Computer, vehicle, server, mobile terminal, and autonomous driving method

Abstract

The present disclosure relates to a computer, a vehicle, a server, a mobile terminal, and an automated driving method. The computer includes a search section that searches for a route from a first place to a second place, and an automated driving section that performs automated driving of the vehicle in accordance with the route found by the search section. The search section is configured to execute first route search that searches for a route that satisfies a first requirement, in a case where a prescribed condition does not hold. The search section is configured to execute second route search that searches for a route that satisfies a second requirement, in a case where the prescribed condition holds. The first requirement does not include the presence of an automatic car washer on the route. The second requirement includes the presence of an automatic car washer on the route.

Description

Technical Field

[0001] This disclosure relates to computers, vehicles, servers, mobile terminals, and autonomous driving methods. Background Technology

[0002] Japanese Patent Application Publication No. 2020-166760 discloses a system for determining whether an autonomous vehicle needs maintenance and scheduling maintenance work if maintenance is required.

[0003] It is believed that with the further development of autonomous driving technology, systems that provide services automatically through autonomous vehicles without human intervention will become practical. In such systems, due to the continuous and long-term autonomous driving to improve the efficiency of the vehicles, vehicle cleaning may become inadequate. Insufficient vehicle cleaning may cause malfunctions or lead to unpleasant experiences for service users. Summary of the Invention

[0004] This disclosure was made to solve the above-mentioned problems, and its purpose is to facilitate the washing of autonomous vehicles at an appropriate frequency.

[0005] The computer of the first aspect of this disclosure includes: a search unit for searching a route from a first location to a second location; and an autonomous driving unit for performing autonomous driving of the vehicle according to the route found by the search unit. The search unit is configured to: perform a first route search to search for a route that satisfies a first requirement if a predetermined condition is not met. The search unit is configured to: perform a second route search to search for a route that satisfies a second requirement if a predetermined condition is met. The first requirement does not include the presence of an automatic car wash on the route. The second requirement includes the presence of an automatic car wash on the route. Hereinafter, the conditions specified above will also be referred to as "car wash route search conditions".

[0006] Based on the above configuration, when the car wash route search conditions are not met, a route for autonomous driving is searched without considering the location of the automatic car wash machine (first route search). On the other hand, when the car wash route search conditions are met, a route including the automatic car wash machine is searched (second route search), and autonomous driving of the vehicle is performed according to the route including the automatic car wash machine. Therefore, the vehicle can be washed using an automatic car wash machine during autonomous driving. By setting the above car wash route search conditions in a manner that the time when car washing is needed is met and the time when car washing is not needed is not met, the decline in vehicle operating efficiency can be suppressed, and insufficient cleaning of the vehicle can be prevented. According to the above computer, it is easy to wash the autonomous vehicle at an appropriate frequency.

[0007] It should be noted that an automatic car wash is a car wash machine that can be used by vehicles in autonomous driving mode while maintaining autonomous driving. Automatic car wash machines can be either vehicle-mounted, hands-free, or other types.

[0008] Alternatively, the car wash route search condition can be met if a specified time has elapsed since the vehicle's last wash. Based on this structure, the car wash route search condition is likely to be met at the scheduled time when a car wash is needed.

[0009] Alternatively, the car wash route search condition can be met if the distance traveled since the vehicle's last wash exceeds a specified value. Based on this structure, the car wash route search condition is easily met at the scheduled time when a car wash is needed.

[0010] Alternatively, the vehicle can be configured to perform a second autonomous driving function for a second task after performing a first autonomous driving function for a first task. Alternatively, the car wash route search condition can be met during a route search where the end point of the first task is set as the first location and the start point of the second task is set as the second location. With this configuration, the car wash route search condition is easily met at the scheduled time when a car wash is required.

[0011] Alternatively, both the first and second requirements could include the vehicle's ability to arrive at the second location before the specified time. With this configuration, the vehicle can easily arrive at the second location before the target time (the specified time).

[0012] Alternatively, the autonomous driving unit can be configured to: when multiple routes satisfying the first requirement are found through a first route search, determine a driving route from among these multiple routes according to a predetermined first priority criterion, and perform autonomous driving of the vehicle according to the determined driving route. Alternatively, the autonomous driving unit can be configured to: when multiple routes satisfying the second requirement are found through a second route search, determine a driving route from among these multiple routes according to a predetermined second priority criterion, and perform autonomous driving of the vehicle according to the determined driving route.

[0013] Based on the above configuration, when the search unit finds multiple routes, it automatically determines a driving route and executes autonomous driving of the vehicle according to that route. Therefore, autonomous driving of the vehicle can be executed easily and smoothly.

[0014] Alternatively, the first priority criterion may include a criterion related to the time of arrival at the second location. Alternatively, the second priority criterion may include a criterion related to the location of the automatic car wash and a criterion related to the time of arrival at the second location.

[0015] Based on the above configuration, the vehicle can easily arrive at the second location before the target time. Furthermore, based on the above configuration, it is easy to wash the vehicle at an appropriate location (or, at an appropriate time).

[0016] It should be noted that automatically determining the driving route is not mandatory; it can also be set up so that the user can choose one of the multiple routes found by the search department.

[0017] Alternatively, any of the aforementioned computers may also include a car wash unit that requests a car wash from an automatic car wash machine located on the route along which the autonomous driving unit drives the vehicle automatically. With this configuration, it is easy to wash the vehicle using an automatic car wash machine while the vehicle is in autonomous driving mode.

[0018] Alternatively, the car wash unit can be configured to: when a second route search is performed, determine the target car wash from among the automatic car washes existing on the route where the vehicle is driven by the automatic driving unit. Alternatively, the car wash unit can be configured to: if the automatic car wash approaching the vehicle matches the target car wash, request the target car wash to wash the vehicle.

[0019] Based on the above configuration, it is possible to select an automatic car wash machine (target car wash machine) that meets the needs of the vehicle from among the automatic car wash machines existing on the vehicle's autonomous driving route, and request the vehicle to be washed from the target car wash machine.

[0020] The second aspect of this disclosure describes a vehicle equipped with a control device. The vehicle also includes: an autonomous driving suite; and a vehicle control interface that mediates the exchange of signals between the control device and the autonomous driving suite. The autonomous driving suite is configured to send commands for autonomous driving to the control device via the vehicle control interface. The control device is configured to control the vehicle according to the commands from the autonomous driving suite. The control device is configured to send signals indicating the vehicle's state to the autonomous driving suite via the vehicle control interface. Furthermore, the control device or the autonomous driving suite includes any of the aforementioned computers.

[0021] The aforementioned vehicles include the aforementioned computer, thus enabling easy washing of autonomous vehicles at appropriate frequencies.

[0022] The server for the third viewpoint of this disclosure includes any of the aforementioned computers.

[0023] The aforementioned server includes the computer mentioned above, thus enabling easy washing of autonomous vehicles at an appropriate frequency.

[0024] The mobile terminal of the fourth aspect of this disclosure includes any of the aforementioned computers.

[0025] The aforementioned mobile terminal includes the aforementioned computer, thus enabling easy washing of autonomous vehicles at an appropriate frequency.

[0026] The fifth aspect of this disclosure's autonomous driving method includes a judgment step, a first search step, a second search step, and an autonomous driving step. In the judgment step, it is determined whether a predetermined condition is met. In the first search step, if the predetermined condition is not met, a first route search is performed to search for a route that satisfies a first requirement. In the second search step, if the predetermined condition is met, a second route search is performed to search for a route that satisfies a second requirement. In the autonomous driving step, the vehicle is driven autonomously according to the route found through the first route search or the second route search. The first requirement does not include the presence of an automatic car wash on the route. The second requirement includes the presence of an automatic car wash on the route.

[0027] Based on the aforementioned autonomous driving method, similarly to the aforementioned computer, it is also easy to wash autonomous vehicles at an appropriate frequency.

[0028] According to this disclosure, it is easy to wash autonomous vehicles at an appropriate frequency. Attached Figure Description

[0029] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, wherein the same reference numerals denote the same elements, wherein:

[0030] Figure 1 This is a diagram showing the general configuration of the vehicle according to Embodiment 1 of this disclosure.

[0031] Figure 2 It means Figure 1 A diagram showing details of the vehicle's control system.

[0032] Figure 3 This is a diagram used to illustrate the details of the computer and various systems provided in the vehicle according to Embodiment 1 of this disclosure.

[0033] Figure 4 This is a flowchart illustrating the autonomous driving method of Embodiment 1 of this disclosure.

[0034] Figure 5 This is a flowchart illustrating the details of the route determination process in the autonomous driving method of Embodiment 1 of this disclosure.

[0035] Figure 6 It means Figure 5 The flowchart shown details the first route search.

[0036] Figure 7 It means Figure 5The flowchart shows the details of the second route search.

[0037] Figure 8 This is a diagram showing an example of an automatic car wash machine.

[0038] Figure 9 It means Figure 4 The flowchart shown details the processing steps for autonomous driving control.

[0039] Figure 10 It means Figure 4 The flowchart shows the details of the car wash control process.

[0040] Figure 11 This is a diagram showing an example of the configuration of various automatic car wash machines on a map.

[0041] Figure 12 It means targeting Figure 11 The table shown on the map indicates whether each of the route candidates, service requirements, and car wash requirements is met.

[0042] Figure 13 This is a flowchart illustrating the details of the route determination process in the autonomous driving method of Embodiment 2 of this disclosure.

[0043] Figure 14 It means Figure 10 The flowchart shows a variation of the processing.

[0044] Figure 15 It means Figure 5 The flowchart shows a variation of the processing.

[0045] Figure 16 It means Figure 7 The flowchart shows a variation of the processing. Detailed Implementation

[0046] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. It should be noted that in the drawings, the same or corresponding parts are labeled with the same reference numerals, and their descriptions will not be repeated.

[0047] [Implementation Method 1]

[0048] Figure 1 This is a diagram illustrating a schematic configuration of a vehicle according to an embodiment of the present disclosure. (See also...) Figure 1 Vehicle 1 is equipped with an autonomous driving kit (hereinafter referred to as "ADK" 200) and a vehicle platform (hereinafter referred to as "VP" 2).

[0049] VP2 includes the control system of the base vehicle 100 and the vehicle control interface box (hereinafter referred to as "VCIB"). VCIB 111 is located within the base vehicle 100. VCIB 111 can communicate with ADK200 via an in-vehicle network such as CAN (Controller Area Network). It should be noted that although in Figure 1 The base vehicle 100 and ADK200 are shown in separate positions, but in reality, ADK200 is mounted on the base vehicle 100. In this embodiment, ADK200 is mounted on the roof of the base vehicle 100. However, the mounting position of ADK200 can be appropriately changed.

[0050] The base vehicle 100 is, for example, a commercially available xEV (electric vehicle). An xEV is a vehicle that uses electricity as its power source, either wholly or partially. In this embodiment, a BEV (Battery Electric Vehicle) is used as the base vehicle 100. However, it is not limited to this; the base vehicle 100 can also be an xEV other than a BEV (HEV (Hybrid Electric Vehicle), PHEV (Plug-in Hybrid Electric Vehicle), FCEV (Fuel Cell Electric Vehicle), etc.). The base vehicle 100 has, for example, four wheels. However, it is not limited to this; the base vehicle 100 can also have three wheels, or even five or more wheels.

[0051] In addition to the integrated control manager 115, the control system of the base vehicle 100 includes various systems and sensors for controlling the base vehicle 100. The integrated control manager 115 comprehensively controls various systems related to the operation of the base vehicle 100 based on signals (sensor detection signals) from the various sensors included in the base vehicle 100.

[0052] In this embodiment, the integrated control manager 115 includes a control device 150. The control device 150 includes a processor 151, RAM (Random Access Memory) 152, and a storage device 153. The processor 151 may be, for example, a CPU (Central Processing Unit). The RAM 152 functions as working memory, temporarily storing data processed by the processor 151. The storage device 153 is configured to store stored information. The storage device 153 may include, for example, ROM (Read Only Memory) and rewritable non-volatile memory. In addition to the program, the storage device 153 stores information used in the program (e.g., maps, formulas, and various parameters). In this embodiment, the processor 151 executes the program stored in the storage device 153 to perform various vehicle controls (e.g., automatic driving control according to instructions from ADK200). However, these processes can also be performed by dedicated hardware (electronic circuitry) instead of software. It should be noted that the number of processors in the control device 150 is arbitrary, and processors can be prepared for each specified control.

[0053] The base vehicle 100 includes a braking system 121, a steering system 122, a powertrain system 123, an active safety system 125, and a body system 126. These systems are centrally controlled by a comprehensive control manager 115. In this embodiment, each system has a computer. Furthermore, the computer of each system communicates with the comprehensive control manager 115 via an in-vehicle network (e.g., CAN). Hereinafter, the computer of each system will be referred to as an "ECU (Electronic Control Unit)".

[0054] The braking system 121 includes braking devices for each wheel of the base vehicle 100 and an ECU for controlling the braking devices. In this embodiment, a hydraulic disc brake device is used as the braking device. The base vehicle 100 is equipped with wheel speed sensors 127A and 127B. Wheel speed sensor 127A is located on the front wheels of the base vehicle 100 and detects the rotational speed of the front wheels. Wheel speed sensor 127B is located on the rear wheels of the base vehicle 100 and detects the rotational speed of the rear wheels. The ECU of the braking system 121 outputs the rotational direction and rotational speed of each wheel detected by the wheel speed sensors 127A and 127B to the integrated control manager 115.

[0055] The steering system 122 includes a steering mechanism of the base vehicle 100 and an ECU that controls the steering mechanism. The steering mechanism may include, for example, a rack and pinion EPS (Electric Power Steering) that allows adjustment of the steering angle via an actuator. The base vehicle 100 includes a pinion angle sensor 128. The pinion angle sensor 128 detects the rotation angle (pinion angle) of the pinion gear connected to the rotation shaft of the actuator constituting the steering mechanism. The ECU of the steering system 122 outputs the pinion angle detected by the pinion angle sensor 128 to the integrated control manager 115.

[0056] The powertrain 123 includes: an EPB (Electric Parking Brake) located on at least one of the wheels of the base vehicle 100; a P-Lock device located on the transmission of the base vehicle 100; a shift mechanism configured to select a gear; a drive source for the base vehicle 100; and an ECU for controlling the various devices included in the powertrain 123. The EPB is separate from the aforementioned braking device and uses an electric actuator to fix the wheels. The P-Lock device, for example, uses a parking lock pawl that can be driven by an actuator to fix the rotational position of the transmission output shaft. Details will be described later, but in this embodiment, a motor powered by a battery is used as the drive source for the base vehicle 100. The ECU of the powertrain 123 outputs to the integrated control manager 115 the presence or absence of fixing achieved by the EPB and P-Lock device, the gear selected by the shift mechanism, and the battery and motor (see later description). Figure 3 Each of their respective states.

[0057] The active safety system 125 includes an ECU that determines the likelihood of a collision with the vehicle 1 while it is in motion. The base vehicle 100 is equipped with a camera 129A and radar sensors 129B and 129C that detect the surrounding conditions, including those in front of and behind the vehicle 1. The ECU of the active safety system 125 uses signals received from the camera 129A and radar sensors 129B and 129C to determine whether a collision is possible. If the active safety system 125 determines that a collision is possible, the integrated control manager 115 outputs a braking command to the braking system 121 to increase the braking force of the vehicle 1. The base vehicle 100 of this embodiment has the active safety system 125 from the outset (at the factory). However, it is not limited to this; an active safety system that can be added to the base vehicle may also be used.

[0058] The body system 126 includes body system components (e.g., turn indicators, horn, and wipers) and an ECU that controls the body system components. In manual mode, the ECU of the body system 126 controls the body system components according to user operation; in autonomous mode, it controls the body system components according to instructions received from the ADK200 via the VCIB111 and the integrated control manager 115.

[0059] Vehicle 1 is configured for autonomous driving. VCIB111 functions as the vehicle control interface. When Vehicle 1 is driving autonomously, the integrated control manager 115 and ADK200 exchange signals via VCIB111, and the integrated control manager 115 executes driving control (i.e., autonomous driving control) in Autonomous Mode according to instructions from ADK200. It should be noted that ADK200 can also be removed from the base vehicle 100. Even with ADK200 removed, the base vehicle 100 can still be driven independently by the user. When driving independently, the control system of the base vehicle 100 executes driving control (i.e., driving control corresponding to user operation) in Manual Mode.

[0060] In this embodiment, ADK200 exchanges signals with VCIB111 according to the API (Application Program Interface) that defines each signal being communicated. ADK200 is configured to process various signals defined by the aforementioned API. For example, ADK200 creates a driving plan for vehicle 1 and outputs various commands to VCIB111 according to the aforementioned API, requesting control to make vehicle 1 drive according to the created driving plan. Hereinafter, each of the various commands output from ADK200 to VCIB111 will be referred to as an "API command". In addition, ADK200 receives various signals representing the state of the base vehicle 100 from VCIB111 according to the aforementioned API and reflects the received state of the base vehicle 100 in the creation of the driving plan. Hereinafter, each of the various signals received by ADK200 from VCIB111 will be referred to as an "API signal". Both API commands and API signals are equivalent to signals defined by the aforementioned API. Details regarding the configuration of ADK200 will be described later (see [link]). Figure 2 ).

[0061] VCIB111 receives various API commands from ADK200. When an API command is received from ADK200, VCIB111 converts the API command into a signal form that can be processed by the integrated control manager 115. Hereinafter, the API command converted into a signal form that can be processed by the integrated control manager 115 will also be referred to as a "control command". When an API command is received from ADK200, VCIB111 outputs the corresponding control command to the integrated control manager 115.

[0062] The control unit 150 of the integrated control manager 115 sends various signals (e.g., sensor signals or status signals) indicating the state of the base vehicle 100 detected in the control system of the base vehicle 100 via VCIB 111 to ADK 200. VCIB 111 sequentially receives signals indicating the state of the base vehicle 100 from the integrated control manager 115. VCIB 111 determines the value of the API signal based on the signals received from the integrated control manager 115. Furthermore, VCIB 111 converts the signals received from the integrated control manager 115 into API signal form as needed. Then, VCIB 111 outputs the obtained API signal to ADK 200. API signals indicating the state of the base vehicle 100 are sequentially output from VCIB 111 to ADK 200 in real time.

[0063] In this embodiment, signals with low universality, defined by the automobile manufacturer, are exchanged between the integrated control manager 115 and VCIB 111, while signals with higher universality (e.g., signals defined through a publicly available API) are exchanged between ADK 200 and VCIB 111. VCIB 111 can enable the integrated control manager 115 to control the vehicle according to instructions from ADK 200 by performing signal conversion between ADK 200 and the integrated control manager 115. However, the function of VCIB 111 is not limited to performing the aforementioned signal conversion. For example, VCIB 111 can also make predetermined judgments and send signals based on its judgment results (e.g., signals for notification, instruction, or request) to at least one of the integrated control manager 115 and ADK 200. Details regarding the configuration of VCIB 111 will be described later (see [reference]). Figure 2 ).

[0064] The base vehicle 100 also includes a communication device 130. The communication device 130 includes various communication I / Fs (interfaces). The control device 150 is configured to communicate with external devices of the vehicle 1 (e.g., the mobile terminal UT and server 500 described later) via the communication device 130. The communication device 130 includes a wireless communication device (e.g., a DCM (Data Communication Module)) capable of accessing a mobile communication network (Telematics: in-vehicle information services). The communication device 130 communicates with the server 500 via the mobile communication network. The wireless communication device may also include communication I / Fs corresponding to 5G (fifth-generation mobile communication system). Furthermore, the communication device 130 includes a device for communicating with an automatic car wash (see below) located around the vehicle 1. Figure 8 The communication device 130 includes a communication I / F for wireless communication. Furthermore, the communication device 130 includes a communication I / F for direct communication with a mobile terminal UT located within or around the vehicle. The communication device 130 and the mobile terminal UT can also perform short-range communication such as wireless LAN (Local Area Network), NFC (Near Field Communication), or Bluetooth (registered trademark).

[0065] The mobile terminal UT is a terminal carried by a user using vehicle 1. In this embodiment, a smartphone with a touch panel display is used as the mobile terminal UT. However, it is not limited to this; any mobile terminal can be used as the mobile terminal UT, such as a laptop, tablet, wearable device (e.g., smartwatch or smart glasses), or electronic key.

[0066] The aforementioned vehicle 1 can be adopted as one of the components of a MaaS (Mobility as a Service) system. MaaS systems include, for example, MSPF (Mobility Service Platform). MSPF is a unified platform connecting various mobility services (e.g., various mobility services provided by ride-sharing providers, car-sharing providers, insurance companies, rental car providers, taxi providers, etc.). Server 500 is a computer in MSPF that manages and exposes information used for mobility services. Server 500 manages information on various mobility services and provides information (e.g., APIs and information related to cooperation between mobility services) based on requests from providers. Providers of services can utilize the various functionalities provided by MSPF using the APIs exposed on MSPF. For example, the APIs required for the development of ADK are exposed on MSPF.

[0067] Server 500 includes a processor 501, RAM 502, storage device 503, and HMI (Human Machine Interface) 504. Storage device 503 is configured to store information. In addition to the program, storage device 503 stores information used in the program (e.g., mappings, formulas, and various parameters). HMI 504 includes input devices and a display device. HMI 504 can also be a touch panel display. HMI 504 can also include a smart speaker that accepts voice input.

[0068] Figure 2 This is a diagram showing details of the control system of vehicle 1. (Refer to...) Figure 1 and Figure 2 ADK200 includes an autonomous driving system (hereinafter referred to as "ADS").202 for performing autonomous driving of vehicle 1. ADS202 includes a computer 210, an HMI 230, a recognition sensor 260, an attitude sensor 270, and a sensor cleaner 290.

[0069] Computer 210 includes a processor and a storage device storing autonomous driving software utilizing APIs, and is configured to execute the autonomous driving software via the processor. The autonomous driving software performs controls related to autonomous driving (see below). Figure 4The autonomous driving software can be updated sequentially via OTA (Over-The-Air). Computer 210 also includes communication modules 210A and 210B.

[0070] HMI 230 is a device for exchanging information between a user and computer 210. HMI 230 includes input devices and reporting devices. The user can instruct or request the computer 210 through HMI 230, or change the values ​​of parameters used in the autonomous driving software (however, only permitted parameters can be changed) through HMI 230. HMI 230 may be a touch panel display that functions as both an input device and a reporting device.

[0071] The identification sensor 260 includes various sensors that acquire information (hereinafter also referred to as "environmental information") for identifying the external environment of the vehicle 1. The identification sensor 260 acquires the environmental information of the vehicle 1 and outputs this environmental information to the computer 210. The environmental information is used for autonomous driving control. In this embodiment, the identification sensor 260 includes: a camera that captures images of the area around the vehicle 1 (including the front and rear); and an obstacle sensor (e.g., millimeter-wave radar and / or lidar) that senses obstacles via electromagnetic waves or sound waves. The computer 210 can, for example, use the environmental information received from the identification sensor 260 to identify people, objects (other vehicles, pillars, guardrails, etc.) and lines on the road (e.g., center lines) that are within the range that can be identified from the vehicle 1. Artificial intelligence (AI) or an image processing processor may also be used for identification.

[0072] The attitude sensor 270 acquires information related to the attitude of vehicle 1 (hereinafter also referred to as "attitude information") and outputs this attitude information to computer 210. The attitude sensor 270 includes various sensors that detect the acceleration, angular velocity, and position of vehicle 1. In this embodiment, the attitude sensor 270 includes an IMU (Inertial Measurement Unit) and a GPS (Global Positioning System) sensor. The IMU detects the acceleration of vehicle 1 in the forward, left, right, and up / down directions, and the angular velocities of vehicle 1 in the roll, pitch, and yaw directions. The GPS sensor uses signals received from multiple GPS satellites to detect the position of vehicle 1. In the fields of automobiles and aircraft, techniques for combining IMUs with GPS to measure attitude with high accuracy are well known. Computer 210 can, for example, use such well-known techniques to measure the attitude of vehicle 1 based on the aforementioned attitude information.

[0073] Sensor cleaner 290 is a device for removing dirt from sensors (e.g., identification sensor 260) exposed to outside air outside the vehicle. For example, sensor cleaner 290 can be configured to clean camera lenses and obstacle sensor nozzles using cleaning fluid and a wiper.

[0074] In vehicle 1, redundancy is provided for prescribed functions (e.g., braking, steering, and vehicle fixation) to enhance safety. The control system 102 of the base vehicle 100 includes multiple systems performing equivalent functions. Specifically, the braking system 121 includes braking systems 121A and 121B. The steering system 122 includes steering systems 122A and 122B. The powertrain system 123 includes an EPB system 123A and a P-Lock system 123B. Each system has an ECU. Even if one of the multiple systems performing equivalent functions malfunctions, the other will continue to operate normally, thus ensuring the normal functioning of that function in vehicle 1.

[0075] VCIB111 includes VCIB111A and VCIB111B. Each of VCIB111A and VCIB111B includes a computer. Communication modules 210A and 210B of computer 210 are configured to communicate with the computers of VCIB111A and VCIB111B, respectively. VCIB111A and VCIB111B are connected in a manner that allows them to communicate with each other. Each of VCIB111A and VCIB111B can operate independently, and even if one malfunctions, the other will continue to operate normally, thus ensuring the normal operation of VCIB111. Both VCIB111A and VCIB111B are connected to the aforementioned systems via integrated control manager 115. However, as... Figure 2 As shown, the connection destinations differ in parts of VCIB111A and VCIB111B.

[0076] In this embodiment, the function of accelerating vehicle 1 is not redundant. The powertrain 123 includes a propulsion system 123C as a system for accelerating vehicle 1.

[0077] Figure 3 This diagram illustrates the details of the computer 210 and various systems present in vehicle 1. (Refer to...) Figure 1 , Figure 2 as well as Figure 3Vehicle 1 includes an MG (Motor Generator) 20, an ECU 21, a PCU (Power Control Unit) 22, a braking device 30, a brake sensor 30a, a pressure sensor 30b, a occupant sensor 40, a battery 160, a navigation system (hereinafter also referred to as "NAVI") 170, a reader 180, and drive wheels W. The MG 20, ECU 21, and PCU 22 are included in the propulsion system 123C. The braking device 30 and the brake sensor 30a are included in the braking system 121 (… Figure 1 )middle.

[0078] Battery 160 supplies power to propulsion system 123C. Battery 160 can be a known vehicle energy storage device (e.g., a liquid secondary battery, an all-solid-state secondary battery, or a battery pack). Examples of vehicle secondary batteries include lithium-ion batteries and nickel-metal hydride batteries. Battery 160 is configured to be capable of contact charging (plug-in charging).

[0079] A monitoring module 160a is provided in the battery 160. The monitoring module 160a includes various sensors that detect the state of the battery 160 (e.g., voltage, current, and temperature) and outputs the detection results to the integrated control manager 115. The monitoring module 160a may be a BMS (Battery Management System) that, in addition to the aforementioned sensor functions, also has a SOC (State of Charge) estimation function. The control device 150 can obtain the state of the battery 160 (e.g., temperature, current, voltage, and SOC) based on the output of the monitoring module 160a. SOC represents the remaining charge capacity, for example, expressed as 0 to 100% as the ratio of the current charge capacity to the charge capacity in a fully charged state.

[0080] The propulsion system 123C uses the electricity stored in the battery 160 to generate the driving force for the vehicle 1. The MG20 is, for example, a three-phase AC electric generator. The PCU22 includes, for example, an inverter, a converter, and a relay (hereinafter referred to as "SMR (System Main Relay)"). The PCU22 is controlled by the ECU21. The SMR is configured to switch the connection / disconnection of the circuit from the battery 160 to the MG20. The SMR is in the closed state (connected state) when the vehicle 1 is in motion.

[0081] MG20 is driven by PCU22, causing the drive wheels W of vehicle 1 to rotate. Furthermore, MG20 regenerates electricity and supplies the generated power to battery 160. PCU22 uses the power supplied from battery 160 to drive MG20. The number of driving motors (MG20) in vehicle 1 is arbitrary; it can be one, two, or more than three. The driving motors can also be in-wheel motors. Figure 3 Only one drive wheel W is schematically shown, but the number of drive wheels W and the drive method in vehicle 1 are arbitrary. The drive method of vehicle 1 can be any of front-wheel drive, rear-wheel drive, or four-wheel drive.

[0082] Each wheel (including the drive wheel W) of the vehicle 1 is equipped with: a braking device 30; a brake sensor 30a, which detects the braking force applied to the wheel by the braking device 30; and a tire pressure sensor 30b, which detects the tire pressure. The brake sensor 30a may also be a hydraulic sensor that detects the hydraulic pressure applied to the brake pads (or wheel cylinders). The braking force (e.g., the hydraulic pressure corresponding to the braking force) detected by the four brake sensors 30a is output to the integrated control manager 115. In addition, the detection result of the tire pressure sensor 30b is also output to the integrated control manager 115.

[0083] A occupancy sensor 40 is configured to detect the presence of a person inside the vehicle 1. More specifically, the occupancy sensor 40 acquires information about the interior environment of the vehicle 1 for identification and outputs the acquired information to the integrated control manager 115. The occupancy sensor 40 includes at least one of a camera facing inwards and an infrared sensor. The occupancy sensor 40 may also include at least one of a seating sensor and a seatbelt sensor. The control device 150 can determine whether the vehicle 1 is occupied or unoccupied based on the output of the occupancy sensor 40.

[0084] The NAVI170 is configured to include a touch panel display, a GPS module, and a storage device (none shown). The storage device stores map information. The map information shows the locations of each automatic car wash on the map. The touch panel display accepts input from the user inside the vehicle or displays maps and other information. The GPS module is configured to receive signals from GPS satellites (not shown) (hereinafter referred to as "GPS signals"). The NAVI170 can use GPS signals to determine the location of vehicle 1. The NAVI170 is configured to display the location of vehicle 1 on the map in real time. The NAVI170 is configured to refer to map information to perform a path search to find the best route (e.g., the shortest route) from the current location of vehicle 1 to its destination. The NAVI170 can update the map information sequentially via OTA.

[0085] The reader 180 is configured to read specified identification information from an image. More specifically, the reader 180 captures an image, extracts a specified code from the image, and performs decoding processing. The code extracted from the image is converted into specified identification information through the aforementioned decoding processing. Then, the reader 180 outputs the identification information read from the image to the integrated control manager 115. However, the reading method of the reader 180 is not limited to the above method and is arbitrary. For example, the reader 180 can also be an RFID (Radio Frequency Identification) reader.

[0086] Vehicle 1 is configured to switch between autonomous and manual modes. The API signals received by ADK200 from VCIB111 include a signal indicating whether Vehicle 1 is in autonomous or manual mode (hereinafter referred to as "autonomous mode"). The user can select either autonomous or manual mode via a designated input device (e.g., HMI230 or mobile terminal UT). When the user selects a driving mode, Vehicle 1 enters the selected driving mode, and the selection result is reflected in the autonomous mode. However, if Vehicle 1 is not in an autonomous driving state, it will not switch to autonomous mode even if the user selects it. Furthermore, when user-initiated driving mode switching is disabled, the user-initiated driving mode selection becomes invalid. The switching of vehicle 1's driving mode can also be performed by the integrated control manager 115. The integrated control manager 115 can switch between autonomous and manual modes according to instructions from server 500.

[0087] In this embodiment, the vehicle manager uses server 500 to manage vehicle 1. Although only vehicle 1 is mentioned in this embodiment, the vehicle manager may also use server 500 to manage multiple vehicles. The vehicle manager may, for example, provide passenger transport services. Server 500 may also manage service usage fees for each user. It should be noted that the type of service (task) is not limited to passenger transport and can be varied appropriately.

[0088] Vehicle 1 provides services via autonomous driving when the driver is not present. That is, there is no vehicle manager in Vehicle 1. Essentially, only service users ride in Vehicle 1, and when all service users disembark, Vehicle 1 becomes unmanned.

[0089] Server 500 can identify the user currently using vehicle 1 and report information related to that user to the vehicle manager. Server 500 manages information (user information) related to each user registered in storage device 503. Each user is assigned an identification information (user ID), and server 500 uses the user ID to distinguish and manage user information. In this embodiment, each user registered with server 500 carries a mobile terminal UT. User information includes personal information (name, address, age, service usage history, etc.) and the address of the user's mobile terminal UT.

[0090] A mobile terminal UT contains application software (hereinafter referred to as the "mobile application") for using vehicle 1. When a user uses vehicle 1, the mobile terminal UT displays an image containing the user's identification information (user ID). Then, when the user presents the mobile terminal UT displaying the image to the reader 180 of vehicle 1, the user ID read by the reader 180 is sent from vehicle 1 to server 500. Server 500 performs user authentication based on the received user ID and determines the user using vehicle 1. Server 500 retrieves user information corresponding to the user ID from storage device 503 according to a request from the vehicle administrator and displays it on HMI 504. Furthermore, server 500 sends information related to the user using vehicle 1 to vehicle 1 according to a request from vehicle 1.

[0091] In this embodiment, the computer 210 of ADK200 includes a search unit 51, an automatic driving unit 52, and a car wash unit 53. The search unit 51 is configured to search for a route from a first location to a second location. Specifically, the search unit 51 performs a first route search if predetermined conditions are not met (see below). Figure 5 S23), under the conditions specified above, performs a second route search (see below). Figure 5 (S24). The automatic driving unit 52 is configured to perform automatic driving of vehicle 1 according to the route found by the search unit 51. The car wash unit 53 is configured to request a car wash for vehicle 1 from an automatic car wash machine located on the route where the automatic driving unit 52 drives vehicle 1 automatically. In this embodiment, the search unit 51, the automatic driving unit 52, and the car wash unit 53 are specifically implemented by the processor 151 and the program executed by the processor 151. However, this is not a limitation; these units can also be specifically implemented by dedicated hardware (electronic circuitry).

[0092] When the service is initiated, server 500 sends a signal to vehicle 1 requesting the commencement of autonomous driving (hereinafter also referred to as a "service request signal"). The service request signal includes information related to the requested service. In this embodiment, regarding the autonomous driving requested from vehicle 1, the service request signal includes a departure point, an arrival time to the departure point (hereinafter also referred to as a "requested departure time"), a destination, and an arrival time to the destination (hereinafter also referred to as a "requested arrival time"). The service request signal requests vehicle 1 to perform route searching and autonomous driving, setting vehicle 1's current location as a first location (starting location) and the aforementioned destination as a second location (ending location). Furthermore, the service request signal requests vehicle 1 to arrive at the departure point before the requested departure time, pick up the user at the departure point, and arrive at the destination before the requested arrival time. Hereinafter, the content requested via the service request signal will also be referred to as "service requirements."

[0093] When vehicle 1 receives a service request signal, after the integrated control manager 115 sets vehicle 1 to autonomous mode, ADK200 begins the process described below. Figure 4 The series of processes shown. Figure 4 This is a flowchart illustrating the autonomous driving method of Implementation Method 1. Hereinafter, each step in the flowchart will be simply referred to as "S".

[0094] Reference Figures 1-3 as well as Figure 4 In S11, computer 210 determines whether the driving route is undetermined. If the driving route is still undetermined ("yes" in S11), computer 210 determines the driving route in S12. The processing in S12 is basically performed while vehicle 1 is stationary. Figure 5 This is a flowchart showing the details of S12.

[0095] Reference Figures 1-3 as well as Figure 5 In S21, computer 210 acquires the current location, departure point, and destination. In this embodiment, the departure point and destination are indicated by the aforementioned service request signal. Computer 210 may, for example, use the output of attitude sensor 270 or NAVI 170 to acquire the current location of vehicle 1.

[0096] In S22, computer 210 determines whether time T1 exceeds a predetermined threshold (hereinafter referred to as "Th1"). Time T1 is stored, for example, in the storage device of computer 210. Time T1 is equivalent to the elapsed time since the last car wash. Details will be described later, but whenever vehicle 1 is washed, time T1 is reset and the measurement of time T1 begins. Figure 10 (S43).

[0097] Th1 can be either a fixed value or a variable value. Computer 210 can determine Th1 using at least one of the meteorological information and the type of task of vehicle 1.

[0098] The frequency of car washing required for vehicle 1 tends to vary depending on the weather. For example, during rainy weather, the frequency of car washing tends to be lower compared to sunny weather. Furthermore, after the rain stops and snow accumulates, the frequency of car washing tends to be higher. Computer 210 can determine an appropriate Th1 based on meteorological information to ensure that the frequency of car washing for vehicle 1 is appropriate. Computer 210 can obtain meteorological information via the Internet.

[0099] The frequency of car washes required for a vehicle tends to vary depending on the type of task. For example, in passenger transport tasks, the required car wash frequency tends to be higher compared to logistics tasks. Computer 210 can determine the appropriate Th1 based on the type of task requested by vehicle 1, so that the car wash frequency for vehicle 1 is appropriate. The type of task is indicated, for example, by a service request signal.

[0100] If vehicle 1 has not passed Th1 since being washed ("No" in S22), in S23, computer 210 searches for the first route as described later (see reference). Figure 6 The computer 210 determines the driving route of vehicle 1. On the other hand, if vehicle 1 has passed Th1 since it was washed ("Yes" in S22), in S24, the computer 210 performs a second route search as described later (see [reference]). Figure 7 The driving route of vehicle 1 is determined by the process in S22. A judgment of "yes" in S22 means that a specified time (Th1) has elapsed since the last car wash. When the driving route of vehicle 1 is determined in either S23 or S24, the process proceeds to... Figure 4 S13.

[0101] Figure 6 This is a flowchart showing the details of the first route search. (See also...) Figures 1-3 as well as Figure 6 In S101, computer 210 will search in Figure 5 The route search in S21 is the route that meets the service requirements indicated by the service request signal from the routes connecting the current location, departure point, and destination (hereinafter also referred to as "route candidates"). The route search in S101 is equivalent to the first route search.

[0102] Specifically, regarding each route candidate, computer 210 estimates the first travel time taken by vehicle 1 to reach the departure point via autonomous driving, the boarding time taken by the user to get in the vehicle, and the second travel time taken by vehicle 1 to travel from the departure point to the destination via autonomous driving. Computer 210 searches from the route candidates for a route that can reach the departure point before the requested departure time and the destination before the requested arrival time.

[0103] Computer 210 can use traffic information (e.g., congestion information) and travel distance to estimate each of the first and second travel times. The travel distance used to estimate the first travel time is equivalent to the distance from the current location of vehicle 1 to the departure point. The travel distance used to estimate the second travel time is equivalent to the distance from the departure point of vehicle 1 to the destination. Furthermore, computer 210 can also estimate the boarding time as a predetermined time determined in advance through experiments or simulations. It should be noted that the methods for estimating the travel time and boarding time are not limited to the methods described above and are arbitrary. For example, computer 210 may also estimate the travel time based solely on the travel distance without using traffic information. Furthermore, computer 210 may also use the departure point (boarding location) and / or user characteristics (age, etc.) to estimate the boarding time.

[0104] In S102, computer 210 determines whether a route meeting the service requirements has been found through the first route search (S101). If no route meeting the service requirements is found ("No" in S102), in S105, a signal indicating this (hereinafter also referred to as "first unsuitability notification") is sent from vehicle 1 (communication device 130) to server 500 along with vehicle 1's identification information. When the processing in S105 is executed, Figure 6 The series of processes shown has ended, and Figure 4 The series of processes shown also concludes. In this case, autonomous driving by vehicle 1 does not commence. Server 500, having received the first unsuitability notification, may also send a service request signal to other vehicles to provide service in place of vehicle 1.

[0105] If a route that meets the service requirements is found ("Yes" in S102), in S103, the computer 210 determines the found route as the driving route of vehicle 1. If multiple routes that meet the service requirements are found in S101, in S103, one route selected based on a predetermined priority criterion (first priority criterion) is determined as the driving route of vehicle 1. In this embodiment, the route with the earliest arrival time to the destination is preferentially selected. That is, the route with the earliest arrival time to the destination among the routes that meet the service requirements is determined as the driving route of vehicle 1. When the process of S103 is executed, Figure 6 The series of processes shown ( Figure 5 S23) ends, processing begins Figure 4 S13.

[0106] In this embodiment, the processes S101, S102, and S105 are performed by the search unit 51. Furthermore, the process S103 is performed by the autonomous driving unit 52. When the autonomous driving unit 52 finds multiple routes that meet the service requirements (first requirements) through the first route search, it determines a driving route from among these multiple routes according to a predetermined first priority criterion (S103). Then, as described later... Figure 4 In step S16, the automatic driving unit 52 performs automatic driving of vehicle 1 according to the determined driving route. Through this process, automatic driving of vehicle 1 can be easily and smoothly executed. It should be noted that the first priority reference is not limited to a reference related to the arrival time at the destination. For example, when the energy reserve (e.g., battery reserve) of vehicle 1 is below a specified level, a reference related to the location of the EVSE (Electric Vehicle Supply Equipment) can be used as the first priority reference. Furthermore, routes where vehicle 1 can receive the required power from the EVSE (more specifically, EVSE that vehicle 1 can use while maintaining automatic driving) can also be prioritized.

[0107] Figure 7 This is a flowchart showing the details of the second route search. (See also...) Figures 1-3 as well as Figure 7 In S201, computer 210 searches for route candidates (which will be...) Figure 5 The route search in S201 is equivalent to the second route search. The success or failure of the service requirement determination is basically the same as the first route search. (The route obtained in S21 connects the current location, departure point, and destination.) Figure 6 The same as S101. However, in S201, the computer 210 also considers the time required for car washing to determine whether the service requirements are met.

[0108] The requirement for a car wash is the presence of a predetermined number of automatic car wash machines along the route. In this embodiment, the predetermined number is set to one (a fixed value). It should be noted that the presence of automatic car wash machines along the route includes not only the cases where automatic car wash machines are located on the road, but also the cases where automatic car wash machines are located on land adjacent to the road (e.g., gas stations or charging stations).

[0109] The specified quantity is not limited to one; it can be two or more. Furthermore, the specified quantity can vary depending on the circumstances. For example, the longer the elapsed time (time T1) since the last car wash, the greater the specified quantity.

[0110] An automatic car wash is a car wash machine that can be used in a vehicle while maintaining automatic driving. Figure 8 This is a diagram illustrating an example of an automatic car wash machine. (See reference.) Figure 8 The automatic car wash machine 300 is, for example, a vehicle-free car wash machine. The automatic car wash machine 300 is configured to communicate with the vehicle 1. When the vehicle 1 approaches the automatic car wash machine 300, wireless communication begins between the vehicle 1 and the automatic car wash machine 300. The wireless communication method can utilize a wireless LAN. However, it is not limited to this; the wireless communication method is arbitrary. The vehicle 1 moves according to the guidance provided by the automatic car wash machine 300. The automatic car wash machine 300 washes the vehicle 1 while issuing movement instructions to the vehicle 1. The vehicle 1 specifies a washing method to the automatic car wash machine 300 as needed. When the vehicle 1 specifies a washing method, the automatic car wash machine 300 washes the vehicle 1 using the specified washing method.

[0111] Refer again Figures 1-3 as well as Figure 7 In S202, computer 210 determines whether a route satisfying both the service requirement and the car wash requirement has been found through the second route search (S201). If no route satisfying both the service requirement and the car wash requirement is found ("No" in S202), in S205, a signal indicating this (hereinafter also referred to as "second unsuitability notification") is sent from vehicle 1 (communication device 130) to server 500 along with vehicle 1's identification information. When the processing in S205 is executed, Figure 7 The series of processes shown has ended, and Figure 4 The series of processes shown also concludes. In this case, autonomous driving by vehicle 1 does not commence. Server 500, having received the second unsuitability notification, may also send service request signals to other vehicles to provide service in place of vehicle 1.

[0112] If a route that satisfies both the service requirement and the car wash requirement is found ("Yes" in S202), in S203, the computer 210 determines the found route as the driving route of vehicle 1. If multiple routes that satisfy both the service requirement and the car wash requirement are found in S201, in S203, one route selected based on a predetermined priority criterion (second priority criterion) is determined as the driving route of vehicle 1. In this embodiment, the second priority criterion includes a car wash criterion related to the location of the automatic car wash machine and a time criterion related to the arrival time at the destination. First, based on the car wash criterion, routes with an automatic car wash machine between the current location and the departure location are preferentially selected. Next, based on the time criterion, routes with an earlier arrival time at the destination are preferentially selected. That is, if multiple routes with an automatic car wash machine between the current location and the departure location are found in S201, the route with the earliest arrival time at the destination among these routes is determined as the driving route of vehicle 1. If no route with an automatic car wash machine between the current location and the departure location is found in S201, the route with the earliest arrival time to the destination among the routes found in S201 will be determined as the driving route of vehicle 1.

[0113] In the next step, S204, computer 210 designates at least one of the automatic car washes along the driving route determined in S203 as a target car wash. In this embodiment, the automatic car wash closest to the current location along the driving route is designated as the target car wash. However, this is not a limitation, and the number of target car washes and the method of determination can be appropriately changed. The designated target car washes are stored in the storage device of computer 210. When the processing in S204 is executed, Figure 7 The series of processes shown ( Figure 5 S24) ends, processing begins Figure 4 S13.

[0114] In this embodiment, the processes S201, S202, and S205 are performed by the search unit 51. The process S203 is performed by the automatic driving unit 52. Furthermore, the process S204 is performed by the car wash unit 53. When the automatic driving unit 52 finds multiple routes that satisfy both the service requirement and the car wash requirement (second requirement) through the second route search, it determines a driving route from among these multiple routes according to a predetermined second priority criterion (S203). Then, as described later... Figure 4 In S16, the autonomous driving unit 52 performs autonomous driving of vehicle 1 according to the determined driving route. Through this process, autonomous driving of vehicle 1 can be performed easily and smoothly.

[0115] Refer again Figures 1-3 as well as Figure 4In S13, computer 210 determines whether vehicle 1 is approaching an automatic car wash on the driving route determined in S12. Computer 210 can make this determination based on the positions of the automatic car washes around vehicle 1 and the current position of vehicle 1. Computer 210 can obtain these positions from NAVI170. Furthermore, computer 210 can also determine whether vehicle 1 is approaching the automatic car wash based on whether wireless communication between vehicle 1 and the automatic car wash has started. Before starting autonomous driving in S16 (described later), if the determination in S13 is "no," the process proceeds to S16. In S16, computer 210 executes autonomous driving control. Figure 9 This is a flowchart showing the details of the automatic driving control (S16) process.

[0116] Reference Figures 1-3 as well as Figure 9 In step S31, computer 210 acquires current vehicle 1 information. For example, computer 210 acquires environmental and attitude information of vehicle 1 from recognition sensor 260 and attitude sensor 270. Furthermore, computer 210 acquires API signals. In this embodiment, whether vehicle 1 is in autonomous mode or manual mode, API signals representing the state of vehicle 1 are sequentially output from VCIB 111 to ADK 200 in real time. To improve the accuracy of autonomous driving control, the state of vehicle 1 can also be sequentially sent from integrated control manager 115 to ADK 200 at a shorter cycle than in manual mode in autonomous mode. The API signals acquired by computer 210 include, in addition to the autonomous state, signals representing the rotation direction and speed of each wheel detected by wheel speed sensors 127A and 127B.

[0117] In S32, computer 210 creates a system based on the information about vehicle 1 obtained in S31. Figure 4 The driving plan, determined in S12, is the driving route. For example, computer 210 calculates the behavior of vehicle 1 (e.g., the posture of vehicle 1) and creates a driving plan that conforms to the state of vehicle 1 and the external environment. The driving plan is data representing the next action of vehicle 1 (the behavior of vehicle 1 within a specified period). Computer 210 then executes the driving plan according to the specified route. Figure 4 In S12, a driving plan is created based on the driving stability of vehicle 1 along the determined route. If a driving plan already exists, it can be modified in S32.

[0118] In S33, computer 210 extracts controllable physical quantities (acceleration, tire angle, etc.) from the driving plan created in S32. In S34, computer 210 divides the physical quantities extracted in S33 into segments according to each API cycle. In S35, computer 210 uses the physical quantities segmented in S34 to execute API software. By executing API software in this way, ADK200 sends API commands (propulsion direction command, propulsion command, braking command, vehicle fixation command, etc.) to VCIB111 to implement control according to the physical quantities of the driving plan. VCIB111 sends control commands corresponding to the received API commands to integrated control manager 115, which performs automatic driving control of vehicle 1 according to the control commands. In the automatic driving of vehicle 1, integrated control manager 115 (control device 150) controls various systems of vehicle 1 (e.g., according to instructions from ADK200 (computer 210)). Figure 2 The braking system 121, steering system 122, power transmission system 123, active safety system 125, and body system 126 are shown.

[0119] When the S35 process is executed, return to Figure 4 The flowchart is processed, proceeding to S17. In this embodiment, computer 210, VCIB 111, and integrated control manager 115 cooperate to execute controls for enabling vehicle 1 to operate autonomously. Vehicle 1 can operate autonomously in either a manned or unmanned state. It should be noted that autonomous driving control is not limited to... Figure 9 The control shown can also be other controls (known automatic driving controls).

[0120] Refer again Figures 1-3 as well as Figure 4 In S17, computer 210 determines whether the task of vehicle 1 (service provision by vehicle 1) has ended. If vehicle 1 has not reached its destination, the determination in S17 is "no," and the process proceeds to S19. In S19, computer 210 determines whether vehicle 1 is in autonomous mode. During service provision, vehicle 1 essentially remains in autonomous mode. Therefore, the determination in S19 is "yes," and the process returns to the initial step (S11). Then, S11 and S13-S16 are repeatedly executed, and the process in S16 (…) is completed. Figure 9 Continue with the autonomous driving of vehicle 1.

[0121] If vehicle 1 in autonomous driving approaches an automatic car wash on the driving route determined in S12 ("Yes" in S13), in S14, computer 210 determines whether the automatic car wash is the target car wash. If the automatic car wash approached by vehicle 1 does not correspond to the target car wash... Figure 7 If the target car wash machine is set in S204, the result is "No" in S14, and the process proceeds to S16. If no target car wash machine is set (for example, the driving route is determined by the first route search), the result is also "No" in S14, and the process proceeds to S16.

[0122] The automatic car wash machine near vehicle 1 and Figure 7 If the target car wash machine set in S204 matches, it is determined to be "yes" in S14, and the process proceeds to S15. In S15, the computer 210 executes car wash control. In this embodiment, the processing in S13 and S14 is performed by the car wash unit 53.

[0123] Figure 10 This is a flowchart showing the details of S15. (See reference...) Figures 1-3 as well as Figure 10 In step S41, computer 210 determines the car washing method. Computer 210 can determine a pre-defined method corresponding to the task of vehicle 1 as the car washing method. For example, it can be set that if the task of vehicle 1 is passenger transport, a waterproof coating is applied at the end of the wash, while if the task of vehicle 1 is logistics, no final coating is applied. Furthermore, the type of detergent can be changed according to the task of vehicle 1. In this embodiment, in step S41, the car washing method is determined to be applying a final coating to the vehicle body surface after cleaning it with a pre-defined detergent.

[0124] In step S42, the target car wash machine cleans the surface of vehicle 1 according to the car wash method determined in step S41. Specifically, computer 210 requests the target car wash machine to perform a car wash according to the method determined in step S41. Thus, the target car wash machine cleans the surface (outer side) of vehicle 1. When no one is in vehicle 1, computer 210 can control the robotic cleaner inside the vehicle to clean the interior during the car wash performed by the target car wash machine. Computer 210 can also determine whether someone is in vehicle 1 based on the output of the occupancy sensor 40.

[0125] When the car wash performed by the car wash machine (S42) is completed, in S43, the computer 210 resets time T1 and begins measuring time T1. Thus, the time count performed by the timer starts from 0 (initial value), and time T1 is updated sequentially as time passes. In this embodiment, the elapsed time from the last time vehicle 1 was washed (the last time the car was washed) is shown in time T1. When the process in S43 is executed, the process returns to... Figure 4 The flowchart is processed, and the process proceeds to S16. Thus, the autonomous driving of vehicle 1 resumes.

[0126] In this embodiment, processes S41 and S42 are performed by the car wash unit 53. Process S43 is performed by the search unit 51. When the second route search is performed, the car wash unit 53 determines the target car wash from among the automatic car washes present on the route along which the automatic driving unit 52 drives the vehicle 1 via automatic driving. Figure 7 (S204). In the case where the automatic car wash machine approaching vehicle 1 matches the target car wash machine (in... Figure 4 In both S13 and S14, the answer is "yes". The car wash department 53 requests the car wash machine to wash vehicle 1. Figure 10 (S42). According to this configuration, it is possible to select an automatic car wash machine (object car wash machine) that meets the needs of vehicle 1 from among the automatic car wash machines existing on the automatic driving route, and request vehicle 1 to be washed from the object car wash machine.

[0127] Refer again Figures 1-3 as well as Figure 4 When vehicle 1 arrives at the departure point via autonomous driving (S16), vehicle 1 stops and waits for the user to board. Before boarding vehicle 1, the user performs the aforementioned user authentication on reader 180. In this embodiment, when user authentication is successful, the door (board door) of vehicle 1 opens. Then, when the user closes the door upon boarding, vehicle 1 resumes driving via autonomous driving.

[0128] When vehicle 1 arrives at its destination via autonomous driving (S16), vehicle 1 stops and waits for the user to disembark. Before disembarking from vehicle 1, the user performs the aforementioned user authentication on reader 180. When user authentication is successful, the door (disembarkation point) of vehicle 1 opens. Subsequently, when the user disembarks from vehicle 1, the system determines "yes" in S17, and in S18, vehicle 1 enters manual mode. The determination of "yes" in S17 signifies that the task of vehicle 1 (the service provided by vehicle 1) has been completed.

[0129] When vehicle 1 enters manual mode ("No" in S19), in S20, a termination signal indicating the end of autonomous driving is sent from vehicle 1 (communication device 130) to server 500 along with vehicle 1's identification information. Figure 4 The series of processes shown has ended.

[0130] As described above, the autonomous driving method of this embodiment includes Figures 4-7 , Figure 9 as well as Figure 10 Each of the processes shown is illustrated. The computer 210 of this embodiment is equivalent to an example of the "computer" of this disclosure.

[0131] exist Figure 5In step S22, computer 210 determines whether the specified conditions (car wash route search conditions) are met. Specifically, computer 210 determines whether the car wash route search conditions are met based on whether a specified time (Th1) has elapsed since the last car wash. If the specified time (Th1) has elapsed since the last car wash, the car wash route search conditions are met.

[0132] If the car wash route search criteria are not met (in S22, it is "No"), then... Figure 5 S23 ( Figure 6 In this process, computer 210 performs a first route search. The first route search searches for routes that meet a first requirement. The first requirement includes only the service requirement (vehicle 1 can reach its destination before the specified time) and does not include the car wash requirement (the existence of an automatic car wash on the route). Figure 6 (S101).

[0133] If the car wash route search criteria are met ("Yes" in S22), then... Figure 5 S24 ( Figure 7 In this process, computer 210 performs a second route search. The second route search searches for routes that satisfy the second requirement. In addition to the service requirement, the second requirement also includes a car wash requirement (the existence of an automatic car wash along the route). Figure 7 (S201).

[0134] exist Figure 4 In S16, computer 210 performs autonomous driving of vehicle 1 according to the route found through first route search or second route search.

[0135] Based on the aforementioned autonomous driving method, it is easy to wash vehicle 1 (autonomous vehicle) at an appropriate frequency. Therefore, insufficient cleaning of vehicle 1 (autonomous vehicle) can be prevented.

[0136] The following is for reference Figure 11 and Figure 12 An embodiment of the above-described autonomous driving method will be described.

[0137] Figure 11 This is a diagram showing an example of the configuration of various automatic car wash machines on a map. Figure 11 The "W" in this context means automatic car wash (e.g., Figure 8 The automatic car wash machine 300 shown is shown. Figure 12 It means targeting Figure 11 The table shown shows whether each of the route candidates (RT-1 to RT-22) meets the service requirements and car wash requirements on the map. Figure 12 R1~R13 and R21~R23 in the text respectively mean Figure 11Roads R1-R13 and R21-R23 are included. In the embodiments described below, it is assumed that there is no automatic car wash between the current location and the departure point. Furthermore, it is assumed that... Figure 11 Roads R5 and R6 in the middle are all congested.

[0138] Reference Figure 11 and Figure 12 , Figure 11 Roads R5 and R6 in the middle are all congested, therefore... Figure 6 S101 and Figure 7 In each of S201, routes including any one of roads R5 and R6 (RT-2, RT-3, RT-6 to RT-12, and RT-18 to RT-22) are determined to not meet the service requirements. Furthermore, including Figure 11 The routes R8 and R9 (RT-16 and RT-17) in the middle of the road have long driving distances. Figure 6 S101 and Figure 7 Each of S201's criteria was determined to be non-compliant with the service requirements. Figure 12 In the “service requirements” section, “-” indicates that the service requirement is not met, and each of A, B, C, D, E, and F indicates that the service requirement is met. In this embodiment, when the routes that meet the service requirements are arranged in order of arrival time to the destination from earliest to latest, they become RT-1(A), RT-4(B), RT-15(C), RT-13(D), RT-5(E), and RT-14(F). Therefore, in Figure 6 In S103, RT-1 is determined as the driving route of vehicle 1.

[0139] Figure 12 The "Car Wash Requirements" section indicates the number of automatic car washes on each route. Figure 7 In S201, routes excluding automatic car wash machines (RT-1 to RT-3, RT-5, RT-11, RT-14, RT-15, RT-18, RT-21, and RT-22) are judged as not meeting the car wash requirements. Then, each of RT-4 and RT-13 is judged to meet both the service requirements and the car wash requirements. Figure 7 In S203, RT-4, which has the earlier arrival time at the destination between RT-4 and RT-13, is determined as the route for vehicle 1. Then, in Figure 7 In S204, the automatic car wash on RT-4 (more specifically, the automatic car wash on road R23) is set as the target car wash.

[0140] The above describes embodiments of the autonomous driving method. Next, examples with modifications to the above embodiments will be described.

[0141] exist Figure 12 In the first variation, assume that road R1 is also congested in addition to roads R5 and R6. In such an example, the route including road R1 (RT-1 to RT-5) is determined to not meet the service requirements. In this case, RT-13 to RT-15 meet the service requirements, with only RT-13 meeting both the service requirements and the car wash requirements. Figure 6 In S103, the route with the earliest arrival time to the destination among the routes (RT-13 to RT-15) that meet the service requirements is determined as the route for vehicle 1. Figure 7 In S203, RT-13 is designated as the driving route for vehicle 1. Figure 7 In S204, the automatic car wash on RT-13 (more specifically, the automatic car wash on road R23) is set as the target car wash.

[0142] exist Figure 12 In the second variation, Figure 11 The example shown indicates that there is an automatic car wash between the current location and the starting point, and routes RT-1 to RT-22 all meet the car wash requirements. In such an example, in Figure 7 In S203, the route with the earliest arrival time to the destination among the routes (RT-1, RT-4, RT-15, RT-13, RT-5, and RT-14) that satisfy both the service requirement and the car wash requirement is determined as the route for vehicle 1. Then, in Figure 7 In S204, the automatic car wash machine that exists between the current location and the departure location is set as the target car wash machine.

[0143] [Implementation Method 2]

[0144] The computer and autonomous driving method of Embodiment 2 of this disclosure will be described. Embodiment 2 shares many similarities with Embodiment 1; therefore, the differences will be mainly described, and the descriptions of the common parts will be omitted.

[0145] In implementation method 2, vehicle 1 is shared (commonly used) by a first user and a second user. Vehicle 1 in implementation method 2 is the same as in implementation method 1, and also has… Figures 1-3 The configuration is shown. The first user and the second user each carry a mobile terminal UT. Hereinafter, the mobile terminal UT carried by the first user will be referred to as the "first mobile terminal", and the mobile terminal UT carried by the second user will be referred to as the "second mobile terminal".

[0146] During the first usage period, a first user uses vehicle 1 for a designated purpose (first purpose). During the first usage period, vehicle 1 performs autonomous driving (first autonomous driving) for the first purpose based on a request from the first user. In this embodiment, the first purpose (the first user's vehicle purpose) is equivalent to a first task. Furthermore, during a second usage period set after the first usage period, a second user uses vehicle 1 for a designated purpose (second purpose). During the second usage period, vehicle 1 performs autonomous driving (second autonomous driving) for the second purpose based on a request from the second user. In this embodiment, the second purpose (the second user's vehicle purpose) is equivalent to a second task. Moreover, a handover period for transferring vehicle 1 is provided between usage periods. Specifically, a handover period for transferring vehicle 1 from the first user to the second user is provided from the end of the first usage period to the beginning of the second usage period.

[0147] During the first period of use, when a first user riding in vehicle 1 performs a specified operation on the first mobile terminal, a first service request signal is sent from the first mobile terminal inside the vehicle to vehicle 1 (communication device 130). Regarding the request for autonomous driving to vehicle 1, the first service request signal includes a destination and a time of arrival at the destination (requested arrival time). The first service request signal requests vehicle 1 to perform route searching and autonomous driving, setting the current location of vehicle 1 as a first location (starting location) and the aforementioned destination as a second location (ending location). Furthermore, the first service request signal requests vehicle 1 to arrive at the destination before the requested arrival time. The service requirements input by the first user to the first mobile terminal (e.g., destination and requested arrival time) are included in the first service request signal. The requested arrival time is set within the first period of use. The current location of vehicle 1 corresponds to the starting location of the first task.

[0148] When vehicle 1 receives the aforementioned first service request signal, after the integrated control manager 115 sets vehicle 1 to autonomous mode, ADK200 begins... Figure 4 The series of processes shown. However, in Figure 4 In S12, the following instructions are executed. Figure 13 The series of processes shown are used to replace Figure 5 The processing shown. Figure 13 This refers to the process of determining the driving route in the autonomous driving method of embodiment 2. Figure 4 The flowchart details S12. In addition to using S21A and S21B to replace S21 (… Figure 5 )outside, Figure 13 The processing shown is the same as Figure 5 The processing shown is the same.

[0149] Reference Figures 1-3as well as Figure 13 In S21A, computer 210 obtains the current location and destination. The destination is indicated by the first service request signal mentioned above. Computer 210 can, for example, use the output of attitude sensor 270 or NAVI170 to obtain the current location of vehicle 1.

[0150] In S21B, computer 210 determines whether to request the handover of vehicle 1. The first service request signal does not request the handover of vehicle 1, so it is determined as "no" in S21B, and the process proceeds to S22.

[0151] In implementation method 2, Figure 13 In each of S23 and S24, a route from the current location of vehicle 1 to the destination is searched. Then, when the first usage period ends, it is determined to be "yes" in S17, and then proceeds through S18 to S20. Figure 4 The series of processes shown has ended.

[0152] When the first usage period ends, the handover period begins. At the start time of the handover period, a second service request signal is sent from server 500 to vehicle 1 (communication device 130). The second service request signal requests a handover from the first user to the second user's vehicle 1. Specifically, regarding the request for autonomous driving to vehicle 1, the second service request signal includes a destination and a time of arrival at the destination (requested arrival time). The second service request signal requests vehicle 1 to perform route searching and autonomous driving, setting vehicle 1's current location as a first location (starting location) and the aforementioned destination as a second location (ending location). Furthermore, the second service request signal requests vehicle 1 to perform autonomous driving in an unmanned state, such that it arrives at the destination before the requested arrival time. The service requirements requested by the second service request signal (e.g., destination and requested arrival time) are set by server 500. The requested arrival time is set before the start time of the second usage period. The destination is set at the start location of the second task. The current location of vehicle 1 corresponds to the end location of the first task.

[0153] When vehicle 1 receives the aforementioned second service request signal, after the integrated control manager 115 sets vehicle 1 to autonomous mode, ADK200 begins... Figure 4 The series of processes shown. Then, in Figure 4 In S12, execution Figure 13 The process is as shown. The second service request signal requests the handover of vehicle 1, therefore it is determined to be "yes" in S21B, and the process proceeds to S24. The determination of "yes" in S21B means that the car wash route search condition is met. In the route search corresponding to the second service request signal, in Figure 7In S204, the automatic car wash machine closest to the destination (the starting point of the second task) can be set as the target car wash machine.

[0154] As described above, in Embodiment 2, the car wash route search condition is met during the route search where the end point of the first task is set as the first location and the start point of the second task is set as the second location. The car wash is performed during the period from the end of the first task to the start of the second task, thereby ensuring that vehicle 1 is clean after the first user has used it and before it is handed over to the next user (the second user). Furthermore, performing the car wash near the start point of the second task improves the cleanliness of vehicle 1 when the second user receives it.

[0155] When vehicle 1 arrives at its destination (the starting point of the second mission), Figure 4 In S17, the judgment is "yes". After S18 to S20, Figure 4 The series of processes shown has concluded. Afterwards, the second usage period begins. The second user boards vehicle 1 at the starting point of the second task.

[0156] During the second period of use, when a second user riding in vehicle 1 performs a specified operation on the second mobile terminal, a third service request signal is sent from the second mobile terminal inside the vehicle to vehicle 1 (communication device 130). Regarding the request for autonomous driving to vehicle 1, the third service request signal includes the destination and the time of arrival at the destination (requested arrival time). The third service request signal requests vehicle 1 to perform route searching and autonomous driving, setting the current location of vehicle 1 as the first location (starting location) and the aforementioned destination as the second location (ending location). Furthermore, the third service request signal requests vehicle 1 to arrive at the destination before the requested arrival time. The service requirements input by the second user to the second mobile terminal (e.g., destination and requested arrival time) are included in the third service request signal. The requested arrival time is set within the second period of use. The current location of vehicle 1 corresponds to the starting location of the second task.

[0157] When vehicle 1 receives the aforementioned third service request signal, after the integrated control manager 115 sets vehicle 1 to autonomous mode, ADK200 begins... Figure 4 The series of processes shown are essentially the same as those described above for the autonomous driving process corresponding to the first service request signal. The processing of the third service request signal in response to the third service request signal is also essentially the same.

[0158] [Other implementation methods]

[0159] In the above embodiments, the car wash route search condition is met when a predetermined time (Th1) has elapsed since the last car wash (for example, referring to...). Figure 5(S22). But it is not limited to this. It can also be that the car wash route search condition is met if the distance traveled from the last car wash of vehicle 1 exceeds the specified value.

[0160] For example, computer 210 can also execute... Figure 14 The process shown is used to replace Figure 10 The processing shown. Figure 14 It means Figure 10 The flowchart shows a modified example of the process. Except that S43A is used instead of S43 ( Figure 10 )outside, Figure 14 The processing shown is the same as Figure 10 The process shown is the same. In S43A, computer 210 resets distance T2 and begins measuring distance T2. Distance T2 is stored, for example, in the storage device of computer 210. Whenever vehicle 1 is washed, distance T2 is reset and measuring (accumulating) distance T2 begins. Distance T2 corresponds to the distance traveled since the last wash of vehicle 1. The distance traveled by vehicle 1, with the time of the most recent wash (the last wash) as the reference (zero point), is shown by distance T2.

[0161] Furthermore, the computer 210 can also execute... Figure 15 The process shown is used to replace Figure 5 The processing shown. Figure 15 It means Figure 5 The flowchart shows a modified example of the process. Except that S22A is used instead of S22 ( Figure 5 )outside, Figure 15 The processing shown is the same as Figure 5 The processing shown is the same. In S22A, computer 210 determines that... Figure 14 Whether the distance T2 measured in S43A exceeds a predetermined threshold (hereinafter referred to as "Th2"). Th2 can be a fixed value or a variable value. Computer 210 can use at least one of meteorological information and the type of task of vehicle 1 to determine Th2.

[0162] It is assumed that the longer the distance traveled since the last car wash, the lower the cleanliness of vehicle 1. Therefore, when the car wash route search conditions are set as described above, the car wash route search conditions are likely to be met at the scheduled time when a car wash is required.

[0163] In the above embodiments, if no route meeting the specified requirements is found through route search (in... Figure 6 S102 or Figure 7 If S202 is set to "No", then autonomous driving by vehicle 1 will not begin. However, this configuration is not mandatory. For example, autonomous driving by vehicle 1 can also begin if the specified start conditions are met.

[0164] Computer 210 can also execute Figure 16 The process shown is used to replace Figure 7 The processing shown. Figure 16 It means Figure 7 The flowchart shows a modified example of the process. Besides adding S205A and S205B, Figure 16 The processing shown is the same as Figure 7 The processing shown is the same.

[0165] Reference Figures 1-3 as well as Figure 16 After sending an unsuitability notification to the server 500 in S205, computer 210 waits for a response from server 500. Meanwhile, server 500, having received the unsuitability notification from vehicle 1, sends a signal to the user terminal (e.g., mobile terminal UT) indicating that no route meeting the requirements has been found. The user terminal is the terminal belonging to the user using vehicle 1. When it receives the aforementioned signal from server 500, the user terminal requests permission from the user to choose autonomous driving. Furthermore, if the user grants permission for autonomous driving, the user terminal displays each route candidate found in S201 along with the estimated arrival time (time of arrival) of each route on a map and requests the user to select which route to use as the driving route. When the user inputs the information requested from the user terminal into the user terminal, a signal indicating the user's input result is sent from the user terminal to server 500. When the server 500 receives the aforementioned signal from the user terminal, it sends a user signal indicating the user's input result to computer 210.

[0166] When the aforementioned user signal is received from server 500, in S205A, computer 210 determines whether autonomous driving is permitted based on the user signal (the user's input). If the user has permitted autonomous driving ("Yes" in S205A), in S205B, computer 210 determines the route selected by the user (the route indicated by the user signal) as the driving route. Thus, Figure 7 The series of processes shown ( Figure 5 S24) ends, processing begins Figure 4 S13. In this case, via Figure 4 In S16, autonomous driving begins with vehicle 1. On the other hand, if the user does not permit autonomous driving ("No" in S205A), Figure 7 The series of processes shown has ended, and Figure 4 The series of processes shown also ends. In this case, autonomous driving by vehicle 1 does not begin.

[0167] It should be noted that it is also possible to... Figure 6The processing shown is supplemented with the steps based on S205A and S205B described above. Alternatively, it can be configured to... Figure 6 S103 or Figure 7 In S203, if multiple routes that meet the specified requirements are found, the user selects a driving route.

[0168] The functions of the computer 210 in each of the above embodiments (in particular, Figure 3 At least a portion of the functions of the search unit 51, the automatic driving unit 52, and the car wash unit 53 shown can be installed in the cloud via cloud computing or in the control device 150. For example, the control device 150 can also replace the computer 210 to perform these functions. Figures 4-7 , Figure 9 as well as Figure 10 The process is illustrated. In this manner, the control device 150 functions as an example of the "computer" of this disclosure.

[0169] The functions of the computer 210 in each of the above embodiments (in particular, Figure 3 At least a portion of the functions of the search unit 51, the automatic driving unit 52, and the car wash unit 53 shown can also be installed on the mobile terminal UT. For example, the search unit 51, the automatic driving unit 52, and the car wash unit 53 can be implemented through a mobile application. The mobile terminal UT can also replace the computer 210 to perform these functions. Figures 4-7 , Figure 9 as well as Figure 10 The process is illustrated. The mobile terminal UT can obtain information from both vehicle 1 and server 500 as needed, and can also request vehicle control from vehicle 1. In this manner, the mobile terminal UT functions as an example of the "computer" of this disclosure.

[0170] The functions of the computer 210 in each of the above embodiments (in particular, Figure 3 At least a portion of the functions of the search unit 51, the automatic driving unit 52, and the car wash unit 53 shown can also be installed on a local (on-premises) server (server 500). Server 500 can also replace computer 210 to perform these functions. Figures 4-7 , Figure 9 as well as Figure 10 The processing is illustrated. Server 500 can obtain information from each of vehicle 1 and mobile terminal UT as needed, and can also request vehicle control from vehicle 1. In this manner, server 500 functions as an example of the "computer" disclosed herein.

[0171] The vehicle's configuration is not limited to the configuration described in the above embodiments (see reference). Figures 1-3The base vehicle can also have autonomous driving capabilities without any modifications. The level of autonomous driving can be either fully autonomous (Level 5) or conditional autonomous driving (e.g., Level 4). The vehicle configuration can also be appropriately modified to be dedicated to driverless operation. For example, a vehicle dedicated to driverless operation may not have components for human operation (such as a steering wheel).

[0172] Vehicles can also be equipped with solar panels and have flight capabilities. They can also be equipped with chargers for on-the-go charging or contactless charging. Vehicles are not limited to cars; they can also be buses or trucks. Vehicles can also be privately owned vehicles (POVs). Vehicles can also be multi-purpose vehicles customized to the user's intended use. Vehicles can also be mobile shop vehicles, automated guided vehicles (AGVs), or agricultural machinery. Vehicles can also be small, driverless or single-passenger BEVs (e.g., Micro Pallets).

[0173] The above-described implementation methods and variations can be combined arbitrarily.

[0174] The embodiments disclosed herein should be considered illustrative rather than limiting in all respects. The scope of the technology shown in this disclosure is not illustrated by the description of the foregoing embodiments, but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

Claims

1. A computer, comprising: The search department searches for the route from location one to location two. as well as The autonomous driving unit performs autonomous driving of the vehicle according to the route found by the search unit. During the process of the vehicle performing autonomous driving for a task based on a received service request signal, the computer determines whether predetermined conditions are met, wherein the task is to provide a predetermined service. If the specified conditions are not met, the search unit performs a first route search to find a route for the task that satisfies the first requirement; if the specified conditions are met, the search unit performs a second route search to find a route for the task that satisfies the second requirement. The first requirement does not include the presence of automatic car washes along the route. The second requirement includes the presence of a specified number of automatic car washes along the route. When the specified conditions are met, the computer determines a car wash method corresponding to the specified service provided by the vehicle, and requests an automatic car wash machine on the route found through the second route search to wash the car according to the determined car wash method.

2. The computer according to claim 1, wherein, The specified conditions are met if a specified time has elapsed since the vehicle's last wash.

3. The computer according to claim 1, wherein, The specified condition is met if the distance traveled since the vehicle's last wash exceeds a specified value.

4. The computer according to any one of claims 1 to 3, wherein, The vehicle is configured to perform a second automated driving function for a second task after performing a first automated driving function for a first task. In a route search where the end point of the first task is set to the first location and the start point of the second task is set to the second location, the specified conditions are met.

5. The computer according to any one of claims 1 to 3, wherein, The first and second requirements each include that the vehicle can arrive at the second location before the specified time.

6. The computer according to any one of claims 1 to 3, wherein, The autonomous driving unit is configured to: when multiple routes satisfying the first requirement are found through the first route search, determine a driving route from among the multiple routes according to a predetermined first priority criterion, and perform autonomous driving of the vehicle according to the determined driving route. The autonomous driving unit is configured to: when multiple routes satisfying the second requirement are found through the second route search, determine a driving route from among the multiple routes according to a predetermined second priority criterion, and perform autonomous driving of the vehicle according to the determined driving route.

7. The computer according to claim 6, wherein, The first priority reference includes a reference related to the time of arrival at the second location. The second priority reference includes a reference related to the location of the automatic car wash machine and a reference related to the arrival time at the second location.

8. The computer according to any one of claims 1 to 3 and 7, further comprising: The car wash department requests a car wash for the vehicle from an automatic car wash machine located on the route where the automatic driving department drives the vehicle automatically.

9. The computer according to claim 8, wherein, When the second route search is performed, the car wash unit determines the target car wash machine from among the automatic car wash machines existing on the route where the automatic driving unit drives the vehicle automatically. If the automatic car wash approaching the vehicle matches the target car wash, the car wash department requests the vehicle to be washed by the target car wash.

10. A vehicle equipped with a control device, wherein, The vehicle also features: Autonomous driving kits; and The vehicle control interface mediates the exchange of signals between the control device and the autonomous driving suite. The autonomous driving suite is configured to send commands for autonomous driving to the control device via the vehicle control interface. The control device is configured to control the vehicle according to the instructions from the autonomous driving suite. The control device is configured to send signals indicating the vehicle's status to the autonomous driving suite via the vehicle control interface. The control device or the autonomous driving kit includes a computer as claimed in any one of claims 1 to 9.

11. A server comprising a computer as claimed in any one of claims 1 to 9.

12. A mobile terminal comprising a computer as claimed in any one of claims 1 to 9.

13. An autonomous driving method, comprising: Receive service request signals; During the process of executing autonomous driving for a task based on receiving a service request signal, it is determined whether the specified conditions are met, wherein the task is a task of providing the specified service; If the specified conditions are not met, a first route search is performed to find a route for the task that satisfies the first requirement; If the specified conditions are met, a second route search is performed to find a route for the task that satisfies the second requirement; as well as The vehicle will operate autonomously according to the route found through the first route search or the second route search. The first requirement does not include the presence of automatic car washes along the route. The second requirement includes the presence of a specified number of automatic car washes along the route. If the specified conditions are met, a car wash method corresponding to the specified service provided by the vehicle is determined, and a request is made to an automatic car wash machine on the route found through the second route search to wash the car according to the determined car wash method.

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