Vehicle control device, vehicle control program, and replacement driver service server

Abstract

To provide a vehicle control device, vehicle control program, and replacement driver service server for reliably performing changeover from automatic driving to manual driving.SOLUTION: A vehicle control device includes a controller for controlling a vehicle. The controller performs: determining whether a driver can perform manual driving based on a body condition of the driver detected from sensor information when changing-over a vehicle driving mode from an automatic driving mode into a manual driving mode; notifying an external server of a request of a replacement driver service when it is determined that the manual driving is impossible; and controlling the vehicle based on a remote operation command received from the external server.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device, a vehicle control program, and a substitute driving server. [Background technology]

[0002] In recent years, technologies related to autonomous driving control have been proposed, in which a system performs all driving operations under certain conditions. With this technology, if the predetermined conditions are not met, the driver must switch from autonomous driving to manual driving and perform driving operations themselves. For example, Patent Document 1 discloses a technology that, when switching from autonomous driving to manual driving, suggests that one of multiple passengers who is in good physical condition be the driver. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-41238 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the invention described in Patent Document 1 is based on the premise that there are multiple passengers, and therefore cannot be applied to cases where there is only one passenger, the driver. If the invention described in Patent Document 1 were applied to a situation where there is only one passenger, the vehicle would be unable to switch from automatic driving to manual driving if the driver's physical condition is poor.

[0005] The present invention has been made in consideration of the above, and aims to provide a vehicle control device, a vehicle control program, and a driving agent server that can reliably switch from automatic driving to manual driving. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, a vehicle control device according to the present invention includes a controller that controls a vehicle. When switching the driving mode of the vehicle from an autonomous driving mode to a manual driving mode, the controller determines whether the driver is capable of manual driving based on the driver's physical condition detected from sensor information, and if it determines that manual driving is not possible, notifies an external server of a request for substitute driving and controls the vehicle based on a remote operation command received from the external server. [Effects of the Invention]

[0007] According to the present invention, even if the driver is unable to drive due to poor physical condition, the vehicle can be switched from automatic to manual driving and a substitute driver can remotely take over the driving operation. Therefore, even if only the driver is on board, the vehicle can be switched from automatic to manual driving reliably. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of a substitute driving system according to an embodiment. [Figure 2] FIG. 2 is a sequence diagram showing an example of the operation of the designated driving system. [Figure 3] FIG. 3 is a block diagram showing an example of the configuration of a vehicle control device. [Figure 4] FIG. 4 is a block diagram illustrating an example of the configuration of a substitute driving server. [Figure 5] FIG. 5 is a flowchart showing the procedure of the process executed by the vehicle control device. [Figure 6] FIG. 6 is a flowchart showing the procedure of the process executed by the substitute driving server. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a vehicle control device, a vehicle control program, and a driving agent server according to embodiments will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the following embodiments. In addition, the term "predetermined" can be read as "predetermined."

[0010] First, an overview of the substitute driving system according to the embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a block diagram showing an example of the configuration of the substitute driving system S according to the embodiment. Fig. 2 is a sequence diagram showing an example of the operation of the substitute driving system S.

[0011] The driving substitute system S according to the embodiment is a system in which an agent AD remotely drives (acts as) the vehicle C on behalf of the driver D when the driver D of the vehicle C is unable to drive the vehicle. The vehicle C in the present disclosure is a vehicle that can switch between an autonomous driving mode in which the system (vehicle control device 1) is responsible for driving, and a manual driving mode in which a person performs driving operations. The autonomous driving level in the autonomous driving mode is level 3 or level 4, in which the system is the main driver.

[0012] As shown in Fig. 1, the driving service system S is a system in which a vehicle C and a driving service server 100 are communicably connected via a network N. The network N is, for example, a communication network such as the Internet.

[0013] As described above, vehicle C is a vehicle that can switch between an automatic driving mode and a manual driving mode. Vehicle C is equipped with a vehicle control device 1 that controls vehicle C. In addition, vehicle control device 1 is connected to various on-board sensors, and controls vehicle C based on sensor information obtained from the on-board sensors.

[0014] FIG. 1 shows a camera 10 as an on-vehicle sensor. The camera 10 is a camera that captures images of the interior of the vehicle, more specifically, of the driver D. The camera 10 outputs the captured camera image to the vehicle control device 1. In addition to the camera 10, the on-vehicle sensors may also include a drive recorder that captures images of the area outside the vehicle, a biosensor (heart rate sensor or body temperature sensor) that detects biometric information of the driver D, a GPS (Global Positioning System) sensor, and the like.

[0015] The driving agent server 100 is realized by a cloud or a server device. When the driver D of vehicle C is in poor health, the driving agent server 100 cooperates with a remote operation system 200 to drive the vehicle C on behalf of the driver. The remote operation system 200 is a system that remotely drives the vehicle C, and is composed of a display device such as a monitor that displays images captured by a camera mounted on the vehicle C, and operation devices such as the steering wheel, brake, and accelerator. When the agent AD operates the operation device of the remote operation system 200, the driving agent server 100 drives the vehicle C on behalf of the driver by transmitting a remote operation command indicating the operation to the vehicle C.

[0016] Next, an example of the operation of the driving agent system S will be described with reference to FIG. 2. As shown in FIG. 2, the vehicle control device 1 performs a registration process for the driving agent service on the driving agent server 100 (step S1). Specifically, the vehicle control device 1 sends a registration request to the driving agent server 100 in accordance with an operation by the driver D. The registration request includes information about the driver D (such as name and attribute information) and information about the vehicle C (such as the vehicle model and type). After completing the registration, the driving agent server 100 sends a message to the vehicle control device 1 that driving agent service is now available, thereby completing the registration process of step S1. The registration process of step S1 is not limited to being performed by the vehicle control device 1, but may also be performed by the terminal device of the driver D (a mobile phone such as a smartphone). The registration process of step S1 may be performed once and then omitted thereafter, or may be performed each time the driver D drives (each time the IG of the vehicle C is turned on).

[0017] Next, the vehicle control device 1 starts controlling the vehicle C through the driving operation of the driver D and starts automatic driving (step S2). Specifically, the vehicle control device 1 switches the driving mode of the vehicle C from the manual driving mode to the automatic driving mode.

[0018] Next, it is assumed that the vehicle control device 1 detects that it is necessary to switch to manual driving mode during the autonomous driving mode (detects manual driving switch) (step S3). Specifically, when the situation around the vehicle, etc., does not meet predetermined conditions, the vehicle control device 1 determines that it is impossible to continue the autonomous driving mode and detects that it is necessary to switch to manual driving mode. For example, when the current position of the vehicle C goes outside an area where autonomous driving is possible, the vehicle control device 1 determines that it is impossible to continue the autonomous driving mode and detects that it is necessary to switch to manual driving mode.

[0019] If the vehicle control device 1 detects in step S3 that switching to manual driving is necessary, it detects whether the driver D is in poor health (step S4). Specifically, the vehicle control device 1 detects whether the driver D is in poor health based on the camera image captured by the camera 10. More specifically, the vehicle control device 1 detects the behavior, line of sight, etc. of the driver D by analyzing the camera image, and detects poor health based on the detection results. For example, the vehicle control device 1 detects poor health when the driver D is unconscious (leaning forward), when the entire body is shaking slightly (unsteady), when the driver's eyes are directed forward for an extremely short time, when the driver D has their eyes closed (asleep), etc. Note that if the vehicle control device 1 determines in step S4 that the driver D is not in poor health, it switches from the automatic driving mode to the manual driving mode and allows the driver D to perform driving operations.

[0020] If the vehicle control device 1 detects poor physical condition in step S4, it performs an output process to output an alarm inside the vehicle (step S5). For example, the vehicle control device 1 outputs an alarm sound via a speaker (not shown) or an alarm screen via a display device such as a navigation device (not shown). The alarm output process in step S4 continues until the driver D performs a specific cancellation operation. The cancellation operation is, for example, pressing a cancellation button displayed on the display device, making a specific gesture, speaking a specific word, etc. If the driver D performs a specific cancellation operation, the vehicle control device 1 determines that manual driving is possible and switches from the autonomous driving mode to the manual driving mode.

[0021] On the other hand, if the driver D does not (could not) perform a specific cancellation operation within a predetermined time, the vehicle control device 1 determines that manual driving is not possible and notifies the driving service server 100 of a request for a driving service (step S6). In other words, if the driver D does not perform a cancellation operation, the vehicle control device 1 determines that manual driving is not possible and notifies the driving service server 100 of a request for a driving service. In this way, by accepting a cancellation operation from the driver D who has been detected as being in poor health, the vehicle control device 1 can accurately determine that the driver D is actually unable to move (cannot drive manually).

[0022] When the driving agent server 100 receives a request for driving service, it establishes a call connection with the vehicle control device 1 (step S7). Specifically, when the driving agent server 100 receives a request for driving service, it first acquires a camera image from the camera 10 from the vehicle control device 1 and determines whether the driver D is in poor health. That is, when the vehicle control device 1 notifies the driving agent server 100 of a request for driving service, it transmits sensor information to the driving agent server 100. Specifically, the driving agent server 100 analyzes the camera image to detect the behavior and line of sight of the driver D, and detects poor health based on the detection results. This allows the driving agent server 100 to determine the physical condition of the driver D based on the sensor information, thereby enabling more accurate determination of whether the driver D is in poor health. Then, the driving agent server 100 establishes a call connection when it determines that the driver D is in poor health. In this way, the vehicle control device 1 allows the manager of the driving agent server 100 to communicate with the driver D who has been detected as being unwell, and the manager can then actually communicate with the driver D and determine whether manual driving is possible. Furthermore, if the driving agent server 100 detects that the driver D has lost consciousness, for example, it does not establish a call connection and instead remotely controls the vehicle C using the remote operation system 200. Furthermore, the driving agent server 100 may display camera images to the manager (for example, an operator or agent AD). This allows the manager to determine the physical condition of the driver D.

[0023] Next, after the call is connected, the driving agent server 100 determines whether or not the driver D is capable of manual driving (step S8). Specifically, after the call is connected, the driving agent server 100 determines whether or not manual driving is possible based on a manual driving capability signal input by the administrator. That is, when a signal indicating that the administrator has determined that manual driving is possible is input during the call with the driver D, the driving agent server 100 determines that manual driving is possible. On the other hand, when a signal indicating that the administrator has determined that manual driving is not possible is input, the driving agent server 100 determines that manual driving by the driver D is not possible. Note that, when the driving agent server 100 determines that manual driving by the driver D is possible, it determines whether or not assistance with driving operations (driving assistance) from the driving agent server 100 is necessary. Specifically, the driving agent server 100 determines whether or not driving assistance is necessary based on a driving assistance necessity signal input by the administrator.

[0024] If the driving service server 100 determines that manual driving by the driver D is not possible, it sends a remote operation notification to the vehicle control device 1 indicating that the driving operation of the vehicle C will be performed remotely (step S9). When the vehicle control device 1 receives the remote operation notification, it switches to manual driving mode. This allows remote operation by the remote operation system 200 in manual driving mode.

[0025] Furthermore, in step S9, if the driving service server 100 determines that manual driving by the driver D is possible and that driving assistance is not necessary, it notifies the vehicle control device 1 that manual driving without driving assistance is possible. When the vehicle control device 1 receives this notification, it switches from automatic driving mode to manual driving mode and has the driver D perform driving operations.

[0026] On the other hand, when the driving agent server 100 determines that the driver D is capable of manual driving and that driving assistance is necessary, it notifies the vehicle control device 1 that manual driving with driving assistance is possible. In this case, the vehicle control device 1 determines that the driver D will receive driving assistance from the driving agent server 100, connects to the driving agent server 100 so that communication is possible, and transmits sensor information from various in-vehicle sensors such as the camera 10 to the driving agent server 100. This allows the agent AD of the driving agent server 100 to communicate driving operation assistance based on the sensor information to the driver D via communication.

[0027] Next, after sending the remote operation notification, the driving agent server 100 receives the driving operation of the vehicle C from the remote operation system 200 and transmits the driving operation as a remote operation command to the vehicle control device 1 (step S10). The vehicle control device 1 controls the vehicle C based on the received remote operation command. The remote operation command is a command including operation signals for the steering, accelerator, and brake operated by the agent AD using the remote operation system 200.

[0028] In this way, in the present disclosure, even if the driver D is in poor health and unable to drive, the driving operation is switched from automatic to manual and the substitute AD remotely takes over the driving operation. Therefore, even if the driver D is the only passenger, the driving operation can be switched from automatic to manual reliably.

[0029] Next, a configuration example of the vehicle control device 1 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing a configuration example of the vehicle control device 1. As shown in Fig. 3, the vehicle control device 1 is connected to a camera 10 and a GPS sensor 11. In addition, the vehicle control device 1 is connected to a driving agent server 100 via a network N.

[0030] 3, the vehicle control device 1 includes a communication unit 2, a controller 3, and a storage unit 4. The communication unit 2 is an interface for communicating data with other devices and sensors. The communication unit 2 is, for example, a network interface card (NIC).

[0031] The controller 3 includes a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM, etc., and various other circuits. The controller 3 controls the overall operation of the vehicle control device 1 by the CPU executing a program stored in the ROM using the RAM as a work area. Note that the controller 3 may be partially or entirely configured with hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The controller 3 also performs the processing of the vehicle control device 1 shown in FIG. 2.

[0032] The storage unit 4 is, for example, a RAM (Random Access Memory) or a data flash. The storage unit 4 can store information about various programs. The vehicle control device 1 may acquire the above-mentioned programs and various information via another computer or portable recording medium connected via a wired or wireless network.

[0033] Next, a configuration example of the driving agent server 100 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing a configuration example of the driving agent server 100. As shown in Fig. 4, the driving agent server 100 is connected to a remote operation system 200. In addition, the driving agent server 100 is connected to a vehicle control device 1 via a network N.

[0034] 4, the driving agent server 100 includes a communication unit 110, a controller 120, and a storage unit 130. The communication unit 110 is an interface for communicating data with other devices and sensors. The communication unit 2 is, for example, a NIC.

[0035] The controller 120 includes a microcomputer having a CPU, ROM, RAM, etc., and various circuits. The controller 120 controls the operation of the entire driving agent server 100 by having the CPU execute a program stored in the ROM using the RAM as a work area. Note that the controller 120 may be partially or entirely configured with hardware such as an ASIC or FPGA. The controller 120 also performs the processing of the driving agent server 100 shown in FIG. 2.

[0036] The storage unit 130 is, for example, a RAM or a data flash. The storage unit 130 can store information about various programs. The driving agent server 100 may acquire the above-mentioned programs and various information via other computers or portable recording media connected via a wired or wireless network.

[0037] Next, the processing procedure of the vehicle control device 1 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the processing procedure executed by the vehicle control device 1. The processing shown in Fig. 5 is executed after the IG of the vehicle C is turned on and switched to the autonomous driving mode.

[0038] 5, the controller 3 sets the driving mode of the vehicle C to the automatic driving mode (step S101). As a result, the controller 3 performs automatic driving control of the vehicle C.

[0039] Next, the controller 3 determines whether or not it is necessary to switch to the manual driving mode (step S102). In step S102, if it is not necessary to switch to the manual driving mode (step S102: No), the controller 3 returns to step S101.

[0040] If it is necessary to switch to the manual driving mode (step S102: Yes), the controller 3 detects the physical condition of the driver D based on the camera image of the camera 10 (step S103).

[0041] Next, the controller 3 determines whether the driver D is in poor physical condition (poor physical condition) (step S104). If the driver D is not in poor physical condition (step S104: No), the controller 3 switches to manual driving mode (no driving assistance) (step S112) and ends the process.

[0042] On the other hand, if the driver D is in poor physical condition (step S104: Yes), the controller 3 outputs an alarm inside the vehicle (step S105). Specifically, the controller 3 outputs an alarm sound via a speaker (not shown) and an alarm screen via a display device such as a navigation device (not shown).

[0043] Next, the controller 3 determines whether or not a cancellation operation has been performed for the alarm output processing (step S106). If a cancellation operation has been performed (step S106: Yes), the controller 3 proceeds to step S112.

[0044] On the other hand, if the cancellation operation is not performed within the certain time period (step S106: No), the controller 3 notifies the driving service server 100 of a request for driving service (step S107).

[0045] Next, the controller 3 connects to the driving agent server 100 so that communication can be performed (step S108).

[0046] Next, after the call connection is terminated, the controller 3 determines whether manual driving is possible based on the information received from the driving agent server 100 (step S109). Specifically, the controller 3 determines that manual driving is not possible when it receives a remote operation notification from the driving agent server 100. Furthermore, the controller 3 determines that manual driving is possible when it receives a notification indicating that manual driving without (or with) driving assistance is possible.

[0047] Next, the controller 3 determines whether manual driving is possible or not by performing a feasibility determination (step S110). If the controller 3 determines that manual driving is possible (step S110: Yes), the controller 3 determines whether assistance with driving operation (driving assistance) is necessary or not (step S111).

[0048] If the controller 3 determines that driving assistance is not required (step S111: No), the controller 3 proceeds to step S112.

[0049] In step S111, if the controller 3 determines that driving assistance is necessary (step S111: Yes), the controller 3 switches to a manual driving mode with driving assistance (step S113). Specifically, the controller 3 establishes a call connection with the driving agent server 100 and provides sensor information.

[0050] In step S110, if manual driving is not possible (step S110: No), the controller 3 switches to manual driving mode and receives a remote operation command from the driving agent server 100 (step S114).

[0051] Next, the processing procedure of the driving agent server 100 will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the processing procedure executed by the driving agent server 100.

[0052] 6, the controller 120 determines whether or not a request for a substitute driving service has been received from the vehicle control device 1 (step S201). If a request for a substitute driving service has not been received (step S201: No), the controller 120 ends the process.

[0053] On the other hand, if the controller 120 receives a request for a substitute driving service (step S201: Yes), the controller 120 acquires sensor information (camera images, etc.) from the vehicle control device 1 (step S202).

[0054] Next, the controller 120 detects the physical condition of the driver D based on the acquired sensor information (step S203).

[0055] The controller 120 determines whether or not a call with the driver D is necessary based on the detected physical condition (step S204). If a call is necessary (step S204: Yes), the controller 120 connects the vehicle control device 1 so that a call can be made (step S205).

[0056] After the call is connected, the controller 120 determines whether manual driving is possible or not based on information input by the administrator (step S206). If the controller 120 determines that manual driving is possible (step S206: Yes), the controller 120 determines whether driving assistance is necessary or not (step S207).

[0057] If driving assistance is not required (step S207: No), the controller 120 issues a notification indicating that manual driving without driving assistance is possible (step S208), and ends the process.

[0058] On the other hand, if driving assistance is necessary (step S207: Yes), the controller 120 notifies the vehicle control device 1 that manual driving with driving assistance is possible, starts driving assistance (step S209), and ends the processing.

[0059] Furthermore, in step S206, if manual operation is not possible (step S206: No), the controller 120 starts remote operation by transmitting a remote operation command (step S210), and ends the process.

[0060] Furthermore, in step S204, if the controller 120 determines that a call is not necessary (step S204: No), the controller 120 proceeds to step S210.

[0061] As described above, the vehicle control device 1 according to the embodiment includes the controller 3 that controls the vehicle C. When switching the driving mode of the vehicle C from an automatic driving mode to a manual driving mode, the controller 3 determines whether the driver D is capable of manual driving based on the physical condition of the driver D detected from sensor information, and if it is determined that manual driving is not possible, notifies an external server (the driving agent server 100) of a request for driving agent and controls the vehicle C based on a remote operation command received from the external server.

[0062] According to the present invention, even if the driver D is in poor health and unable to drive, the vehicle can be switched from automatic to manual driving and the substitute AD can remotely take over the driving operation. Therefore, even if there is only one driver on board, the vehicle can be switched from automatic to manual driving reliably.

[0063] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0064] 1 Vehicle control device 2. Communications Department 3 Controller 4 Storage section 10 Camera 11 GPS sensor 100 Driver's Service Server 110 Communications Department 120 Controller 130 Storage section 200 Remote Control System AD Delegate C vehicle D. Driver N Network S Driving Agency System

Claims

1. A controller for controlling the vehicle is provided, The controller When switching the driving mode of the vehicle from an automatic driving mode to a manual driving mode, the system determines whether the driver is capable of manual driving based on the physical condition of the driver detected from sensor information, and if it determines that the driver is not capable of manual driving, notifies an external server of a request for substitute driving and controls the vehicle based on a remote operation command received from the external server. Vehicle control device.

2. The controller When it is determined that the driver is in poor physical condition, an output process is performed to output an alarm inside the vehicle. When the driver performs an operation to cancel the output processing, the system determines that the manual driving is possible and switches to the manual driving mode; If the driver does not perform the release operation, it is determined that manual driving is not possible. The vehicle control device according to claim 1 .

3. The controller After notifying the external server of the request for the driving service, the vehicle is connected to the external server so that a call can be made in accordance with a call command received from the external server, and after the call ends, the vehicle is determined, based on a notification from the external server, whether to switch to the manual driving mode and perform control in accordance with the remote operation command. The vehicle control device according to claim 1 .

4. The controller Based on the notification from the external server, it is determined whether to perform control based on the remote operation command or to receive driving assistance from the external server. The vehicle control device according to claim 3.

5. The controller When it is determined that the driving assistance is to be provided by the external server, the vehicle is connected to the external server so as to be able to make a call. The vehicle control device according to claim 4.

6. The controller When notifying the external server of the request for the driving service, the sensor information is transmitted to the external server. The vehicle control device according to claim 1 .

7. A vehicle control program that causes a computer to execute a control procedure for controlling a vehicle, The control procedure includes: When switching the driving mode of the vehicle from an automatic driving mode to a manual driving mode, the system determines whether the driver is capable of manual driving based on the physical condition of the driver detected from sensor information, and if it determines that the driver is not capable of manual driving, notifies an external server of a request for substitute driving and controls the vehicle based on a remote operation command received from the external server. Vehicle control program.

8. When a request for substitute driving is received from a vehicle control device, it is determined whether the driver is capable of manual driving based on the driver's physical condition detected by sensor information received from the vehicle control device, and when it is determined that the driver is not capable of manual driving, it transmits a remote operation command to the vehicle control device to control the vehicle. Driver service server.

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