Control system, vehicle, and control program

Abstract

A control system mounted in an autonomous vehicle is provided with a control unit that moves a steering wheel housed in a seat of the autonomous vehicle to the outside of the seat of the autonomous vehicle when the position of the autonomous vehicle enters from the outside of the area where the steering wheel needs to be installed to the inside of the area where the steering wheel needs to be installed.

Description

Technical Field

[0001] The present disclosure relates to a control system, a vehicle, and a control program mounted on an autonomous vehicle. Background Art

[0002] In Patent Document 1, a vehicle having an autonomous driving function is described.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-035198 Summary of the Invention

[0006] Means for Solving the Problems

[0007] The control system according to the first aspect of the present disclosure is a control system mounted on an autonomous vehicle, and includes a control unit that, when the position of the autonomous vehicle enters from outside a region where a steering wheel is required to be equipped into a region where a steering wheel is required to be equipped, moves the steering wheel housed in the seat of the autonomous vehicle outside the seat of the autonomous vehicle.

[0008] The control system according to the second aspect of the present disclosure is a control system mounted on an autonomous vehicle, and includes a control unit that, when an occupant who operates the steering wheel housed in the seat of the autonomous vehicle or deployed outside the seat of the autonomous vehicle in an operable state is an occupant not assumed to drive, restricts the driving time of the autonomous vehicle when the steering wheel is moved outside the seat of the autonomous vehicle and is in an operable state.

[0009] Regarding the control system according to the third aspect of the present disclosure, in the first aspect or the second aspect, when the position of the autonomous vehicle enters from outside a region where a steering wheel is required to be equipped into a region where a steering wheel is required to be equipped, the control unit moves the steering wheel housed in the seat of the autonomous vehicle outside the seat of the autonomous vehicle.

[0010] The program according to the fourth aspect of the present disclosure causes a computer to function as the control unit of the control system according to any one of the first aspect to the fourth aspect.

[0011] The control system of the fifth aspect of the present disclosure includes: an operating body that can move between an operating position where a passenger can perform a driving operation and a storage position where it retracts from the passenger space in the interior; a travel control unit that performs travel control without going through the driving operation of the passenger, and performs travel control according to the operation of the operating body when the operating body is disposed at the operating position and operated by the passenger; a position information acquisition unit that acquires position information indicating the travel position; an acquisition unit that acquires area information, the area information including whether it is necessary to dispose the operating body at the operating position for each area; and a configuration control unit that disposes the operating body at the operating position when entering an area where it is necessary to dispose the operating body at the operating position.

[0012] Regarding the control system of the sixth aspect, in the fifth aspect, it includes a receiving unit that receives the configuration of the operating body at the operating position by the passenger, and the configuration control unit disposes the operating body at the operating position by receiving the configuration of the operating body at the operating position by the receiving unit.

[0013] Regarding the control system of the seventh aspect, in the fifth or sixth aspect, a plurality of the operating bodies with different operating modes for the driving operation are provided, and the area information includes information indicating the required operating mode of the operating body. When disposing the operating body at the operating position, the configuration control unit selects the operating body corresponding to the operating mode and the area information and disposes it at the operating position.

[0014] Regarding the control system of the eighth aspect, in the sixth or seventh aspect, a plurality of the operating bodies with different operating modes for the driving operation are provided, and it includes a receiving unit that receives the selection of the operating body by the passenger. When disposing the operating body at the operating position, the configuration control unit disposes the operating body selected by the passenger from the plurality of operating bodies at the operating position.

[0015] Regarding the control system of the ninth aspect, in any one of the fifth to eighth aspects, the operating body includes a steering wheel, and by performing a rotation operation on the steering wheel, the traveling direction is changed.

[0016] Regarding the control system of the tenth aspect, in any one of the fifth to eighth aspects, the operating body includes a cross key, and by performing a key operation corresponding to the traveling direction on the cross key, the traveling direction is changed according to the key operation.

[0017] Regarding the control system of the eleventh mode, in any one of the fifth to eighth modes, the operating body includes a joystick, and by performing a tilting operation on the joystick, the traveling direction is changed to the tilting direction.

[0018] The vehicle of the twelfth mode is equipped with the control system of any one of the fifth to eleventh modes.

[0019] The control program of the thirteenth mode causes a computer to function as the following parts: a configuration part for configuring an operating body used by an occupant for driving operations to move between an operating position where the occupant can perform driving operations and a storage position where it retreats from the seating space in the interior; a travel control part that, when the operating body is configured at the operating position, performs travel control according to the operation of the operating body, and when the operating body is configured at the storage position, performs travel control without going through the driving operation of the occupant; a position information acquisition part for acquiring position information indicating the travel position; an acquisition part for acquiring area information including whether it is necessary to configure the operating body at the operating position for each area; and a configuration control part that, when entering an area where it is necessary to configure the operating body at the operating position, configures the operating body at the operating position.

[0020] It should be noted that the above - disclosed summary does not list all the necessary features of the present disclosure. In addition, sub - combinations of these feature groups can also constitute the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a block diagram schematically showing an example of an autonomous vehicle.

[0022] Figure 2 is a schematic top view showing an example of the seat of an autonomous vehicle.

[0023] Figure 3 is a schematic front view showing an example of a steering wheel.

[0024] Figure 4 is a block diagram showing an example of the functional structure of a control device.

[0025] Figure 5 is a flowchart showing an example of a processing routine executed by the control device.

[0026] Figure 6 is a block diagram schematically showing an example of the hardware structure of a computer functioning as a control device.

[0027] Figure 7 is a flowchart showing an example of a processing routine executed by the control device.

[0028] Figure 8 It is a flowchart showing another example of a processing routine executed by a control device.

[0029] Figure 9 It is a block diagram schematically showing an example of an autonomous driving vehicle.

[0030] Figure 10 It is a schematic top view showing an example of a seat of an autonomous driving vehicle.

[0031] Figure 11A It is a schematic front view showing a steering wheel as an example of a handle.

[0032] Figure 11B It is a schematic front view showing another example of a steering wheel as a handle.

[0033] Figure 11C It is a schematic front view showing a controller as an example of a handle.

[0034] Figure 11D It is a perspective view showing a main part of a joystick as an example of a handle.

[0035] Figure 12 It is a block diagram showing an example of a functional structure of a main part in a control system.

[0036] Figure 13 It is a flowchart showing an example of a processing routine executed in a control system. Detailed Description of the Invention

[0037] Hereinafter, the present disclosure will be described by way of disclosed embodiments. However, the following embodiments do not limit the disclosure related to the claims. In addition, not all combinations of features described in the embodiments are necessary for the solution of the present disclosure.

[0038] In existing non-autonomous vehicles, a steering wheel is provided. However, in a Level 6 autonomous driving vehicle, a steering wheel is not required, and the interior passenger space can be designed to be spacious. Level 6 refers to the level of autonomous driving, which is equivalent to a level higher than Level 5 representing fully autonomous driving. Although Level 5 represents fully autonomous driving, it is at the same level as human driving, and there is still a probability of accidents and the like. Level 6 represents a level higher than Level 5, which is equivalent to a level with a lower probability of accidents than Level 5. Level 6 is achieved by controlling in nanoseconds.

[0039] In regions where a steering wheel is required by regulations (for example, certain states in the United States of America), there is a risk of unconsciously violating the law when an autonomous vehicle travels across regions where a steering wheel is not required and regions where a steering wheel is required. In addition, when one wants to drive the vehicle oneself for reasons such as interest, a steering wheel is also needed. At this time, space for taking in and out the steering wheel or space for accommodating the steering system itself is required, and the passenger space of the autonomous vehicle becomes narrow.

[0040] Therefore, the control system of the present embodiment is a system in which a steering wheel that can be operated with one hand is stored on the side of the seat, and when entering a region where a steering wheel is required to be equipped according to regulations, the steering wheel automatically appears. By eliminating the steering system from the passenger space of the vehicle, the passenger space of a Level 6 autonomous vehicle can be designed to be more spacious.

[0041] Figure 1 It is a schematic diagram of an example of the autonomous vehicle 10 according to the present embodiment. The autonomous vehicle 10 includes a control system 20 mounted on the autonomous vehicle 10. The control system 20 includes a control device 22 and a GPS (Global Positioning System) device 24.

[0042] The GPS device 24 receives GPS signals from a plurality of GPS satellites, locates the position of the autonomous vehicle 10, and outputs position information indicating the located position of the autonomous vehicle 10 to the control device 22. The position of the autonomous vehicle 10 is represented by, for example, longitude and latitude.

[0043] Figure 2 It is a schematic top view of an example of the seat 100 of the autonomous vehicle 10 according to the present embodiment. It should be noted that, Figure 2 above is equivalent to the front of the autonomous vehicle 10, Figure 2 below is equivalent to the rear of the autonomous vehicle 10. Inside the side surface of the seat 100 (the left side surface in the example of Figure 2 ), a space capable of storing the steering wheel 110 inside is provided. It should be noted that the space capable of storing the steering wheel 110 can be provided inside the right side surface of the seat 100 or inside the bottom surface of the seat 100.

[0044] The steering wheel 110 is connected to the control device 22 by wire or wirelessly. When the steering wheel 110 is operated, a signal corresponding to the operation is output to the control device 22. Thereby, the autonomous vehicle 10 can be driven according to the operation of the steering wheel 110.

[0045] The steering wheel 110 can move outward from the seat 100 by controlling a drive mechanism such as an electric motor. For example, the steering wheel 110 moves upward from the inside of the side of the seat 100 and appears outside the seat 100, and the occupant of the autonomous vehicle 10 can drive the autonomous vehicle 10 by operating the appeared steering wheel 110. It should be noted that the steering wheel 110 can also be provided on a folding arm or the like and configured to be able to appear in front of the occupant of the autonomous vehicle 10.

[0046] Figure 3 is a schematic front view of the steering wheel 110 mounted on the autonomous vehicle 10 according to the present embodiment. The steering wheel 110 is provided with a button 112 for operating the accelerator and a button 114 for operating the brake. It should be noted that the steering wheel 110 can also be provided with various buttons for operating steering, reverse, etc.

[0047] Figure 4 is a block diagram showing an example of the functional structure of the control device 22. The control device 22 includes an acquisition unit 30, a determination unit 32, and a control unit 34.

[0048] The acquisition unit 30 acquires the position information of the autonomous vehicle 10 from the GPS device 24 at a prescribed time interval.

[0049] Based on the position information of the autonomous vehicle 10 acquired by the acquisition unit 30, the determination unit 32 determines whether the position of the autonomous vehicle 10 has entered from outside the area where a steering wheel is required into the area where a steering wheel is required. Specifically, for example, when the position of the autonomous vehicle 10 acquired at a time close to the current time is within the area where a steering wheel is not required and the position of the autonomous vehicle 10 acquired at the current time is within the area where a steering wheel is required, the determination unit 32 determines that the position of the autonomous vehicle 10 has entered from outside the area where a steering wheel is required into the area where a steering wheel is required.

[0050] The control unit 34 controls a drive mechanism such as an electric motor to move the steering wheel 110 accommodated in the seat 100 of the autonomous vehicle 10 outside the seat 100 of the autonomous vehicle 10.

[0051] The control device 22 repeatedly executes Figure 5 the flowchart shown.

[0052] In step S10, the acquisition unit 30 acquires the position information of the autonomous vehicle 10 from the GPS device 24.

[0053] In step S12, as described above, the determination unit 32 determines whether the position of the autonomous driving vehicle 10 has entered from outside the area where a steering wheel is required into the area where a steering wheel is required, based on the position information of the autonomous driving vehicle 10 acquired in step S10. When this determination is an affirmative determination, the process proceeds to step S14.

[0054] In step S14, the control unit 34 controls a drive mechanism such as a motor to move the steering wheel 110 housed in the seat 100 of the autonomous driving vehicle 10 out of the seat 100 of the autonomous driving vehicle 10. When the process of step S14 ends, the process of the flowchart ends.

[0055] When the determination in step S12 is a negative determination, the process of step S14 is not executed and the process of the flowchart ends.

[0056] As described above, according to the present embodiment, the passenger space of the autonomous driving vehicle 10 can be designed to be more spacious and comfortable.

[0057] Figure 6 An example of the hardware configuration of the computer 1200 that functions as the controller 22 is schematically shown. The program installed in the computer 1200 enables the computer 1200 to function as one or more "units" of the device according to the present embodiment, or enables the computer 1200 to perform operations associated with the device according to the present embodiment or the one or more "units", and / or enables the computer 1200 to execute the process according to the present embodiment or a stage of the process. Such a program can be executed by the CPU 1212, so that the computer 1200 performs specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

[0058] The computer 1200 according to the present embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216 that are interconnected via a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive can be a DVD-ROM drive, a DVD-RAM drive, etc. The storage device 1224 can be a hard disk drive, a solid state drive, etc. The computer 1200 also includes conventional input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0059] The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214 to control each unit. The graphics controller 1216 obtains the image data generated by the CPU 1212 from a frame buffer or the like provided in the RAM 1214 or itself, and causes the image data to be displayed on the display device 1218.

[0060] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to the IC card.

[0061] The ROM 1230 stores therein a boot program or the like executed by the computer 1200 at startup and / or a program dependent on the hardware of the computer 1200. The input / output chip 1240 can also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, or the like.

[0062] The program is provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The program is read from the computer-readable storage medium, installed in the storage device 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and causes cooperation between the programs and the above various types of hardware resources. The device or method may be constituted by operating or processing information according to the use of the computer 1200.

[0063] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 can execute a communication program loaded into the RAM 1214 and command the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in a transmission buffer area provided in a recording medium such as the RAM 1214, the storage device 1224, a DVD-ROM, or an IC card, and transmits the read transmission data to the network, or writes the received data received from the network to a reception buffer area or the like provided on the recording medium.

[0064] In addition, the CPU 1212 can cause all or necessary parts of files or databases stored in external recording media such as the storage device 1224, DVD drive (DVD-ROM), IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. Then, the CPU 1212 can write the processed data back to the external recording media.

[0065] Various types of information such as various types of programs, data, tables, and databases can be stored in the recording media for information processing. The CPU 1212 can perform various types of processing on the data read from the RAM 1214. The various types of processing include various types of operations, information processing, conditional judgment, conditional branch, unconditional branch, information retrieval / replacement, etc. specified by the instruction sequences of the programs described throughout this disclosure, and write the results back to the RAM 1214. In addition, the CPU 1212 can retrieve information in files, databases, etc. within the recording media. For example, in the case where a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording media, the CPU 1212 can retrieve entries that match the condition specifying the attribute value of the first attribute from the plurality of entries, and read the attribute value of the second attribute stored in the entries, thereby obtaining the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0066] The programs or software modules described above can be stored on a computer-readable storage medium on or near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium to provide the program to the computer 1200 via the network.

[0067] The boxes in the flowcharts and block diagrams in this embodiment may represent stages of a process of performing operations or "parts" of a device having the function of performing operations. Specific stages and "parts" may be implemented by dedicated circuits, programmable circuits supplied together with computer-readable instructions stored on a computer-readable storage medium, and / or processors supplied together with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuits may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. The programmable circuits may include reconfigurable hardware circuits such as, for example, field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, and storage elements.

[0068] A computer-readable storage medium may include any tangible device capable of storing instructions executable by an appropriate device. As a result, a computer-readable storage medium having instructions stored therein has a product including the instructions that can be executed to create a unit for performing the operations specified in the flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy (registered trademark) disks, magnetic disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disc read-only memories (CD-ROMs), digital versatile discs (DVDs), Blu-Ray (registered trademark) disks, memory sticks, integrated circuit cards, etc.

[0069] Computer-readable instructions can include any one of assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source code or object code described in any combination of one or more programming languages, where the one or more programming languages include object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, etc. and traditional procedural programming languages such as the "C" programming language or similar programming languages.

[0070] The computer-readable instructions can be provided locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, causing the processor or programmable circuit of the general-purpose computer, special-purpose computer, or other programmable data processing device to execute the computer-readable instructions to generate a unit for performing the operations specified in the flowchart or block diagram. Examples of the processor include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, etc.

[0071] In regions where a steering wheel is required according to regulations (e.g., certain states in the United States of America), when an autonomous vehicle travels across a region where a steering wheel is not required and a region where a steering wheel is required, there is a risk of unconsciously violating the law. In addition, when one wants to drive the vehicle oneself for reasons such as interest, a steering wheel is also required. At this time, space for taking in and out the steering wheel or space for accommodating the steering system itself is needed, and the passenger space of the autonomous vehicle becomes narrow. On the other hand, when a passenger who is not supposed to drive, such as an elderly person or a passenger who is not good at driving, drives the autonomous vehicle, the longer the driving time, the more likely the driving safety of the autonomous vehicle will decrease.

[0072] Therefore, the control system of the present embodiment is a system that stores a steering wheel that can be driven with one hand on the side of the seat of the autonomous vehicle and can deploy it in a manipulable state outside the seat of the autonomous vehicle as needed. In addition, in the control system of the present embodiment, when the occupant operating the steering wheel is a passenger who is not supposed to drive, the driving time of the autonomous vehicle when the steering wheel moves outside the seat of the autonomous vehicle and is in a manipulable state is restricted. Thereby, when a passenger who is not supposed to drive operates the steering wheel, it is possible to prevent the autonomous vehicle from traveling for a time exceeding the time when the passenger who is not supposed to drive can safely operate the steering wheel, and the driving safety of the autonomous vehicle can be improved.

[0073] Figure 4 It is a block diagram showing an example of the functional structure of the control device 22. The control device 22 includes an acquisition unit 30, a determination unit 32, and a control unit 34.

[0074] The acquisition unit 30 acquires the position information of the autonomous driving vehicle 10 from the GPS device 24 at a prescribed time interval. In addition, the acquisition unit 30 acquires information related to the occupant who is seated in the driver's seat of the autonomous driving vehicle 10, that is, the occupant who operates the steering wheel 110. It should be noted that the "information related to the occupant" also includes information on whether the occupant is a person assumed to drive the autonomous driving vehicle 10. In addition, as an example of an "occupant not assumed to drive", an occupant who has not passed one year after obtaining a driver's license, an occupant who belongs to the elderly over 70 years old, and an occupant who is not good at driving can be cited.

[0075] Specifically, the acquisition unit 30 acquires, for example, the information related to the above-mentioned occupant input in advance. In addition, the acquisition unit 30 can also acquire, for example, the information related to the above-mentioned occupant obtained via an external server or the like. In addition, for example, person authentication such as fingerprint authentication and face authentication, and person authentication based on a user ID or the like can be used for the occupants riding in the autonomous driving vehicle 10, and the information related to the above-mentioned occupant can be acquired by querying the information related to a plurality of occupants stored in the storage device 1224 in advance.

[0076] The determination unit 32 determines whether the occupant operating the steering wheel 110 is an occupant not assumed to drive. As an example, the determination of whether the occupant operating the steering wheel 110 is an occupant not assumed to drive is based on the information related to the occupant acquired by the acquisition unit 30. The determination unit 32 determines whether the occupant is an occupant not assumed to drive based on the acquired information related to the occupant.

[0077] The control unit 34 moves the steering wheel 110 accommodated in the seat 100 of the autonomous driving vehicle 10 out of the seat 100 of the autonomous driving vehicle 10 by controlling a drive mechanism such as a motor. In addition, the control unit 34 limits the driving time during which an occupant not assumed to drive can safely operate the steering wheel 110, for example, to 30 minutes, 1 hour, etc. It should be noted that the driving time can be set in advance according to the category of the occupant not assumed to drive. In addition, if the set driving time has elapsed, as an example, the control unit 34 performs control so that manual driving cannot be performed by operating the steering wheel 110, that is, so that the autonomous driving vehicle 10 can only perform autonomous driving.

[0078] The control device 22 repeatedly executes Figure 7 the flowchart shown.

[0079] In step S110, the acquisition unit 30 acquires the information related to the occupant as described above.

[0080] In step S112, the determination unit 32 determines whether the occupant operating the steering wheel 110 is an occupant not envisioned to drive, based on the information related to the occupant obtained in step S110 as described above. When this determination is affirmative, the process proceeds to step S114.

[0081] In step S114, the control unit 34 restricts the driving time of the autonomous driving vehicle 10 as described above. When the process of step S114 ends, the process of the flowchart ends.

[0082] When the determination in step S112 is negative, the process of step S114 is not executed, and the process of the flowchart ends.

[0083] As described above, according to the present embodiment, when the occupant operating the steering wheel 110 is an occupant not envisioned to drive, the driving time of the autonomous driving vehicle 10 is restricted. Thereby, when an occupant not envisioned to drive operates the steering wheel 110, the autonomous driving vehicle 10 does not drive for a time exceeding the time during which the occupant not envisioned to drive can safely operate the steering wheel 110, and thus the driving safety of the autonomous driving vehicle 10 can be improved. In addition, since the steering wheel 110 can be either stored in the seat 100 of the autonomous driving vehicle 10 or moved outside the seat 100 of the autonomous driving vehicle 10, the seating space of the autonomous driving vehicle 10 can be designed to be more spacious and comfortable.

[0084] It should be noted that in the above embodiment, the determination unit 32 determines whether the occupant operating the steering wheel 110 is an occupant not envisioned to drive, and when it is an occupant not envisioned to drive, the control unit 34 restricts the driving time of the autonomous driving vehicle 10, but the present disclosure is not limited thereto.

[0085] The determination unit 32 may also have the following function: based on the position information of the autonomous driving vehicle 10 obtained by the acquisition unit 30, determine whether the position of the autonomous driving vehicle 10 has entered from outside the area where the steering wheel needs to be equipped into the area where the steering wheel needs to be equipped. Specifically, for example, when the position of the autonomous driving vehicle 10 obtained at a time approaching the current time is within the area where the steering wheel does not need to be equipped and the position of the autonomous driving vehicle 10 obtained at the current time is within the area where the steering wheel needs to be equipped, the determination unit 32 determines that the position of the autonomous driving vehicle 10 has entered from outside the area where the steering wheel needs to be equipped into the area where the steering wheel needs to be equipped.

[0086] Further, when the determination unit 32 determines that the vehicle has entered from an area where a steering wheel is not required into an area where a steering wheel is required, the control unit 34 may also control a drive mechanism such as a motor to move the steering wheel 110 housed in the seat 100 of the autonomous vehicle 10 out of the seat 100 of the autonomous vehicle 10.

[0087] In this case, the control device 22 repeatedly executes Figure 8 the flowchart shown.

[0088] In step S20, the acquisition unit 30 acquires the position information of the autonomous vehicle 10 from the GPS device 24.

[0089] In step S22, the determination unit 32 determines whether the position of the autonomous vehicle 10 has entered from an area where a steering wheel is not required into an area where a steering wheel is required based on the position information of the autonomous vehicle 10 acquired in step S20 as described above. If the determination is affirmative, the process proceeds to step S24.

[0090] In step S24, the control unit 34 controls a drive mechanism such as a motor to move the steering wheel 110 housed in the seat 100 of the autonomous vehicle 10 out of the seat 100 of the autonomous vehicle 10. On the other hand, if the determination in step S22 is negative, the processes after step S24 are not executed, and the flowchart process ends.

[0091] If the control unit 34 moves the steering wheel 110 out of the seat 100 of the autonomous vehicle 10 in step S24, then in step S26, the acquisition unit 30 acquires information related to the occupant as described above. Next, in step S28, the determination unit 32 determines whether the occupant operating the steering wheel 110 is an occupant not assumed to drive as described above. If the determination is affirmative, the process proceeds to step S30.

[0092] In step S30, the control unit 34 restricts the driving time of the autonomous vehicle 10 as described above. When the process of step S30 ends, the flowchart process ends. On the other hand, if the determination in step S28 is negative, the process of step S30 is not executed, and the flowchart process ends.

[0093] As described above, according to the present embodiment, it is possible to prevent unconscious violation of the law when the autonomous vehicle 10 travels across an area where a steering wheel 110 is not required according to regulations and an area where a steering wheel 110 is required.

[0094] In existing non-autonomous vehicles, a steering wheel is provided as a control device and an operating body. In the control device of a non-autonomous vehicle, by operating the steering wheel, the traveling direction of the non-autonomous vehicle is changed according to the operation of the steering wheel. In contrast, in an autonomous vehicle at a level exceeding Level 5 (fully autonomous driving) (e.g., Level 6), since there is no need for a steering wheel or the like for the occupant to perform driving operations, the passenger space inside the vehicle can be designed to be spacious.

[0095] Level 6 refers to the level representing autonomous driving, corresponding to a level higher than Level 5 representing fully autonomous driving. Although Level 5 represents fully autonomous driving, it is at the same level as human driving, and there is still a possibility of accidents and the like. Level 6 represents a level higher than Level 5, and Level 6 is achieved by controlling at the nanosecond level, corresponding to a level with a lower probability of accidents than Level 5.

[0096] On the other hand, for autonomous vehicles at Level 6 or Level 5, there are also regions (e.g., specific states in the United States of America) where an operating body such as a steering wheel for operation is envisioned to be required. For autonomous vehicles, such regions require the installation of a steering wheel or the like through regulations such as laws. Therefore, an autonomous vehicle without a steering wheel entering a region that requires the installation of a steering wheel does not meet the regulations such as the laws of that region.

[0097] In addition, when the occupant wants to perform driving operations for reasons such as interest, even in an autonomous vehicle, a steering wheel or the like is required. However, if the steering wheel is pre-set in a specified position, the passenger space (the space that the occupant can use) in the passenger compartment of the autonomous vehicle will become narrow.

[0098] Therefore, in the present embodiment, in an autonomous vehicle that at least meets the regulations of Level 5 (e.g., Level 6), when the occupant performs driving operations, an operating body is arranged at a specified operating position (the position in front of the occupant). When the vehicle is in autonomous driving without the occupant performing driving operations, the operating body retracts from the operating position and is stored in a position that does not narrow the passenger space inside the vehicle compartment. In addition, in the present embodiment, when entering a region where an operating body such as a steering wheel needs to be arranged (equipped) at an operable position according to regulations, the retracted operating body appears at the operating position. Thus, in the present embodiment, in an autonomous vehicle at Level 6, the passenger space can be designed to be more spacious.

[0099] Furthermore, in the present embodiment, a single hand can also perform driving operations on the operating body. In addition, in the present embodiment, an operating body selected from a plurality of operating bodies with different operating modes for driving operations can be used, and the operating body can be selected from a plurality of operating bodies according to the preferences of the occupant within the range specified by the region.

[0100] As the autonomous driving vehicle 2010 of the vehicle according to the present embodiment, an autonomous driving vehicle of Level 5 or higher (for example, Level 6) is applied. Figure 9 The main part of the autonomous driving vehicle 10 according to the present embodiment is schematically illustrated. It should be noted that the autonomous driving vehicle 2010 has an autonomous driving function of Level 5 or higher, and in the present embodiment, the detailed description of the autonomous driving function in the autonomous driving vehicle 2010 is omitted.

[0101] A control system 2020 is mounted on the autonomous driving vehicle 2010. The control system 2020 includes a control device 2022, a GPS device 2024 as a position information acquisition unit, and a driving control device 2026 as a driving control unit.

[0102] The driving control device 2026 undertakes autonomous driving control that meets the requirements of Level 6 (Level 5 or higher) in the autonomous driving vehicle 2010. In addition, in the autonomous driving vehicle 2010, a handle 2050 is provided as an operating body. In the autonomous driving vehicle 10, by the occupant operating the handle 2050, driving corresponding to the occupant's driving operation can be performed. When the occupant uses the handle 2050 for driving operations, the driving control device 2026 undertakes the control for causing the autonomous driving vehicle 2010 to travel according to the occupant's driving operations. Thus, in the autonomous driving vehicle 2010, the driving control device 2026 can also perform vehicle driving at a level below Level 4 (high-level autonomous driving).

[0103] The GPS device 2024 receives GPS signals from a plurality of GPS satellites, locates the position of the autonomous driving vehicle 2010, and acquires position information indicating the position of the autonomous driving vehicle 2010 obtained by the positioning. The position information of the autonomous driving vehicle 2010 is represented by, for example, longitude and latitude, and the driving position of the autonomous driving vehicle 2010 is obtained by including map information. The GPS device 2024 outputs the position information of the autonomous driving vehicle 2010 to the control device 2022 and the driving control device 2026, enabling vehicle control based on the position information.

[0104] A seat 2100 for an occupant (driver) is provided in the autonomous driving vehicle 2010. Figure 10, a top view of the seat 2100 of the autonomous driving vehicle 2010 is shown schematically. It should be noted that in the figure, the front side, the right side in the vehicle width direction, and the top of the autonomous driving vehicle 2010 are indicated by arrows FR, RH, and UP, respectively.

[0105] like Figure 10 As shown, on the side of the seat 2100 (at Figure 10 An operating body storage portion 2110 is provided inside the right side portion of the seat 2100 (for example, inside the armrest portion). It should be noted that the operating body storage portion 2110 can be provided inside the right side portion of the seat 2100, or can be provided at the lower portion of the seat 2100 (for example, inside the seat cushion or below the seat cushion), or can be provided at the lower side of the instrument panel not shown and at the front side of the vehicle. In addition, in the present embodiment, one operating body storage portion 2110 is shown as an example, but in the autonomous driving vehicle 10, the operating body storage portion 2110 is provided separately at multiple locations.

[0106] In the autonomous driving vehicle 2010, the traveling direction (driving direction) can be changed by a handle 2050 as an operating body. The autonomous driving vehicle 2010 has a plurality of handles 2050, and the plurality of handles 2050 are different in at least one of the form and the operation method. It should be noted that the plurality of handles 2050 may also be different in at least the operation method.

[0107] In the autonomous driving vehicle 2010, each handle 2050 is stored in the operating body storage section 2110. In the autonomous driving vehicle 2010, a plurality of operating body storage sections 2110 are provided. In the autonomous driving vehicle 2010, each handle 2050 is stored in any one of the plurality of operating body storage sections 2110, so that the seat space is prevented from becoming narrow due to the handle 2050.

[0108] In addition, regarding the handle 2050, a predetermined position such as the front side of the seat 2100 where the passenger sits is set as an operation position, and the handle 2050 is equipped by being arranged at the operation position so as to be operable (rotational operation) by the passenger. Figures 11A to 1 13D shows an example of a handle 2050.

[0109] Figure 11A The handle 2050 shown (hereinafter referred to as the handle 2050A when distinguished) is a so-called steering wheel. The outer shape (rim portion) of the handle 2050A is set to be roughly circular, and the center portion (boss portion) is connected to a shaft (steering shaft) 2052 rotatably supported on the vehicle body, and the handle 2050A can rotate integrally with the shaft 2052.

[0110] The operating position of the handle 2050A is at the front side of the seat 2100. When the handle 2050A rotates, the shaft 2052 rotates integrally. The rotation angle of the shaft 2052 is detected by a rotation angle sensor (not shown). Thus, in the handle 2050A, an electric signal corresponding to the rotation operation is output, and the traveling direction of the autonomous vehicle 2010 can be changed according to this electric signal.

[0111] In addition, an acceleration button 2054 and a brake button 2056 are provided on the handle 2050A. When the acceleration button 2054 and the brake button 2056 are respectively operated, electric signals corresponding to the operations (such as the time when the pressing operation is performed) are output. In the handle 2050A, by operating the acceleration button 2054, an electric signal for accelerating the autonomous vehicle 2010 is output, and by operating the brake button 2056, an electric signal for decelerating the autonomous vehicle 2010 is output.

[0112] Figure 11B The shown handle 2050 (hereinafter, referred to as handle 2050B when distinguishing) is a type of D-shaped steering wheel. The operation method of the handle 2050B is the same as that of the handle 2050A, but the shape is different from that of the handle 2050A. In the straight-ahead driving state of the autonomous vehicle 10, the outer shape (rim portion) of the handle 2050B is a substantially rectangular shape with a smaller dimension in the front-rear direction than in the left-right direction. For the handle 2050B, for example, the rotation angle on each of the right and left sides is set to be 90 degrees or less for use. The central portion (boss portion) of the handle 2050B is connected to a shaft (steering shaft) 2052 that is rotatably supported on the vehicle body, and the handle 2050B can rotate integrally with the shaft 2052.

[0113] The handle 2050B is similar to the handle 2050A. The operating position is at the front side of the seat 2100, and the rotation angle of the shaft 2052 is detected by a rotation angle sensor (not shown). Thus, an electric signal corresponding to the rotation operation of the handle 2050B is output, and the traveling direction of the autonomous vehicle 2010 can be changed according to this electric signal. It should be noted that an acceleration button 2054 and a brake button 2056 that function similarly to those of the handle 2050A are provided on the handle 2050B.

[0114] Figure 11C The shown handle 2050 (hereinafter, referred to as handle 2050C when distinguishing) is in the form of a controller using a cross key (cross button). On the handle 2050C, a cross key 2060 is arranged on a substantially rectangular flat control panel 2058, and the cross key 2060 functions as an operating body.

[0115] The operating position of the handle 2050C is at the front side of the seat 2100. By operating the button 2060F on the front side, the button 2060B on the rear side, the button 2060R on the right side, and the button 2060L on the left side of the cross key 2060, the handle 2050C can output corresponding electrical signals respectively. At this time, regarding the operation mode of the handle 2050C, an electrical signal for acceleration is output by operating the button 2060F, and an electrical signal for deceleration is output by operating the button 2060B. In addition, regarding the operation mode of the handle 2050C, an electrical signal for changing the traveling direction of the autonomous driving vehicle 2010 to the right is output by operating the button 2060R, and an electrical signal for changing the traveling direction of the autonomous driving vehicle 2010 to the left is output by operating the button 2060L.

[0116] Figure 11D The handle 2050 shown (hereinafter, referred to as the handle 2050D when distinguishing) is of a rod type. On the handle 2050D, an operation rod 2064 in a substantially cylindrical shape is erected on the upper surface of a base 2062 in a rectangular block shape. Regarding the handle 2050D, the operation rod 2064 functions as an operation body. In the handle 2050D, the operation rod 2064 can tilt in all directions, and in the handle 2050D, electrical signals corresponding to the tilting direction and tilting angle of the operation rod 2064 (the angle of the central axis of the operation rod 2064 relative to the vertical direction) are output.

[0117] The operating position of the handle 2050D is at the front left side or front right side of the seat 2100. For example, the occupant can preset it according to the dominant hand. Regarding the operation mode of the handle 2050D, an electrical signal for accelerating the autonomous driving vehicle 2010 is output by tilting the operation rod 2064 forward, and an electrical signal for decelerating the autonomous driving vehicle 2010 is output by tilting the operation rod 2064 backward. In addition, regarding the operation mode of the handle 2050D, an electrical signal for changing the traveling direction of the autonomous driving vehicle 2010 to the right is output by tilting the operation rod 2064 to the right, and an electrical signal for changing the traveling direction of the autonomous driving vehicle 2010 to the left is output by tilting the operation rod 2064 to the left. Further, in the operation mode of the handle 2050D, an electrical signal for controlling the intensity of each operation is output according to the tilting angle of the operation rod 2064.

[0118] The handle 2050 can include a touch panel type (hereinafter, referred to as the handle 2050E when distinguishing) and a motion sensor type (hereinafter, referred to as the handle 2050F when distinguishing). Regarding the handles 2050E and 2050F, preset positions at the front side, front right side, or front left side of the seat 2100 are set as the operating positions respectively. It should be noted that detailed illustrations of the handles 2050E and 2050F are omitted.

[0119] The handle 2050E uses a touch panel equipped with a touch sensor configured with, for example, a capacitive method (self-induction method or mutual-induction method). Regarding the operation mode of the handle 2050E, according to the contact position with the touch panel, an electrical signal for changing the traveling direction of the autonomous driving vehicle 2010 to the right or left, an electrical signal for accelerating the autonomous driving vehicle 2010, and an electrical signal for decelerating the autonomous driving vehicle 2010 are output.

[0120] The handle 2050F uses a motion sensor or a camera for detecting other actions of the occupant. The handle 2050F detects the motion of the occupant's hand and outputs an electrical signal corresponding to the motion of the hand. The operation mode of the handle 2050F outputs an electrical signal for changing the traveling direction of the autonomous driving vehicle 2010 to the right or left, an electrical signal for accelerating the autonomous driving vehicle 10, and an electrical signal for decelerating the autonomous driving vehicle 2010 according to the motion of the occupant's hand.

[0121] It should be noted that each handle 2050 (handles 2050A to 2050F) may also have various operation switches (operation buttons) such as a turn signal switch for lighting the left and right turn indicators or the function of an operation switch.

[0122] Each handle 2050 (handles 2050A to 2050F) is respectively connected to or can be connected to the travel control device 2026 by a wired method or a wireless method, and inputs the electrical signals (or signals corresponding to the electrical signals) respectively output from each handle 2050 to the travel control device 2026.

[0123] In the autonomous driving vehicle 2010, when the driving operation is performed by the occupant, any one of the handles 2050A to 2050F is arranged at the operation position. When the driving operation is performed by the occupant, the travel control device 2026 reads the electrical signal output from the handle 2050 arranged at the operation position and performs the travel control of the autonomous driving vehicle 2010 according to this electrical signal. Thus, in the autonomous driving vehicle 2010, the traveling direction and the like (manipulation and the like) are changed according to the operation of the occupant on the handle 2050. In addition, in the autonomous driving vehicle 2010, the vehicle speed is changed according to the acceleration operation and the braking operation of the occupant.

[0124] In Figure 12 it, an example of the functional structure of the control device 2022 is shown in a block diagram.

[0125] As Figure 12As shown in the figure, the control device 2022 includes an acquisition unit 2030, a determination unit 2032, and a control unit 2034, and also includes a storage unit 2036. In addition, the autonomous driving vehicle 2010 includes an operation unit 2038 that constitutes a reception unit and a moving mechanism 2040 that functions as a moving unit. The moving mechanism 2040 moves each handle 2050 between a storage position where it is stored in the operation body storage unit 2110 and an operation position set for each handle 2050.

[0126] In the storage unit 2036, for each region, region information determined by laws and regulations, etc. is acquired and stored. In addition, occupant information is stored in the storage unit 2036. The region information includes whether the equipment of the handle 2050 (operably arranged at the operation position) is specified under Level 6 (Level 5 or above). In addition, when the equipment of the handle 2050 is specified under Level 6 (Level 5 or above), the region information includes whether the operation method of the handle 2050 is specified, and when the operation method of the handle 2050 is specified, the region information includes information related to the specified operation method of the handle 2050.

[0127] The occupant information includes information for identifying the occupant (especially the occupant sitting as the driver) in the autonomous driving vehicle 2010 and various setting information set by the occupant.

[0128] The operation unit 2038 is implemented by a display and a keyboard (including a touch display), etc. The operation unit 2038 is arranged at a position around the instrument panel or the seat 2100 where the occupant sitting on the seat 2100 can operate. In the operation unit 2038, various information is displayed on the display, and the information input by the occupant according to the display is received.

[0129] The information input in the operation unit 2038 includes the operation positions of the respective handles 2050 (especially handles 2050D to 2050F) and the handle 2050 preferred by the occupant. In addition, the operation unit 2038 accepts the switching between autonomous driving in which the autonomous driving vehicle 2010 travels without using the handle 2050 and driving (hereinafter referred to as non-autonomous driving or manual driving) in which the autonomous driving vehicle 2010 travels according to the operation of the handle 2050 by the occupant.

[0130] The acquisition unit 2030 acquires the position information of the autonomous driving vehicle 2010 from the GPS device 2024 at a prescribed time interval. In addition, the acquisition unit 2030 acquires various information input by the occupant via the operation unit 2038. At this time, the acquisition unit 2030 stores the occupant information in the storage unit 2036.

[0131] The control unit 2034 controls the moving mechanism 2040 to move each handle 2050 between the storage position and the operation position. At this time, the control unit 2034 moves the handle 2050 between the storage position and the operation position by controlling the operation of an actuator such as a motor of the moving mechanism 2040. The moving mechanism 2040 moves the handle 2050 between the storage position within the operation body storage portion 2110 on the side portion of the seat 2100 and the operation position on the front side of the seat 2100 when, for example, the handle 2050A or the handle 2050B is stored in the operation body storage portion 2110 of the seat 2100.

[0132] In the moving mechanism 2040, it can be applied to a foldable arm or the like. In the moving mechanism 2040, the handle 2050 is attached to the front end portion of the arm, and the handle 2050 moves between the storage position and the operation position and is arranged at each moving position by the rotation or expansion / contraction of the arm. In addition, the operation position of the handle 2050 may be determined according to the operation method and form, and the moving mechanism 2040 can apply various structures corresponding to the form of the handle 2050, the storage position (operation body storage portion 2110), and the operation position of the handle 2050 for the structure of each handle 2050.

[0133] The determination unit 2032 determines whether the autonomous driving vehicle 2010 enters from outside the area where the handle 2050 needs to be equipped into the area where the handle 2050 needs to be equipped, and whether the autonomous driving vehicle 2010 enters from inside the area where the handle 2050 needs to be equipped into outside the area where the handle 2050 needs to be equipped based on the position information of the autonomous driving vehicle 2010 acquired by the acquisition unit 2030. In addition, when the determination unit 2032 determines that the autonomous driving vehicle 2010 enters the area where the handle 2050 needs to be equipped, the determination unit 2032 determines whether the operation method of the handle 2050 is specified in this area.

[0134] If the determination unit 2032 determines that the autonomous driving vehicle 2010 enters the area where the handle 2050 (configured at the operation position) needs to be equipped, the control unit 2034 configures the handle 2050 with the operation method specified by the entered area at the operation position. In addition, when the operation method of the handle 2050 is not specified, the control unit 2034 configures the handle 2050 set by the occupant at the operation position.

[0135] In Figure 13 it shows a schematic of the processing in the control device 2022 in a flowchart.

[0136] Figure 13The flowchart is repeatedly executed in the control device 2022. In step S2010, the acquisition unit 2030 acquires the position information of the autonomous driving vehicle 2010 from the GPS device 2024. In addition, in step S2012, the acquisition unit 2030 acquires the current area (the area where the vehicle is traveling) and the area information of the destination area. It should be noted that the destination area can also be determined based on the traveling direction of the autonomous driving vehicle. In the case of traveling to a preset destination through the navigation function, the next area on the navigation route is applied.

[0137] Next, in step S2014, the determination unit 2032 determines whether the position of the autonomous driving vehicle 2010 has entered from outside the area where the handle 2050 needs to be equipped into the area where the handle 2050 needs to be equipped, based on the position information of the autonomous driving vehicle 2010 acquired in step S2010 and the area information acquired in step S2012.

[0138] In the case of entering the area where the handle 2050 needs to be equipped, the determination unit 2032 makes an affirmative determination in step 20S14. Thus, when transferring to step S2016, the determination unit 2032 confirms whether an operation method is specified for the equipped handle 2050.

[0139] In step S2016, if the operation method of the handle 2050 equipped in the area where the autonomous driving vehicle 2010 is about to enter is determined to be, for example, a steering wheel that is operated by a rotation operation, after the determination in the determination unit 2032, the process transfers to step S2018.

[0140] In step S2018, the control unit 2034 controls the moving mechanism 2040 to move the handle 2050 corresponding to the specified operation method from the accommodation position and configure it at the operation position of the handle 50 for equipment. For example, in the case where the handle 2050 (handle 2050A or handle 2050B) similar to the operation method of the steering wheel is specified for equipment, the handle 2050A or handle 2050B is equipped in the autonomous driving vehicle 2010. At this time, if it is preset by the occupant according to preference to equip the handle 2050B, the steering wheel 50B is equipped on the autonomous driving vehicle 2010.

[0141] Thus, in the autonomous driving vehicle 2010, the handle 2050 is equipped to meet the requirements of the newly entered area, and when the process of step S2018 ends, this flowchart temporarily ends.

[0142] On the other hand, although the equipment handle 2050 is specified in the area information, if there is no regulation on the operation method, the determination unit 2032 makes a negative determination in step S2016. Thus, when transferring to step S2020, the control unit 2034 acquires the occupant information. In step S2022, the control unit 2034 moves the handle 2050 set by the occupant from the accommodation position and arranges it at the operation position of the handle 2050. It should be noted that in the case where the occupant does not set the handle 2050, the control unit 2034 uses the operation unit 2038 to request the occupant to select the handle 2050 and arranges the handle 2050 selected by the occupant at the operation position.

[0143] In addition, if the autonomous driving vehicle 2010 continues to travel in an area where the equipment handle 2050 is not required (such as not entering the area where equipment is specified, or having sufficient time before entering, etc.), the determination unit 2032 makes a negative determination in step S2014 and transfers to step S2024. In step S2024, the acquisition unit 2030 determines whether the occupant requests to equip the handle 2050 to the operation position in order to use the handle 2050. At this time, if the occupant does not request to arrange (equip) the handle 2050 to the operation position, the acquisition unit 2030 makes a negative determination in step S2024 and temporarily ends this process.

[0144] In contrast, if the occupant requests to arrange the handle 2050 to the operation position, the acquisition unit 2030 makes an affirmative determination in step S2024. Thus, by transferring to step S2020, the handle 2050 set by the occupant is arranged at the operation position.

[0145] Thus, in the autonomous driving vehicle 2010, driving control corresponding to the operation can be performed. By the occupant operating the handle 2050, the driving control device 2026 starts driving control corresponding to the operation of the handle 2050. It should be noted that due to entering an area where equipment is not required from an area where equipment is required, the handle 2050 arranged at the operation position based on the area information returns to the accommodation position through the control of the control unit 2034. In addition, due to the occupant instructing accommodation via the operation unit 2038, etc., the handle 2050 arranged at the operation position based on the occupant's request returns to the accommodation position (operation body storage unit) through the control unit 2034.

[0146] In this way, in the autonomous driving vehicle 2010, when entering an area where the handle 2050 needs to be equipped, the handle 2050 is arranged and equipped at the operation position. In addition, in the autonomous driving vehicle 2010, if the operation method is specified for the required handle 2050, the handle 2050 that meets the specified operation method is arranged and equipped at the operation position. Thus, when the autonomous driving vehicle 2010 travels in an area where the handle 2050 needs to be equipped, the regulations of the area can be satisfied.

[0147] In addition, the autonomous vehicle 2010 is capable of traveling in accordance with the driving operations of the occupant. In the autonomous vehicle 2010, the steering wheel 2050 is arranged at the operation position according to the instruction of the occupant. In addition, in the autonomous vehicle 2010, there are a plurality of steering wheels 2050 with different operation modes or forms (shapes), and the occupant can specify the steering wheel 2050 arranged at the operation position.

[0148] Furthermore, the steering wheel 2050 includes a steering wheel 2050A that is set as a normal steering wheel, a steering wheel 2050B that can be operated with a racing feel, and steering wheels 2050C and 2050D that can be operated with a gaming feel. Therefore, the occupant of the autonomous vehicle 2010 can select the preferred steering wheel 2050 to enjoy the driving operation.

[0149] In addition, in the autonomous vehicle 2010, occupant information can be stored for the occupant. Therefore, even if the autonomous vehicle 2010 is a so-called shared car, it can be used in the same way as one's own vehicle.

[0150] In addition, in the autonomous vehicle 2010, since the steering wheel 2050 can be accommodated in the accommodation position, the seating space in the vehicle interior can be designed to be more spacious and comfortable.

[0151] It should be noted that, in the present embodiment, the autonomous vehicle 2010 as a vehicle is taken as an example for description. However, the control system 2020 is not limited to vehicles traveling on the ground, and can also be applied to mobile bodies traveling on water, or mobile bodies traveling in a suspended state on the ground or on water.

[0152] As described above, the present disclosure has been described using the embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. Those skilled in the art should understand that various changes or improvements can be made to the above embodiments. As can be seen from the claims, the embodiments with such changes or improvements can also be included in the technical scope of the present disclosure.

[0153] It should be noted that the execution order of each process such as the actions, sequences, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is not particularly specified as "before...", "earlier than...", etc., or as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. Regarding the action flow in the claims, the specification, and the drawings, even if it is described using "first", "next", etc. for convenience, it does not mean that it must be implemented in that order.

[0154] The entire disclosures of Japanese Patent Application No. 2022-165038 filed on October 13, 2022, Japanese Patent Application No. 2022-169513 filed on October 21, 2022, and Japanese Patent Application No. 2022-170136 filed on October 24, 2022 are incorporated herein by reference in their entirety.

[0155] Description of Reference Numerals

[0156] 10 Autonomous vehicle; 20 Control system; 22 Control device; 24 GPS device; 30 Acquisition unit; 32 Determination unit; 34 Control unit; 100 Seat; 110 Steering wheel; 112, 114 Buttons; 1200 Computer; 1210 Main controller; 1212 CPU; 1214 RAM; 1216 Graphics controller; 1218 Display device; 1220 Input / output controller; 1222 Communication interface; 1224 Storage device; 1230 ROM; 1240 Input / output chip; 2010 Autonomous vehicle; 2020 Control system; 2022 Control device; 2024 GPS device; 2026 Travel control device; 2030 Acquisition unit; 2032 Determination unit; 2034 Control unit; 2036 Storage unit; 2038 Operation unit; 2040 Moving mechanism; 2050 (2050A to 2050F) Handle; 2060 Cross key; 2064 Joystick; 2110 Operation body storage unit.

Claims

1. A control system, wherein, the control system is mounted on an autonomous vehicle and has: a control unit that, when the position of the autonomous vehicle enters from outside a region where a steering wheel is required to be equipped into a region where a steering wheel is required to be equipped, moves the steering wheel housed in the seat of the autonomous vehicle outside the seat of the autonomous vehicle.

2. A control system, wherein, the control system is mounted on an autonomous vehicle and has: a control unit that, when an occupant who operates the steering wheel housed in the seat of the autonomous vehicle or deployed outside the seat of the autonomous vehicle in an operable state is an occupant not assumed to drive, restricts the driving time of the autonomous vehicle when the steering wheel is moved outside the seat of the autonomous vehicle and is in an operable state.

3. The control system according to claim 2, wherein, when the position of the autonomous vehicle enters from outside a region where a steering wheel is required to be equipped into a region where a steering wheel is required to be equipped, the control unit moves the steering wheel housed in the seat of the autonomous vehicle outside the seat of the autonomous vehicle.

4. A program, wherein, causes a computer to function as the control unit of the control system according to any one of claims 1 to 3.

5. A control system, wherein, the control system includes: an operating body that can move between an operating position where an occupant can perform a driving operation and a storage position where it retreats from the interior seating space; a travel control unit that performs travel control without going through the driving operation of the occupant and, when the operating body is arranged at the operating position and operated by the occupant, performs travel control according to the operation of the operating body; a position information acquisition unit that acquires position information indicating the travel position; an acquisition unit that acquires region information, the region information including whether the operating body needs to be arranged at the operating position for each region; and a configuration control unit that, when entering a region where the operating body needs to be arranged at the operating position, arranges the operating body at the operating position.

6. The control system according to claim 5, wherein, the control system has: a receiving unit that receives the arrangement of the operating body at the operating position by the occupant, and the configuration control unit arranges the operating body at the operating position by receiving the arrangement of the operating body at the operating position by the receiving unit.

7. The control system according to claim 5, wherein, a plurality of the operating bodies with different operation modes for driving operations are provided, and the region information includes information indicating the operation mode of the required operating body, and the configuration control unit selects an operating body whose operation mode corresponds to the region information and arranges it at the operating position when arranging the operating body at the operating position.

8. The control system according to claim 6, wherein, A plurality of the operation bodies having different operation modes for driving operations are provided, and a receiving unit is provided, and the receiving unit receives a selection of the operation body by an occupant. When the operation body is arranged at the operation position, the arrangement control unit arranges the operation body selected by the occupant from the plurality of operation bodies at the operation position.

9. The control system according to claim 5, wherein, the operation body includes a steering wheel, and by performing a rotation operation on the steering wheel, the traveling direction is changed.

10. The control system according to claim 5, wherein, the operation body includes a cross key, and by performing a key operation corresponding to the traveling direction on the cross key, the traveling direction is changed according to the key operation.

11. The control system according to claim 5, wherein, the operation body includes a joystick, and by performing a tilting operation on the joystick, the traveling direction is changed in the tilting direction.

12. A vehicle, wherein, the vehicle includes: the control system according to claim 5.

13. A control program, wherein, the control program causes a computer to function as the following units: An arrangement unit that arranges an operation body for an occupant to perform a driving operation so as to move between an operation position where the occupant can perform a driving operation and a storage position where it retracts from the seating space in the interior; A travel control unit that, when the operation body is arranged at the operation position, performs travel control according to the operation of the operation body, and when the operation body is arranged at the storage position, the travel control unit performs travel control without going through the driving operation of the occupant; A position information acquisition unit that acquires position information indicating a travel position; An acquisition unit that acquires area information, and the area information includes whether it is necessary to arrange the operation body at the operation position for each area; and An arrangement control unit that, when entering an area where it is necessary to arrange the operation body at the operation position, the arrangement control unit arranges the operation body at the operation position.

Images