vehicles 10.

Claims

1. An autonomous vehicle having at least two driving modes including an autonomous driving mode and a manual driving mode, the autonomous driving mode performing automatic control of the driving of the vehicle, and the manual driving mode controlling the driving of the vehicle in response to an operation of an operator riding on the vehicle, wherein, The manual driving mode includes multiple types of manual driving modes, and the multiple types include a default type and a high-speed type. Among them, the upper speed limit in the default type is lower than the upper speed limit in the high-speed type; When the driving mode is switched from the autonomous driving mode to the manual driving mode, the autonomous vehicle sets the upper speed limit in the manual driving mode to a speed lower than the upper speed limit in the autonomous driving mode; The autonomous vehicle is configured such that, when the driving mode is switched to the manual driving mode during driving in the autonomous driving mode, it performs the switch to the high-speed type only after the driving mode has been switched to the default type once.

2. The autonomous vehicle according to claim 1, wherein, When the driving mode is switched from the autonomous driving mode to the manual driving mode, a manual driving mode type in which the upper speed limit in the manual driving mode is lower than the upper speed limit in the autonomous driving mode is selected from the multiple types of manual driving modes.

3. The autonomous vehicle according to claim 2, wherein, During driving in the manual driving mode, the selection of the type of the manual driving mode is controlled according to environmental information about the road on which the vehicle is traveling.

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