AUTONOMOUSLY DRIVING VEHICLE, CONTROL DEVICE, CONTROL METHOD AND CONTROL PROGRAM

Abstract

An autonomous driving vehicle (1) comprises an environmental sensor (20), an information presentation unit (30), an operation unit (40), an acquisition unit (11) for acquiring in advance a concern start position (P3) as a position before a concern factor (200) that causes a subject to feel concern and as a position at which the subject starts to feel concern about the concern factor (200) based on the subject's operation of the operation unit (40) along the route, and a control unit (12) for controlling an operation of the autonomous driving vehicle based on road information (R), vehicle information (V), environmental detection information (D), and the concern start position (P3).The control unit (12) sets a presentation start position (P2) as a position at which the information presentation unit (30) is caused to start presenting anxiety reduction information, before the anxiety start position (P3) on the route of the autonomous driving with the user (90) traveling therewith, and causes the information presentation unit (30) to start presenting the anxiety reduction information when the autonomous driving vehicle (1) with the user (90) traveling therewith reaches the presentation start position (P2).

Description

TECHNICAL FIELDThe present disclosure relates to an autonomous driving vehicle, an autonomous driving vehicle controller, an autonomous driving vehicle control method, and an autonomous driving vehicle control program.BACKGROUND TO THE PRIOR ARTAn information presentation method has been proposed to present stress relief information to a user moving in a moving object (see, e.g., Patent Reference 1). In this information presentation method, the stress relief information is presented in a presentation mode determined based on a physiological index (i.e., biological information) acquired beforehand by a target person during autonomous driving of the mobile object.REFERENCES TO THE PRIOR ARTPATENT REFERENCEPatent Reference 1: Japanese Patent Application Publication No. 2016-052374 (for example, see Abstract).SUMMARY OF THE INVENTIONPROBLEM TO BE SOLVED BY THE INVENTIONHowever, the above-described conventional information presentation method is not suitable for a situation where the physiological index hardly changes. Therefore, anxiety relieving information (i.e., anxiety reduction information) cannot be presented at a time when the physiological index hardly changes, for example, when the user is at a position far from a anxiety factor that is in front. Moreover, the relief information cannot be presented when the behavior of the mobile object does not change (e.g., acceleration in a front-rear direction, a left-right direction, or an up-down direction) when the mobile object passes the position of the anxiety factor.The present disclosure is directed to providing an autonomous driving vehicle and a controller, a control method, and a control program of an autonomous driving vehicle capable of presenting the anxiety reduction information at an appropriate position during autonomous driving.MEANS FOR SOLVING THE PROBLEMAn autonomous driving vehicle in the present disclosure is a vehicle that autonomously travels with a user traveling therewith, including an environment sensor that detects at least a situation forward in the traveling direction, an information presentation unit that presents information to the user, an operation unit, an acquisition unit that acquires in advance a anxiety start position as a position forward of a anxiety factor that makes a subject to feel anxiety on a route of autonomous driving of the autonomous driving vehicle with which the subject travels, and a position at which the subject starts to feel anxiety about the anxiety factor based on the operation of the operation unit by the subject along the route, and a control unit, controlling an operation of the autonomous driving vehicle based on road information including a map of a planned route to a destination of the autonomous driving vehicle and a road attribute of the planned route, vehicle information related to the autonomous driving vehicle, environment sensing information output from the environment sensor, and the anxiety start position. The control unit sets a presentation start position as a position at which the information presentation unit is caused to start presenting anxiety reduction information before the anxiety start position on the autonomous driving route with the user traveling therewith, and causes the information presentation unit to start presenting the anxiety reduction information when the autonomous driving vehicle with the user traveling therewith reaches the presentation start position.An autonomous driving vehicle control method in the present embodiment is an autonomous driving vehicle control method including an environment sensor that detects at least a situation forward in a traveling direction, an information presentation unit that presents information to a user, and an operation unit. The control method includes a step of acquiring in advance a anxiety start position as a position preceding a anxiety factor that makes a subject participant feel anxiety on an autonomous driving route of the autonomous driving vehicle with which the subject participant travels, and as a position at which the subject participant starts to feel anxiety about the anxiety factor, based on the subject participant operating the operation unit along the route, and a step of controlling an operation of the autonomous driving vehicle based on road information including a map of a planned route to a destination of the autonomous driving vehicle and a road attribute of the planned route, vehicle information regarding the autonomous driving vehicle, Environmental Sensing Information Outputted from the Environmental Sensor and the Anxiety Start Position. In the step of controlling the operation of the autonomous driving vehicle, a presentation start position is set as a position at which the information presentation unit is caused to start presenting anxiety reduction information before the anxiety start position on the autonomous driving route with the user traveling therewith, and the information presentation unit is caused to start presenting the anxiety reduction information when the autonomous driving vehicle with the user traveling therewith reaches the presentation start position.EFFECT OF THE INVENTIONAccording to the present disclosure, the anxiety of the user can be sufficiently reduced by presenting the anxiety reduction information at an appropriate location in autonomous driving.BRIEF DESCRIPTION OF THE DRAWINGSFIG. 1 is a block diagram schematically showing the configuration of an autonomous driving vehicle according to a first embodiment. FIG. 2 is a schematic diagram showing an autonomous driving wheelchair as the autonomous driving vehicle in autonomous driving. FIG. 3 is a schematic diagram showing a case where the autonomous driving vehicle in FIG. 2 passes a recognition start position of a anxiety factor. FIG. 4 is a schematic diagram showing the autonomous driving vehicle traveling toward a destination by passing the detection start position of the anxiety factor, a presentation start position of anxiety reduction information, a anxiety start position, and a passage start position and a passage end position of the anxiety factor. FIG. 5 is a diagram showing an example of the hardware configuration of a control device of the autonomous driving vehicle according to the first embodiment. FIG. 6 is a schematic plan view showing an example in which the autonomous driving vehicle travels on a planned route although a small road width is present as a concern factor. FIG. 7 is a schematic plan view showing an example in which a small road width is present as the anxiety factor and the autonomous driving vehicle travels on a detour route. FIG. 8 is a diagram showing an example 1 of the anxiety reduction information presented by an information presentation unit of the autonomous driving vehicle. FIG. 9 is a diagram showing an example 2 of the anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle. FIG. 10 is a diagram showing an example 3 of the anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle. FIG. 11 is a diagram showing an example 4 of the anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle. FIG. 12 is a diagram showing a detour route selection screen presented by the information presentation unit of the autonomous driving vehicle. FIG. 13 is a diagram showing an example 5 of the anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle. FIG. 14 is a flowchart showing the operation of the control device of the autonomous driving vehicle according to the first embodiment. FIG. 15 is a schematic diagram showing an example in which an autonomous driving vehicle according to a second embodiment travels on the planned route although there is a gradient as a concern factor. FIG. 16 is a schematic diagram showing an example in which an inclination is present as the anxiety factor and the autonomous driving vehicle according to the second embodiment avoids the planned route. FIG. 17 is a diagram showing an example 6 of the anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle. FIG. 18 is a flowchart showing the operation of the control device of the autonomous driving vehicle according to the second embodiment. FIG. 19 is a schematic diagram showing an example in which an autonomous driving vehicle according to a third embodiment travels on the planned route although there is a level as a concern factor. FIG. 20 is a schematic diagram showing an example in which a level is present as the anxiety factor and the autonomous driving vehicle according to the third embodiment avoids the planned route. FIG. 21 is a diagram showing an example 7 of the anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle. FIG. 22 is a flowchart showing the operation of the control device of the autonomous driving vehicle according to the third embodiment. FIG. 23 is a schematic diagram showing an example in which a user traveling in an autonomous driving vehicle according to a modification of the third embodiment has recognized unevenness. FIG. 24 is a schematic plan view showing the operation of an autonomous driving vehicle according to a fourth embodiment when a mobile object approaches the autonomous driving vehicle as a concern factor. FIG. 25 is a schematic plan view showing the operation of the autonomous driving vehicle according to the fourth embodiment when the mobile object approaches the autonomous driving vehicle as the anxiety factor. FIG. 26 is a diagram showing an example 8 of the anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle. FIG. 27 is a flowchart showing the operation of the control device of the autonomous driving vehicle according to the fourth embodiment. FIG. 28 is a diagram showing an example 9 of the anxiety reduction information presented by the information presenting unit of the autonomous driving vehicle.MODE FOR CARRYING OUT THE INVENTIONAn autonomous driving vehicle, an autonomous driving vehicle controller, an autonomous driving vehicle control method, and an autonomous driving vehicle control program according to each embodiment will be described below with reference to the drawings. The following embodiments are merely examples, and it is possible to combine embodiments as appropriate and modify each embodiment as appropriate.First EmbodimentFIG. 1 is a block diagram schematically showing the configuration of an autonomous driving vehicle 1 according to a first embodiment. FIG. 2 is a schematic diagram showing an autonomous driving wheelchair as the autonomous driving vehicle 1 in autonomous driving, and FIG. 3 is a schematic diagram showing a case where the autonomous driving vehicle 1 passes a recognition start position P 1 of a anxiety factor 200. FIG. 4 is a schematic diagram showing the autonomous driving vehicle 1 traveling toward a travel destination (e.g., destination point) by passing the recognition start position P 1 of the anxiety factor 200, a presentation start position P 2 of anxiety reduction information, a anxiety start position P 3 as a position at which a feeling of anxiety starts, and a passage start position P 4 and a passage end position P 5 of the anxiety factor 200. The autonomous driving vehicle 1 is, for example, an autonomous driving wheelchair in which a user (i.e., a vehicle occupant) 90 travels and autonomously travels. However, the autonomous driving vehicle 1 is not limited to a wheelchair, but may be a vehicle of another type such as an automobile as long as the vehicle is a mobile object having a function that the user 90 can travel therewith and perform the autonomous driving. The distance (P 3-P 4) from the anxiety start position P 3 to the passage start position P 4 is a distance determined based on the speed of the autonomous driving vehicle 1 (i.e., the vehicle speed), the anxiety factor 200, and an attribute of the user 90.The autonomous driving vehicle 1 includes an environment sensor 20 that detects at least a situation in front in a traveling direction M, an information presentation unit 30 as a presentation device that presents information to the user 90, an operation unit 40 that outputs input information U based on a user operation, and a control device 10. Moreover, the autonomous driving vehicle 1 may include a storage device 50 and a state determination sensor 60 that detects a state of a person (i.e., the user, a target person, or a testee) traveling in the autonomous driving vehicle 1. The autonomous driving vehicle 1 may include a wireless communication device capable of connecting to an external network.The surrounding sensor 20 includes, for example, a front camera 21 as an image capturing device and a laser radar 22, and it is also allowable that the surrounding sensor 20 includes only one of the front camera 21 and the laser radar 22. The laser radar 22 is also referred to as LiDAR (Light Detection and Ranging). The surrounding sensor 20 may also be a sensor of another type as long as the sensor is capable of detecting an object located in the surrounding including an area in front of the autonomous driving vehicle 1.The information presentation unit 30 includes, for example, a display device (i.e., a display or display) 31 such as a liquid crystal display, a speaker 32 as an audio output device, a vibrator (i.e., a vibrator) 33 that vibrates a seat 73 or the like on which the user 90 sits, and a warning 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 vibrator 33, and the indicator lamp 34; it is allowed that the information presentation unit 30 includes one or more of these components.The operation unit 40 may include, for example, a touch panel, a keyboard, an operation button, a control lever, and an audio input device capable of audio input; however, it is allowable that the operation unit 40 includes one or more of these components. In cases where the operation unit 40 is a touch panel that receives an operation performed with the finger, the display device 31 and the operation unit 40 are integrally formed. The information presentation unit 30 and the operation unit 40 are also referred to as HMI (Human Machine Interface).The drive unit 70 includes, for example, a motor that rotates the wheels 71, a motor that drives the steering 72, and a control circuit that controls the rotation of these motors. The speed sensor 74 detects the traveling speed of the autonomous driving vehicle 1.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 a GPS, but may be a positioning system of another type.The storage device 50 stores a plurality of information. The storage device 50 may also be an external device included in a server or the like on a network capable of communicating via a communication device. The storage device 50 stores, for example, road information R such as maps and road attributes, vehicle information V such as driving performance and vehicle width (i.e., size) of the autonomous driving vehicle 1, environment detection information D obtained from the environment sensor 20, information obtained from an acquisition unit 11, and so on.The condition determination sensor 60 includes, for example, one or more facial imaging cameras, a whole body imaging camera, a stabilizer, a seat sensor, a tactile sensor, a pressure sensor, another physiological measurement sensor, and so forth. The face camera is a sensor for detecting a gaze direction, a facial expression, or both of the person traveling in the autonomous driving vehicle 1. The whole-body capturing camera is a sensor for detecting posture and action of the person traveling with the autonomous driving vehicle 1. The stabilizer is a sensor that measures a variation in the center of gravity of the person traveling with the autonomous driving vehicle 1. The seat sensor is a sensor disposed on the seat of the autonomous driving vehicle 1 for detecting the posture of the person seated on the seat. The physiological measurement sensor is, for example, a sensor that acquires biological information on the person traveling with the autonomous driving vehicle 1, such as heartbeat, pulse, and electric potential of the skin. It is also possible for the user to notify the anxiety about the operation unit 40 itself (e.g., by manual input), the operation unit 40 functioning as the state determination sensor 60. However, the anxiety state of the user may be automatically judged based on a detection signal of the state determination sensor 60. The face capturing camera as the state determination sensor 60 is, for example, an image capturing device that photographs the face of the user 90. The face camera as the state determination sensor 60 photographs at least the eyes 91 of the user 90. a control unit 12 is capable of detecting a line of sight 92 (line of sight) of the user 90. The line of sight 92 is represented by a straight line extending from the eyes 91 of the user 90 to the anxiety factor 200 as a target object viewed by the user 90. As a method for detecting the line of sight 92, a well-known technology (e.g., a technology described in Patent Reference 2, see below) may be used.Patent Reference 2: WO 2021 / 064791 A1.The control device 10 includes the acquisition unit 11 that acquires information and the control unit 12 that controls the operation of the entire device on the basis of the acquired information. The control device 10 is a computer, for example.The acquisition unit 11 acquires in advance the anxiety start position P 3 as a position in front of the anxiety factor 200 that makes a subject participant feel anxiety on a route of autonomous driving of the autonomous driving vehicle 1 with which the subject participant travels as a substitute for the user, and a position at which the subject participant starts to feel anxiety about the anxiety factor 200, based on at least one of the subject participant's operation unit 40 and a state detection signal output from the state determination sensor 60 along the route (or depending on the route or with respect to each route).Further, with respect to the anxiety start position P 3, the acquisition unit 11 judges whether it is a situation (anxiety scene) in which a anxiety factor 200 exists on the travel route of the autonomous driving vehicle 1 and the vehicle occupant feels anxiety: "Is the autonomous driving wheelchair able to pass therethrough?". In other words, the anxiety start position P 3 is not a situation in which the vehicle occupant of the autonomous driving vehicle 1 can securely judge that the autonomous driving vehicle 1 is absolutely capable / incapable of passing the position of the anxiety factor, but is a situation in which the vehicle occupant of the autonomous driving vehicle 1 thinks that the autonomous driving vehicle 1 may be either capable or incapable of passing the position of the anxiety factor. That is, the acquisition unit 11 has a function as a anxiety determination unit that determines a position at which the vehicle occupant of the autonomous driving vehicle 1 starts to have a feeling of anxiety that it is unclear whether or not the autonomous driving vehicle 1 is able to pass the position of the anxiety factor based on the operation by the subject.Further, the acquisition unit 11 may acquire in advance the recognition start position P 1 as a position in front of the anxiety factor 200 that makes the subject participant feel anxiety on the autonomous driving route of the autonomous driving vehicle 1 with which the subject participant travels, and a position at which the subject participant starts visually recognizing the presence of the anxiety factor 200, based on, for example, at least one of the subject participant's operation of the operation unit 40 and the state detection signal output from the state determination sensor 60 with respect to each route. While the recognition start position P 1 and the anxiety start position P 3 are generally different positions, there are also cases where the recognition start position P 1 is equal to the anxiety start position P 3 (i.e., cases where the subject has the feeling of anxiety immediately after visually recognizing the anxiety factor 200). The testee is other than the user. It is desirable that there be a variety of test participants. The test participants should have a certain attribute that matches the user using the autonomous driving vehicle 1, for example, the same sex as the user, the same generation as the user, or a similar appearance or preferences as the user. It is also permissible if the test participant is the user.The control unit 12 controls the operation of the autonomous driving vehicle 1 on the basis of the road information R including a map of a planned route to the destination of the autonomous driving vehicle 1 and a road attribute of a planned route road 80, the vehicle information V including the driving performance and the vehicle width W 1 of the autonomous driving vehicle 1, the environment detection information D output from the environment sensor 20, and the anxiety start position P 3.Further, the control unit 12 sets a presentation start position P 2 as a position at which the information presentation unit 30 is caused to start presenting the anxiety reduction information before the anxiety start position P 3 on the autonomous driving route while the user 90 is being transported. The distance (P 2-P 3) from the presentation start position P 2 to the anxiety start position P 3 is determined based on a time resulting from the sum of a recognition time as the time required for the user 90 watching the anxiety reduction information to recognize the contents of the anxiety reduction information and a buffer time allowing the recognition time to margin and the speed of the autonomous driving vehicle 1. Since each of the recognition start position P 1, the presentation start position P 2, and the anxiety start position P 3 corresponds to one of the above-mentioned timings when the speed of the autonomous driving vehicle 1 is constant, the recognition start position P 1, the presentation start position P 2, and the anxiety start position P 3 can be regarded as a recognition start timing, a presentation start timing, and a anxiety start timing, respectively. In general, the control unit 12 further sets the presentation start position P 2 between the recognition start position P 1 as the position at which the subject starts visually recognizing the presence of the anxiety factor 200 and the anxiety start position P 3 or at the same position as the recognition start position P 1. The control unit 12 causes the information presentation unit 30 to start presenting the anxiety reduction information when the autonomous driving vehicle 1 with the user 90 traveling therewith reaches the presentation start position P 2. It is also allowed when the presentation start position P 2 has been calculated beforehand on the basis of the anxiety start position P 3 and stored in a storage device usable for the autonomous driving vehicle 1.Moreover, the control unit 12 may judge that there is a anxiety factor when the user 90 views for slightly longer than or equal to a predetermined reference time based on facial images captured by the facial imaging camera as the state determination sensor 60.FIG. 5 is a diagram showing an example of the hardware configuration of the control device 10 of the autonomous driving vehicle 1 according to the first embodiment. The control device 10 is a device capable of executing a control method according to the first embodiment. As shown in FIG. 3, the control device 10 includes a processor 101 such as a CPU (Central Processing Unit), a random access 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 working memory 102 is, for example, a semiconductor memory such as a RAM (random access memory, dt. Random Access Memory). The nonvolatile memory device 103 may be the same device as the memory device 50 shown in FIG. 1.The functions of the controller 10 are realized by a processing circuit, for example. The processing circuit may be either dedicated hardware or the processor 101 that executes a program stored in the memory 102. The processor 101 may be a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor).In the case where the processing circuit is dedicated hardware, the processing circuit is, for example, a single circuit, a combined circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of some of these circuits.When the processing circuit is the processor 101, a 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 controller 10 via, for example, a network or a recording medium. The software and the firmware are described as programs and stored in the working memory 102. The processor 101 performs the functions of the units shown in FIG. 1 by reading out and executing the control program stored in the work memory 102.Incidentally, it is also possible to implement one part of the management server 100 by dedicated hardware and the other part by software or firmware. As described above, the processing circuit may implement the functions described above by hardware, software, firmware, or a combination of some of these means.FIG. 6 is a schematic plan view showing an example in which the autonomous driving vehicle 1 travels on a planned route 80 a, although a small road width is present as the anxiety factor 201. FIG. 7 is a schematic plan view showing an example in which a small road width is present as the anxiety factor 201 and the autonomous driving vehicle 1 travels on a detour route 80 b. The control unit 12 acquires a travelable road width (W 80 ain FIG. 6, W 80C in FIG. 7 ) on the planned route 80 aas a concern factor 201 from the road information R, the environment detection information D, or both, the road information R, and the environment detection information D, makes a judgment based on the road width and the vehicle width W 1, and operates based on the result of the judgment.Specifically, when the road width W 80 aon the planned route 80 ais wider than the vehicle width W 1 by a predetermined margin value Wa or more, the control unit 12 judges that the planned route 80 ais drivable. That is, as illustrated in FIG. 6, the control unit 12 judges that the planned route 80 ais travelable when W 1<W 80 aand (W 80 a- W 1)≥Wa. The margin value Wa is not limited to a fixed value, but may also be a value that varies depending on the vehicle speed and the road attribute (e.g., road inclination, road surface condition, or both). For example, the margin value Wa may vary so as to increase as the vehicle speed increases. In addition, the margin value Wa may vary so as to increase as the road inclination (inclination in the lateral direction) increases. In addition, the margin value Wa may vary so as to increase as the road surface condition of the road deteriorates. In addition, the margin value Wa may vary so as to increase as the size of a step (level difference) on the road increases. Moreover, the margin value Wa may vary so as to increase as the road gradient (inclination in the traveling direction) increases.Further, the control unit 12 judges that the planned route 80 ais not navigable when, for example, an object (e.g., a construction site) 80 cis present on the planned route 80 aand the road width W 80 cof the usable road is less than or equal to the vehicle width W 1. That is, as shown in FIG. 7, when W1≥W80c, the control unit 12 judges that the planned route 80a is not passable and changes the planned route to the detour route 80b. In other words, the control unit 12 judges whether or not the autonomous driving vehicle 1 is able to pass the position of the anxiety factor 201 based on the road width W 80 and the vehicle width W 1, and when the autonomous driving vehicle 1 is judged to be unable to pass the position of the anxiety factor 201, changes the planned route to make a detour around the position of the anxiety factor 201.In both a change of the scheduled route and an unchanged route, the control unit 12 presents the anxiety reduction information at the presentation start position P 2 set in advance.FIG. 8 is a diagram showing an example 1 of the anxiety reduction information presented by the information presentation unit 30 of the autonomous driving vehicle 1. FIG. 8 shows an example of the anxiety reduction information (an example of a display image, an attention-calling sound, and an audio guidance) in a case where the anxiety factor 201 is a narrow road width while the road width is wider than the vehicle width W 1 of the autonomous driving vehicle 1 and the autonomous driving vehicle 1 is traveling on the planned route. In this example, display and audio guidance become "ROAD GETS NARROWER. PLEASE NOT KEEP HANDS OR OTHERS OFF THE VEHICLE." and show an attention display (a figure indicating a prohibited action of the user).FIG. 9 is a diagram showing an example 2 of the anxiety reduction information presented by the information presentation unit 30 of the autonomous driving vehicle 1. FIG. 9 shows an example of the anxiety reduction information (an example of the display image, the attention-calling sound, and the audio guidance) in a case where the anxiety factor 201 is a narrow road width while the road width is wider than the vehicle width W 1 of the autonomous driving vehicle 1 and the autonomous driving vehicle 1 is traveling on the planned route. In this example, the display and audio guidance become "THE ROAD BECOMES NARROWER. PLEASE NOT KEEP HANDS OR OTHERS OFF THE VEHICLE.", show the attention display (the figure indicating the user's prohibited action), and a figure indicating how the road width gets narrower in superposition with the concern factor 201.FIG. 10 is a diagram showing an example 3 of the anxiety reduction information presented by the information presentation unit 30 of the autonomous driving vehicle 1. FIG. 10 shows an example of the anxiety reduction information (an example of the display image, the attention-calling sound, and the audio guidance) in a case where the anxiety factor 201 is a narrow road width while the road width is wider than the vehicle width W 1 of the autonomous driving vehicle 1 and the autonomous driving vehicle 1 is traveling on the planned route. In this example, the display and audio guidance become "THE ROAD BECOMES NARROWER. PLEASE NOT HOLD HANDS OR OTHERS OFF VEHICLE.", an attention display (a figure indicating a desired posture that the user should take) and a figure as a mark (check mark) indicating the position at which the road width becomes narrower displayed in superposition with the anxiety factor 201.FIG. 11 is a diagram showing an example 4 of the anxiety reduction information presented by the information presentation unit 30 of the autonomous driving vehicle 1. FIG. 11 shows an example of the anxiety reduction information (an example of the display image, the attention-calling sound, and the audio guidance) in a case where the anxiety factor 201 is a narrow road width and the autonomous driving vehicle 1 travels on a detour route (a route turning right in FIG. 11 ) without traveling on the scheduled route. In this example, a display and an audio guidance become "THE ROAD IS NARROW AND CANNOT BE PASSED. ROUTE IS CHANGED.", an attention display (a figure indicating a desirable posture that the user should take), the figure is shown as the no-pass mark indicating that it is impossible to reach the position of the anxiety factor 201 displayed in superposition with the anxiety factor 201, and a figure indicating that the detour route is a route turning right.FIG. 12 is a diagram showing a detour route selection screen presented by the information presentation unit 30 of the autonomous driving vehicle 1. FIG. 12 shows an example of the anxiety reduction information (an example of the display image, the attention-calling sound, and the audio guidance) in a case where the anxiety factor 201 is a narrow road width and the autonomous driving vehicle 1 is capable of traveling on the planned route while the autonomous driving vehicle 1 travels on a detour route (in FIG. 12, the route making a right turn) according to the operation by the user (in this example, an operation by touching a triangular mark on the touch panel). In this example, the display and audio guidance become "THE ROAD BECOMES NARROWER. PLEASE NOT KEEP HANDS OR OTHERS OFF THE VEHICLE.", the attention display (the figure indicating the user's prohibited action), the figure as the no-pass mark indicating that it is impossible to reach the position of the anxiety factor 201 displayed in superposition with the anxiety factor 201, and the figure indicating that the detour route is a route turning right.FIG. 13 is a diagram showing an example 5 of the anxiety reduction information presented by the information presentation unit 30 after the detour route (turn right) is selected on the screen of FIG. 12. FIG. 13 shows an example of the anxiety reduction information (an example of the display image, the attention-calling sound, and the audio guidance) in a case where the autonomous driving vehicle 1 is traveling on the detour route after the detour route (right turn) is selected. In this example, a display and an audio guidance "THE ROUTE HAS BEEN CHANGED.", an attention display (a figure indicating the detour route), and the figure indicating that the detour route is a route turning right are shown. When there are a plurality of detour routes (e.g., turn right and turn left), one of the plurality of detour routes may be selected by the user 90 operating the operation unit 40 (touch panel in the example of FIGS. 12 and 13 ).FIG. 14 is a flowchart showing the operation of the control device 10 of the autonomous driving vehicle 1 according to the first embodiment. First, the acquisition unit 11 of the control device 10 acquires the anxiety start position P 3 in autonomous driving of the autonomous driving vehicle 1 having a subject traveling therein based on the operation of the operation unit 40 by the subject, and stores the acquired anxiety start position P 3 in the storage device 50 (step S 101 in FIG. 14 ). When there are a plurality of acquisition results, the acquisition unit 11 determines a position represented by using a representative value such as the average value, the median, the maximum value, or the minimum value, the distance (or the time) from the anxiety factor as the anxiety start position P 3.Subsequently, the control unit 12 of the control device 10 starts autonomous driving of the autonomous driving vehicle 1 in which the user travels (step S 102 in FIG. 14 ). Here, the autonomous driving vehicle 1 in which the user is traveling is intended to correspond to the autonomous driving vehicle in which the subject is traveling in terms of shape and functions (same model), but does not need to be physically identical to the autonomous driving vehicle in which the subject is traveling. It is allowable when the autonomous driving vehicle in which the subject is traveling is the same or similar model as the autonomous driving vehicle 1 in which the user 90 is traveling, and is capable of using the information regarding the anxiety start position P 3 acquired by the acquisition unit 11 and determined in step S 101.Subsequently, the control unit 12 determines whether or not to travel on the planned route 80 aor to travel on the detour route 80 b, that is, whether or not to travel on the planned route 80 a, that is, whether or not to travel on the planned route 80 a, based on the vehicle width W 1 (the vehicle information V) and the road width W 80 a, W 80 c(step S 103 in FIG. 14 ).When the autonomous driving vehicle 1 travels on the planned route 80 ashown in FIG. 7 (step S 104 in FIG. 14 ), the control unit 12 starts presenting the anxiety reduction information shown in any one of FIGS. 8 to 10 at the presentation start position P 2 determined based on the anxiety start position P 3 (step S 105).When the autonomous driving vehicle 1 travels on the around-road planned route 80 bshown in FIG. 7 (step S 104 in FIG. 14 ), the control unit 12 starts presenting the anxiety reduction information shown in FIG. 11 at the presentation start position P 2 determined based on the anxiety start position P 3 (step S 106).As described above, according to the first embodiment, the presentation of the anxiety reduction information is started at the presentation start position P 2 determined based on the anxiety start position P 3, and thus the presentation of the anxiety reduction information can be started even in a period in which the movement of the autonomous driving vehicle 1 does not change and the physiological index is hardly changed. This can enhance anxiety reduction effect on the user 90. Since the presentation start position P 2 is determined as the publication position for the presentation of the anxiety reduction information on the basis of information acquired beforehand on the basis of reports from the subject, the presentation of unnecessary information at positions where the presentation is unnecessary can be reduced.Specifically, there are cases where a situation occurs in which the user 90 has a feeling of anxiety: "Is the autonomous driving vehicle in which I me is travelling able to pass a route in the front direction of travel with the autonomous driving wheelchair?". The autonomous driving vehicle 1 in the first embodiment is capable of notifying the user 90 of the information for reducing the feeling of anxiety of the user 90 at the presentation start position P 2 before the anxiety start position P 3 as the position where a situation occurs in which the user 90 has the feeling of anxiety.Second EmbodimentIn a second embodiment, an example in which the anxiety factor is an inclination as a road surface state on the planned route will be described. Reference is also made to FIGS. 1 and 5 in the description of the second embodiment. FIG. 15 is a schematic diagram showing an example in which the autonomous driving vehicle 1 according to the second embodiment travels on the planned route although there is a gradient as the anxiety factor 202. FIG. 16 is a schematic diagram showing an example in which there is a gradient as the anxiety factor 202 and the autonomous driving vehicle 1 according to the second embodiment avoids the planned route (i.e., travels on another route).In the second embodiment, the control unit 12 judges whether or not the autonomous driving vehicle 1 is able to pass the gradient as the anxiety factor 202 based on the road surface state and the driving performance (in this case, the climbing performance), and when the autonomous driving vehicle 1 is judged to be unable to pass the gradient, changes the planned route so as to make a detour around the position of the anxiety factor 202 and executes a process that makes the information presentation unit 30 present to the user the fact that the gradient is not passable at the presentation start position P 2 (FIG. 4 ). The case where the slope is judged to be inappropriate may be, for example, a case where an inclination angle α 2 of the slope is larger than a passable inclination angle αr represented by the travel performance as shown in FIG. 16. In this case, the control unit 12 causes the information presenting unit 30 to present information indicating that the planned route has been changed. While taking an angle (inclination angle) as an example, it is also possible to set a plurality of factors affecting the climbing performance, such as the body weight of the user and the traveling speed, as a plurality of parameters affecting the climbing performance. Except for these features, the configuration in the second embodiment is the same as the configuration in the first embodiment.Further, in the second embodiment, when the gradient is judged to be passable due to the road surface state and the driving performance, the control unit 12 does not change the scheduled route. The case where the slope is judged to be passable may be, for example, a case where an inclination angle α 1 of the slope is less than or equal to the passable inclination angle αr represented by the travel performance, as shown in FIG. 15. In this case, the control unit 12 acquires the inclination angle α 1 of the slope as the anxiety factor 202 from the road information R or the environment detection information D, and causes the information presentation unit 30 to present, at the presentation start position P 2 (FIG. 4 ), that the slope is passable based on the road surface state (in this example, the inclination of the slope) and the driving performance of the autonomous driving vehicle 1. The examples in FIGS. 15 and 16 show that the slope is an upward slope, but similar judgment is also made in cases where it is a downward slope.FIG. 17 is a diagram showing an example 6 of the anxiety reduction information presented by the information presentation unit 30 of the autonomous driving vehicle 1. FIG. 17 shows an example of the anxiety reduction information (an example of the display image, the attention-calling sound, and the audio guidance) in a case where the anxiety factor 202 is an upward gradient (i.e., a gradient surface with an upward gradient) while the inclination angle α 1 of the gradient surface is less than or equal to the inclination angle αr passable with the driving performance of the autonomous driving vehicle 1 and the autonomous driving vehicle 1 is traveling on the planned route. In this example, an example of the presentation "The slope can be raised without any concern." is shown in German. A display and an audio guidance "PLEASE NOT HOLD HANDS OR OTHERS OFF THE VEHICLE." and an attention display (a figure indicating a prohibited action of the user) are shown.FIG. 18 is a flowchart showing the operation of the control device 10 of the autonomous driving vehicle 1 according to the second embodiment. In Fig. 18, each step that corresponds to a step shown in Fig. 14 is assigned the same reference numeral as in Fig. 14. The autonomous driving vehicle 1 according to the second embodiment is different from the autonomous driving vehicle 1 of the first embodiment (making the determination based on the road width and the vehicle width) in that the control unit 12 determines whether to travel on the planned route or the around-road route based on the driving performance (the vehicle information V) and the inclination angle of the gradient (the road information R or the surrounding detection information D) in step S 203. Except for this feature, the operation in FIG. 18 is the same as in FIG. 14.As described above, according to the second embodiment, the presentation of the anxiety reduction information is started at the presentation start position P 2 determined based on the anxiety start position P 3, and thus the presentation of the anxiety reduction information can be started even in a period in which the movement of the autonomous driving vehicle 1 does not change and the physiological index is hardly changed. This can enhance anxiety reduction effect on the user 90. Since the presentation start position P 2 is determined as the publication position for the presentation of the anxiety reduction information on the basis of information acquired beforehand on the basis of reports from the subject, the presentation of unnecessary information at positions where the presentation is unnecessary can be reduced.Moreover, it is also possible to adopt the configuration and functions of the autonomous driving vehicle 1 according to the second embodiment to the autonomous driving vehicle according to the first embodiment.Third EmbodimentIn a third embodiment, an example in which the anxiety factor is a level as a road surface state on the scheduled route will be described. Reference is also made to FIGS. 1 and 5 in the description of the third embodiment. FIG. 19 is a schematic diagram showing an example in which the autonomous driving vehicle 1 according to the third embodiment travels on the planned route although there is a level as the anxiety factor 203. FIG. 20 is a schematic diagram showing an example in which a level is present as the anxiety factor 203 and the autonomous driving vehicle 1 according to the third embodiment avoids the planned route (i.e., travels on another route).In the third embodiment, the control unit 12 judges whether or not the autonomous driving vehicle 1 is able to pass the step as the anxiety factor 203 based on the road surface state and the driving performance, and when the autonomous driving vehicle 1 is judged not to be able to pass the step, changes the planned route so as to make a detour around the position of the anxiety factor 203, and executes a process that makes the information presentation unit 30 present to the user the fact that the step is not passable at the presentation start position P 2 (FIG. 4 ). The case where the step is judged to be unpassable may be, for example, a case where a height H 2 of the step is larger than a passable step height Hr represented by the travel performance as shown in FIG. 20. In this case, the control unit 12 causes the information presenting unit 30 to present information indicating that the planned route has been changed. Except for these features, the configuration in the third embodiment is the same as the configuration in the first embodiment.Further, in the third embodiment, when the level is judged to be passable due to the road surface state and the driving performance, the control unit 12 does not change the scheduled route. The case where the step is judged to be passable may be, for example, a case where a height H 1 of the step is less than or equal to the passable step height Hr represented by the travel performance as shown in FIG. 19. In this case, the control unit 12 acquires the height H 1 of the grade as the anxiety factor 203 from the road information R, the surrounding environment detection information D, or both of the road information R and the surrounding environment detection information D, and causes the information presentation unit 30 to present, at the presentation start position P 2 (FIG. 4 ), the grade to be passable on the basis of the road surface state (in this example, the height of the grade) and the driving performance of the autonomous driving vehicle 1. The examples in FIGS. 19 and 20 show that the stage is an upstream stage, but similar judgment is also made in cases where the stage is a downstream stage.FIG. 21 is a diagram showing an example 7 of the anxiety reduction information presented by the information presentation unit 30 of the autonomous driving vehicle 1. FIG. 21 shows an example of the anxiety reduction information (an example of the display image, the attention-calling sound, and the audio guidance) in a case where the anxiety factor 203 is a down level while the height of the level is less than or equal to the height passable with the driving performance of the autonomous driving vehicle 1 and the autonomous driving vehicle 1 is traveling on the scheduled route. In this example, a display and an audio guidance become "GO STAGE DOWN. PLEASE HOLD." and display an attention display (a figure prompting the user for attention).FIG. 22 is a flowchart showing the operation of the control device 10 of the autonomous driving vehicle 1 according to the third embodiment. In Fig. 22, each step that corresponds to a step shown in Fig. 14 is assigned the same reference numeral as in Fig. 14. The autonomous driving vehicle 1 according to the third embodiment is different from the autonomous driving vehicle 1 according to the first embodiment in that the control unit 12 determines whether to travel on the planned route or the detour route in step S 303 based on the driving performance (the vehicle information V) and the level (the road information R or the environment detection information D). Except for this feature, the operation in FIG. 22 is the same as in FIG. 14.As described above, according to the third embodiment, the presentation of the anxiety reduction information is started at the presentation start position P 2 determined based on the anxiety start position P 3, and thus the presentation of the anxiety reduction information can be started even in a period in which the movement of the autonomous driving vehicle 1 does not change and the physiological index is hardly changed. This can enhance anxiety reduction effect on the user 90. Since the presentation start position P 2 is determined as the publication position for the presentation of the anxiety reduction information on the basis of information acquired beforehand on the basis of reports from the subject, the presentation of unnecessary information at positions where the presentation is unnecessary can be reduced.Fig. 23 shows a modification of the third embodiment. FIG. 23 is a schematic diagram showing an example in which the user traveling in the autonomous driving vehicle 1 has recognized unevenness (i.e., an uneven surface that is not flat) as the anxiety factor 204. In this case, similarly to the cases of FIGS. 19 and 20, the control unit 12 judges whether or not the road on which the asperities exist is passable based on height or depth of the asperities (i.e., the amount of the asperities), and determines the presentation start position P 2 as the publication position of the presentation of the anxiety reduction information based on the information acquired based on reports of the test participants, whereby the presentation of unnecessary information at positions at which the presentation is unnecessary can be reduced.Further, when the anxiety factor is an unfixed area (e.g., an area of grass, a rough location, wet ground, or the like) on the planned route, the control unit 12 judges whether or not the road on which the unfixed area exists is passable based on the state of the unfixed area (e.g., the amount of the grass, the width of the rough location, or the like), and determines the presentation start position P 2 as the publishing position for presenting the anxiety reduction information based on the information acquired based on reports of the test participants, thereby reducing the presentation of unnecessary information at positions where the presentation is unnecessary.Moreover, it is also possible to adopt the configuration and functions of the autonomous driving vehicle 1 according to the third embodiment to the autonomous driving vehicle according to the first or second embodiment.Fourth EmbodimentIn a fourth embodiment, an example in which the anxiety factor is a mobile object approaching the autonomous driving vehicle on the planned route will be described. Reference is also made to FIGS. 1 and 5 in the description of the fourth embodiment. FIGS. 24 and 25 are schematic plan views showing the operation of the autonomous driving vehicle 1 according to the fourth embodiment when a mobile object approaches the autonomous driving vehicle 1 as a concern factor 205.In the fourth embodiment, the control unit 12 controls the autonomous driving of the autonomous driving vehicle 1 based on the size and speed of the mobile object approaching the autonomous driving vehicle 1 (the environment detection information D) and the distance to the mobile object. The mobile object is detected based on the environment detection information D of the environment sensor 20. The mobile object is, for example, a pedestrian, a bicycle, a car, or the like. As illustrated in FIG. 25, the autonomous driving vehicle 1 displaces the driving position of the autonomous driving vehicle 1 closer to the shoulder of the road to separate from the lane in which the mobile object travels. In this case, the control unit 12 may cause the information presentation unit 30 to present to the user 90 the fact that the mobile object has already been recognized as the anxiety factor 205 and the planned route has been moved to the position closer to the shoulder.For example, the control unit 12 judges that a gaze target that the user 90 is looking at for more than or equal to a predetermined reference time based on facial images captured by the face capturing camera as the state determination sensor 60 is the anxiety factor 205, and when the gaze target is judged to be a mobile object as a moving object, modifies the planned route to be separated from the position of the anxiety factor 203 based on the environment detection information D from the environment sensor 20, and executes a process to cause the information presentation unit 30 at the presentation start position P 2 to present to the user the fact that the autonomous driving vehicle 1 soon passes the mobile object (FIG. 4 ).Further, the control unit 12 may control the information presentation unit 30 such that the increase level of a display mode of the information about the mobile object increases with the increase in the speed of the mobile object. The increase in the increase level of the display mode means, for example, that the display device 31 displays the display with larger letters, displays the display with more conspicuous colors, blinks the display, increases the luminance of the display, or the like. The increase in the increase level of the display mode means, for example, that the speaker 32 outputs a louder sound, outputs an iterative sound, or the like. The increase in the increase level of the display mode means, for example, that the vibrator 33 vibrates more, outputs an iterative vibration, or the like. The increase in the increase level of the display mode means, for example, that the indicator lamp 34 displays the display brighter, displays with more conspicuous colors, blinks the display, or the like. The increase in the increase level of the display mode may also combine the display modes of two or more of the display device 31, the speaker 32, the vibrator 33, and the indicator lamp 34 with each other.In the process of acquiring information, the acquisition unit 11 may acquire the anxiety strength levels input from the subject via the operation unit 40 between the recognition start position P 1 and the anxiety factor in autonomous driving of the autonomous driving vehicle 1 with the subject traveling therewith, and the control unit 12 may increase the increase level of the display mode of the information presented by the information presentation unit 30 with the increase of the anxiety strength level.Further, the control unit 12 may increase the increase level of the display mode of the information about the mobile object with the increase in the size of the mobile object. Further, the control unit 12 may increase the increase level of the display mode of the information on the approaching mobile object with the decrease in the distance of the mobile object. Except for the above-described features, the configuration in the fourth embodiment is the same as the configuration in the first embodiment.FIG. 26 is a diagram showing an example 8 of the anxiety reduction information presented by the information presentation unit 30 of the autonomous driving vehicle 1. FIG. 26 shows an example of the anxiety reduction information (an example of the display image, the attention-calling sound, and the audio guidance) in a case where the anxiety factor 204 is a pedestrian as a mobile object, the pedestrian is running on the roadside and does not interfere with the travel of the autonomous driving vehicle 1 and the autonomous driving vehicle 1 is traveling on the planned route. In this example, a display and audio guidance becomes "INPUT PEDESTRIAN COMES FROM LEFT. PLEASE PAY EIGHT.".FIG. 27 is a flowchart showing the operation of the control device 10 of the autonomous driving vehicle 1 according to the fourth embodiment. In Fig. 27, each step that corresponds to a step shown in Fig. 14 is assigned the same reference numeral as in Fig. 14. The autonomous driving vehicle 1 according to the fourth embodiment is different from the autonomous driving vehicle 1 in the first embodiment in that the control unit 12 controls the autonomous driving of the autonomous driving vehicle 1 based on one or more of the size and the speed of the mobile object approaching the autonomous driving vehicle 1 (the environment detection information D) and the distance to the mobile object, and determines the detour route by changing the driving lane to another lane from among a plurality of lanes (i.e., changing the driving lane in the direction of the road width) in step S 403. Except for these features, the operation in FIG. 27 is the same as in FIG. 14.FIG. 28 is a diagram showing an example 9 of the anxiety reduction information presented by the information presentation unit 30 of the autonomous driving vehicle 1. FIG. 28 shows an example of the anxiety reduction information (an example of the display image, the attention-calling sound, and the audio guidance) in a state where the anxiety factor 204 is a pedestrian as a mobile object and the pedestrian has started to travel from behind an object on the road side toward the center of the road. In this example, a display and an audio guidance become "ATTENTION. PERSON BEHIND AN OBJECT.". In this case as well, the control unit may execute the process shown in FIG. 27.As described above, according to the fourth embodiment, the presentation of the anxiety reduction information is started based on the anxiety start position P 3, and thus the presentation of the anxiety reduction information can be started even in a period in which the movement of the autonomous driving vehicle 1 does not change and the physiological index is hardly changed. This can enhance anxiety reduction effect on the user 90. Since the presentation start position P 2 is determined as the publication position for the presentation of the anxiety reduction information on the basis of information acquired beforehand on the basis of reports from the subject, the presentation of unnecessary information at positions where the presentation is unnecessary can be reduced.Moreover, it is also possible to adopt the configuration and functions of the autonomous driving vehicle 1 according to the fourth embodiment to the autonomous driving vehicle according to any one of the first, second, and third embodiments.ModificationsIn the first to fourth embodiments described above, the control unit 12 may cause the information presentation unit 30 to present the information by audio when no person in the vicinity of the autonomous driving vehicle 1 has been detected by the surrounding sensor 20 (e.g., when no person is in an area set by a predetermined distance), and cause the information presentation unit 30 to present the information by vibration when a person in the vicinity of the autonomous driving vehicle 1 has been detected by the surrounding sensor 20.Further, in the first to fourth embodiments described above, in autonomous driving, the user 90 of the autonomous driving vehicle may notify the anxiety level (i.e., the level of anxiety feeling) at each position (e.g., through input via the operation unit) where the user 90 has felt anxiety. The control unit 12 may be equipped with a learning function that stores position information and the anxiety strength in the storage device 50. In the next autonomous driving and later, the control unit 12 may change the timing and the method of presenting the anxiety reduction information to the user 90 by referring to a model as learned information.LIST OF REFERENCE CHARACTERS1: Autonomous driving vehicle, 10: controller, 11: acquisition unit, 12: control unit, 20: surrounding sensor, 21: front camera, 22: laser radar, 30: information presentation unit, 31: display device, 32: speaker, 33: vibrator, 34: warning lamp, 40: operation unit, 50: storage device, 51: GPS, 60: state determination sensor, 70: drive unit, 71: wheel, 72: steering, 73: seat, 74: speed sensor, 80: road, 80 a: planned route, 80 b: detour route, 80 c: object, 90: user, 91: eye, 92: line of sight, 101: processor, 102: working memory, 103: nonvolatile storage device, 104: interface, 200- 205: anxiety factor.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 2016-052374

[0003] WO 2021 / 064791 A1

[0019]

Claims

An autonomous driving vehicle that autonomously travels with a user traveling therewith, comprising: an environment sensor to detect at least a situation forward in the traveling direction; an information presentation unit to present information to the user; an operation unit; an acquisition unit to acquire in advance a anxiety start position as a position before a anxiety factor that makes a subject feel anxiety on a route of autonomous driving of the autonomous driving vehicle with which the subject travels, and a position at which the subject starts to feel anxiety about the anxiety factor based on the operation of the operation unit by the subject along the route; and a control unit, to control an operation of the autonomous driving vehicle based on road information including a map of a planned route to a destination of the autonomous driving vehicle and a road attribute of the planned route, vehicle information regarding the autonomous driving vehicle, environment detection information output from the environment sensor, and the anxiety start position, wherein the control unit sets a presentation start position as a position at which the information presentation unit is caused to start presenting anxiety reduction information, before the anxiety start position on the autonomous driving route with the user traveling therewith, and causes the information presentation unit to start presenting the anxiety reduction information when the autonomous driving vehicle with the user traveling therewith reaches the presentation start position.The autonomous driving vehicle according to claim 1, wherein the control unit sets the presentation start position between a recognition start position as a position at which the subject starts visually recognizing the presence of the anxiety factor, and the anxiety start position or at a same position as the recognition start position.The autonomous driving vehicle according to claim 2, wherein the acquisition unit previously acquires the recognition start position based on the operation of the operation unit by the subject participant on the autonomous driving route of the autonomous driving vehicle with the subject participant traveling therewith along the route.The autonomous driving vehicle according to claim 2, further comprising a state determination sensor to detect a state of the user traveling with the autonomous driving vehicle, wherein when it is judged that there is a gaze target that the user is looking at for a time longer than or equal to a predetermined reference time, based on the state of the user detected by the state determination sensor, the control unit treats a start position of the gaze as the recognition start position.The autonomous driving vehicle according to any one of claims 1 to 4, wherein the control unit judges whether or not the autonomous driving vehicle is able to pass a position of the anxiety factor based on one or more pieces of information among the road information, the environment sensing information, and the vehicle information, determines whether or not a bypass around the position of the anxiety factor is necessary based on a result of the judgment, causes the information presentation unit to present the anxiety reduction information that notifies the user that the bypass is taken when the bypass is taken, and causes the information presentation unit to present the anxiety reduction information that notifies the user that the autonomous driving vehicle is traveling without taking the bypass, if the bypass is not taken.The autonomous driving vehicle according to any one of claims 1 to 5, wherein the control unit acquires a road width on the planned route as the anxiety factor from the road information or the environment detection information and acquires a vehicle width of the autonomous driving vehicle from the vehicle information, judges whether or not the autonomous driving vehicle is able to pass a position of the anxiety factor based on the road width and the vehicle width, determines whether or not a bypass around the position of the anxiety factor is necessary based on a result of the judgment, causes the information presentation unit to present the anxiety reduction information that notifies the user that the bypass is taken when the bypass is taken, and causes the information presentation unit to present, presenting the anxiety reduction information notifying the user that the autonomous driving vehicle is driving without taking the detour when the detour is not taken.The autonomous driving vehicle according to any one of claims 1 to 6, wherein the control unit acquires a road surface state on the planned route as the anxiety factor from the road information or the environment detection information and acquires a driving performance of the autonomous driving vehicle from the vehicle information, judges whether or not the autonomous driving vehicle is able to pass a position of the anxiety factor based on the road surface state and the driving performance, determines whether or not a bypass around the position of the anxiety factor is necessary based on a result of the judgment, causes the information presentation unit to present the anxiety reduction information that notifies the user that the bypass is taken when the bypass is taken, and causes the information presentation unit to, presenting the anxiety reduction information notifying the user that the autonomous driving vehicle is driving without taking the detour when the detour is not taken.The autonomous driving vehicle according to claim 7, wherein the control unit acquires one or more of an inclination of an inclination on the planned route, an elevation of a step on the planned route, an amount of unevenness on the planned route, and a state of an unpaved area on the planned route as the road surface state.The autonomous driving vehicle according to any one of claims 1 to 7, wherein when the anxiety factor is judged to be a moving object based on the environment detection information from the environment sensor, the control unit causes the information presentation unit to present a driving position and a driving speed of the autonomous driving vehicle as the anxiety reduction information.The autonomous driving vehicle according to claim 9, wherein when the anxiety factor is judged as an object moving in a direction approaching the autonomous driving vehicle based on the environment detection information from the environment sensor, the control unit causes the information presentation unit to present information on the object as the anxiety reduction information.The autonomous driving vehicle according to claim 9 or 10, wherein the control unit increases an increase level of a display mode of the information regarding the object with an increase in speed of the object, with an increase in size of the object, or with a decrease in distance to the object.The autonomous driving vehicle according to any one of claims 1 to 11, wherein the control unit changes the planned route based on a user operation by the operation unit.The autonomous driving vehicle according to any one of claims 1 to 12, wherein the acquisition unit acquires a anxiety strength level input from the user via the operation unit in autonomous driving of the autonomous driving vehicle with the user as a subject traveling therewith, and the control unit increases an increase level of a display mode of the information presented by the information presentation unit with an increase in the anxiety strength level.The autonomous driving vehicle according to any one of claims 1 to 13, wherein the information presentation unit includes at least one of a display device, a speaker, a warning light, and a vibration device.The autonomous driving vehicle according to any one of claims 1 to 14, wherein the control unit causes the information presentation unit to present the information by audio when no person in a vicinity of the autonomous driving vehicle has been detected by the vicinity sensor, and the control unit causes the information presentation unit to present the information by vibration when a person in the vicinity of the autonomous driving vehicle has been detected by the vicinity sensor.The autonomous driving vehicle according to any one of claims 1 to 15, wherein the autonomous driving vehicle is an autonomous driving wheelchair.A control device for an autonomous driving vehicle, comprising an environment sensor for detecting at least one situation in front in a traveling direction, an information presentation unit for presenting information to a user, and an operation unit, the control device comprising: an acquisition unit for acquiring in advance a anxiety start position as a position in front of a anxiety factor that makes a subject feel anxiety on an autonomous driving route of the autonomous driving vehicle with which the subject travels, and a position at which the subject starts to feel anxiety about the anxiety factor, based on the operation of the operation unit by the subject along the route; and a control unit, to control an operation of the autonomous driving vehicle based on road information including a map of a planned route to a destination of the autonomous driving vehicle and a road attribute of the planned route, vehicle information regarding the autonomous driving vehicle, environment detection information output from the environment sensor, and the anxiety start position, wherein the control unit sets a presentation start position as a position at which the information presentation unit is caused to start presenting anxiety reduction information, before the anxiety start position on the autonomous driving route with the user traveling therewith, and causes the information presentation unit to start presenting the anxiety reduction information when the autonomous driving vehicle with the user traveling therewith reaches the presentation start position.A control method for an autonomous driving vehicle comprising an environment sensor for detecting at least one situation in front in a traveling direction, an information presentation unit for presenting information to a user, and an operation unit, the control method comprising: a step of acquiring in advance a anxiety start position as a position in front of a anxiety factor that makes a subject feel anxiety on an autonomous driving route of the autonomous driving vehicle with which the subject travels, and as a position at which the subject starts to feel anxiety about the anxiety factor, based on the operation of the operation unit by the subject along the route; A step of controlling an operation of the autonomous driving vehicle based on road information including a map of a planned route to a destination of the autonomous driving vehicle and a road attribute of the planned route, vehicle information related to the autonomous driving vehicle, environment sensing information output from the environment sensor, and the anxiety start position, wherein in the step of controlling the operation of the autonomous driving vehicle, a presentation start position as a position at which the information presentation unit is caused to start presenting anxiety reduction information is set before the anxiety start position on the autonomous driving route with the user traveling therewith, and the information presentation unit is caused to start presenting the anxiety reduction information, when the autonomous driving vehicle having the user traveling therewith reaches the presentation start position.An autonomous driving vehicle control program to be executed by an autonomous driving vehicle control device including an environment sensor for detecting at least one situation forward in a traveling direction, an information presentation unit for presenting information to a user, and an operation unit, the control program causing the control device to execute: a step of acquiring in advance a anxiety start position as a position before a anxiety factor that causes a subject to feel anxiety on an autonomous driving route of the autonomous driving vehicle with which the subject travels, and as a position at which the subject starts to feel anxiety about the anxiety factor, based on the operation of the operation unit by the subject along the route; and a step of controlling an operation of the autonomous driving vehicle based on road information including a map of a planned route to a destination of the autonomous driving vehicle and a road attribute of the planned route, vehicle information regarding the autonomous driving vehicle, environment detection information output from the environment sensor, and the anxiety start position, setting a presentation start position as a position at which the information presentation unit is caused to start presenting anxiety reduction information, before the anxiety start position on the autonomous driving route with the user traveling therewith, and causing the information presentation unit to:, Start presenting the anxiety reduction information when the autonomous driving vehicle with the user traveling therewith reaches the presentation start position.

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