Determination device and determination method

Abstract

We will improve the technology for automatically controlling the movement of vehicles. [Solution] The determination device 20 includes a control unit 23 that requests a first transition, which is a transition from the automatic driving mode to the temporary manual driving mode, when the vehicle 10, which has an automatic driving mode and a temporary manual driving mode that can be selected when a temporary manual driving device 50 is connected, is driving in the automatic driving mode and the design requirements that enable automatic driving are no longer satisfied.

Description

Technical Field

[0001] This disclosure relates to a determination device and a determination method.

Background Art

[0002] Conventionally, a technology for automatically controlling the running of a vehicle is known. For example, Patent Document 1 discloses a vehicle having two driving modes, an automatic driving mode for automatically controlling the running of the vehicle and a manual driving mode for controlling according to the operation of an operator boarding the vehicle, and having a mechanical operation unit for performing the driving control of the vehicle by the operation of the operator in the manual driving mode.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when automatic driving becomes common, the vehicle may not have a mechanical operation unit for performing manual driving. Even in such a case, it is necessary to execute a fail-safe smoothly. Therefore, there is room for improvement in the technology for automatically controlling the running of a vehicle.

[0005] In view of such circumstances, an object of this disclosure is to improve the technology for automatically controlling the running of a vehicle.

Means for Solving the Problems

[0006] A determination device according to one embodiment of the present disclosure includes a control unit that acquires data measured by sensors provided in a vehicle having an automatic driving mode and a temporary manual driving mode which can be selected when a temporary manual driving device is connected, and based on the data, requests a first transition, which is a transition from the automatic driving mode to the temporary manual driving mode, when the design requirements that enable automatic driving are no longer satisfied while the vehicle is driving in the automatic driving mode.

[0007] A determination device according to one embodiment of the present disclosure includes a control unit that requests a first transition, which is a transition from the automatic driving mode to the temporary manual driving mode, when a vehicle having an automatic driving mode and a temporary manual driving mode, which can be selected when a temporary manual driving device is connected, is driving in the automatic driving mode and the design requirements that enable automatic driving are no longer satisfied.

[0008] In one embodiment of the present disclosure, a determination method is performed by a determination device to request a first transition, which is a transition from the automatic driving mode to the temporary manual driving mode, when a vehicle having an automatic driving mode and a temporary manual driving mode, which can be selected when a temporary manual driving device is connected, is driving in the automatic driving mode and the design requirements that enable automatic driving are no longer satisfied. [Effects of the Invention]

[0009] According to one embodiment of the present disclosure, the technology for controlling the movement of a vehicle is improved. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram showing a schematic configuration example of a system according to one embodiment of the present disclosure. [Figure 2] This flowchart shows an example of the operation of the judgment device. [Figure 3] This table shows examples of driving mode transitions based on factors that fail to satisfy design requirements. [Modes for carrying out the invention]

[0011] The embodiments of this disclosure will be described below.

[0012] (Summary of the embodiment) Referring to Figure 1, an overview of System 1 according to the embodiment of this disclosure will be described. System 1 comprises a vehicle 10, a determination device 20 mounted on the vehicle 10, a server 30 and a remote driving device 40 installed in the operation management center 3, and a temporary manual driving device 50 temporarily installed on the vehicle 10. The vehicle 10, the determination device 20, the server 30, and the remote driving device 40 are communicated with a network 2, including, for example, the Internet and a mobile communication network.

[0013] Vehicle 10 is, for example, an automobile with Level 4 autonomous driving capabilities. The automobile may be, but is not limited to, a gasoline car, a BEV (Battery Electric Vehicle), a HEV (Hybrid Electric Vehicle), a PHEV (Plug-in Hybrid Electric Vehicle), or an FCEV (Fuel Cell Electric Vehicle). The number of vehicles 10 provided in System 1 may be arbitrarily determined. Vehicle 10 can communicate with the determination device 20, the server 30, and the remote driving device 40 via the network 2. Vehicle 10 may also be able to communicate with the determination device 20 via a wired connection.

[0014] The determination device 20 is a computer mounted on the vehicle 10. The determination device 20 can communicate with the vehicle 10, the server 30, and the remote driving device 40 via the network 2. The determination device 20 may also be able to communicate with the vehicle 10 via a wired connection.

[0015] Server 30 is a computer operated by the operations management center 3. Server 30 can communicate with the vehicle 10, the judgment device 20, and the remote driving device 40 via the network 2. However, the operator of server 30 is not limited to the operations management center 3.

[0016] The remote operation device 40 is a control device installed in the operation management center 3. By the operation of an operator at the operation management center 3 located at a remote location from the vehicle 10, the remote operation device 40 monitors and manually operates the vehicle 10 via the network 2. The remote operation device 40 can communicate with the vehicle 10, the determination device 20, and the server 30 via the network 2.

[0017] The temporary manual operation device 50 is a device that is temporarily installed on a vehicle 10 without a mechanical operation unit for an operator of the emergency response team 4 who has received a request from the server 30 to perform manual operation, and operates the vehicle 10 by manual operation. The emergency response team 4 waits in a rescue center installed within the operation management center 3 or installed at a location away from the operation management center 3.

[0018] First, the outline of this embodiment will be described, and the details will be described later. When the vehicle 10 having the automatic driving travel mode and the temporary manual driving travel mode that can be selected by connecting the temporary manual operation device 50 is running in the automatic driving travel mode and the design requirements for enabling automatic driving are not satisfied, the determination device 20 requests a first transition, which is a transition from the automatic driving travel mode to the temporary manual driving travel mode.

[0019] Thus, according to this embodiment, when the design requirements are not satisfied while the vehicle 10 is running in the automatic driving travel mode, the determination device 20 autonomously requests a transition from the automatic driving travel mode to the temporary manual driving travel mode. As a result, the time for shifting the automatic driving travel mode to the temporary manual driving travel mode is further reduced, and in a situation where automatic driving is not possible, it is possible to smoothly execute fail-safe, improving the technology for automatically controlling the running of the vehicle.

[0020] Next, each component of the system 1 will be described in detail.

[0021] (Configuration of the vehicle) As shown in FIG. 1, the vehicle 10 includes a communication unit 11, a measurement unit 12, a storage unit 13, a control unit 14, and a determination device 20. However, the details of the determination device 20 will be described later.

[0022] The communication unit 11 includes both a communication interface for wirelessly connecting to the network 2 and a communication interface for wired connection to a CAN (Controller Area Network). The communication interface connecting to the network 2 conforms to, for example, mobile communication standards such as 4G (4th Generation) or 5G (5th Generation), but is not limited thereto.

[0023] The measurement unit 12 includes a sensor 12A. The sensor 12A is a sensor that monitors the environment around the vehicle 10 that performs autonomous driving, including a camera, a 3D-LiDAR, a millimeter-wave sensor, an acceleration sensor, and a GPS sensor, and a sensor that diagnoses a failure mode mounted on the self-diagnosis device of the vehicle 10. However, the sensor 12A is not limited thereto.

[0024] The storage unit 13 includes one or more memories. The memory is, for example, a semiconductor memory, a magnetic memory, an optical memory, etc., but is not limited thereto. Each memory included in the storage unit 13 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 13 stores any information used for the operation of the vehicle 10. For example, the storage unit 13 may store a system program, an application program, and embedded software, etc. The information stored in the storage unit 13 may be updated, for example, with information obtained from the network 2 via the communication unit 11.

[0025] The control unit 14 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor is a general-purpose processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process, but is not limited to these. The programmable circuit is an FPGA (Field-Programmable Gate Array), but is not limited to this. The dedicated circuit is an ASIC (Application Specific Integrated Circuit), but is not limited to this. The control unit 14 controls the operation of the entire vehicle 10, including Level 4 automated driving and manual driving in conjunction with the remote driving device 40 or temporary manual driving device 50 described later.

[0026] (Configuration of the determination device) As shown in Figure 1, the determination device 20 comprises a communication unit 21, a storage unit 22, and a control unit 23.

[0027] The communication unit 21 includes both a communication interface for wireless connection to network 2 and a communication interface for wired connection to CAN. The communication interface for connecting to network 2 supports, but is not limited to, mobile communication standards such as 4G or 5G.

[0028] The storage unit 22 includes one or more memories. The memories are, for example, semiconductor memories, magnetic memories, or optical memories, but are not limited to these. Each memory included in the storage unit 22 may function as, for example, a main memory, an auxiliary memory, or a cache memory. The storage unit 22 stores any information used in the operation of the determination device 20. For example, the storage unit 22 may store system programs, application programs, and embedded software. The information stored in the storage unit 22 may be updateable with information obtained from the network 2 via, for example, the communication unit 21.

[0029] The control unit 23 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 23 controls the operation of the entire determination device 20.

[0030] As shown in Figure 1, in this embodiment, the control unit 23 functions as a first control unit 231, a second control unit 232, and a third control unit 233.

[0031] The first control unit 231 constantly monitors whether the design requirements for enabling autonomous driving of the vehicle 10 are met, based on data measured by the sensor 12A and other factors.

[0032] The second control unit 232 determines the factors that cause the vehicle 10 to no longer satisfy the design requirements that enable autonomous driving.

[0033] The third control unit 233 selects countermeasures for each factor that has caused the vehicle 10 to no longer meet the design requirements for autonomous driving, and requests the server 30 operated by the operation management center 3 to implement the countermeasures for each factor.

[0034] (Server configuration) As shown in Figure 1, the server 30 comprises a communication unit 31, a storage unit 32, and a control unit 33.

[0035] The communication unit 31 includes one or more communication interfaces connected to the network 2. These communication interfaces may support, for example, mobile communication standards, wired LAN standards, or wireless LAN standards, but are not limited to these, and may support any communication standard.

[0036] The storage unit 32 includes one or more memories. The memories are, for example, semiconductor memories, magnetic memories, or optical memories, but are not limited to these. Each memory included in the storage unit 32 may function as, for example, a main memory, an auxiliary memory, or a cache memory. The storage unit 32 stores any information used for the operation of the server 30. For example, the storage unit 32 may store system programs, application programs, and embedded software. The information stored in the storage unit 32 may be updateable with information obtained from the network 2 via, for example, the communication unit 31.

[0037] The control unit 33 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 33 controls the operation of the entire server 30.

[0038] (Configuration of the remote control device) As shown in Figure 1, the remote control device 40 comprises a communication unit 41, a storage unit 42, and a control unit 43.

[0039] The communication unit 41 includes one or more communication interfaces connected to the network 2. These communication interfaces may support, for example, mobile communication standards, wired LAN standards, or wireless LAN standards, but are not limited to these, and may support any communication standard.

[0040] The storage unit 42 includes one or more memories. The memories are, for example, semiconductor memories, magnetic memories, or optical memories, but are not limited to these. Each memory included in the storage unit 42 may function as, for example, a main memory, an auxiliary memory, or a cache memory. The storage unit 42 stores any information used for the operation of the remote control device 40. For example, the storage unit 42 may store system programs, application programs, and embedded software. The information stored in the storage unit 42 may be updateable with information obtained from the network 2 via, for example, the communication unit 41.

[0041] The control unit 43 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 43 controls the operation of the entire remote operation device 40.

[0042] (Operation flow of the judgment device) Referring to Figure 2, the operation of the determination device 20 according to this embodiment will be explained. When a vehicle 10, which has an automatic driving mode AD and a temporary manual driving mode HCD that can be selected when a temporary manual driving device 50 is connected, is driving automatically, and the design requirements that enable automatic driving (hereinafter also referred to as ODD (Operational Design Domain)) are no longer met, it is necessary to switch from the automatic driving mode AD to the manual driving mode in order to continue driving the vehicle 10. As will be described later, the manual driving mode includes a remote driving mode RD and a temporary manual driving mode HCD. This operation relates to the transition of the driving mode of the vehicle 10 when the ODD is no longer met.

[0043] S101: The control unit 23 constantly monitors whether the ODD is satisfied based on the data measured by the sensor 12A installed in the vehicle 10.

[0044] Sensor 12A includes a camera, 3D-LiDAR, millimeter-wave sensor, acceleration sensor, and GPS sensor, which are sensors that monitor the environment around the vehicle 10 performing Level 4 autonomous driving, and sensors that diagnose failure modes mounted on the vehicle 10's self-diagnostic device, etc. However, sensor 12A is not limited to these. The control unit 23 acquires data measured by sensor 12A from the vehicle 10's measurement unit 12.

[0045] S102: The control unit 23 determines whether the ODD is satisfied. If the ODD is satisfied, proceed to S103; otherwise, proceed to S104.

[0046] The control unit 23 determines whether the vehicle 10 satisfies the ODD based on the data measured by the sensor 12A.

[0047] S103: The control unit 23 continues driving the vehicle 10 in the automatic driving mode AD.

[0048] S104: The control unit 23 determines the cause of the ODD no longer being satisfied based on the data measured by the sensor 12A.

[0049] Figure 3 is a table showing examples of driving mode transitions based on factors that do not satisfy the ODD. As shown in Figure 3, factors that do not satisfy the ODD are any of the following: vehicle-specific factors, other vehicle factors, and environmental factors. Vehicle-specific factors include a first type of failure in which the vehicle 10 cannot drive under its own power, i.e., a failure of the vehicle 10's driving function, and a second type of failure in which the vehicle 10 cannot drive using autonomous driving, i.e., the vehicle 10's driving function is normal, but the vehicle 10's autonomous driving function fails. Other vehicle factors include the vehicle 10's passage being restricted by parked vehicles, accident vehicles, or emergency vehicles blocking the road on which the vehicle 10 is traveling. Environmental factors include the vehicle 10's passage being restricted by the road surface condition or weather conditions of the road on which the vehicle 10 is traveling, and the inability to establish a communication connection between the vehicle 10 and the remote driving device 40. In Figure 3, for example, the notation "RD>HCD>Towing" means that, from the perspective of operating costs or man-hours required, the transition from the automated driving mode AD to the remote driving mode RD is given first priority, the transition to the temporary manual driving mode HCD is given second priority, and towing is given third priority.

[0050] Data for determining deviations from the ODD due to vehicle-related factors (first and second failures) can be acquired, for example, by sensors that diagnose failure modes, such as those mounted on the vehicle's self-diagnostic device. Data for determining factors from other companies or environmental factors (other than communication connectivity) can be acquired from outside the vehicle 10 using cameras, 3D-LiDAR, and millimeter-wave sensors. Furthermore, data for determining environmental factors (communication connectivity) can be acquired from the communication unit 21.

[0051] The temporary manual driving mode HCD is a control mode in which, in response to a request from the server 30, an operator accompanying the response team 4, who has rushed to the location where the vehicle 10 is parked, temporarily installs a temporary manual driving device 50 on the vehicle 10 and manually operates the installed temporary manual driving device 50 to manually drive the vehicle 10. On the other hand, the remote driving mode RD is a control mode in which the vehicle 10 is manually driven by remote operation from a remote driving device 40 installed in the operation management center 3, which is capable of communicating with the vehicle 10.

[0052] S105-S110: Based on the data measured by the sensor 12A, the control unit 23 requests the server 30 to change the driving mode when the design requirement ODD is no longer satisfied while the vehicle 10 is driving in automatic driving mode AD. The driving mode changes are (i) a change from automatic driving mode AD to temporary manual driving mode HCD (hereinafter referred to as the first change), (ii) a change from automatic driving mode AD to remote driving mode RD (hereinafter referred to as the second change), and (iii) towing the vehicle 10. Based on the factor that caused the design requirement ODD to no longer be satisfied, as determined in S104, the control unit 23 requests the server 30 to perform one of the following: (i) the first change, (ii) the second change, or (iii) towing. The request for a driving mode change will be described in detail below.

[0053] S105: The control unit 23 determines whether the reason why the ODD is not satisfied is a first type of vehicle-related failure, where the vehicle 10 is unable to move under its own power. If it is a first type of failure, the process proceeds to S106; otherwise, the process proceeds to S107.

[0054] In the first malfunction, vehicle 10 loses its driving functions (driving, turning, and stopping functions) and becomes unable to move under its own power.

[0055] S106: The control unit 23 requests the server 30 to tow the vehicle 10.

[0056] In such a case, the control unit 23 requests the server 30 to dispatch the response team 4 to the location where the vehicle 10 is parked, and tow the vehicle 10 to the location by operators accompanying the response team 4. The control unit 23 may also request the provision of a replacement vehicle along with the towing of the vehicle 10.

[0057] S107: The control unit 23 determines whether it is possible to establish a communication connection between the vehicle 10 and the remote driving device 40. If it is possible to establish a communication connection, the process proceeds to S109; otherwise, the process proceeds to S108.

[0058] Possible reasons for the inability to establish a communication connection include environmental factors such as the vehicle 10 traveling in an area with problems with the internet connectivity environment or an area where the internet connectivity environment is not yet developed, but the causes are not limited to these.

[0059] S108: The control unit 23 requests the server 30 to perform a first transition, which is a transition from the automatic driving mode AD to the temporary manual driving mode HCD.

[0060] If the control unit 23 determines that the reason the ODD is not satisfied is a second type of failure among the vehicle-related factors, where the vehicle 10 is unable to drive automatically, and if a communication connection between the vehicle 10 and the remote driving device 40 cannot be established, the control unit 23 requests the server 30 to dispatch a response team 4 to the location where the vehicle 10 is stopped, and to have an operator accompanying the response team 4 temporarily install a temporary manual driving device 50 on the vehicle 10, as part of the first transition.

[0061] Furthermore, if the control unit 23 determines that the reason the ODD is not satisfied is due to another vehicle, and if it is not possible to establish a communication connection between the vehicle 10 and the remote driving device 40, it requests the server 30 to dispatch a response team 4 to the location where the vehicle 10 is stopped, and to have an operator accompanying the response team 4 temporarily install a temporary manual driving device 50 on the vehicle 10, as part of the first transition.

[0062] Furthermore, if the control unit 23 determines that the reason the ODD is not satisfied is an environmental factor, and it is not possible to establish a communication connection between the vehicle 10 and the remote driving device 40, it requests the server 30 to perform a first transition, including dispatching a response team 4 to the location where the vehicle 10 is stopped, and having an operator accompanying the response team 4 temporarily install a temporary manual driving device 50 on the vehicle 10.

[0063] If communication with vehicle 10 fails to be established for a predetermined period of time, the server 30 may request the response team 4 to dispatch themselves to the area where vehicle 10 is estimated to be located, and to have the operators accompanying the response team 4 temporarily install the temporary manual driving device 50 on vehicle 10, as part of the first transition.

[0064] S109: The control unit 23 determines whether a predetermined condition α is satisfied. If the predetermined condition α is satisfied, the process proceeds to S110; otherwise, the process returns to S108.

[0065] The predetermined condition α is that an operator with the knowledge or skills to manually operate the remote control device 40 is in a state where they can respond to the request for the first transition. Whether the predetermined condition α is satisfied can be determined by querying the server 30 via the network 2.

[0066] Furthermore, the control unit 23 determines that (i) the factor causing the ODD to be unsatisfied is the second type of failure among the vehicle-related factors, and even if the vehicle 10 is capable of self-propulsion and a communication connection can be established between the vehicle 10 and the remote driving device 40, (ii) if the predetermined condition α is not met, it requests the server 30 to dispatch a response team 4 to the location where the vehicle 10 is stopped, and to have an operator accompanying the response team 4 temporarily install a temporary manual driving device 50 on the vehicle 10, including the first transition.

[0067] Furthermore, if the control unit 23 determines that (i) the reason why the ODD is not satisfied is due to another vehicle, even if the vehicle 10 is capable of self-propulsion and a communication connection can be established between the vehicle 10 and the remote driving device 40, (ii) if the predetermined condition α is not met, it requests the server 30 to dispatch a response team 4 to the location where the vehicle 10 is stopped, and to have an operator accompanying the response team 4 temporarily install a temporary manual driving device 50 on the vehicle 10, including the first transition.

[0068] Furthermore, if the control unit 23 determines that (i) the factor causing the ODD to be unsatisfied is an environmental factor, and even if the vehicle 10 is capable of self-propulsion and a communication connection can be established between the vehicle 10 and the remote driving device 40, (ii) if the predetermined condition α is not met, it requests the server 30 to dispatch a response team 4 to the location where the vehicle 10 is stopped, and to have an operator accompanying the response team 4 temporarily install a temporary manual driving device 50 on the vehicle 10, including the first transition.

[0069] S110: When the control unit 23 determines that it is possible to transition from the automatic driving mode AD to the remote driving mode RD, it requests the server 30 to perform a second transition, which is the transition from the automatic driving mode AD to the remote driving mode RD.

[0070] If the control unit 23 determines that the reason the ODD is not satisfied is a second failure among the vehicle-related factors, where the vehicle 10 is unable to drive autonomously, and if the vehicle 10 is capable of driving under its own power, a communication connection can be established between the vehicle 10 and the remote driving device 40, and a predetermined condition α is met, the control unit 23 requests the server 30 to perform the second transition, including establishing the communication connection.

[0071] Furthermore, if the control unit 23 determines that the reason the ODD is not satisfied is due to another vehicle, and if the vehicle 10 is capable of self-propulsion, if a communication connection can be established between the vehicle 10 and the remote driving device 40, and if a predetermined condition α is met, the control unit 23 requests the server 30 to perform a second transition, including establishing a communication connection.

[0072] Furthermore, if the control unit 23 determines that the factor causing the ODD to be unsatisfied is an environmental factor, and if the vehicle 10 is capable of self-propulsion, if a communication connection can be established between the vehicle 10 and the remote driving device 40, and if a predetermined condition α is met, the control unit 23 requests the server 30 to perform a second transition, including establishing a communication connection.

[0073] The control unit 23 may park the vehicle 10 in a place where parking is permitted until a communication connection with the remote driving device 40 is established, or until the response team 4 arrives. A place where parking is permitted is a place where the vehicle 10 can be quickly parked and safely await the arrival of the response team 4, such as the shoulder of the road or a parking lot facing the road.

[0074] Step S111: The control unit 23 determines whether the vehicle 10 capable of self-propulsion has arrived at its destination, or whether the towing of the vehicle 10 that is not capable of self-propulsion has been completed. If the vehicle 10 capable of self-propulsion has arrived at its destination, or if the towing of the vehicle 10 that is not capable of self-propulsion has been completed, the determination device 20 terminates information processing. If the vehicle 10 capable of self-propulsion has not arrived at its destination, or if the towing of the vehicle 10 that is not capable of self-propulsion has not been completed, the process returns to S101 and continues information processing.

[0075] As described above, the determination device 20 according to this embodiment requests a first transition, which is a transition from the automatic driving mode AD to the temporary manual driving mode HCD, when a vehicle 10 having an automatic driving mode AD and a temporary manual driving mode HCD, which can be selected when the temporary manual driving device 50 is connected, is driving in the automatic driving mode AD and the design requirements that enable automatic driving are no longer satisfied.

[0076] With this configuration, the determination device 20 autonomously requests a transition from the automated driving mode to the temporary manual driving mode when the vehicle 10 is no longer meeting the design requirements during automated driving. As a result, the time required to transition from the automated driving mode to the temporary manual driving mode is reduced, and a smooth fail-safe mechanism can be implemented even in situations where automated driving is not possible, thus improving the technology for automatically controlling the vehicle's movement.

[0077] While this disclosure has been described based on the drawings and embodiments, it should be noted that those skilled in the art may make various modifications and alterations based on this disclosure. Therefore, it should be noted that these modifications and alterations are within the scope of this disclosure. For example, the functions, etc., included in each component or step can be rearranged in a logically consistent manner, and multiple components or steps can be combined into one or divided into two.

[0078] In the embodiments described above, it is also possible to have an embodiment in which the configuration and operation of the determination device 20 are distributed among multiple computers that can communicate with each other. For example, some or all of the components of the determination device 20 may be provided on the server 30 instead of the vehicle 10. Alternatively, for example, it is also possible to have an embodiment in which some or all of the components of the determination device 20 are provided on the vehicle 10.

[0079] In the embodiment described above, the operation management center 3 was described as having one remote control device 40, but if the operating area is extensive, the operation management center 3 may have multiple remote control devices 40 for each area. Also, a rescue center where the response team 4 is on standby may be set up within the operation management center 3, or a remote control device 40 may be set up within the rescue center.

[0080] In the embodiments described above, the vehicle 10 on which the determination device 20 is mounted is described as an automobile, but the determination device 20 may also be mounted on other forms of mobility, such as an autonomous motorboat or a drone.

[0081] Furthermore, it is also possible to implement an embodiment in which a general-purpose computer functions as the determination device 20 according to the above embodiment. Specifically, a program describing the processing content that realizes each function of the determination device 20 according to the above embodiment is stored in the memory of the general-purpose computer, and the processor reads and executes the program. Therefore, this disclosure can also be implemented as a program that can be executed by a processor, or as a non-temporary computer-readable medium that stores the program.

[0082] Some embodiments of the present disclosure are described below. However, it should be noted that the embodiments of the present disclosure are not limited to these. [Note 1] A determination device comprising a control unit that acquires data measured by sensors provided in a vehicle having an automatic driving mode and a temporary manual driving mode which can be selected when a temporary manual driving device is connected, and based on the data, requests a first transition, which is a transition from the automatic driving mode to the temporary manual driving mode, when the design requirements that enable automatic driving are no longer satisfied while the vehicle is driving in the automatic driving mode. [Note 2] The determination device described in Appendix 1, The sensor is a determination device that includes a camera, a 3D-LiDAR, a millimeter-wave sensor, an acceleration sensor, and a GPS sensor, which are sensors for monitoring the environment around the vehicle in autonomous driving mode and sensors for diagnosing the vehicle's failure mode. [Note 3] A determination device comprising a control unit that requests a first transition, which is a transition from the automatic driving mode to the temporary manual driving mode, when a vehicle having an automatic driving mode and a temporary manual driving mode that can be selected when a temporary manual driving device is connected is driving in the automatic driving mode and the design requirements that enable automatic driving are no longer satisfied. [Note 4] The determination device described in Appendix 3, The determination device is a control mode in which the temporary manual driving mode is operated manually by manually operating the temporary manual driving device temporarily installed on the vehicle in response to the request. [Note 5] The determination device described in Appendix 3, A determination device which, when the control unit determines that it is possible to transition from the automatic driving mode to the remote driving mode, requests a second transition, which is a transition from the automatic driving mode to the remote driving mode. [Note 6] The determination device described in Appendix 5, The determination device is a control mode in which the vehicle is manually driven by remote operation from a remote driving device capable of communicating with the vehicle. [Note 7] The determination device described in Appendix 3, The control unit determines the factors that have caused the design requirements to no longer be met, The aforementioned factors are any of the following: factors related to the vehicle itself, factors related to other vehicles, and environmental factors. The aforementioned vehicle-related factors include a first malfunction in which the vehicle is unable to drive under its own power, and a second malfunction in which the vehicle is unable to drive under autonomous conditions. The aforementioned other-vehicle factor is that the vehicle's passage is restricted by parked vehicles, accident vehicles, or emergency vehicles blocking the road on which the vehicle is traveling. The determination device includes the environmental factors being that the vehicle's passage is restricted by the condition of the road surface or weather conditions of the road, and that a communication connection between the vehicle and the remote driving device cannot be established. [Note 8] The determination device described in Appendix 7, The control unit is a determination device that, when it is determined that the cause is the first failure among the vehicle-related causes, requests the vehicle to be towed. [Note 9] The determination device described in Appendix 7, The control unit determines that the factor is the second failure among the vehicle-related factors, and if the vehicle is capable of self-propelled driving, a communication connection between the vehicle and the remote driving device can be established, and predetermined conditions are met, the control unit determines that the factor is the second failure, and requests a second transition, which is a transition from the automatic driving mode to the remote driving mode. [Note 10] The determination device described in Appendix 9, The control unit is a determination device that requests the first transition if the predetermined conditions are not met. [Note 11] The determination device described in Appendix 7, The control unit is a determination device that, when the cause is determined to be the second failure among the vehicle-related causes, requests the first transition if a communication connection between the vehicle and the remote driving device cannot be established. [Note 12] The determination device described in Appendix 7, The control unit determines that the factor is the other vehicle factor, and if the vehicle is capable of self-propelled driving, if a communication connection can be established between the vehicle and the remote driving device, and if predetermined conditions are met, the control unit determines that the factor is the other vehicle factor, the control unit determines that a second transition, which is a transition from the automatic driving mode to the remote driving mode, is requested. [Note 13] The determination device described in Appendix 12, The control unit is a determination device that requests the first transition if the predetermined conditions are not met. [Note 14] The determination device described in Appendix 7, The control unit is a determination device that, when it is determined that the factor is the other vehicle factor, requests the first transition if it is not possible to establish a communication connection between the vehicle and the remote driving device. [Note 15] The determination device described in Appendix 7, The control unit determines that the factor is the environmental factor, and if the vehicle is capable of self-propelled driving, if a communication connection can be established between the vehicle and the remote driving device, and if predetermined conditions are met, the control unit determines that the factor is the environmental factor, the control unit requests a second transition, which is a transition from the automatic driving mode to the remote driving mode. [Note 16] The determination device described in Appendix 15, The control unit is a determination device that requests the first transition if the predetermined conditions are not met. [Note 17] The determination device described in Appendix 7, The control unit is a determination device that, when it is determined that the factor is the environmental factor, requests the first transition if it is not possible to establish a communication connection between the vehicle and the remote driving device. [Note 18] The determination device, A determination method for a vehicle having an automated driving mode and a temporary manual driving mode that can be selected when a temporary manual driving device is connected, which, when the vehicle is driving in the automated driving mode, no longer satisfies the design requirements that enable automated driving, requests a first transition, which is a transition from the automated driving mode to the temporary manual driving mode. [Note 19] The determination method described in Appendix 18, The determination method is a control mode in which the temporary manual driving mode is operated manually by manually operating the temporary manual driving device temporarily installed on the vehicle in response to the request. [Note 20] The determination method described in Appendix 18, The determination device, A determination method that, if it is determined that a transition from the autonomous driving mode to the remote driving mode is possible, requests a second transition, which is a transition from the autonomous driving mode to the remote driving mode. [Explanation of Symbols]

[0083] 1 System 2 Network 3. Operations Management Center 4. Emergency response team (tow truck team) 10 vehicles 11 Communications Department 12 Measurement section 12A sensor 13 Storage section 14 Control Unit 20 Judgment device 21 Communications Department 22 Memory section 23 Control Unit 30 servers 31 Communications Department 32 Storage section 33 Control Unit 40 Remote control device 41 Communications Department 42 Storage section 43 Control Unit 50 Temporary manual operation device 231 First Control Unit 232 Second Control Unit 233 Third Control Unit

Claims

1. A determination device comprising a control unit that acquires data measured by sensors provided in a vehicle having an automatic driving mode and a temporary manual driving mode which can be selected when a temporary manual driving device is connected, and based on the data, requests a first transition, which is a transition from the automatic driving mode to the temporary manual driving mode, when the design requirements that enable automatic driving are no longer satisfied while the vehicle is driving in the automatic driving mode.

2. A determination device according to claim 1, The sensor is a determination device that includes a camera, a 3D-LiDAR, a millimeter-wave sensor, an acceleration sensor, and a GPS sensor, which are sensors for monitoring the environment around the vehicle during autonomous driving and sensors for diagnosing the vehicle's failure mode.

3. A determination device comprising a control unit that requests a first transition, which is a transition from the automatic driving mode to the temporary manual driving mode, when a vehicle having an automatic driving mode and a temporary manual driving mode that can be selected when a temporary manual driving device is connected is driving in the automatic driving mode and the design requirements that enable automatic driving are no longer satisfied.

4. A determination device according to claim 3, The determination device is a control mode in which the temporary manual driving mode is operated manually by manually operating the temporary manual driving device temporarily installed on the vehicle in response to the request.

5. A determination device according to claim 3, A determination device which, when the control unit determines that it is possible to transition from the automatic driving mode to the remote driving mode, requests a second transition, which is a transition from the automatic driving mode to the remote driving mode.

6. A determination device according to claim 5, The determination device is a control mode in which the vehicle is manually driven by remote operation from a remote driving device capable of communicating with the vehicle.

7. A determination device according to claim 3, The control unit determines the factors that have caused the design requirements to no longer be met, The aforementioned factors are any of the following: factors related to the vehicle itself, factors related to other vehicles, and environmental factors. The aforementioned vehicle-related factors include a first malfunction in which the vehicle is unable to drive under its own power, and a second malfunction in which the vehicle is unable to drive under autonomous conditions. The aforementioned other-vehicle factor is that the vehicle's passage is restricted by parked vehicles, accident vehicles, or emergency vehicles blocking the road on which the vehicle is traveling. The determination device includes the environmental factors being that the vehicle's passage is restricted by the condition of the road surface or weather conditions of the road, and that a communication connection between the vehicle and the remote driving device cannot be established.

8. A determination device according to claim 7, The control unit is a determination device that, when it is determined that the cause is the first malfunction among the vehicle-related causes, requests the vehicle to be towed.

9. A determination device according to claim 7, The control unit determines that the factor is the second failure among the vehicle factors, and if the vehicle is capable of self-driving, a communication connection between the vehicle and the remote driving device can be established, and predetermined conditions are met, the control unit determines that the factor is the second failure, and requests a second transition, which is a transition from the automatic driving mode to the remote driving mode.

10. A determination device according to claim 9, The control unit is a determination device that requests the first transition if the predetermined conditions are not met.

11. A determination device according to claim 7, The control unit is a determination device that, when it is determined that the cause is the second failure among the vehicle-related causes, requests the first transition if a communication connection between the vehicle and the remote driving device cannot be established.

12. A determination device according to claim 7, The control unit determines that the factor is the other vehicle factor, and if the vehicle is capable of self-propelled driving, if a communication connection can be established between the vehicle and the remote driving device, and if predetermined conditions are met, the determination device requests a second transition, which is a transition from the automatic driving mode to the remote driving mode.

13. A determination device according to claim 12, The control unit is a determination device that requests the first transition if the predetermined conditions are not met.

14. A determination device according to claim 7, The control unit is a determination device that, when it is determined that the factor is the other vehicle factor, requests the first transition if it is not possible to establish a communication connection between the vehicle and the remote driving device.

15. A determination device according to claim 7, The control unit determines that the factor is the environmental factor, and if the vehicle is capable of self-propelled driving, if a communication connection can be established between the vehicle and the remote driving device, and if predetermined conditions are met, the control unit requests a second transition, which is a transition from the automatic driving mode to the remote driving mode.

16. A determination device according to claim 15, The control unit is a determination device that requests the first transition if the predetermined conditions are not met.

17. A determination device according to claim 7, The control unit is a determination device that, when it is determined that the factor is the environmental factor, requests the first transition if it is not possible to establish a communication connection between the vehicle and the remote driving device.

18. The determination device, A determination method for a vehicle having an automated driving mode and a temporary manual driving mode that can be selected when a temporary manual driving device is connected, which, when the vehicle is driving in the automated driving mode, no longer satisfies the design requirements that enable automated driving, requests a first transition, which is a transition from the automated driving mode to the temporary manual driving mode.

19. A determination method according to claim 18, The determination method is a control mode in which the temporary manual driving mode is operated manually by manually operating the temporary manual driving device temporarily installed on the vehicle in response to the request.

20. A determination method according to claim 18, The determination device, A determination method that, if it is determined that a transition from the autonomous driving mode to the remote driving mode is possible, requests a second transition, which is a transition from the autonomous driving mode to the remote driving mode.

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