Control device for vehicle, control method for vehicle, and recording medium

Abstract

A control device for a vehicle, a control method for a vehicle, and a recording medium. The control device for the vehicle is provided in a vehicle that performs autonomous driving. The control device for the vehicle includes a detection unit and a vehicle control unit that controls the vehicle. The detection unit detects a rescue target in need of assistance based on the surrounding information of the vehicle acquired by the vehicle. When the detection unit detects a rescue target, the vehicle control unit performs a refuge control to stop the vehicle so that the rescue target can take refuge from the outside of the vehicle into the vehicle.

Description

Technical Field

[0001] The present invention relates to a control device for a vehicle, a control method for a vehicle, and a recording medium. Background Art

[0002] In recent years, vehicles capable of autonomous driving have been developed. The following technique is described in Japanese Unexamined Patent Application Publication No. 2019-206300: In a vehicle capable of autonomous driving, in order to ensure the safety of the vehicle occupants, the vehicle is caused to move to a shelter by autonomous driving in the event of a disaster. Summary of the Invention

[0003] However, the people in need of rescue are not limited to the vehicle occupants. For example, in the case where there are injured people on the road, it is preferable to quickly secure a shelter for the injured people.

[0004] Therefore, an object of the present disclosure is to provide a shelter to a person outside the vehicle in need of rescue using a vehicle capable of autonomous driving.

[0005] The gist of the present disclosure is as follows.

[0006] (1) A control device for a vehicle, provided in a vehicle that performs autonomous driving,

[0007] The control device for the vehicle includes a detection unit and a vehicle control unit that controls the vehicle,

[0008] The detection unit detects a rescue target in need of rescue based on the surrounding information of the vehicle obtained by the vehicle,

[0009] The vehicle control unit performs a refuge control to stop the vehicle so that the rescue target can take refuge from the outside of the vehicle into the vehicle.

[0010] (2) The control device for a vehicle according to (1) above,

[0011] Further includes a guiding unit that guides the rescue target into the vehicle by at least one of voice information and visual information.

[0012] (3) The control device for a vehicle according to (1) or (2) above,

[0013] The vehicle control unit,

[0014] Performs the refuge control when there are no passengers in the vehicle,

[0015] Does not perform the refuge control when there are passengers in the vehicle.

[0016] (4) The control device for a vehicle according to (1) or (2) above,

[0017] The operation mode of the vehicle switches between a passenger transportation mode for transporting passengers to a destination and an abnormal monitoring mode for monitoring for abnormalities around the vehicle.

[0018] The vehicle control unit,

[0019] Performs the evacuation control when the operation mode of the vehicle is the abnormal monitoring mode.

[0020] Does not perform the evacuation control when the operation mode of the vehicle is the passenger transportation mode.

[0021] (5) The vehicle control device according to any one of (1) to (4) above,

[0022] In the case where the rescue target is escaping, in the evacuation control, the vehicle control unit predicts the escape route of the rescue target and stops the vehicle in front of the escape route.

[0023] (6) The vehicle control device according to any one of (1) to (5) above,

[0024] Further includes a warning unit that warns the outside of the vehicle when the rescue target is attacked by a suspicious person.

[0025] (7) A vehicle control method for controlling a vehicle that performs autonomous driving,

[0026] The vehicle control method includes:

[0027] Detecting a rescue target in need of assistance based on the surrounding information of the vehicle obtained by the vehicle; and

[0028] When the rescue target is detected, stopping the vehicle so that the rescue target can take shelter from the outside of the vehicle into the vehicle.

[0029] (8) A recording medium that records a computer program for vehicle control,

[0030] The program causes a computer to execute the following processing:

[0031] Detecting a rescue target in need of assistance based on the surrounding information of the vehicle obtained by a vehicle capable of autonomous driving; and

[0032] When the rescue target is detected, stopping the vehicle so that the rescue target can take shelter from the outside of the vehicle into the vehicle.

[0033] According to the present disclosure, it is possible to use a vehicle capable of autonomous driving to provide a shelter for a person outside the vehicle in need of assistance. Brief Description of the Drawings

[0034] Hereinafter, the features, advantages, and technical and industrial significance of the exemplary embodiments of the present invention will be described with reference to the drawings. In the drawings, the same reference numerals denote the same elements, and among them:

[0035] Figure 1 is a diagram schematically showing a vehicle according to a first embodiment of the present invention.

[0036] Figure 2 is schematically showing Figure 1 the configuration of the vehicle.

[0037] Figure 3 is a functional block diagram of a processor of an ECU in the first embodiment.

[0038] Figure 4 is a flowchart showing a control routine executed by a control device of a vehicle according to a first embodiment of the present invention.

[0039] Figure 5 is a flowchart showing a control routine executed by a control device of a vehicle according to a second embodiment of the present invention.

[0040] Figure 6 is a flowchart showing a control routine executed by a control device of a vehicle according to a third embodiment of the present invention.

[0041] Figure 7 is a functional block diagram of a processor of an ECU in the fourth embodiment.

[0042] Figure 8 is a diagram showing an example of a situation where a rescue target is escaping.

[0043] Figure 9A is a flowchart showing a control routine executed by a control device of a vehicle according to a fourth embodiment of the present invention.

[0044] Figure 9B is a flowchart showing a control routine executed by a control device of a vehicle according to a fourth embodiment of the present invention. Detailed Description of the Embodiments

[0045] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in the following description, the same reference numerals are assigned to the same components.

[0046] <First Embodiment>

[0047] First, refer to Figures 1 to 4 to describe the first embodiment of the present invention. Figure 1FIG. 0 is a diagram schematically showing a vehicle 1 according to a first embodiment of the present invention. The vehicle 1 has a configuration described later and is configured to be capable of autonomous driving. That is, in the vehicle 1, acceleration, steering, and deceleration (braking) of the vehicle 1 are all automatically controlled, and a driver for driving the vehicle 1 is not required. In addition, autonomous driving is also referred to as self-driving, and the vehicle 1 is a so-called self-driving vehicle.

[0048] In addition, a plurality of seats are provided in the vehicle 1, and the vehicle 1 can transport a plurality of passengers through autonomous driving. In the present embodiment, the vehicle 1 is a route bus in which a running route of the vehicle 1 is preset. That is, the vehicle 1 stops at each bus stop on the running route for passengers to get on and off.

[0049] Figure 2 is a diagram schematically showing Figure 1 the configuration of the vehicle 1. As Figure 2 shown, the vehicle 1 includes an electronic control unit (ECU) 20. The ECU 20 has a communication interface 21, a memory 22, and a processor 23, and executes various controls of the vehicle 1. The communication interface 21 and the memory 22 are connected to the processor 23 via signal lines. The ECU 20 is provided in the vehicle 1 and is an example of a control device of the vehicle 1. In addition, although one ECU 20 is provided in the present embodiment, a plurality of ECUs may be provided for each function.

[0050] The communication interface 21 has an interface circuit for connecting the ECU 20 to an in-vehicle network that complies with a standard such as Controller Area Network (CAN). The ECU 20 communicates with in-vehicle devices connected to the in-vehicle network via the communication interface 21 and the in-vehicle network.

[0051] The memory 22 has, for example, a volatile semiconductor memory (e.g., RAM) and a non-volatile semiconductor memory (e.g., ROM). The memory 22 stores computer programs executed by the processor 23 and various data used when the processor 23 executes various processes.

[0052] The processor 23 has one or more Central Processing Units (CPUs) and its peripheral circuits, and executes various processes. In addition, the processor 23 may also have other arithmetic circuits such as a logic arithmetic unit, a numerical arithmetic unit, or a graphics processing unit.

[0053] In addition, as Figure 2As shown in the figure, the vehicle 1 is equipped with a surrounding information detection device 11, a vehicle state detection device 12, a passenger state detection device 13, a GNSS receiver 14, a map database 15, an actuator 16, an input / output device 17, an information output device 18, and a communication device 19. These in-vehicle devices are electrically connected to the ECU 20 respectively.

[0054] The surrounding information detection device 11 detects the surrounding information of the vehicle 1. The surrounding information includes sound information around the vehicle 1, information on objects around the vehicle 1 (such as white lines on the road, other vehicles, pedestrians, bicycles, buildings, signs, signal lights, obstacles, etc.). For example, the surrounding information detection device 11 includes a microphone that receives sounds around the vehicle 1, an external camera that generates an image of the surrounding of the vehicle 1, and a ranging sensor (millimeter-wave radar, Laser Imaging Detection And Ranging (LIDAR), ultrasonic sensor, etc.) that can detect objects (object targets) around the vehicle 1. The output of the surrounding information detection device 11, that is, the surrounding information of the vehicle 1 detected by the surrounding information detection device 11, is sent to the ECU 20 and input to the processor 23 of the ECU 20 via the input interface of the ECU 20, etc.

[0055] The vehicle state detection device 12 detects the state quantities of the vehicle 1. The state quantities of the vehicle 1 include the speed (vehicle speed), acceleration, steering angle, yaw rate, etc. of the vehicle 1. The vehicle state detection device 12 includes, for example, a vehicle speed sensor, an acceleration sensor, a steering angle sensor, a yaw rate sensor, etc. The output of the vehicle state detection device 12, that is, the state quantities of the vehicle 1 detected by the vehicle state detection device 12, is sent to the ECU 20 and input to the processor 23 of the ECU 20 via the input interface of the ECU 20, etc.

[0056] The passenger state detection device 13 detects the state of the passengers in the vehicle 1. The passenger state detection device 13 includes, for example, an in-vehicle camera, a seat belt sensor, a seating sensor, a human body sensing sensor, etc. The in-vehicle camera generates an image of the occupants. The seat belt sensor detects whether the seat belt is worn. The seating sensor detects whether an occupant is seated. The human body sensing sensor detects the getting on and off of the occupants. The output of the passenger state detection device 13, that is, the state of the passengers in the vehicle 1 detected by the passenger state detection device 13, is sent to the ECU 20 and input to the processor 23 of the ECU 20 via the input interface of the ECU 20, etc.

[0057] The GNSS receiver 14 detects the current position of the vehicle 1 (e.g., the latitude and longitude of the vehicle 1) based on the positioning information obtained from multiple (e.g., more than 3) positioning satellites. Specifically, the GNSS receiver 14 captures multiple positioning satellites and receives the radio waves transmitted from the positioning satellites. Further, the GNSS receiver 14 calculates the distance to the positioning satellites based on the difference between the transmission time and the reception time of the radio waves, and detects the current position of the vehicle 1 based on the distance to the positioning satellites and the positions (orbital information) of the positioning satellites. The output of the GNSS receiver 14, i.e., the current position of the vehicle 1 detected by the GNSS receiver 14, is sent to the ECU 20 and input to the processor 23 of the ECU 20 via the input interface of the ECU 20 or the like.

[0058] In addition, the Global Navigation Satellite System (GNSS) is a general term for satellite positioning systems such as the GPS of the United States, GLONASS of Russia, Galileo of Europe, QZSS of Japan, BeiDou (Compass) of China, and IRNSS of India. Therefore, the GNSS receiver 14 includes a GPS receiver.

[0059] The map database 15 stores three-dimensional map information such as road surface information, lane information, and the position information of buildings. The map stored in the map database 15 is a so-called high-precision map. The processor 23 of the ECU 20 acquires map information from the map database 15. In addition, the map information stored in the map database 15 can also be updated periodically by using communication with the outside of the vehicle 1, Simultaneous Localization and Mapping (SLAM) technology, etc. Alternatively, the map database may be provided in a server outside the vehicle 1, and the processor 23 of the ECU 20 may acquire map information from the server.

[0060] The actuator 16 moves the vehicle 1. For example, the actuator 16 includes a driving device (at least one of an engine and a motor) for accelerating the vehicle 1, a brake actuator for decelerating (braking) the vehicle 1, a steering motor for steering the vehicle 1, a door actuator for opening and closing the door of the vehicle 1, etc. The processor 23 of the ECU 20 controls the actuator 16 to perform autonomous driving of the vehicle 1.

[0061] The input / output device 17 is provided inside the vehicle 1 and performs information input / output between the vehicle 1 and the passengers. The input / output device 17 includes, for example, a display for displaying information, a speaker for generating sound, an operation button or an operation switch for the passengers to perform input operations, a microphone for receiving the voices of the passengers, etc. The input / output device 17 notifies various information output by the processor 23 of the ECU 20 to the passengers of the vehicle 1. In addition, the input / output device 17 sends information input by the passengers, etc. to the processor 23 of the ECU 20. The input / output device 17 is also referred to as a Human Machine Interface (HMI). In addition, a passenger's portable terminal (for example, a smart phone, a tablet terminal, etc.) can also be connected to the in-vehicle network of the vehicle 1 by wireless or wired means and function as an input / output device.

[0062] The information output device 18 is provided on the exterior (external decoration) of the vehicle 1, etc., and outputs information toward the outside of the vehicle 1. The information output device 18 includes, for example, a display for displaying information, a speaker for generating sound, etc. The information output device 18 notifies various information output by the processor 23 of the ECU 20 to people outside the vehicle.

[0063] The communication device 19 is a device capable of communicating between the vehicle 1 and the outside of the vehicle 1 (for example, a Data Communication Module (DCM)). The communication device 19 connects to the communication network via a wireless base station by accessing the wireless base station.

[0064] Figure 3 It is a functional block diagram of the processor 23 of the ECU 20 in the first embodiment. In the present embodiment, the processor 23 has a detection unit 25, a vehicle control unit 26, and a guidance unit 27. The detection unit 25, the vehicle control unit 26, and the guidance unit 27 are functional modules implemented by the processor 23 of the ECU 20 executing a computer program stored in the memory 22 of the ECU 20. In addition, the above functional modules can also be implemented by dedicated arithmetic circuits provided in the processor 23, respectively.

[0065] As described above, the vehicle 1 transports passengers by autonomous driving. In the case where a passenger in poor physical condition appears inside the vehicle 1, the vehicle 1 can move the passenger in poor physical condition to a suitable place. Examples of suitable places are the next bus stop, the nearest hospital, the transfer place of an ambulance, etc.

[0066] However, the people in need of assistance are not limited to the passengers of vehicle 1. For example, in the case where there are injured people on the road, it is preferable to quickly ensure a shelter for the injured people. Therefore, in the present embodiment, vehicle 1 is used to provide a shelter for people outside the vehicle who are in need of assistance. Specifically, the following control based on the detection unit 25, the vehicle control unit 26, and the guidance unit 27 is performed.

[0067] The detection unit 25 detects an assistance target in need of assistance based on the surrounding information of vehicle 1 acquired by vehicle 1. In the present embodiment, the detection unit 25 detects the assistance target based on the surrounding information of vehicle 1 detected by the surrounding information detection device 11 provided on vehicle 1. For example, the detection unit 25 analyzes the surrounding image of vehicle 1 generated by the external camera of the surrounding information detection device 11 by using image recognition technology such as machine learning, thereby detecting the assistance target around vehicle 1.

[0068] Examples of the assistance target include injured people with difficulty walking or emergency patients, and people attacked by suspicious persons (rioters, thieves, stalkers, etc.). For example, when a person lying on the road, a person being subjected to violence, or a person escaping from others is recognized from the surrounding image of vehicle 1, the detection unit 25 determines that there is an assistance target around vehicle 1. In order to perform this determination, learning of a machine learning model is performed in advance, and a large amount of image data including people in such states is used as teacher data for learning.

[0069] In addition, when a human help gesture (such as waving a hand greatly) is recognized from the surrounding image of vehicle 1, the detection unit 25 may also determine that there is an assistance target around vehicle 1. In this case, in the learning of the machine learning model, a large amount of image data including such gestures is used as teacher data for learning.

[0070] Alternatively, in addition to or instead of analyzing the surrounding image, the detection unit 25 analyzes the surrounding sound information of vehicle 1 detected by the microphone of the surrounding information detection device 11 by using sound recognition technology such as machine learning, thereby detecting the assistance target around vehicle 1. For example, when a help sound or a scream is detected, the detection unit 25 determines that there is an assistance target around vehicle 1. In this case, in the learning of the machine learning model, a large amount of sound data including such sounds is used as teacher data for learning.

[0071] When the detection unit 25 detects an assistance target, the vehicle control unit 26 performs a shelter control to stop vehicle 1 so that the assistance target can take shelter from the outside of vehicle 1 into vehicle 1. Thus, it is possible to use the autonomously drivable vehicle 1 to provide a shelter for people outside the vehicle who are in need of assistance.

[0072] The guiding unit 27 guides the rescue target into the vehicle 1 through at least one of voice information and visual information. For example, the guiding unit 27 guides the rescue target into the vehicle 1 by emitting a voice such as "Please take shelter in the vehicle" to the outside of the vehicle 1 via the information output device 18. In addition, the guiding unit 27 can also guide the rescue target into the vehicle 1 by displaying words or marks indicating that the vehicle 1 is a shelter location on the outside of the vehicle 1 via the information output device 18.

[0073] Hereinafter, with reference to Figure 4 The flow of the above control will be described. Figure 4 It is a flowchart showing a control routine executed by the control device of the vehicle according to the first embodiment of the present invention. This control routine is repeatedly executed by the ECU 20.

[0074] First, in step S101, the detection unit 25 acquires the surrounding information of the vehicle 1 detected by the surrounding information detection device 11. Next, in step S102, the detection unit 25 detects a rescue target around the vehicle 1 by analyzing at least one of the surrounding information of the vehicle 1, such as the surrounding image of the vehicle 1 and the surrounding voice information of the vehicle 1.

[0075] Next, in step S103, the vehicle control unit 26 determines whether a rescue target is detected by the detection unit 25. If it is determined that the detection unit 25 does not detect a rescue target, this control routine ends. On the other hand, if it is determined that the detection unit 25 detects a rescue target, this control routine proceeds to step S104.

[0076] In step S104, the vehicle control unit 26 uses the actuator 16 to stop the vehicle 1 so that the rescue target can take shelter from the outside of the vehicle 1 into the vehicle 1. That is, the vehicle control unit 26 performs shelter control. For example, the vehicle control unit 26 determines the position of the rescue target based on the analysis result of the surrounding information of the vehicle 1 and stops the vehicle 1 on the roadside (shoulder) near the rescue target. In addition, when the position of the rescue target is unknown, the vehicle control unit 26 can also stop the vehicle 1 on the roadside near the current position of the vehicle 1. In addition, in the shelter control, after stopping the vehicle 1, the vehicle control unit 26 can also use the actuator 16 (specifically, the door actuator) to open the door of the vehicle 1.

[0077] Next, in step S105, the guiding unit 27 guides the rescue target into the vehicle 1 by providing at least one of voice information and visual information to the rescue target via the information output device 18.

[0078] Next, in step S106, the vehicle control unit 26 determines whether the rescue target is boarding the vehicle 1 based on the output of the passenger state detection device 13. When it is determined that the rescue target is boarding the vehicle 1, the control routine proceeds to step S108.

[0079] In step S108, the vehicle control unit 26 closes the door of the vehicle 1 and starts the vehicle 1. For example, the vehicle control unit 26 moves the vehicle 1 toward the destination input by the rescue target via the input-output device 17. In addition, the vehicle control unit 26 may also prompt the rescue target via the input-output device 17 with a plurality of candidate locations (hospitals, police stations, etc.) pre-selected as the transportation destination, and move the vehicle 1 to the candidate location selected by the rescue target. In addition, the vehicle control unit 26 may also communicate with a server outside the vehicle 1 via the communication device 19, and the server notifies the vehicle 1 of the transportation destination of the rescue target. After step S108, this control routine ends.

[0080] On the other hand, if it is determined in step S106 that the rescue target is not on the vehicle 1, the control routine proceeds to step S107. In step S107, the vehicle control unit 26 determines whether a predetermined time has passed since the vehicle 1 stopped. If it is determined that the predetermined time has not passed, the control routine returns to step S105 and executes steps S105 and S106 again.

[0081] On the other hand, if it is determined in step S107 that the predetermined time has passed, the control routine proceeds to step S108. In this case, it is considered that the rescue target does not need rescue, so the vehicle control unit 26 closes the door of the vehicle 1 and starts the vehicle 1. After step S108, the control routine ends.

[0082] <Second embodiment>

[0083] The vehicle control device according to the second embodiment is basically similar in configuration and control to the vehicle control device according to the first embodiment except for the points described below. Therefore, the second embodiment of the present invention will be described below, focusing on the differences from the first embodiment.

[0084] As mentioned above, the vehicle 1 is used to transport passengers. Therefore, sometimes when there are passengers in the vehicle 1, a rescue target outside the vehicle is detected. If evacuation control is performed in this case, the predetermined plan of the passengers in the vehicle 1 may be hindered.

[0085] Therefore, in the second embodiment, the vehicle control unit 26 performs evacuation control when there are no passengers in the vehicle 1. The vehicle control unit 26 does not perform evacuation control when there are passengers in the vehicle 1. Thus, an evacuation place can be provided to the rescue target without reducing the quality of the passenger transportation service.

[0086] Figure 5 This is a flowchart showing a control routine executed by the control device of the vehicle according to the second embodiment of the present invention. This control routine is repeatedly executed by the ECU 20.

[0087] Steps S201 to S203 are executed in the same manner as Figure 4 steps S101 to S103. When it is determined in step S103 that a rescue target has been detected, this control routine proceeds to step S204.

[0088] In step S204, the vehicle control unit 26 determines whether there is a passenger in the vehicle 1 based on the output of the passenger state detection device 13. When it is determined that there is a passenger in the vehicle 1, this control routine ends. In this case, the detection unit 25 may also send the information of the rescue target together with the current position of the vehicle 1 to a server outside the vehicle 1. Thus, other vehicles such as emergency vehicles can be arranged for rescuing the rescue target.

[0089] On the other hand, when it is determined in step S204 that there is no passenger in the vehicle 1, this control routine proceeds to step S205. In step S205, in the same manner as Figure 4 step S104, the vehicle control unit 26 stops the vehicle 1. After step S205, steps S206 to S209 are executed in the same manner as Figure 4 steps S105 to S108.

[0090] In addition, step S204 may also be executed before step S201. That is, the detection unit 25 may analyze the surrounding information of the vehicle 1 only when there is no passenger in the vehicle 1 to detect a rescue target.

[0091] <Third Embodiment>

[0092] The control device of the vehicle according to the third embodiment is basically the same in configuration and control as the control device of the vehicle according to the first embodiment except for the points described below. Therefore, hereinafter, the third embodiment of the present invention will be described centering on the parts different from the first embodiment.

[0093] In the third embodiment, the operation mode of the vehicle 1 switches between a passenger transportation mode for transporting passengers to a destination and an abnormal monitoring mode for monitoring whether there is any abnormality around the vehicle 1. When the vehicle 1 is a route bus, in the passenger transportation mode, the vehicle 1 stops at each bus stop on the operation route for passengers to get on and off. That is, in the passenger transportation mode, the vehicle 1 provides a passenger transportation service.

[0094] On the other hand, in the abnormal monitoring mode, the vehicle 1 does not stop at the predetermined boarding location but travels on the pre-set driving route. For example, in the abnormal monitoring mode, the vehicle 1 periodically sends the surrounding information of the vehicle 1 detected by the surrounding information detection device 11 to a server outside the vehicle 1.

[0095] The operation mode of the vehicle 1 switches between the passenger transportation mode and the abnormal monitoring mode according to predetermined conditions (such as time period, day of the week, etc.). For example, the operation mode of the vehicle 1 is set to the abnormal monitoring mode at night (e.g., from 22:00 to 6:00). The operation mode of the vehicle 1 is set to the passenger transportation mode during time periods other than at night. In addition, the operation mode of the vehicle 1 can also be set by a server that manages the operation of the vehicle 1 according to the operating conditions of other vehicles, etc.

[0096] If evacuation control is performed when the operation mode of the vehicle 1 is the passenger transportation mode, it may cause an obstacle to the operation of the vehicle 1. Therefore, the vehicle control unit 26 performs evacuation control when the operation mode of the vehicle 1 is the abnormal monitoring mode. The vehicle control unit 26 does not perform evacuation control when the operation mode of the vehicle 1 is the passenger transportation mode. Thus, it is possible to provide an evacuation place to the rescue target without reducing the quality of the passenger transportation service.

[0097] Figure 6 It is a flowchart showing a control routine executed by the control device of the vehicle according to the third embodiment of the present invention. This control routine is repeatedly executed by the ECU 20.

[0098] Steps S301 to S303 are executed in the same manner as Figure 4 steps S101 to S103. If it is determined in step S103 that a rescue target has been detected, this control routine proceeds to step S304.

[0099] In step S304, the vehicle control unit 26 determines whether the operation mode of the vehicle 1 is the abnormal monitoring mode. If it is determined that the operation mode of the vehicle 1 is the passenger transportation mode, this control routine ends. In this case, the detection unit 25 may also send the information of the rescue target together with the current position of the vehicle 1 to a server outside the vehicle 1. Thus, it is possible to arrange other vehicles such as emergency vehicles for rescuing the rescue target.

[0100] On the other hand, if it is determined in step S304 that the operation mode of the vehicle 1 is the abnormal monitoring mode, this control routine proceeds to step S305. In step S305, in the same manner as Figure 4 step S104, the vehicle control unit 26 stops the vehicle 1. After step S305, steps S306 to S309 are executed in the same manner as Figure 4 steps S105 to S108.

[0101] In addition, step S304 may also be executed before step S301. That is, the detection unit 25 may also analyze the surrounding information of the vehicle 1 only when the operation mode of the vehicle 1 is the abnormal monitoring mode to detect the rescue target.

[0102] <Fourth Embodiment>

[0103] The control device of the vehicle according to the fourth embodiment is basically the same as the control device of the vehicle according to the first embodiment in terms of configuration and control except for the points described below. Therefore, hereinafter, the fourth embodiment of the present invention will be described centering on the parts different from the first embodiment.

[0104] Figure 7 It is a functional block diagram of the processor 23 of the ECU 20 in the fourth embodiment. In the fourth embodiment, in addition to the detection unit 25, the vehicle control unit 26, and the guidance unit 27, the processor 23 further has a warning unit 28. The detection unit 25, the vehicle control unit 26, the guidance unit 27, and the warning unit 28 are functional modules implemented by the processor 23 of the ECU 20 executing a computer program stored in the memory 22 of the ECU 20. In addition, the above functional modules may also be implemented by dedicated arithmetic circuits provided in the processor 23, respectively.

[0105] As described above, the detection unit 25 detects the rescue target in need of rescue. In the case where the rescue target is attacked by a suspicious person, it is desired not only to provide a shelter for the rescue target but also to be able to stop the harmful behavior of the suspicious person. Therefore, in the fourth embodiment, the warning unit 28 issues a warning to the outside of the vehicle 1 when the rescue target is attacked by a suspicious person. Thereby, the harmful behavior of the suspicious person can be stopped, and the rescue target can take refuge in the vehicle 1 more safely.

[0106] The case where the rescue target is attacked by a suspicious person refers to the case where the rescue target is subjected to violence, the case where the rescue target is running away, etc. For example, the warning unit 28 issues a warning sound to the outside of the vehicle 1 via the information output device 18 or by using the horn of the vehicle 1. In addition, the warning unit 28 may also notify warning text such as "Call the police" to the outside of the vehicle 1 via the information output device 18. In addition, the warning unit 28 may actually call the police using the communication device 19. In addition, the warning unit 28 may also issue a warning to the outside of the vehicle 1 by increasing the illumination intensity of the headlight of the vehicle 1.

[0107] In addition, when the rescue target is running away, even if the vehicle 1 is stopped near the rescue target, it is sometimes difficult for the rescue target to take shelter in the vehicle 1. Therefore, in the fourth embodiment, when the rescue target is running away, in the evacuation control, the vehicle control unit 26 predicts the escape route of the rescue target and stops the vehicle 1 in front of the escape route. That is, the vehicle control unit 26 makes the vehicle 1 reach the arrival location of the rescue target first. Thereby, the rescue target can smoothly take shelter in the vehicle 1.

[0108] For example, the vehicle control unit 26 determines the traveling direction of the rescue target based on a series of sequential images of the rescue target, and predicts the straight path in the traveling direction as the escape route of the rescue target. In this case, in Figure 8 In the situation shown, the vehicle control unit 26 stops the vehicle 1 at the position where it turns left at the intersection in front of the vehicle 1. In addition, in this case, the vehicle control unit 26 may also stop the vehicle 1 in front of the intersection in front of the vehicle 1.

[0109] Figure 9A and Figure 9B is a flowchart showing a control routine executed by the control device of the vehicle according to the fourth embodiment of the present invention. This control routine is repeatedly executed by the ECU 20.

[0110] Steps S401 to S403 are executed in the same manner as Figure 4 Steps S101 to S103. When it is determined in step S403 that the rescue target has been detected, this control routine proceeds to step S404.

[0111] In step S404, the warning unit 28 determines whether the rescue target has been attacked by a suspicious person based on the analysis result of the surrounding information of the vehicle 1. When it is determined that the rescue target has been attacked by a suspicious person, this control routine proceeds to step S405.

[0112] In step S405, the warning unit 28 issues a warning to the outside of the vehicle 1 via in-vehicle devices (information output device 18, horn, headlight, etc.) provided in the vehicle 1. The warning unit 28 continues to give a warning, for example, until the vehicle 1 starts.

[0113] After step S405, this control routine proceeds to step S406. On the other hand, when it is determined in step S404 that the rescue target has not been attacked by a suspicious person, this control routine skips step S405 and proceeds to step S406.

[0114] In step S406, the vehicle control unit 26 determines whether the rescue target is running away based on the analysis result of the surrounding information of the vehicle 1. When it is determined that the rescue target is not running away, this control routine proceeds to step S407. In step S407, the same asFigure 4 In step S104 similarly, the vehicle control unit 26 stops the vehicle 1. After step S407, steps S408 to S411 are executed similarly to Figure 4 steps S105 to S108 of

[0115] On the other hand, when it is determined in step S406 that the rescue target is running away, this control routine proceeds to step S412. In step S412, the vehicle control unit 26 predicts the escape path of the rescue target based on a series of time-sequential images of the rescue target. In addition, the vehicle control unit 26 may also predict the escape path of the rescue target based on the travel route of the sidewalk where the rescue target is located, the lighting state (traffic lights) of the traffic signal located in front of the rescue target, and the like.

[0116] Next, in step S413, the vehicle control unit 26 uses the actuator 16 to stop the vehicle 1 in front of the escape path. After step S413, steps S408 to S411 are executed similarly to Figure 4 steps S105 to S108 of

[0117] <Other Embodiments>

[0118] As described above, the preferred embodiments of the present invention have been described, but the present invention is not limited to these embodiments. The present invention can be implemented with various modifications and changes within the scope of the claims.

[0119] For example, when it is well known that "the vehicle 1 can be used as a shelter", the necessity of urging the rescue target to take shelter in the vehicle 1 is low. Therefore, the information output device 18 and the guiding unit 27 can also be omitted from the vehicle 1. In addition, the vehicle 1 may be an autonomous taxi, a demand-type bus that operates according to the usage requirements of users, or the like.

[0120] In addition, a computer program that causes a computer to implement the functions of each part of the processor 23 of the ECU 20 can also be provided in a form stored in a computer-readable recording medium. A computer-readable recording medium is, for example, a magnetic recording medium, an optical recording medium, or a semiconductor memory.

[0121] In addition, the above-described embodiments can be implemented by arbitrarily combining them. For example, when the fourth embodiment is combined with the second embodiment, in the Figure 9A and Figure 9B control routine, step S204 of Figure 5 is executed before step S406. In addition, when the fourth embodiment is combined with the third embodiment, in the Figure 9A and Figure 9BIn the control routine of, execute before step S406 Figure 6 Step S304 of

Claims

1. A control device for a vehicle, which is provided in a vehicle performing autonomous driving, The control device for the vehicle includes a detection unit and a vehicle control unit for controlling the vehicle, The detection unit detects a rescue target in need of assistance based on the surrounding information of the vehicle obtained by the vehicle, The vehicle control unit, when the rescue target is detected by the detection unit, performs a refuge control to stop the vehicle so that the rescue target can take refuge from the outside of the vehicle into the vehicle, When the rescue target is running away, in the refuge control, the vehicle control unit predicts the escape path of the rescue target and stops the vehicle in front of the escape path, The control device further includes a warning unit, and the warning unit issues a warning to the outside of the vehicle when the rescue target is attacked by a suspicious person.

2. The control device for a vehicle according to claim 1, It further includes a guiding unit, and the guiding unit guides the rescue target into the vehicle through at least one of voice information and visual information.

3. The control device for a vehicle according to claim 1 or 2, The vehicle control unit, Performs the refuge control when there are no passengers in the vehicle, Does not perform the refuge control when there are passengers in the vehicle.

4. The control device for a vehicle according to claim 1 or 2, The operation mode of the vehicle switches between a passenger transportation mode for transporting passengers to a destination and an abnormal monitoring mode for monitoring whether there is any abnormality around the vehicle, The vehicle control unit, Performs the refuge control when the operation mode of the vehicle is the abnormal monitoring mode, Does not perform the refuge control when the operation mode of the vehicle is the passenger transportation mode.

5. A control method for a vehicle, which controls a vehicle performing autonomous driving, The control method for the vehicle includes: Detecting a rescue target in need of assistance based on the surrounding information of the vehicle obtained by the vehicle; When the rescue target is detected, stopping the vehicle so that the rescue target can take refuge from the outside of the vehicle into the vehicle; When the rescue target is running away, predicting the escape path of the rescue target and stopping the vehicle in front of the escape path; And Issuing a warning to the outside of the vehicle when the rescue target is attacked by a suspicious person.

6. A recording medium, which records a computer program for vehicle control, The program causes a computer to execute the following processing: Detecting a rescue target in need of assistance based on the surrounding information of the vehicle obtained by a vehicle capable of performing autonomous driving; When the rescue target is detected, stopping the vehicle so that the rescue target can take refuge from the outside of the vehicle into the vehicle; When the rescue target is running away, predicting the escape path of the rescue target and stopping the vehicle in front of the escape path; And Issuing a warning to the outside of the vehicle when the rescue target is attacked by a suspicious person.

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