autonomous vehicles

Abstract

An automated driving vehicle includes a vehicle position estimating device for estimating the vehicle position, a touch panel that can be visually recognized by an operator, and a control device that controls the operation of the vehicle position estimating device and the touch panel, wherein the control device displays the operating status of the vehicle position estimating device by flashing an automatic mode selection button and a semi-automatic mode selection button on the touch panel.

Description

Technical Field

[0001] The present disclosure relates to a configuration of an autonomous driving vehicle equipped with a vehicle position estimation device. Background Art

[0002] In autonomous driving, it is necessary to accurately estimate the vehicle's position. Therefore, a method has been proposed that generates an image of the road surface at the vehicle's position based on vehicle position information and map information, captures an actual image of the road surface using a camera equipped in the vehicle, and checks the estimated accuracy of the vehicle's position based on the difference between the generated image and the captured actual image of the road surface (see Japanese Unexamined Patent Application Publication No. 2018-77771). The vehicle's position information is estimated based on signals from a GPS receiver and signals from a sensor that detects the vehicle's driving state. Summary of the Invention

[0003] In an autonomous vehicle, the operator sometimes switches the driving control mode to manual mode to perform manual driving. When switching from manual to autonomous driving, the operator must activate the vehicle position estimation device and complete the vehicle position estimation process before starting autonomous driving. Vehicle position estimation involves estimating the vehicle's position and heading on an in-vehicle map used for autonomous driving, for example, based on output from a GPS receiver, sensors that detect driving conditions and object detection sensors, and images from a camera.

[0004] Vehicle position estimation requires significant time because the vehicle's accurate position and orientation are determined based on output from multiple sensors and image information. Therefore, this process must begin well before automated driving begins. Furthermore, if the operator is manually driving before automated driving begins, the operator must be aware of the vehicle position estimation device's operating status.

[0005] Therefore, an object of the present disclosure is to enable an operator to recognize the operating status of a vehicle position estimation device in an autonomous vehicle.

[0006] The autonomous driving vehicle in the present disclosure is an autonomous driving vehicle, comprising: a vehicle position estimation device for estimating the vehicle position; a display device that can be visually identified by an operator; and a control device that controls the operation of the vehicle position estimation device and the display device, wherein the control device causes the display device to display the operating status of the vehicle position estimation device.

[0007] In this manner, the control device causes the display device, which can be visually recognized by the operator, to display the operating state of the vehicle position estimating device. Therefore, the operator can recognize the operating state of the vehicle position estimating device.

[0008] In the autonomous driving vehicle in the present disclosure, the control device can perform driving control and is capable of switching the driving control mode between automatic mode and manual mode, and when the vehicle position estimation device has not completed the vehicle position estimation work when the driving control mode is the manual mode, the control device can issue a notification to the operator that the vehicle position estimation device is in an execution standby state.

[0009] Thereby, the operator can be made to recognize that the vehicle position estimation device is in the standby state, and the operator can be prompted to operate the vehicle position estimation device and perform the vehicle position estimation operation before the start of automatic driving.

[0010] In the autonomous driving vehicle in the present disclosure, the display device may be a GUI device including a screen on which an operation element is displayed, the GUI device accepts the operator's operation when the operator selects the operation element, and when the vehicle position estimation device has not completed the vehicle position estimation work when the driving control mode is the manual mode, the control device may cause the display device to display another operation element, and the operator selects the execution or stop of the vehicle position estimation work through the other operation element.

[0011] Thereby, the operator can be made to recognize that the vehicle position estimating device has not yet completed the vehicle position estimating operation, and the operator can be prompted to operate the vehicle position estimating device and perform the vehicle position estimating operation before the start of automatic driving.

[0012] In the autonomous driving vehicle in the present disclosure, the display device may be a GUI device including a screen on which an operation element is displayed, the GUI device accepts the operation of the operator when the operator selects the operation element, the control device is capable of switching the driving control mode between automatic mode and manual mode, and when the driving control mode is the manual mode, the control device may perform driving control based on the operation of the operator accepted by the display device, and in the state where the driving control mode is the manual mode, when the vehicle position estimation device is performing the vehicle position estimation work during parking, in the case where an operation to start driving is input from the display device, the control device may stop the vehicle position estimation work in the vehicle position estimation device.

[0013] When the autonomous driving vehicle starts traveling in response to the operation of the operator while the vehicle position estimating device is performing the vehicle position estimating operation, a decrease in the estimation accuracy of the vehicle position can be avoided.

[0014] In the autonomous driving vehicle disclosed herein, the control device can perform driving control and is capable of switching the driving control mode between automatic mode and manual mode, and when the driving control mode is the manual mode, the control device can enable the vehicle position estimation device to perform vehicle position estimation work while parking at a predetermined position where the position information is known.

[0015] Even if a GPS receiver cannot receive signals from GPS satellites, the position of the vehicle on the on-vehicle map for autonomous driving can be estimated by estimating the vehicle position during parking at the predetermined position where the position information is known.

[0016] The present disclosure enables the operator to recognize the operating status of the vehicle position estimation device in the autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein:

[0018] Figure 1 is an external view of an autonomous vehicle in an embodiment;

[0019] Figure 2 is a block diagram showing the configuration of an autonomous driving vehicle in an embodiment;

[0020] Figure 3 is a perspective view of a cabin of the autonomous vehicle in an embodiment viewed from the front side of the autonomous vehicle toward the rear side of the autonomous vehicle;

[0021] Figure 4 is a perspective view of a front compartment of an autonomous driving vehicle in an embodiment;

[0022] Figure 5 It shows Figure 4 The screen of the touch panel and the plan view of the emergency stop button are shown;

[0023] Figure 6 is a plan view showing the arrangement of object detection sensors used for the autonomous driving vehicle in the embodiment;

[0024] Figure 7 is a diagram schematically illustrating a managed route and garage for an autonomous driving vehicle in an embodiment;

[0025] Figure 8 is a flowchart illustrating preliminary operations before the start of autonomous driving of an autonomous driving vehicle in an embodiment;

[0026] Figure 9is a diagram showing a screen of a touch panel in a case where the vehicle position estimation device of the autonomous driving vehicle in the embodiment has not yet performed a vehicle position estimation operation and the autonomous driving vehicle is being driven in a manual mode;

[0027] Figure 10 is a diagram showing a screen of a touch panel in a case where the autonomous driving vehicle in the embodiment stops at a vehicle entrance frame and the vehicle position estimation device is in an execution standby state; and

[0028] Figure 11 It is a diagram showing a screen of a touch panel when the vehicle position estimation device of the autonomous driving vehicle in the embodiment is performing a vehicle position estimation job or when the vehicle position estimation device of the autonomous driving vehicle in the embodiment has completed the vehicle position estimation job. DETAILED DESCRIPTION

[0029] The following will describe an autonomous driving vehicle 10 in an embodiment with reference to the accompanying drawings. Figure 1 This is an external view of an autonomous driving vehicle 10 according to this embodiment. The following description assumes that autonomous driving vehicle 10 is an electric bus that transports passengers while traveling autonomously. In the various figures of this specification, the terms "front (FR)" and "rear" refer to the front and rear directions of the vehicle, the terms "left (LH)" and "right" refer to the left and right directions when autonomous driving vehicle 10 is facing forward, and the terms "up (UP)" and "down" refer to the height of the vehicle.

[0030] like Figure 1 As shown, the autonomous vehicle 10 has a generally rectangular parallelepiped shape and has front-to-back symmetry, and the exterior design also has front-to-back symmetry. Vertically extending pillars 12 are provided at the four corners in a plan view, and wheels 14 are provided below the pillars 12. The front, rear, right, and left side walls of the autonomous vehicle 10 are largely formed by translucent panels 16. Panels 16 may be display panels, and characters, etc., may be displayed on the display panels.

[0031] The panel that is part of the left side surface is a slidable door 18 that is slid and opened so that the occupants can get on or off the autonomous vehicle 10. Figure 1 It is not shown in the figure, but a ramp that can be entered and exited is accommodated under the door 18. For example, when a person in a wheelchair gets on or off the autonomous vehicle 10, the ramp is used.

[0032] Figure 2 is a block diagram showing the configuration of the autonomous driving vehicle 10. Figure 2As shown, the autonomous vehicle 10 is an electric vehicle that includes a drive motor 85, a battery 87, and a power converter 86. The autonomous vehicle 10 travels by converting DC power from the battery 87 into desired AC power using the power converter 86 and driving the drive motor 85. Furthermore, the autonomous vehicle 10 includes a steering mechanism 88 that controls the steering of the vehicle and a braking mechanism 89 that controls the deceleration and stopping of the vehicle. The drive motor 85, power converter 86, battery 87, steering mechanism 88, and braking mechanism 89 are connected to the control device 70 via a data bus 71 and operate according to commands from the control device 70.

[0033] The autonomous driving vehicle 10 includes a communication device 72 , a touch panel 28 and an emergency stop button 34 as input devices, and a display 36 and a speaker 73 as output devices.

[0034] The communication device 72 communicates with an external device or a management center 96 (see Figure 7 ). The communication device 72 receives external information or information such as a travel schedule from the management center 96 to input the received information into the control device 70 and transmit the vehicle's position information and the like to the management center 96.

[0035] The touch panel 28 and the emergency stop button 34 are input devices for inputting driving commands to the control device 70. The touch panel 28 is a display device that includes a screen displaying operational elements and is a GUI device that accepts operator operations when the operator selects an operational element. The details of the touch panel 28 screen will be described later. In response to the operator's operation, the emergency stop button 34 inputs an emergency stop command to the control device 70.

[0036] The display 36 is connected to the control device 70 and displays various information related to the autonomous vehicle 10. For example, information such as vehicle speed, ambient temperature, and the next stop is displayed on the display 36. Similarly to the display 36, the speaker 73 is connected to the control device 70 and outputs voice guidance regarding information about the next stop.

[0037] The autonomous driving vehicle 10 is equipped with a GPS receiver 79 that acquires various data for performing autonomous driving, a driving state detection sensor 80 , an object detection sensor 81 , a camera 82 , a vehicle position estimation device 74 , and a navigation device 75 .

[0038] The GPS receiver 79 receives signals from a plurality of GPS satellites, thereby detecting the absolute position of the autonomous driving vehicle 10, for example, the latitude and longitude of the position of the autonomous driving vehicle 10. Information on the detected absolute position is output to the vehicle position estimation device 74, the control device 70, and the navigation device 75 via the data bus 71.

[0039] The driving state detection sensor 80 includes a speed sensor 80a, an acceleration sensor 80b, and a gyroscope 80c for detecting the driving state. Data detected by the sensors 80a, 80b, and the gyroscope 80c are output to the vehicle position estimation device 74 and the control device 70 via the data bus 71.

[0040] The object detection sensor 81 detects the position of objects present in the surroundings of the autonomous driving vehicle 10. The object detection sensor 81 includes a laser radar (LIDAR) 81a and a clearance sonar 81b. The LIDAR 81a is an abbreviation for "light detection and ranging" and is a sensor that performs object detection and distance measurement to the object using remote sensing technology using light. The clearance sonar 81b is a sensor that detects objects using ultrasonic waves. The data detected by the LIDAR 81a and the clearance sonar 81b are output to the vehicle position estimation device 74 and the control device 70 via the data bus 71. The arrangement of the LIDAR 81a and the clearance sonar 81b will be described in detail later.

[0041] The camera 82 captures images of the surroundings of the autonomous driving vehicle 10 and outputs the captured image data to the vehicle position estimating device 74 and the control device 70 via the data bus 71 .

[0042] The vehicle position estimation device 74 estimates the vehicle position based on outputs from one or more of the GPS receiver 79, the driving state detection sensor 80, the object detection sensor 81, and the camera 82 connected via the data bus 71, and outputs the estimated vehicle position to the control device 70. For the vehicle position estimation operation, the position and orientation direction of the autonomous driving vehicle 10 on the autonomous driving map 78 stored in the map data storage unit 76, described later, are estimated based on the outputs from the GPS receiver 79, the driving state detection sensor 80, and the object detection sensor 81, as well as the image from the camera 82. The vehicle position estimation device 74 is a computer that includes a CPU 74a that performs information processing and a memory 74b in which operation programs and operation data are stored.

[0043] The navigation device 75 includes a map data storage unit 76 and has functions such as displaying a map of the area surrounding the current location and setting a route using a route search. The map data storage unit 76 stores general map data 77 for driving in manual mode and an autonomous driving map 78 containing detailed road information regarding areas where autonomous driving is performed. Map data 77 and autonomous driving map 78 can be externally provided via the communication device 72. The navigation device 75 is connected to the vehicle position estimation device 74 and the control device 70 via a data bus 71. The navigation device 75 is a computer that includes a CPU 75a and a memory 75b. The CPU 75a is a processor that performs information processing, and the memory 75b stores operating programs, data, and the like.

[0044] The control device 70 controls the entire operation including the driving of the autonomous vehicle 10. The control device 70 is a computer including a CPU 70a and a memory 70b. The CPU 70a is a processor that performs information processing, and the memory 70b stores a control program and control data.

[0045] The control device 70 receives commands for driving from the touch panel 28 and the emergency stop button 34. Furthermore, the control device 70 receives various external information from the communication device 72 and a driving schedule and the like from the management center 96. Furthermore, the control device 70 receives estimated position information regarding the autonomous driving vehicle 10 from the vehicle position estimation device 74, position information regarding objects surrounding the autonomous driving vehicle 10 from the object detection sensor 81, and an image of the surroundings of the autonomous driving vehicle 10 from the camera 82. Based on the estimated position information regarding the autonomous driving vehicle 10 from the vehicle position estimation device 74, image input from the object detection sensor 81 or the camera 82, and the commands for driving from the touch panel 28 and the emergency stop button 34, the control device 70 causes the autonomous driving vehicle 10 to drive by controlling the drive motor 85, the power converter 86, the battery 87, the steering mechanism 88, and the brake mechanism 89.

[0046] The control device 70 can control the driving of the autonomous vehicle 10 in three driving control modes: automatic mode, semi-automatic mode, and manual mode. The automatic mode is a driving control mode in which the control device 70 controls the driving of the autonomous vehicle 10. In the automatic mode, the control device 70 controls the start, stop, acceleration and deceleration, gear shifting, and steering of the autonomous vehicle 10. Thus, driving control is performed so that the target position is the position of the autonomous vehicle 10 estimated by the vehicle position estimation device 74, and the autonomous vehicle 10 is able to automatically travel along the set route.

[0047] The semi-automatic mode is a travel control mode used in situations where a communication failure or the like has occurred, and is a travel control mode in which a portion of the travel control by the control device 70 is restricted. For example, acceleration during travel is performed by an operator's operation, while deceleration is performed by the control device 70. In the semi-automatic mode, acceleration to a predetermined speed can be performed by the control device 70 at the time of start-up, while acceleration thereafter can be performed by the operator.

[0048] The manual mode is a travel control mode in which the autonomous driving vehicle 10 does not perform autonomous driving and acceleration-deceleration and steering are performed by operations of an operator riding on the autonomous driving vehicle 10 .

[0049] Next, we will refer to Figures 3 to 5 The details of the touch panel 28 and the emergency stop button 34 as input devices for inputting a travel command for the autonomous driving vehicle 10 to the control device 70 will be described. Figure 3 and Figure 4 The configuration of the cabin of the autonomous driving vehicle 10 and the arrangement of the touch panel 28 and the emergency stop button 34 are described.

[0050] like Figure 3 As shown, in the center of the cabin of the autonomous vehicle 10, there is a floor 20 for passengers to stand on or for placing their wheelchairs. In addition, seats 22 for passengers are provided along the side walls of the cabin.

[0051] Furthermore, an operator's seat 24 is provided in the vehicle compartment, where an operator sits. Figure 3 The figure shows a state in which the seating portion 24a of the operator's seat 24 has been moved downward and the seating surface 24b has been exposed. The seating portion 24a can be folded up. In this embodiment, the operator's seat 24 is located on the left side surface in the vehicle compartment, in front of and near the door 18. However, the operator's seat 24 may be located on the right side surface in the vehicle compartment.

[0052] An armrest 26 extending in the front-rear direction is provided in front of the operator seat 24. The operator can put his arms on the armrest 26 when sitting on the operator seat 24. The armrest 26 is provided so as to be located above the seating surface 24b of the operator seat 24 in a state allowing seating.

[0053] like Figure 4As shown, at the front end portion of the armrest 26, a touch panel 28 is provided so as to stand upright from the upper surface of the armrest 26. The touch panel 28 faces the rear side (i.e., the side of the operator's seat 24). Therefore, the operator can operate the touch panel 28 by hand while sitting on the operator's seat 24 and placing his arms on the armrest 26. Through the touch panel 28, vehicle speed control instructions can be input in automatic mode, and device control instructions can be input to devices (indicators, horns, headlights, air conditioning, windshield wipers, etc.) provided in the autonomous vehicle 10. This will be referred to later. Figure 5 The details of the display screen of the touch panel 28 will be described.

[0054] The armrest 26 is provided with a storage section 30 for storing a mechanical operating unit. The mechanical operating unit is used to input driving control commands to the control device 70 of the autonomous vehicle 10. The storage section 30 is covered by a cover 32. When the mechanical operating unit is stored in the storage section 30, the mechanical operating unit is not exposed to the vehicle interior. In this embodiment, the upper surface of the armrest 26 is flush with the cover 32. Although the storage section 30 is provided in the armrest 26 in this embodiment, the storage section 30 can be provided elsewhere than the armrest 26. Even in this case, the storage section 30 is preferably located in an inconspicuous location, such as at the edge of one of the front, rear, right, or left sides of the vehicle interior. The mechanical operating unit is primarily pulled out of the storage section 30 when the autonomous vehicle 10 is in manual driving control mode. When the autonomous vehicle 10 is in automatic driving control mode, the mechanical operating unit is typically stored in the storage section 30 to prevent erroneous operation of the mechanical operating unit.

[0055] The emergency stop button 34 is an emergency stop operation input device for the autonomous driving vehicle 10 and is provided on the upper surface of the armrest 26. When the operator presses the emergency stop button 34, the emergency stop button 34 transmits an emergency stop signal to the control device 70 as a converted electric signal.

[0056] like Figure 4 As shown, a display 36 displaying information related to the autonomous vehicle 10 is located in the front left corner of the vehicle cabin. For example, information such as the vehicle speed, ambient temperature, and next stop of the autonomous vehicle 10 is displayed on the display 36. Similar to the touch panel 28, the display 36 faces rearward. Thus, the operator sitting in the operator's seat 24 can see the touch panel 28 and the display 36 side by side. Therefore, the operator can visually recognize both the touch panel 28 and the display 36.

[0057] Next, we will refer to Figure 5 The screen of the touch panel 28 is described. Figure 5The display screen when the automated driving vehicle 10 is stopped in the automatic mode is shown. As described above, the touch panel 28 is a GUI device that includes a screen displaying operational elements and accepts operator operations when the operator selects an operational element. The touch panel 28 displays a driving control mode button 44, a shift button 46, indicator buttons 48 and 49, a light button 50, a P brake button 52, a hazard button 54, a horn button 56, a GO button 60, an air conditioning tab 62, and a windshield wiper tab 64 as operational elements.

[0058] The driving control mode button 44 is a button for inputting a change instruction of the driving control mode, and includes three buttons: an automatic mode selection button 44a for selecting the automatic mode, a semi-automatic mode selection button 44b for selecting the semi-automatic mode, and a manual mode selection button 44c for selecting the manual mode. The driving control mode button 44 is set so that the driving control mode button 44 can be operated only when the autonomous driving vehicle 10 is stopped. Figure 5 In the example shown, "Auto" indicating automatic mode is selected.

[0059] The shift button 46 is a button for inputting a shift control instruction. In the present embodiment, in the automatic mode, the shift button 46 is set so that the shift button 46 cannot be operated, and the shift cannot be performed by the operator's operation.

[0060] Indicator buttons 48 and 49 are used to control the indicators. Light button 50 is used to control the headlights and taillights. P brake button 52 is used to input a command to activate or release the electric parking brake. Hazard button 54 is used to activate the hazard lights. Horn button 56 is used to activate the horn.

[0061] The GO button 60 is a button for inputting a movement start instruction to the control device 70 when the autonomous driving vehicle 10 is in the autonomous mode. When the GO button 60 is operated, the autonomous driving vehicle 10 starts traveling in the autonomous mode under the travel control of the control device 70.

[0062] The air conditioning tab 62 is a button for controlling the air conditioning. The windshield wiper tab 64 is a button for controlling the windshield wipers. Touching the air conditioning tab 62 displays various buttons for controlling the air conditioning, while touching the windshield wiper tab 64 displays various buttons for controlling the windshield wipers.

[0063] Furthermore, the battery charge amount of the autonomous driving vehicle 10 , the open-closed state of the door 18 , the state of the slope, the detection states of various sensors provided in the autonomous driving vehicle 10 , and the like are displayed on the upper portion 66 of the touch panel 28 .

[0064] Next, we will refer to Figure 6 The arrangement of the LIDAR 81 a and the clearance sonar 81 b of the object detection sensor 81 will be described.

[0065] like Figure 6 As shown, LIDAR 81as is attached to the right and left sides of the autonomous vehicle 10, slightly forward of the center of each. Additionally, LIDARs 81af and 81ar are located in the center of the front and rear surfaces of the autonomous vehicle 10, respectively. Furthermore, clearance sonars 81bf are attached to the two corners of the front side of the autonomous vehicle 10. Furthermore, clearance sonars 81bc are located at the two corners of the rear side of the autonomous vehicle 10. Furthermore, clearance sonars 81br are located to the sides of LIDAR 81ar at the center of the rear surface.

[0066] exist Figure 6 In FIG, the dotted sector line shows the detection range of the LIDAR 81as, 81af, and 81ar, and the solid sector line shows the detection range of the clearance sonar 81bf, 81bc, and 81br.

[0067] The dashed lines α and β respectively indicate the detection ranges of LIDAR 81af and LIDAR 81as, respectively, located on the front and side surfaces. In the figure, area B indicates the range where LIDARs 81af and 81as cannot perform detection. In the autonomous driving vehicle 10 of this embodiment, clearance sonar 81bf is located at a front corner, enabling detection of objects within area B.

[0068] Next, we will refer to Figures 7 to 11 The operation of the autonomous driving vehicle 10 configured as described above will be described below. The following description will be made assuming that the autonomous driving vehicle 10 is communicating with the management center 96 via the communication network 97 while autonomously driving along the Figure 7 The managed route 94 is shown.

[0069] exist Figure 7 In the example shown, managed route 94 is a circular route, and four autonomous vehicles 10 operate at approximately equal intervals. Stations 95a to 95h are installed at appropriate intervals for user convenience. For example, station 95a is a transfer station for bus stops and train stations that are not on managed route 94, while the other stations are stations near the user's home, etc. In addition, garage 90 is connected to a point (entrance and exit passages) on managed route 94. Autonomous vehicles 10 move from parking area 91 of garage 90 to vehicle entrance frame 92 or vehicle entrance frame 93, and enter managed route 94 from vehicle entrance frame 92 or vehicle entrance frame 93 or exit (leave) from managed route 94 to garage 90.

[0070] exist Figure 7 In FIG, the management route 94 is schematically shown. The actual management route 94 is not Figure 7 The route is not simply managed as shown, but rather includes intersections, turning points, and the like. At intersections, the autonomous vehicle 10 slows down and performs safety checks based on camera images to navigate the intersection. If necessary, the autonomous vehicle 10 stops at the intersection and performs safety checks to turn right or left. This can be performed automatically or in response to operator input.

[0071] The following will describe operations after the autonomous driving vehicle 10 stopped in the parking area 91 in the garage 90 moves from the parking area 91 to the vehicle entrance frame 93 and before the autonomous driving vehicle 10 enters the managed route 94 .

[0072] First, the autonomous vehicle 10 is parked at the parking area 91 in the garage 90, and operational preparations such as charging of the battery 87 are performed. After charging the battery 87, the operator boards the autonomous vehicle 10 and starts the autonomous vehicle 10 by pressing a start button of the autonomous vehicle 10. When the autonomous vehicle 10 starts, and Figure 8 As shown in step S101, when the operator selects the manual mode by pressing the manual mode selection button 44c on the touch panel 28, the manual mode selection button 44c on the touch panel 28 is lit. Figure 9 As shown, the automatic driving vehicle 10 can travel in the manual mode. At this time, the vehicle position estimation work in the vehicle position estimation device 74 is not performed, and the automatic mode and the semi-automatic mode cannot be selected. Therefore, as Figure 8 Step S102 and Figure 9 As shown, the characters "AUTO" and "SEMI-AUTO" as the automatic mode selection button 44a and the semi-automatic mode selection button 44b on the touch panel 28 are displayed in gray. Thus, the operator recognizes that the vehicle position estimation operation has not yet been performed.

[0073] Next, the operator pulls the mechanical operating unit out of the storage portion 30 and performs manual operation. The operator moves the autonomous vehicle 10 from the parking area 91 to the vehicle entrance frame 93, as shown in FIG. Figure 8 Step S103 and Figure 7 As shown by the arrow 98, the autonomous driving vehicle 10 is stopped on the vehicle entrance frame 93, as shown in FIG. Figure 8 Step S104 and Figure 7 shown.

[0074] When the autonomous driving vehicle 10 stops at the vehicle entrance frame 93 and the “park” of the shift button 46 is selected, the control device 70 checks whether the GPS receiver 79, sensors such as the driving state detection sensor 80 and the object detection sensor 81, and devices such as the camera 82, which are necessary for the vehicle position estimation operation, are operating normally. Figure 8 As shown in step S105. When the control device 70 determines that the device and the sensor are working properly, the control device 70 determines that the vehicle position estimation device 74 is in a state where the vehicle position estimation work can be performed, and proceeds to step S106. Figure 8 Then, in step S106. Figure 8 In step S106, the control device 70 causes the automatic mode selection button 44a and the semi-automatic mode selection button 44b on the touch panel 28 to flash at a cycle of 1 second. Figure 10 In addition, the control device 70 displays a vehicle position estimation operation on / off button 68 as an operation element for executing and stopping the vehicle position estimation operation on the screen of the touch panel 28. Thus, the control device 70 notifies the operator that the vehicle position estimation device 74 is in the execution standby state.

[0075] Next, when the operator operates the vehicle position estimation operation on / off button 68 to cause the vehicle position estimation device 74 to execute the vehicle position estimation operation, as shown in FIG. Figure 8 As shown in step S107, the control device 70 causes the automatic mode selection button 44a and the semi-automatic mode selection button 44b on the touch panel 28 to flash at a cycle of 0.5 seconds. Figure 8 Step S108 and Figure 11 Furthermore, the control device 70 ends the display of the vehicle position estimation operation on / off button 68 on the screen of the touch panel 28 .

[0076] While the vehicle position estimating device 74 is performing the vehicle position estimation operation, the control device 70 monitors whether an operation to start the driving of the automatic driving vehicle 10 has been input from the touch panel 28, such as Figure 8 Examples of the operation for starting travel include an operation for selecting "travel" of the shift button 46 and an operation for inputting the start of travel from the mechanical operating unit.

[0077] exist Figure 8 If the determination result in step S109 is negative, the control device 70 proceeds to Figure 8 In step S110, it is determined whether the vehicle position estimation work has been completed. Figure 8 If the determination result in step S110 is negative, the control device 70 returns to Figure 8In step S108, the automatic mode selection button 44a and the semi-automatic mode selection button 44b on the touch panel 28 continue to flash at a cycle of 0.5 seconds.

[0078] exist Figure 8 If the determination in step S110 is yes, the control device 70 proceeds to Figure 8 In step S111, Figure 11 The blinking cycle of the automatic mode selection button 44a and the semi-automatic mode selection button 44b on the touch panel 28 shown is changed from 0.5 seconds to 2 seconds, and the operation is terminated.

[0079] When the vehicle position estimation work has been completed, information about the position and heading direction of the autonomous driving vehicle 10 on the autonomous driving map 78 is input from the vehicle position estimation device 74 to the control device 70. Thereby, the control device 70 can control the driving of the autonomous driving vehicle 10 in the autonomous mode or the semi-autonomous mode.

[0080] After the vehicle position estimation work has been completed, the control device 70 checks whether the door 18 is closed, and then starts the automatic driving while communicating with the management center 96. Figure 7 As shown by the arrow 99 in , the autonomous driving vehicle 10 enters the managed route 94 from the vehicle entrance box 93 and automatically drives along the managed route 94.

[0081] On the other hand, Figure 8 If the determination in step S109 is yes, the control device 70 proceeds to Figure 8 In step S112, the vehicle position estimation operation in the vehicle position estimation device 74 is stopped. Then, the control device 70 proceeds to Figure 8 Step S113. Figure 9 As shown, the control device 70 displays the characters "Automatic" and "Semi-Automatic" as the automatic mode selection button 44a and the semi-automatic mode selection button 44b in gray on the touch panel 28 and ends the operation. Thus, the operator recognizes that the vehicle position estimation operation has not been executed.

[0082] exist Figure 8 In the case where the determination in step S105 is negative, the control device 70 determines that it is difficult to perform the vehicle position estimation operation in the vehicle position estimation device 74 and ends the operation. Figure 9 As shown, the characters of “AUTO” and “SEMI-AUTO” as the automatic mode selection button 44 a and the semi-automatic mode selection button 44 b on the touch panel 28 continue to be displayed in gray, whereby the operator recognizes that the vehicle position estimation work has not been performed.

[0083] As described above, the automatic driving vehicle 10 in this embodiment displays the operating status of the vehicle position estimating device 74 on the touch panel 28 which can be visually recognized by the operator, and thus the operator can recognize the operating status of the vehicle position estimating device 74 .

[0084] In the automated vehicle 10 of this embodiment, the automated mode selection button 44a and the semi-automatic mode selection button 44b on the touch panel 28 flash in a one-second cycle. This allows the operator to recognize that the vehicle position estimation device 74 is in the execution standby state and encourages the operator to activate the vehicle position estimation device 74 and perform the vehicle position estimation operation before the start of automated driving. Furthermore, by displaying the vehicle position estimation operation on / off button 68, the operator is encouraged to activate the vehicle position estimation device 74 and perform the vehicle position estimation operation before the start of automated driving.

[0085] Thus, even when it takes a long time to accurately estimate the position and orientation direction of the autonomous driving vehicle 10 on the autonomous driving map 78 based on the outputs from the GPS receiver 79, the driving state detection sensor 80 and the object detection sensor 81, and the image from the camera 82, etc. during the vehicle position estimation work, the vehicle position estimation work can be completed before the start time of the autonomous driving, and the autonomous driving vehicle 10 can be operated on time.

[0086] When an operation to start the driving of the automatically driven vehicle 10 has been input during the execution of the vehicle position estimation operation, the vehicle position estimation operation is stopped. Therefore, a decrease in the estimation accuracy of the vehicle position can be avoided.

[0087] In the above description, the vehicle position estimation work in the vehicle position estimation device 74 is based on the output from the GPS receiver 79, the driving state detection sensor 80 and the object detection sensor 81, and the image from the camera 82 to estimate the position and orientation direction of the autonomous driving vehicle 10 on the autonomous driving map 78, but is not limited to this.

[0088] For example, when it is impossible to receive signals from GPS satellites and the GPS receiver 79 is unable to detect the absolute position of the autonomous driving vehicle 10, the absolute position of the autonomous driving vehicle 10 can be detected by stopping the autonomous driving vehicle 10 on a vehicle entrance frame 93 whose position information is known, and vehicle position estimation work can be performed.

[0089] Regarding the display of the operating status of the vehicle position estimation device 74, in the above description, the display on the touch panel 28 is shown in gray or flashes, but the present invention is not limited to this. Indicators such as "execution standby," "execution," and "execution completed" may be output on the touch panel 28. In addition, in the above description, the flashing cycle for displaying the operating status by flashing the display on the touch panel 28 is 0.5 seconds, 1 second, or 2 seconds, but the present invention is not limited to this. An appropriate cycle that allows the operator to easily recognize the operating status may be selected.

[0090] Furthermore, in the above description, the operating status of the vehicle position estimating device 74 is displayed on the screen of the touch panel 28 , but the present invention is not limited thereto, and the operating status of the vehicle position estimating device 74 may be displayed on the display 36 .

Claims

1. An autonomous driving vehicle comprising: a vehicle position estimating device that estimates a vehicle position; a display device capable of being visually recognized by an operator; as well as A control device that controls the operation of the vehicle position estimating device and the display device, wherein The control device causes the display device to display the working status of the vehicle position estimation device; The control device performs travel control and is capable of switching the travel control mode between an automatic mode and a manual mode; The display device is a GUI device including a screen on which an operation element is displayed, and the GUI device accepts an operation by the operator when the operator selects the operation element; and When the vehicle position estimation device has not completed the vehicle position estimation work when the driving control mode is the manual mode, the control device causes the display device to display another operation element, and the operator selects the execution or stop of the vehicle position estimation work through the other operation element, and the control device notifies the operator that the vehicle position estimation device is in the execution standby state.

2. The autonomous driving vehicle of claim 1, wherein: When the travel control mode is the manual mode, the control device performs travel control based on an operation of the operator accepted by the display device; and When the vehicle position estimating device is performing vehicle position estimating work during parking in a state where the driving control mode is the manual mode, the control device stops the vehicle position estimating work in the vehicle position estimating device when an operation to start driving is input from the display device.

3. The autonomous driving vehicle according to claim 1 or 2, wherein: In a state in which the travel control mode is the manual mode, the control device causes the vehicle position estimating device to perform a vehicle position estimating operation while the vehicle is parked at a predetermined position whose position information is known.

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