Autonomous driving vehicle, control device, control method, and control program

Abstract

An autonomous vehicle (1) is provided with: a surroundings sensor (20); an information presentation unit (30); an operation unit (40); a collection unit (11) that, on the basis of the operation of the operation unit (40) by the experimenter, collects, in advance along the path, an unsafe start position (P3) that is a position in front of an unsafe element (200) that makes the experimenter feel unsafe and at which the experimenter starts to feel unsafe with respect to the unsafe element (200); and a control unit (12) that controls the operation of the autonomous vehicle on the basis of the road information (R), the vehicle information (V), the surroundings detection information (D), and the restlessness start position (P3), the control unit (12) controlling the operation of the autonomous vehicle at a position before the restlessness start position (P3) in the route on which the user (90) is boarded and automatically traveled, and controlling the operation of the autonomous vehicle on the basis of the road information (V), the vehicle information (V), the surroundings detection information (D), and the restlessness start position (P3). A presentation start position (P2), which is a position at which the information presentation unit (30) starts presentation of the restlessness reduction information, is set, and when the autonomous vehicle (1) on which the user (90) is boarding reaches the presentation start position (P2), the information presentation unit (30) starts presentation of the restlessness reduction information.

Description

Technical Field

[0001] The present disclosure relates to an autonomous driving vehicle, a control device for an autonomous driving vehicle, a control method for an autonomous driving vehicle, and a control program for an autonomous driving vehicle. Background Art

[0002] A method for presenting stress relief information to a user riding on a moving object has been proposed (for example, see Patent Document 1). In this information presenting method, stress relief information is presented in a presentation method determined based on physiological indicators (i.e., biological information) obtained in advance from a subject during the automatic driving of the moving object.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-052374 (for example, abstract) Summary of the invention

[0006] Problem that the invention aims to solve

[0007] However, the above-mentioned conventional information prompting methods do not take into account situations where the physiological indexes hardly change. Therefore, it is not possible to prompt anxiety relief information (i.e., anxiety reduction information) at a time point where the physiological indexes hardly change, such as a position far away from the position of the anxiety factor in front. In addition, it is not possible to prompt relief information when there is no change in the behavior of the moving body (for example, acceleration in the front-back direction, left-right direction, or up-down direction) when passing the position of the anxiety factor.

[0008] The present disclosure aims to provide an autonomous driving vehicle capable of presenting anxiety reduction information at an appropriate position during autonomous driving, and a control device, a control method, and a control program for the autonomous driving vehicle.

[0009] Means used to solve problems

[0010] The autonomous driving vehicle disclosed in the present invention is a vehicle that allows a user to ride and automatically travel, and is characterized by comprising: a surrounding sensor that detects at least a state ahead in a traveling direction; an information prompting unit that prompts information to the user; an operating unit; a collecting unit that collects in advance a uneasiness starting position along a path based on an operation of the operating unit by an experiment participant, the path being a path along which the autonomous driving vehicle on which the experiment participant rides automatically travels, the uneasiness starting position being a position in the middle of the path in front of an uneasiness factor that makes the experiment participant feel uneasiness, and being the position at which the experiment participant begins to feel uneasiness about the uneasiness factor; and a control unit that collects in advance a uneasiness starting position based on road information, the autonomous driving vehicle, and the operating unit. The action of the autonomous driving vehicle is controlled based on vehicle information of a traveling vehicle, surrounding detection information output from the surrounding sensors, and the anxiety starting position, the road information including a map of a planned route to a destination of the autonomous driving vehicle and road attributes of the planned route, the control unit setting a prompt starting position at a position before the anxiety starting position of the route on which the user is allowed to board and automatically travel, the prompt starting position being a position at which the information prompting unit starts to prompt anxiety reduction information, and when the autonomous driving vehicle on which the user is allowed to board arrives at the prompt starting position, the control unit causes the information prompting unit to start prompting the anxiety reduction information.

[0011] In the control method of the autonomous driving vehicle disclosed in the present invention, the autonomous driving vehicle has a surrounding sensor for detecting at least the state ahead in the driving direction, an information prompting unit for prompting information to the user, and an operating unit, and is characterized in that the control method has the following steps: based on the operation of the operating unit by the experiment participant, pre-collecting the starting position of anxiety along the path, the path is the path automatically traveled by the autonomous driving vehicle on which the experiment participant rides, the starting position of anxiety is a position in the middle of the path near the anxiety factor that makes the experiment participant feel anxious, and is the position where the experiment participant begins to feel anxious about the anxiety factor; and based on road information, the vehicle of the autonomous driving vehicle The action of the autonomous driving vehicle is controlled based on the road information, the surrounding detection information output from the surrounding sensors, and the anxiety starting position, the road information including a map of a planned route to a destination of the autonomous driving vehicle and road attributes of the planned route. In the step of controlling the action of the autonomous driving vehicle: a prompt starting position is set at a position closer to the anxiety starting position of the route on which the user is allowed to board and automatically travel, the prompt starting position being a position at which the information prompting unit starts to prompt anxiety reduction information, and when the autonomous driving vehicle on which the user is allowed to board arrives at the prompt starting position, the information prompting unit starts to prompt the anxiety reduction information.

[0012] Effects of the Invention

[0013] According to the present disclosure, by presenting anxiety reduction information at an appropriate position during autonomous driving, it is possible to sufficiently reduce the user's anxiety. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a block diagram schematically showing the structure of the automatic driving vehicle according to the first embodiment.

[0015] Figure 2 This is a schematic diagram showing an autonomous driving wheelchair as an autonomous driving vehicle in autonomous driving.

[0016] Figure 3 It is shown Figure 2 An overview diagram of an autonomous driving vehicle passing through the start position of identification of an uneasy element.

[0017] Figure 4 The schematic diagram shows an autonomous driving vehicle moving toward a target point through an identification start position of an uneasy element, a presentation start position of uneasy reduction information, an uneasy start position, and a passage start position and a passage end position of an uneasy element.

[0018] Figure 5 This is a diagram showing an example of the hardware configuration of the control device for the autonomous driving vehicle according to the first embodiment.

[0019] Figure 6 This is a schematic top view showing an example in which an autonomous driving vehicle moves along a predetermined path despite a narrow road width being present as an unsafe factor.

[0020] Figure 7 This is a schematic top view showing an example in which a narrow road width exists as an unsafe factor and an autonomous driving vehicle moves along a detour path.

[0021] Figure 8 FIG. 1 is a diagram showing Example 1 of anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle.

[0022] Fig. 9 FIG. 2 is a diagram showing a second example of anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle.

[0023] Fig.10 FIG. 3 is a diagram showing a third example of anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle.

[0024] Fig.11 FIG. 4 is a diagram showing example 4 of anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle.

[0025] Fig.12The figure shows a screen for selecting a detour route presented by an information presentation unit of an autonomous driving vehicle.

[0026] Fig.13 FIG. 5 is a diagram showing Example 5 of anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle.

[0027] Fig.14 This is a flowchart showing the operation of the control device of the autonomous driving vehicle according to the first embodiment.

[0028] Fig.15 This is a schematic diagram showing an example in which the automatic driving vehicle according to Embodiment 2 moves forward on a predetermined path despite the presence of a slope as an unstable factor.

[0029] Fig.16 This is a schematic diagram showing an example in which a slope exists as an unstable factor and the automatic driving vehicle according to Embodiment 2 avoids a predetermined path.

[0030] Fig.17 : is a figure which shows Example 6 of the anxiety reduction information presented by the information presentation unit of the automatic driving vehicle.

[0031] Fig.18 This is a flowchart showing the operation of the control device of the automatic driving vehicle according to the second embodiment.

[0032] Fig.19 This is a schematic diagram showing an example in which the autonomous driving vehicle according to Embodiment 3 moves forward on a predetermined path despite the presence of steps as an unsafe factor.

[0033] Fig. 20 This is a schematic diagram showing an example in which a step exists as an uneasy factor and the automatic driving vehicle according to Embodiment 3 avoids a predetermined path.

[0034] Fig.21 : is a figure which shows Example 7 of the anxiety reduction information presented by the information presentation unit of the automatic driving vehicle.

[0035] Fig. 22 This is a flowchart showing the operation of the control device of the automatic driving vehicle according to the third embodiment.

[0036] Fig.23 This is a schematic diagram showing an example of a user riding in an automatic driving vehicle according to a variation of the third embodiment recognizing unevenness.

[0037] Fig.24 This is a schematic top view showing the behavior of the autonomous driving vehicle in a case where a moving object, which is an element of instability, approaches the autonomous driving vehicle of the fourth embodiment.

[0038] Fig.25This is a schematic top view showing the behavior of the autonomous driving vehicle in a case where a moving object, which is an element of instability, approaches the autonomous driving vehicle of the fourth embodiment.

[0039] Fig.26 FIG. 8 is a diagram showing example 8 of anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle.

[0040] Fig. 27 This is a flowchart showing the operation of the control device of the automatic driving vehicle according to the fourth embodiment.

[0041] Fig.28 : is a figure which shows Example 9 of the anxiety reduction information presented by the information presentation unit of the automatic driving vehicle. DETAILED DESCRIPTION

[0042] Hereinafter, an autonomous driving vehicle, an autonomous driving vehicle control device, an autonomous driving vehicle control method, and an autonomous driving vehicle control program according to an embodiment will be described with reference to the accompanying drawings. The following embodiments are merely examples, and the embodiments can be appropriately combined and each embodiment can be appropriately changed.

[0043] Implementation method 1.

[0044] Figure 1 This is a block diagram schematically showing the structure of the automatic driving vehicle 1 according to the first embodiment. Figure 2 is a schematic diagram showing an autonomous driving wheelchair as an autonomous driving vehicle 1 in autonomous driving. Figure 3 1 is a schematic diagram showing a case where the autonomous driving vehicle 1 passes through the recognition start position P1 of the unstable element 200 . Figure 4 1 is a schematic diagram of an autonomous driving vehicle 1 that is moving toward a destination (i.e., a target location) by showing a recognition start position P1 of a passing anxiety element 200, a prompt start position P2 of anxiety reduction information, an anxiety start position P3 where anxiety starts to be felt, and a passing start position P4 and a passing end position P5 of the anxiety element 200. The autonomous driving vehicle 1 is, for example, an autonomous driving wheelchair that automatically drives a user (i.e., a passenger) 90. However, the autonomous driving vehicle 1 is not limited to a wheelchair, and may be any other type of vehicle such as a car as long as it is a mobile body that has the function of automatically driving the user 90. The distance (P3-P4) from the anxiety start position P3 to the passing start position P4 is a distance determined based on the speed of the autonomous driving vehicle 1 (i.e., the vehicle speed), the anxiety element 200, and the attributes of the user 90.

[0045] The autonomous driving vehicle 1 has a surrounding sensor 20 for detecting at least the state ahead in the driving direction M, an information presenting unit 30 for presenting information to the user 90, an operating unit 40 for outputting input information U based on user operation, and a control device 10. In addition, the autonomous driving vehicle 1 has a driving unit 70 for driving the wheels 71 and the steering 72, a speed sensor 74, and a GPS (Global Positioning System) 51 as a positioning system. In addition, the autonomous driving vehicle 1 may also have a state grasping sensor 60 for detecting the state of a person (i.e., a user, a subject, or an experiment participant) riding in the autonomous driving vehicle 1, and a storage device 50. The autonomous driving vehicle 1 may also have a wireless communication device that can be connected to an external network.

[0046] The surrounding sensor 20 includes, for example, a front camera 21 as an imaging device and a laser radar 22. The surrounding sensor 20 may include one of the front camera 21 and the laser radar 22. The laser radar 22 is also called LiDAR (Light Detection and Ranging). The surrounding sensor 20 may be any other type of sensor as long as it can detect surrounding objects including the front of the autonomous driving vehicle 1.

[0047] The information presentation unit 30 includes, for example, a display device 31 such as a liquid crystal display, a speaker 32 as a voice output device, a vibration device 33 for vibrating a chair 73 or the like on which the user 90 sits, and a display lamp 34 such as an LED (light emitting diode) lamp. The information presentation unit 30 does not need to include all of the display device 31, the speaker 32, the vibration device 33, and the display lamp 34, and may include at least one of them.

[0048] The operating unit 40 includes, for example, a touch panel, a keyboard, an operating button, an operating lever, and a voice input device capable of inputting voice, but it is sufficient to have at least one of them. In the case where the operating unit 40 is a touch panel that accepts touch operations by fingers, the display device 31 and the operating unit 40 are formed as a whole. The information display unit 30 and the operating unit 40 are also referred to as HMI (Human Machine Interface).

[0049] The driving unit 70 includes, for example, a motor for rotating the wheels 71 , a motor for driving the steering 72 , and a driving circuit for controlling the rotation of these motors. The speed sensor 74 detects the traveling speed of the autonomous driving vehicle 1 .

[0050] The GPS 51 is a system for measuring the position of the autonomous driving vehicle 1. The system for measuring the position of the autonomous driving vehicle 1 is not limited to the GPS, and may be another type of positioning system.

[0051] The storage device 50 stores various information. The storage device 50 may also be an external device such as a server on a network capable of communicating via a communication device. The storage device 50 stores, for example, road information R such as a map and road attributes, vehicle information V such as the driving capability and vehicle width (i.e., size) of the autonomous driving vehicle 1, surrounding detection information D based on the surrounding sensor 20, and information collected by the collection unit 11.

[0052] The state grasping sensor 60 includes, for example, one or more of a face camera, a full body camera, a center of gravity sway meter, a seat sensor, a tactile sensor, a pressure sensor, and other sensors for physiological measurement. The face camera is a sensor for detecting the sight line or expression or both of the person riding in the autonomous driving vehicle 1. The full body camera is a sensor for detecting the posture and action of the person riding in the autonomous driving vehicle 1. The center of gravity sway meter is a sensor for measuring the sway of the center of gravity of the person riding in the autonomous driving vehicle 1. The seat sensor is a sensor arranged on the seat in order to detect the posture of the person sitting in the seat of the autonomous driving vehicle 1. The sensor for physiological measurement is, for example, a sensor for detecting biological information such as the heartbeat, pulse, and skin potential of the person riding in the autonomous driving vehicle 1. The user can also report (for example, manually input) anxiety from the operation unit 40, in which case the operation unit 40 functions as the state grasping sensor 60. However, the user's anxiety state can also be automatically determined based on the detection signal of the state grasping sensor 60. The face camera as the state grasping sensor 60 is, for example, a camera device that captures the face of the user 90. The face camera as the state grasping sensor 60 captures at least the eyes 91 of the user 90. The control unit 12 can detect the sight line 92 of the user 90. The sight line 92 is represented by a straight line connected to the uneasy factor 200 as an object observed from the eyes 91 of the user 90. As a method for detecting the sight line 92, a known technology (for example, the technology described in Patent Document 2 shown below) can be used.

[0053] Patent Document 2: International Publication No. 2021 / 064791

[0054] The control device 10 includes a collection unit 11 that collects information, and a control unit 12 that controls the operation of the entire device based on the collected information. The control device 10 is, for example, a computer.

[0055] The collecting unit 11 collects in advance the anxiety start position P3 along the path (or according to the path or according to each path) based on at least one of the operation of the operating unit 40 by the experimental participant who is a substitute for the user and the state detection signal output from the state grasping sensor 60. The anxiety start position P3 is a position near the anxiety factor 200 that makes the experimental participant feel anxious in the middle of the path, and is the position where the experimental participant begins to feel anxious about the anxiety factor 200. The path is the path along which the autonomous driving vehicle 1 on which the experimental participant is riding automatically travels.

[0056] Furthermore, the collection unit 11 determines whether the situation at the anxiety start position P3 is that there is an anxiety factor 200 on the driving path of the autonomous driving vehicle 1 and the occupant is anxiously thinking "Can the autonomous driving wheelchair pass through?" (= anxiety scene). In other words, at the anxiety start position P3, it is not a situation where it can be determined with sufficient certainty that the position of the anxiety factor is absolutely impossible to pass through or a situation where the anxiety factor is absolutely possible to pass through, but a situation where the occupant of the autonomous driving vehicle 1 thinks that the position of the anxiety factor may be passed through but may not be passed through. That is, the collection unit 11 has a function as an anxiety determination unit that determines the position where the occupant of the autonomous driving vehicle 1 has an anxiety feeling of not knowing whether the position of the anxiety factor can be passed through through the operation of the experiment participant.

[0057] In addition, the collection unit 11 may also collect the recognition start position P1 in advance for each path, based on at least one of the operation of the operation unit 40 by the experiment participant and the state detection signal output from the state grasping sensor 60. The recognition start position P1 is a position close to the uneasy factor 200 that makes the experiment participant feel uneasy in the middle of the path where the autonomous driving vehicle 1 on which the experiment participant is riding is automatically driving, and is a position where the experiment participant begins to visually recognize the existence of the uneasy factor 200. In addition, usually, the recognition start position P1 and the uneasy start position P3 are different positions, but there is also a case where the recognition start position P1 is the same as the uneasy start position P3 (that is, the case where the uneasy feeling is felt immediately after the uneasy factor 200 is visually recognized). The experiment participant is different from the user. It is expected that the experiment participant is a plurality of people. It is expected that the experiment participant is consistent with a certain attribute of the user who uses the autonomous driving vehicle 1, such as the same gender as the user, the same age group as the user, or other similarities with the user's appearance or preferences. In addition, the experiment participant may also be the user himself.

[0058] The control unit 12 controls the movement of the autonomous driving vehicle 1 based on road information R including a map of a planned route to the destination of the autonomous driving vehicle 1 and road attributes of a road 80 on the planned route, vehicle information V including the driving capability and vehicle width W1 of the autonomous driving vehicle 1, surrounding detection information D output from the surrounding sensor 20, and the start position P3 of instability.

[0059] Furthermore, the control unit 12 sets the prompt start position P2, which is the position where the information presenting unit 30 starts presenting the anxiety reduction information, at a position before the anxiety start position P3 on the route where the user 90 gets on and automatically travels. The distance (P2-P3) from the prompt start position P2 to the anxiety start position P3 is determined based on the total time of the recognition time and the buffer time for making the recognition time have a margin, and the speed of the automatic driving vehicle 1. The recognition time is the time required for the user 90 who observes the anxiety reduction information to recognize the content of the anxiety reduction information. In this way, the recognition start position P1, the prompt start position P2, and the anxiety start position P3 correspond to each other in time. Therefore, when the speed of the automatic driving vehicle 1 is constant, the recognition start position P1, the prompt start position P2, and the anxiety start position P3 can also be regarded as the recognition start time point, the prompt start time point, and the anxiety start time point, respectively. In addition, the control unit 12 usually sets the prompt start position P2 between the recognition start position P1 and the anxiety start position P3, which is the position where the experiment participant begins to visually recognize the presence of the anxiety factor 200, or at the same position as the recognition start position P1. When the autonomous driving vehicle 1 in which the user 90 rides reaches the prompt start position P2, the control unit 12 causes the information presenting unit 30 to start presenting the anxiety reduction information. In addition, the prompt start position P2 may be calculated in advance based on the anxiety start position P3 and stored in a storage device that can be used by the autonomous driving vehicle 1.

[0060] Furthermore, the control unit 12 may determine that there is an element of insecurity when the user 90 continues to gaze at the face image captured by the face capturing camera serving as the state grasping sensor 60 for a predetermined reference time or longer.

[0061] Figure 5 1 is a diagram showing an example of the hardware configuration of the control device 10 of the automatic driving vehicle 1 according to the first embodiment. The control device 10 is a device capable of implementing the control method of the first embodiment. Figure 3As shown in FIG. 1 , the control device 10 includes a processor 101 such as a CPU (Central Processing Unit), a memory 102 as a volatile storage device, a nonvolatile storage device 103 such as a hard disk drive (HDD) or a solid state drive (SSD), and an interface 104. The memory 102 is, for example, a semiconductor memory such as a RAM (Random Access Memory). The nonvolatile storage device 103 may also be connected to a CPU. Figure 1 The storage devices 50 shown are identical.

[0062] Each function of the control device 10 is implemented by, for example, a processing circuit. The processing circuit may be dedicated hardware, or may be a processor 101 that executes a program stored in a memory 102. The processor 101 may be any of a processing device, a computing device, a microprocessor, a microcomputer, and a DSP (Digital Signal Processor).

[0063] When the processing circuit is dedicated hardware, the processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of any of them.

[0064] When the processing circuit is the processor 101, the control program of the autonomous driving vehicle 1 is implemented by software, firmware, or a combination of software and firmware. The control program is installed in the control device 10 via a network or from a recording medium. The software and firmware are recorded in the form of programs and stored in the memory 102. The processor 101 reads out and executes the control program stored in the memory 102 to implement Figure 1 The functions of each part are shown.

[0065] In addition, the management server 100 may be partially implemented by dedicated hardware and partially implemented by software or firmware. In this way, the processing circuit can implement the above functions through hardware, software, firmware, or any combination thereof.

[0066] Figure 6 This is a schematic plan view showing an example in which the autonomous driving vehicle 1 moves forward on the planned path 80a even though a narrow road width exists as the uneasy factor 201 . Figure 72 is a schematic top view showing an example in which a narrow road width exists as an unsafe factor 201 and the autonomous driving vehicle 1 is moving along a detour path 80b. The control unit 12 obtains the passable road width ( Figure 6 W80a in Figure 7 W80c) in the figure is used as the instability factor 201, a judgment is made based on the road width and the vehicle width W1, and an action is taken based on the result of the judgment.

[0067] Specifically, the control unit 12 determines that the vehicle can pass through the planned path 80a when the road width W80a in the planned path 80a is wider than the vehicle width W1 by a predetermined margin value Wa or more. Figure 6 As shown, the control unit 12 determines that the predetermined path 80a can be passed when W1 is less than W80a and (W80a-W1)≥Wa. In addition, the margin value Wa is not limited to a fixed value, but may be a value that changes according to the vehicle speed and road attributes (such as the inclination of the road, the road surface condition, or both). For example, the margin value Wa changes in a manner that the faster the vehicle speed, the larger the margin value Wa. In addition, the margin value Wa changes in a manner that the greater the inclination of the road (the inclination in the left and right directions), the larger the margin value Wa. In addition, the margin value Wa changes in a manner that the worse the road surface condition, the larger the margin value Wa. In addition, the margin value Wa changes in a manner that the greater the step of the road, the larger the margin value Wa. In addition, the margin value Wa changes in a manner that the greater the slope of the road (the inclination in the direction of travel), the larger the margin value Wa.

[0068] In addition, the control unit 12 determines that the vehicle cannot pass through the planned path 80a when, for example, there is an object (e.g., a construction area) 80c in the planned path 80a and the road width W80c of the available road is less than the vehicle width W1. Figure 7 As shown, when W1≥W80c, the control unit 12 determines that the planned path 80a cannot be passed, and changes the planned path to the detour path 80b. In other words, the control unit 12 determines whether the autonomous driving vehicle 1 can pass the position of the unsafe element 201 based on the road width W80 and the vehicle width W1, and changes the planned path to bypass the position of the unsafe element 201 when it is determined that the autonomous driving vehicle 1 cannot pass the position of the unsafe element 201.

[0069] The control unit 12 presents the anxiety reduction information at a preset presentation start position P2 in each of the cases where the planned route is changed and the cases where the planned route is not changed.

[0070] Figure 8 1 is a diagram showing Example 1 of the anxiety reduction information presented by the information presenting unit 30 of the automatic driving vehicle 1 . Figure 8An example of anxiety reduction information (an example of a display image, a warning sound, and a voice guidance) is shown when the anxiety factor 201 is a narrow road width, but the road width is wider than the vehicle width W1 of the autonomous driving vehicle 1 and the autonomous driving vehicle 1 is moving along a predetermined path. In this example, a display of "The road is narrowing. Please do not extend your hand, etc.", a voice guidance, and a warning display (a graphic indicating a prohibited action of the user) are shown.

[0071] Fig. 9 1 is a diagram showing a second example of the anxiety reduction information presented by the information presenting unit 30 of the automatic driving vehicle 1 . Fig. 9 An example of information for alleviating anxiety (an example of a display image, a sound for warning attention, and a voice guidance) is shown when the anxiety factor 201 is a narrow road width, but the road width is wider than the vehicle width W1 of the autonomous driving vehicle 1 and the autonomous driving vehicle 1 is moving along a predetermined path. In this example, a display of “The road is getting narrower. Please do not extend your hand, etc.”, a voice guidance, a warning display (a graphic indicating a prohibited action of the user), and a graphic indicating how the road width is getting narrower are superimposed on the anxiety factor 201.

[0072] Fig.10 1 is a diagram showing a third example of the anxiety reduction information presented by the information presenting unit 30 of the automatic driving vehicle 1 . Fig.10 An example of information for alleviating anxiety (an example of a display image, a sound for warning attention, and a voice guidance) is shown when the anxiety factor 201 is a narrow road width, but the road width is wider than the vehicle width W1 of the autonomous driving vehicle 1 and the autonomous driving vehicle 1 is moving along a predetermined path. In this example, a display of "The road is narrowing. Please do not extend your hand, etc.", a voice guidance, a warning display (a graphic indicating a preferred posture that the user should take), and a graphic indicating a position where the road width is narrow (a hook point) are superimposed on the anxiety factor 201.

[0073] Fig.11 1 is a diagram showing Example 4 of the anxiety reduction information presented by the information presenting unit 30 of the automatic driving vehicle 1 . Fig.11 An example of information for alleviating anxiety (an example of a display image, a warning sound, and a voice guidance) is shown when the anxiety factor 201 is a narrow road width and the autonomous driving vehicle 1 is not advancing on the planned route but on a detour route (a route that turns right in the figure). In this example, a display of "The road is narrow and cannot be entered. Change the route.", a voice guidance and a warning display (a graphic indicating a preferred posture that the user should take), a graphic indicating that an entry prohibition mark indicating that the position of the anxiety factor 201 cannot be entered is superimposed on the anxiety factor 201, and a graphic indicating that the detour route is a right turn are displayed.

[0074] Fig.121 is a diagram showing a screen for selecting a detour route presented by the information presentation unit 30 of the automatically driven vehicle 1 . Fig.12 An example of information for alleviating anxiety (an example of a display image, a sound for warning attention, and a voice guidance) is shown when the autonomous driving vehicle 1 is able to advance along the predetermined path, even though the anxiety factor 201 is a narrow road width, but advances along a detour path (a path that turns right in the figure) by a user's operation (here, an operation of touching the triangular mark on the touch panel). In this example, a display of "The road is narrowing. Please do not extend your hand, etc.", a voice guidance, and a warning display (a graphic indicating a prohibited action of the user), a graphic indicating that an entry prohibition mark indicating that the position of the anxiety factor 201 cannot be entered is superimposed on the anxiety factor 201, and a graphic indicating that the detour path is a right turn are displayed.

[0075] Fig.13 It is shown in Fig.12 FIG. 5 is a diagram showing example 5 of the anxiety reduction information presented by the information presenting unit 30 after a detour route (right turn) is selected in a screen. Fig.13 An example of anxiety reduction information (an example of a display image, a warning sound, and a voice guidance) is shown when the autonomous driving vehicle 1 is moving along a detour route after a detour route (right turn) is selected. In this example, a display of "Route changed." and a voice guidance and a warning display (a graphic indicating the detour route) are displayed, as well as a graphic indicating that the detour route is a right turn. In this way, when there are multiple detour routes (for example, right turns and left turns), the user 90 can select a detour route based on the operation unit 40 (in the Fig.12 , Fig.13 In the example of the embodiment, the operation is performed on the touch panel to select one of multiple detour paths.

[0076] Fig.14 1 is a flowchart showing the operation of the control device 10 of the autonomous driving vehicle 1 according to the first embodiment. First, the collection unit 11 of the control device 10 collects the restlessness start position P3 based on the operation of the operation unit 40 by the experiment participant during the autonomous driving of the autonomous driving vehicle 1 in which the experiment participant is riding, and stores it in the storage device 50 ( Fig.14 When there are a plurality of collected results, the collecting unit 11 sets a position represented by a representative value such as an average value, a median value, a maximum value, or a minimum value of the distance (or time) from the uneasy element as the uneasy start position P3.

[0077] Next, the control unit 12 of the control device 10 starts the automatic driving of the automatic driving vehicle 1 in which the user 90 is riding ( Fig.14Here, it is expected that the shape and function of the autonomous driving vehicle 1 that the user 90 rides are the same as those of the autonomous driving vehicle that the experiment participants ride (same model), but it does not need to be physically the same as the autonomous driving vehicle that the experiment participants ride. The autonomous driving vehicle that the experiment participants ride is the same or the same model as the autonomous driving vehicle 1 that the user 90 rides, and it is sufficient that the information about the uneasy start position P3 determined in step S101 collected by the collection unit 11 can be used.

[0078] Next, the control unit 12 determines whether to proceed along the planned path 80a or to proceed along the detour path 80b based on the vehicle width W1 (vehicle information V) and the road widths W80a and W80c (road information R or surrounding detection information D). Fig.14 Step S103).

[0079] like Figure 7 As shown, when the automatic driving vehicle 1 moves toward the predetermined path 80a ( Fig.14 In step S104), the control unit 12 starts prompting at the prompting start position P2 determined based on the restlessness start position P3. Figures 8 to 10 The anxiety reduction information shown in any figure in (step S105).

[0080] In such Figure 7 When the autonomous driving vehicle 1 moves toward the detour path 80b ( Fig.14 In step S104), the control unit 12 starts prompting at the prompting start position P2 determined based on the restlessness start position P3. Fig.11 The anxiety reduction information shown (step S106).

[0081] As described above, according to the first embodiment, the presentation of the anxiety reduction information starts from the presentation start position P2 determined based on the anxiety start position P3, so that the presentation of the anxiety reduction information can be started even during a period when the action of the automatic driving vehicle 1 does not change and the physiological index does not change much. Therefore, the anxiety reduction effect for the user 90 can be improved. In addition, the public position of the presentation of the anxiety reduction information, that is, the presentation start position P2, is determined based on the information collected in advance from the reports of the experiment participants, so that the presentation of unnecessary information at a position where the presentation is unnecessary can be reduced.

[0082] Specifically, the user 90 may feel uneasy, such as “Can the autonomous driving wheelchair pass the path ahead in the traveling direction by the autonomous driving vehicle that the user is riding in automatically drive?” The autonomous driving vehicle 1 of the first embodiment can notify the user 90 of information for alleviating the user's 90 feeling of uneasiness at the prompt start position P2 before the uneasiness start position P3, where the user 90 feels uneasy.

[0083] Implementation method 2.

[0084] In the second embodiment, the example in which the instability factor is a slope as the road surface condition in the predetermined route is described. Figure 1 and Figure 5 . Fig.15 This is a schematic diagram showing an example in which the automatic driving vehicle 1 according to the second embodiment moves forward on a predetermined path despite the presence of a slope as the unstable factor 202 . Fig.16 This is a schematic diagram showing an example in which a slope exists as the unsafe factor 202 and the automatic driving vehicle 1 according to the second embodiment avoids the predetermined path (that is, moves along another path).

[0085] In the second embodiment, the control unit 12 performs the following processing: based on the road surface state and the driving ability (here, the climbing ability), it is determined whether the automatic driving vehicle 1 can pass the slope that is the unsafe factor 202, and when it is determined that the automatic driving vehicle 1 cannot pass the slope, the planned route is changed so as to bypass the position of the unsafe factor 202, and at the prompt start position P2 ( Figure 4 ), the information prompting unit 30 prompts the user that the ramp cannot be passed. Fig.16 As shown in FIG. 1 , the slope angle α2 of the slope is greater than the slope angle αr that can be traveled as indicated by the travel capability. At this time, the control unit 12 causes the information display unit 30 to display information indicating that the planned route has been changed. Although the example of the angle (tilt angle) is given, the parameters that affect the climbing capability, such as the user's weight and the travel speed, may also be set as the multiple parameters that affect the climbing capability. Except for this point, the structure of the second embodiment is the same as that of the first embodiment.

[0086] In the second embodiment, the control unit 12 does not change the planned route when it is determined that the vehicle can pass the slope based on the road surface condition and the driving ability. Fig.15As shown in FIG. 1 , the slope angle α1 of the slope is less than the slope angle αr indicated by the driving capability. At this time, the control unit 12 obtains the slope angle α1 of the slope from the road information R or the surrounding detection information D as the instability factor 202, and based on the road surface state (here, the slope of the slope) and the driving capability of the automatic driving vehicle 1, the control unit 12 determines the slope angle α1 of the slope at the prompt start position P2 ( Figure 4 ), the information prompting unit 30 prompts that the ramp can be passed. Fig.15 and Fig.16 2 shows an example in which the slope is an upward slope, but the same determination is performed when the slope is a downward slope.

[0087] Fig.17 1 is a diagram showing Example 6 of the anxiety reduction information presented by the information presenting unit 30 of the automatically driven vehicle 1 . Fig.17 An example of information for alleviating anxiety (an example of a display image, a sound for warning attention, and a voice guidance) is shown when the anxiety factor 202 is an uphill slope (i.e., an inclined plane with an upward slope), but the inclination angle α1 of the slope is less than the inclination angle αr at which the autonomous driving vehicle 1 can travel with its driving capability, and the autonomous driving vehicle 1 is advancing on a predetermined path. In this example, an example of expressing "We can climb the slope. Please rest assured." in English is shown. A display of "Please do not extend your hand, etc.", a voice guidance, and a warning display (a graphic indicating a prohibited action of the user) are shown.

[0088] Fig.18 2 is a flowchart showing the operation of the control device 10 of the automatic driving vehicle 1 according to the second embodiment. Fig.18 In the Fig.14 Steps that are identical to the steps shown are marked Fig.14 The autonomous driving vehicle 1 of the second embodiment is different from the autonomous driving vehicle of the first embodiment (the autonomous driving vehicle that makes a decision based on the road width and the vehicle width) in that, in step S203, the control unit 12 determines whether to proceed along the predetermined path or along the detour path based on the driving ability (vehicle information V) and the inclination angle of the slope (road information R or surrounding detection information D). In addition to this, Fig.18 Action and Fig.14 The action is the same.

[0089] As described above, according to the second embodiment, the presentation of the anxiety reduction information starts from the presentation start position P2 determined based on the anxiety start position P3, so that the presentation of the anxiety reduction information can be started even during a period when the action of the automatic driving vehicle 1 does not change and the physiological index hardly changes. Therefore, the anxiety reduction effect for the user 90 can be improved. In addition, the public position of the presentation of the anxiety reduction information, that is, the presentation start position P2 is determined based on the information collected in advance from the reports of the experiment participants, so that the presentation of unnecessary information at a position where the presentation is unnecessary can be reduced.

[0090] Furthermore, the structure and functions of the autonomous driving vehicle 1 of the second embodiment can also be incorporated into the autonomous driving vehicle of the first embodiment.

[0091] Implementation method 3.

[0092] In the third embodiment, the example in which the uneasy element is a step as the road surface condition in the predetermined route is described. Figure 1 and Figure 5 . Fig.19 This is a schematic diagram showing an example in which the automatic driving vehicle 1 according to the third embodiment moves forward on a predetermined path despite the presence of a step as the uneasy element 203 . Fig. 20 This is a schematic diagram showing an example in which a step exists as the uneasy element 203 and the automatic driving vehicle 1 according to the third embodiment avoids the predetermined path (that is, moves along another path).

[0093] In the third embodiment, the control unit 12 performs the following processing: based on the road surface state and the driving ability, it is determined whether the autonomous driving vehicle 1 can pass the step as the unsafe factor 203, and if it is determined that the step cannot be passed, the planned route is changed so as to bypass the position of the unsafe factor 203, and the vehicle 1 is stopped at the prompt start position P2 ( Figure 4 ), the information prompting unit 30 prompts the user that the step cannot be passed. Fig. 20 As shown, the height H2 of the step is greater than the height Hr of the step that can be traveled as indicated by the travel capability. At this time, the control unit 12 causes the information display unit 30 to display information indicating that the planned route has been changed. Except for this point, the structure of the third embodiment is the same as that of the first embodiment.

[0094] In the third embodiment, the control unit 12 does not change the planned route when it is determined that the vehicle can pass through the steps based on the road surface condition and the driving ability. Fig.19As shown in FIG. 1 , the height H1 of the step is less than the height Hr of the step that can be driven as indicated by the driving capability. In this case, the control unit 12 obtains the height H1 of the step as the insecurity factor 203 from the road information R or the surrounding detection information D or both, and based on the road surface state (here, the height of the step) and the driving capability of the automatic driving vehicle 1, at the prompt start position P2 ( Figure 4 ), the information prompting unit 30 prompts that the stairs can be passed. Fig.19 and Fig. 20 The example in which the steps are ascending steps is shown, but the same determination is performed when the steps are descending steps.

[0095] Fig.21 : is a diagram showing Example 7 of the anxiety reduction information presented by the information presenting unit 30 of the automatic driving vehicle 1 . Fig.21 An example of anxiety reduction information (an example of a display image, a sound to call attention, and a voice guidance) is shown when the anxiety factor 203 is a descending step but the height of the step is below the height at which the autonomous driving vehicle 1 can travel with its driving capability, and the autonomous driving vehicle 1 is moving along a predetermined path. In this example, a display of "Go down the stairs. Please hold the handrail.", a voice guidance, and a caution display (a graphic to urge the user to pay attention) are shown.

[0096] Fig. 22 1 is a flowchart showing the operation of the control device 10 of the automatic driving vehicle 1 according to the third embodiment. Fig. 22 In the Fig.14 Steps that are identical to the steps shown are marked Fig.14 The autonomous driving vehicle 1 of the third embodiment differs from the autonomous driving vehicle of the first embodiment in that, in step S303, the control unit 12 determines whether to proceed along the predetermined path or along the detour path based on the driving capability (vehicle information V) and the height of the step (road information R or surrounding detection information D). In addition to this, Fig. 22 Action and Fig.14 The action is the same.

[0097] As described above, according to the third embodiment, the presentation of the anxiety reduction information starts from the presentation start position P2 determined based on the anxiety start position P3, so that the presentation of the anxiety reduction information can be started even when the action of the automatic driving vehicle 1 does not change and the physiological index does not change much. Therefore, the anxiety reduction effect for the user 90 can be improved. In addition, the public position of the presentation of the anxiety reduction information, that is, the presentation start position P2, is determined based on the information collected in advance from the reports of the experiment participants, so that the presentation of unnecessary information at a position where the presentation is unnecessary can be reduced.

[0098] Fig.23 A modified example of the third embodiment is shown. Fig.23 2 is a schematic diagram showing an example in which a user riding in the autonomous driving vehicle 1 recognizes unevenness (i.e., uneven surface) as the anxiety factor 204. Fig.19 and Fig. 20 In the same case, the control unit 12 determines whether the road with bumps is passable based on the height or depth of the bumps (i.e., the size of the bumps), and determines the public position of the prompt of the anxiety reduction information, i.e., the prompt start position P2, based on the information collected from the reports of the experiment participants. Therefore, the prompt of unnecessary information at the position where no prompt is necessary can be reduced.

[0099] In addition, in the case where the uneasy element is an unpaved surface (for example, an area with long grass, a swamp, a wetland, etc.) existing on the planned path, the control unit 12 determines whether it is possible to travel on the road with the unpaved surface based on the state of the unpaved surface (for example, the amount of grass, the size of the swamp, etc.), and determines the public position of the prompt of the uneasy reduction information, that is, the prompt start position P2, based on the information collected based on the reports of the experimental participants. Therefore, the prompt of unnecessary information at the position where the prompt is not necessary can be reduced.

[0100] Furthermore, the structure and functions of the autonomous driving vehicle 1 of the third embodiment can also be incorporated into the autonomous driving vehicle of the first or second embodiment.

[0101] Implementation method 4.

[0102] In the fourth embodiment, an example in which the instability factor is a moving object approaching the autonomous driving vehicle on a predetermined path is described. Figure 1 and Figure 5 . Fig.24 and Fig.25 This is a schematic plan view showing the behavior of the autonomous driving vehicle 1 when a moving object, which is the uneasy factor 205 , approaches the autonomous driving vehicle 1 according to the fourth embodiment.

[0103] In the fourth embodiment, the control unit 12 adjusts the automatic driving of the autonomous driving vehicle 1 based on the size, speed, and distance from the moving object (surrounding detection information D) approaching the autonomous driving vehicle 1. The moving object is detected based on the surrounding detection information D of the surrounding sensor 20. The moving object is, for example, a pedestrian, a bicycle, a car, etc. Fig.25 As shown, the autonomous driving vehicle 1 moves the position where the autonomous driving vehicle 1 is traveling close to the roadside strip side of the road, so as to be away from the lane where the moving object is traveling. At this time, the control unit 12 may also prompt the user 90 through the information prompting unit 30 to recognize the moving object as the uneasy factor 205 and change the planned driving path to the position on the roadside strip side.

[0104] For example, the control unit 12 performs the following processing: when it is determined based on the facial image captured by the facial capture camera as the state grasping sensor 60 that the user 90 has been gazing at the object of gaze for more than a predetermined reference time and that the object of gaze is the uneasy factor 205, and based on the surrounding detection information D of the surrounding sensor 20, it is determined that the object of gaze is a moving object, that is, a moving body, the predetermined path is changed so as to be away from the position of the uneasy factor 203, and at the prompt starting position P2 ( Figure 4 ) The information prompting unit 30 prompts the user of the situation of crossing with the moving object.

[0105] In addition, the control unit 12 may control the information display unit 30 in such a manner that the faster the speed of the moving body, the more emphasis is placed on the display mode of the information related to the moving body. The emphasis on the display mode may be increased by, for example, displaying in larger characters, displaying in a more conspicuous color, flashing the display, increasing the brightness of the display, etc. in the display device 31. The emphasis on the display mode may be increased by, for example, outputting a louder sound, outputting a repeated sound, etc. in the speaker 32. The emphasis on the display mode may be increased by, for example, giving a louder vibration, giving a repeated vibration, etc. in the vibration device 33. The emphasis on the display mode may be increased by, for example, displaying more brightly, displaying in a more conspicuous color, flashing, etc. in the display light 34. The emphasis on the display mode may be increased by combining two or more display modes of the display device 31, the speaker 32, the vibration device 33, and the display light 34.

[0106] In the process of collecting information, the collecting unit 11 may collect the degree of anxiety intensity input by the experimental participant from the operating unit 40 between the identification start position P1 and the anxiety factor while the autonomous driving vehicle 1 in which the experimental participant is riding is driving automatically. The higher the degree of anxiety intensity, the more the control unit 12 increases the emphasis of the display method of the information prompted by the information prompting unit 30.

[0107] In addition, the control unit 12 may increase the emphasis of the display method of the information related to the moving object as the size of the moving object is larger. In addition, the control unit 12 may increase the emphasis of the display method of the information related to the approaching moving object as the distance to the moving object is shorter. Except for the above, the structure of the fourth embodiment is the same as the structure of the first embodiment.

[0108] Fig.26 1 is a diagram showing Example 8 of the anxiety reduction information presented by the information presenting unit 30 of the automatically driven vehicle 1 . Fig.26An example of information to reduce anxiety (an example of a display image, a sound to warn people, and a voice guidance) is shown when the anxiety factor 204 is a pedestrian who is a moving body but is walking on the roadside without affecting the driving of the autonomous driving vehicle 1, and the autonomous driving vehicle 1 is moving along the predetermined path. In this example, a display and a voice guidance of "A pedestrian is coming from the left. Please pay attention." are shown.

[0109] Fig. 27 4 is a flowchart showing the operation of the control device 10 of the automatic driving vehicle 1 according to the fourth embodiment. Fig. 27 In the Fig.14 Steps that are identical to the steps shown are marked Fig.14 The autonomous driving vehicle 1 of the fourth embodiment differs from the autonomous driving vehicle of the first embodiment in that, in step S403, the control unit 12 adjusts the automatic driving of the autonomous driving vehicle 1 based on one or more of the size, speed, and distance from the moving object (surrounding detection information D) approaching the autonomous driving vehicle 1, and the detour path is a lane change to a different lane among a plurality of lanes (i.e., a change in the road width direction of the driving lane). In addition to this, Fig. 27 Action and Fig.14 The action is the same.

[0110] Fig.28 1 is a diagram showing Example 9 of the anxiety reduction information presented by the information presenting unit 30 of the automatic driving vehicle 1 . Fig.28 An example of information for alleviating anxiety (an example of a display image, a sound and a voice guidance) is shown in which the anxiety factor 204 is a pedestrian as a moving object and the pedestrian begins to walk from behind an object on the roadside to the center of the road. In this example, a display and a voice guidance of "There is a person behind the object. Please pay attention." are shown. The control unit can also perform Fig. 27 Processing shown.

[0111] As described above, according to the fourth embodiment, the presentation of the anxiety reduction information is started based on the anxiety start position P3, so that the presentation of the anxiety reduction information can be started even during a period when the action of the automatic driving vehicle 1 does not change and the physiological index hardly changes. Therefore, the anxiety reduction effect for the user 90 can be improved. In addition, the public position of the presentation of the anxiety reduction information, that is, the presentation start position P2, is determined based on the information collected in advance from the reports of the experiment participants, so that the presentation of unnecessary information at a position where the presentation is unnecessary can be reduced.

[0112] Furthermore, the structure and functions of the autonomous driving vehicle 1 of the fourth embodiment can be incorporated into any of the autonomous driving vehicles of the first, second, and third embodiments.

[0113] Variation example.

[0114] In the above-mentioned embodiments 1 to 4, the control unit 12 may also cause the information prompting unit 30 to prompt information by voice when no person is detected around the autonomous driving vehicle 1 by the surrounding sensor 20 (for example, when there is no person within a range specified by a predetermined distance), and may cause the information prompting unit 30 to prompt information by vibration when a person is detected around the autonomous driving vehicle 1 by the surrounding sensor 20.

[0115] In addition, in the above-mentioned embodiments 1 to 4, the user 90 of the autonomous driving vehicle may report (for example, input from the operation unit) the intensity of anxiety (i.e., the degree of anxiety) at a place where he feels anxious during the autonomous driving to the destination. The control unit 12 may also have a learning function of recording the position information and the intensity of anxiety in the storage device 50. The control unit 12 may also refer to the model as the learned information during the next autonomous driving to change the timing and the method of presenting the anxiety reduction information to the user 90.

[0116] Description of Reference Numerals

[0117] 1 autonomous driving vehicle, 10 control device, 11 collection unit, 12 control unit, 20 surrounding sensors, 21 front camera, 22 laser radar, 30 information prompt unit, 31 display device, 32 speaker, 33 vibration device, 34 display light, 40 operation unit, 50 storage device, 51 GPS, 60 state grasping sensor, 70 drive unit, 71 wheel, 72 steering, 73 chair, 74 speed sensor, 80 road, 80a planned path, 80b detour path, 80c object, 90 user, 91 eyes, 92 sight line, 101 processor, 102 memory, 103 non-volatile storage device, 104 interface, 200-205 unsafe factors.

Claims

1. An automatic driving vehicle that allows a user to ride and automatically travel, characterized in that: The autonomous driving vehicle has: A surrounding sensor that detects at least a state ahead in the driving direction; An information prompting unit, which prompts information to the user; Operations Department; a collecting unit that collects in advance, based on an operation of the operating unit by an experiment participant, an anxiety start position along a path along which the autonomous driving vehicle on which the experiment participant rides automatically travels, the anxiety start position being a position in the middle of the path near an anxiety factor that makes the experiment participant feel anxious, and being the position at which the experiment participant starts to feel anxious about the anxiety factor; and a control unit that controls the action of the autonomous driving vehicle based on road information, vehicle information of the autonomous driving vehicle, surrounding detection information output from the surrounding sensor, and the start position of the instability, wherein the road information includes a map of a planned path to a destination of the autonomous driving vehicle and road attributes of the planned path, The control unit sets a prompt start position at a position before the anxiety start position on the route on which the user is automatically driven, the prompt start position being a position at which the information presenting unit starts presenting anxiety reduction information, When the autonomous driving vehicle on which the user is riding reaches the presentation start position, the control unit causes the information presentation unit to start presenting the anxiety reduction information.

2. The autonomous driving vehicle according to claim 1, characterized in that: The control unit sets the presentation start position between a recognition start position at which the experiment participant starts to visually recognize the presence of the anxiety factor and the anxiety start position, or at the same position as the recognition start position.

3. The automatic driving vehicle according to claim 2, characterized in that: The collecting unit collects the recognition start positions in advance along the route along which the autonomous driving vehicle in which the experiment participant is riding automatically travels, based on an operation of the operating unit by the experiment participant during the route.

4. The automatic driving vehicle according to claim 2, characterized in that: The autonomous driving vehicle further includes a state grasping sensor for detecting the state of the user riding in the autonomous driving vehicle. When the control unit determines that there is a gaze object that the user has been gazing at for a predetermined reference time or longer based on the state of the user detected by the state grasping sensor, the control unit sets the gaze start position as the recognition start position.

5. The autonomous driving vehicle according to any one of claims 1 to 4, characterized in that: The control unit determines whether the autonomous driving vehicle can pass the position of the unstable element based on one or more of the road information, the surrounding detection information, and the vehicle information. The control unit determines whether it is necessary to bypass the location of the unstable factor based on the result of the determination. When the detour is to be performed, the control unit causes the information presenting unit to present the anxiety reduction information for notifying the user that the detour is to be performed, The control unit causes the information presentation unit to present the anxiety reduction information for notifying the user to travel without performing the detour, when the detour is not performed.

6. The autonomous driving vehicle according to any one of claims 1 to 5, characterized in that: The control unit obtains the road width in the predetermined path from the road information or the surrounding detection information as the instability factor, and obtains the vehicle width of the autonomous driving vehicle from the vehicle information, The control unit determines whether the autonomous driving vehicle can pass the position of the unstable factor based on the road width and the vehicle width. The control unit determines whether it is necessary to bypass the location of the unstable factor based on the result of the determination. When the detour is to be performed, the control unit causes the information presenting unit to present the anxiety reduction information for notifying the user that the detour is to be performed, The control unit causes the information presentation unit to present the anxiety reduction information for notifying the user to travel without performing the detour, when the detour is not performed.

7. The autonomous driving vehicle according to any one of claims 1 to 6, characterized in that: The control unit obtains the road surface state in the predetermined path as the instability factor from the road information or the surrounding detection information, and obtains the driving capability of the autonomous driving vehicle from the vehicle information, The control unit determines whether the autonomous driving vehicle can pass the position of the unstable factor based on the road surface state and the driving ability. The control unit determines whether it is necessary to bypass the location of the unstable factor based on the result of the determination. When the detour is to be performed, the control unit causes the information presenting unit to present the anxiety reduction information for notifying the user that the detour is to be performed, The control unit causes the information presentation unit to present the anxiety reduction information for notifying the user to travel without performing the detour, when the detour is not performed.

8. The automatic driving vehicle according to claim 7, characterized in that: The control unit obtains, as the road surface state, one or more of the inclination of a ramp in the predetermined path, the height of a step in the predetermined path, the size of unevenness in the predetermined path, and the state of an unpaved surface in the predetermined path.

9. The autonomous driving vehicle according to any one of claims 1 to 7, characterized in that: When the control unit determines that the anxiety factor is a moving object based on the surrounding detection information of the surrounding sensor, the control unit causes the information presentation unit to present the driving position and driving speed of the autonomous driving vehicle as the anxiety reduction information.

10. The automatic driving vehicle according to claim 9, characterized in that: When the control unit determines that the anxiety factor is an object moving in a direction approaching the autonomous driving vehicle based on the surrounding detection information of the surrounding sensor, the control unit causes the information presentation unit to present information related to the object as the anxiety reduction information.

11. The automatic driving vehicle according to claim 9 or 10, characterized in that: The control unit increases the degree of emphasis of the display method of the information related to the object as the speed of the object is faster, the size of the object is larger, or the distance to the object is shorter.

12. The autonomous driving vehicle according to any one of claims 1 to 11, characterized in that: The control unit changes the planned route based on a user operation from the operation unit.

13. The autonomous driving vehicle according to any one of claims 1 to 12, characterized in that: The collecting unit collects the degree of anxiety intensity inputted by the user through the operating unit while the autonomous driving vehicle in which the user, who is the experiment participant, is riding is autonomously driving, The control unit increases the emphasis of the display method of the information presented by the information presenting unit as the level of the anxiety intensity increases.

14. The autonomous driving vehicle according to any one of claims 1 to 13, characterized in that: The information presenting unit includes at least one of a display device, a speaker, a display light, and a vibration device.

15. The autonomous driving vehicle according to any one of claims 1 to 14, characterized in that: When no person is detected around the autonomous driving vehicle by the surrounding sensor, the control unit causes the information presenting unit to present information by voice, When a person is detected around the autonomous driving vehicle by the surrounding sensor, the control unit causes the information presenting unit to present information by vibrating.

16. The autonomous driving vehicle according to any one of claims 1 to 15, characterized in that: The autonomous driving vehicle is an autonomous driving wheelchair.

17. A control device for an autonomous driving vehicle, the autonomous driving vehicle comprising a surrounding sensor for detecting at least a state ahead of a driving direction, an information presenting unit for presenting information to a user, and an operating unit, characterized in that: The control device has: a collecting unit that collects in advance, based on an operation of the operating unit by an experiment participant, an anxiety start position along a path along which the autonomous driving vehicle on which the experiment participant rides automatically travels, the anxiety start position being a position in the middle of the path near an anxiety factor that makes the experiment participant feel anxious, and being the position at which the experiment participant starts to feel anxious about the anxiety factor; and a control unit that controls the action of the autonomous driving vehicle based on road information, vehicle information of the autonomous driving vehicle, surrounding detection information output from the surrounding sensor, and the start position of the instability, wherein the road information includes a map of a planned path to a destination of the autonomous driving vehicle and road attributes of the planned path, The control unit sets a prompt start position at a position before the anxiety start position on the route on which the user is automatically driven, the prompt start position being a position at which the information presenting unit starts presenting anxiety reduction information, When the autonomous driving vehicle on which the user is riding reaches the presentation start position, the control unit causes the information presentation unit to start presenting the anxiety reduction information.

18. A method for controlling an autonomous driving vehicle, the autonomous driving vehicle having a surrounding sensor for detecting at least a state ahead of a driving direction, an information presenting unit for presenting information to a user, and an operating unit, characterized in that: The control method comprises the following steps: Based on the operation of the operation unit by the experiment participant, anxiety start positions are collected in advance along a path along which the autonomous driving vehicle on which the experiment participant rides automatically travels, the anxiety start positions being positions in the middle of the path near an anxiety factor that makes the experiment participant feel anxious, and being the positions at which the experiment participant starts to feel anxious about the anxiety factor; and controlling the action of the autonomous driving vehicle based on road information, vehicle information of the autonomous driving vehicle, surrounding detection information output from the surrounding sensor, and the start position of the instability, wherein the road information includes a map of a planned path to a destination of the autonomous driving vehicle and road attributes of the planned path, In the step of controlling the action of the autonomous driving vehicle: A prompt start position is set at a position before the anxiety start position on the route on which the user is automatically driven, and the prompt start position is a position where the information presenting unit starts presenting anxiety reduction information. When the autonomous driving vehicle in which the user is riding reaches the presentation start position, the information presentation unit starts presenting the anxiety reduction information.

19. A control program for an autonomous driving vehicle, which is a program executed by a control device of the autonomous driving vehicle, the autonomous driving vehicle having a surrounding sensor for detecting at least a state ahead of the driving direction, an information prompting unit for prompting information to a user, and an operation unit, characterized in that: The control program causes the following steps to be performed: Based on the operation of the operation unit by the experiment participant, anxiety start positions are collected in advance along a path along which the autonomous driving vehicle on which the experiment participant rides automatically travels, the anxiety start positions being positions in the middle of the path near an anxiety factor that makes the experiment participant feel anxious, and being the positions at which the experiment participant starts to feel anxious about the anxiety factor; and The action of the autonomous driving vehicle is controlled based on road information, vehicle information of the autonomous driving vehicle, surrounding detection information output from the surrounding sensors, and the anxiety start position, the road information including a map of a planned route to a destination of the autonomous driving vehicle and road attributes of the planned route, a prompt start position is set at a position closer to the anxiety start position than the anxiety start position of the route on which the user is allowed to board and automatically travel, the prompt start position being a position at which the information prompting unit starts to prompt anxiety reduction information, and when the autonomous driving vehicle on which the user is allowed to board arrives at the prompt start position, the information prompting unit starts to prompt the anxiety reduction information.

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