Driver's vehicle control device and driver's vehicle control method

Abstract

To provide a vehicle control device for driver which can secure convenience of an automatic operation which allows a nap.SOLUTION: A vehicle control device for driver includes: an automatic operation level acquisition part 422 for acquiring an automatic operation level executed by an automatic operation system and an automatic operation level which is scheduled to be executed; a driver state acquisition part 423 for acquiring a consciousness state of a driver from a driver state determination part 21; and a reclining control part 424 for, in the case where a driver seat back part degree is in a reclined state, and the automatic operation level acquisition part 422 has acquired that the automatic operation level is switched to an automatic operation level which is lower than an automatic operation level capable of napping, finishing the reclined state, and for outputting notification from a notification part 30 accompanying the finish of the reclined state. In the case of finishing the reclined state, the reclining control part 424 determines the control order of angle control of the driver seat back part for finishing the reclined state and output control from the notification part, according to the consciousness state of the driver.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device for a driver and a vehicle control method for a driver. [Background technology]

[0002] As disclosed in Patent Document 1, in a vehicle equipped with an automatic driving system, the driver's seat is allowed to be reclined during automatic driving control. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-178131 Summary of the Invention [Problem to be solved by the invention]

[0004] When the driver's seat is reclined, the driver can take a nap. The reclined state is when the seat back is at a reclined angle. The reclined angle is an angle that is tilted further toward the rear of the vehicle than the appropriate angle when driving. Hereinafter, the level of autonomous driving at which the driver can take a nap is referred to as the nap-enabling autonomous driving level.

[0005] An automated driving system does not necessarily maintain a level of autonomy that allows for naps. An Operational Design Domain (ODD) is set, and it is assumed that the automated driving system will perform autonomous driving control at a level that allows for naps when the ODD is met.

[0006] If the ODD is no longer met, the autonomous driving system will switch the autonomous driving level from the sleep-enabling autonomous driving level to an autonomous driving level or lower that requires the driver to be able to immediately take over driving.

[0007] Let us assume that the level of autonomous driving that allows for a nap is Level 4, and that the level of autonomous driving that requires the driver to be able to immediately take over driving is Level 3. If the autonomous driving system no longer satisfies the ODD, it will switch the autonomous driving level from Level 4 to a level below Level 3.

[0008] When switching the autonomous driving level to autonomous driving level 3 or lower, if the driver is in a dozing state, it is necessary to wake the driver up. Furthermore, at autonomous driving level 4, it is possible to recline the driver's seat even while the vehicle is moving, but at autonomous driving level 3 or lower, it is not desirable for the driver's seat to be in a reclined state. Therefore, it is preferable to end the reclining state of the driver's seat.

[0009] If the same control is executed to end the reclining state when the autonomous driving level changes to a level lower than the nap-enabling autonomous driving level, regardless of whether the driver's state of consciousness is awake or asleep, it may be difficult for the driver to quickly adapt to the lowered autonomous driving level.

[0010] The present disclosure has been made based on this situation, and its purpose is to provide a vehicle control device for a driver and a vehicle control method for a driver that can ensure the convenience of automated driving that allows for naps. [Means for solving the problem]

[0011] The above object is achieved by the combination of features recited in the independent claims, and the subclaims define further advantageous specific examples. The reference numerals in parentheses in the claims indicate a correspondence with specific aspects described in the following embodiments as one aspect, and do not limit the disclosed technical scope. Furthermore, claims not explicitly stated in the claims may be combined together unless there is a particular problem with the combination.

[0012] One disclosure relating to a driver's vehicle control device for achieving the above object is: an autonomous driving system (40) that can switch between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control device for a driver used in a vehicle equipped with an autonomous driving level acquisition unit (422) that acquires the autonomous driving level currently being executed and the autonomous driving level to be executed by the autonomous driving system; a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) that, when the driver's seat back is in a reclined state and the autonomous driving level acquisition unit acquires that the autonomous driving level will be switched from the nap-allowing autonomous driving level to an autonomous driving level lower than the nap-allowing autonomous driving level, ends the reclined state and causes a notification unit mounted in the vehicle to output a notification associated with the end of the reclined state; The autonomous driving level acquisition unit, when the vehicle can reach the destination while maintaining the nap-enabling autonomous driving level, further grasps the type of destination including at least a boarding / alighting area and a parking lot; When ending the reclining state, the reclining control unit determines the control order of the angle control of the back of the driver's seat to end the reclining state and the output control from the notification unit according to the driver's state of consciousness, and changes the content of the angle control of the back of the driver's seat to end the reclining state depending on whether the destination is a boarding / alighting area or a parking lot. 、 When the vehicle heads to a boarding / alighting area while maintaining the nap-enabling autonomous driving level, the driver's seat back angle control begins before arriving at the boarding / alighting area, When the vehicle heads to a parking lot while maintaining the nap-enabling autonomous driving level, the driver's seat back angle control will begin after arriving at the parking lot. This is a vehicle control device for the driver. Another disclosure relating to a vehicle control device for a driver is: an autonomous driving system (40) that can switch between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; a passenger state determination unit (22) for determining the wakefulness state of a passenger other than the driver; A vehicle control device for a driver used in a vehicle equipped with an autonomous driving level acquisition unit (422) that acquires the autonomous driving level currently being executed and the autonomous driving level to be executed by the autonomous driving system; a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) that, when the driver's seat back is in a reclined state and the autonomous driving level acquisition unit acquires that the autonomous driving level will be switched from the nap-allowing autonomous driving level to an autonomous driving level lower than the nap-allowing autonomous driving level, ends the reclined state and causes a notification unit mounted in the vehicle to output a notification associated with the end of the reclined state; When the reclining state is to be ended, the reclining control section The control order of the driver's seat back angle control and the output control from the notification unit to end the reclining state is determined according to the driver's state of consciousness, When the autonomous driving level acquisition unit acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level and simultaneous control conditions including the driver being asleep are met, the angle control of the driver's seat back and the output control from the notification unit are simultaneously executed, This is a vehicle control device for a driver that, when the autonomous driving level acquisition unit acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and when sequential control conditions are met, including the driver being asleep but the passenger being awake, performs output control from the notification unit and then starts angle control of the back of the driver's seat, even if the driver is asleep.

[0013] To achieve the above object, one disclosure of a vehicle control method for a driver includes: an autonomous driving system (40) that can switch between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control method for a driver used in a vehicle equipped with the Acquire the level of autonomous driving currently being performed by the autonomous driving system and the level of autonomous driving that will be performed; The consciousness state of the driver is acquired from the driver state determination unit; When the driver's seat back is in a reclined state and it is determined that the autonomous driving level will be switched from a nap-allowing autonomous driving level to an autonomous driving level lower than the nap-allowing autonomous driving level, the reclined state is terminated and a notification unit mounted in the vehicle outputs a notification in association with the termination of the reclined state; If the vehicle can reach the destination while maintaining the nap-enabling autonomous driving level, further determine the type of destination including at least a boarding / alighting area and a parking lot; When ending the reclining state, the control order of the angle control of the back of the driver's seat to end the reclining state and the output control from the notification unit is determined according to the driver's state of consciousness, and the content of the angle control of the back of the driver's seat to end the reclining state is changed depending on whether the destination is a boarding / alighting area or a parking lot. 、 When the vehicle heads to a boarding / alighting area while maintaining the nap-enabling autonomous driving level, the driver's seat back angle control begins before arriving at the boarding / alighting area, When the vehicle heads to a parking lot while maintaining the nap-enabling autonomous driving level, the driver's seat back angle control will begin after arriving at the parking lot. This is a vehicle control method for a driver. Another disclosure relating to a vehicle control method for a driver is: an autonomous driving system (40) that can switch between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; a passenger state determination unit (22) for determining the wakefulness state of a passenger other than the driver; A vehicle control method for a driver used in a vehicle equipped with the Acquire the level of autonomous driving currently being performed by the autonomous driving system and the level of autonomous driving that will be performed; The consciousness state of the driver is acquired from the driver state determination unit; When the driver's seat back is in a reclined state and it is determined that the autonomous driving level will be switched from a nap-allowing autonomous driving level to an autonomous driving level lower than the nap-allowing autonomous driving level, the reclined state is terminated and a notification unit mounted in the vehicle outputs a notification in association with the termination of the reclined state; When ending the reclining state, a control order of controlling the angle of the driver's seat back and output control from the notification unit to end the reclining state is determined according to the driver's state of consciousness; When the automated driving level is determined to be immediately switched to a level lower than the nap-enabling automated driving level and the simultaneous control conditions, including the driver being asleep, are met, the driver's seat back angle control and the output control from the notification unit are simultaneously executed. This is a vehicle control method for a driver that acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and when sequential control conditions are met, including that the passenger is awake even if the driver is asleep, performs output control from a notification unit and then starts angle control of the back of the driver's seat.

[0014] According to these driver's vehicle control devices and driver's vehicle control methods, when the driver's seat back is in a reclined state and it is determined that the autonomous driving level will be switched to an autonomous driving level lower than the nap-enabling autonomous driving level, the reclined state is terminated. In addition, a notification associated with the termination of the reclined state is output from the notification unit. By outputting a notification associated with the termination of the reclined state, it is possible to prevent the driver from feeling uncomfortable when the reclined state is automatically terminated.

[0015] Furthermore, when ending the reclining state, the driver's seat back angle control and the notification unit output control are not controlled in a fixed pattern, but the order of the driver's seat back angle control and the notification unit output control that ends the reclining state is determined according to the driver's state of consciousness. This makes it easier for the driver to adapt to the reduced autonomous driving level, ensuring the convenience of autonomous driving that allows for naps.

[0016] Another disclosure relating to a vehicle control device for a driver to achieve the above object is: an autonomous driving system (40) that can switch between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control device for a driver used in a vehicle equipped with an autonomous driving level acquisition unit (422) that acquires the autonomous driving level currently being executed and the autonomous driving level to be executed by the autonomous driving system; a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) that ends the reclining state when the driver's seat back is in a reclined state and the autonomous driving level acquisition unit acquires that the autonomous driving level will be switched from the nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, The reclining control unit varies the maximum control angle of the driver's seat back when ending the reclining state according to the driver's state of consciousness. Based on the fact that the driver is asleep, the angle of the back of the driver's seat is tilted forward. This is a vehicle control device for the driver.

[0017] Another disclosure relating to a vehicle control method for a driver to achieve the above object is: an autonomous driving system (40) that can switch between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control method for a driver used in a vehicle equipped with the Acquire the level of autonomous driving currently being performed by the autonomous driving system and the level of autonomous driving that will be performed; The consciousness state of the driver is acquired from the driver state determination unit; When the driver's seat back is in a reclined state and it is determined that the autonomous driving level will be switched from a nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, the reclined state is terminated, When the reclining state is ended, the maximum control angle of the back of the driver's seat is varied depending on the driver's state of consciousness. Based on the fact that the driver is asleep, the angle of the back of the driver's seat is tilted forward. This is a vehicle control method for a driver.

[0018] According to these driver's vehicle control devices and driver's vehicle control methods, when the driver's seat back is in a reclined state and it is detected that the autonomous driving level will be switched from a nap-enabling autonomous driving level to a lower autonomous driving level, the reclined state is terminated. When the reclined state is terminated, the maximum control angle of the driver's seat back is varied depending on the driver's state of consciousness. By varying the maximum control angle of the driver's seat back depending on the driver's state of consciousness, the driver can easily adapt to the switched autonomous driving level quickly regardless of the driver's state of consciousness, ensuring the convenience of nap-enabling autonomous driving.

[0019] Another disclosure relating to a vehicle control method for a driver to achieve the above object is: An automated driving system (40) capable of performing automated driving at a nap-enabling automated driving level that allows the driver to take a nap; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control device for a driver used in a vehicle equipped with a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) for controlling the reclining state of the driver's seat back; The reclining control unit, when the vehicle approaches the destination while maintaining the nap-enabling autonomous driving level, When the driver is awake, the angle of the back of the driver's seat is controlled to end the reclining state; This is a vehicle control device for a driver that suspends angle control of the back of the driver's seat to end the reclining state when the driver is asleep.

[0020] Another disclosure relating to a vehicle control method for a driver to achieve the above object is: An automated driving system (40) capable of performing automated driving at a nap-enabling automated driving level that allows the driver to take a nap; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control method for a driver used in a vehicle equipped with the The consciousness state of the driver is acquired from the driver state determination unit; When the vehicle approaches its destination while maintaining the sleep-enabling autonomous driving level, When the driver is awake, the angle of the back of the driver's seat is controlled to end the reclining state; A vehicle control method for a driver that suspends angle control of the driver's seat back to end the reclining state when the driver is asleep.

[0021] According to these driver's vehicle control devices and driver's vehicle control methods, even if the driver's seat back is still reclined when approaching the destination, the end of the reclining state is postponed. Therefore, the driver can maintain sleep. As a result, the convenience of automated driving that allows for naps can be ensured. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a configuration diagram of a vehicle 6 equipped with a driver's vehicle control device according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing the functions of an autonomous driving ECU 42. [Figure 3] FIG. 10 is a diagram showing the processing executed by a reclining control unit 424. [Figure 4] FIG. 4 is a diagram showing the process executed by the reclining control unit 424 following FIG. 3. [Figure 5] FIG. 10 is a diagram showing the processing executed by an automatic driving control execution unit 421 and a reclining control unit 424 in the second embodiment. [Figure 6] FIG. 10 is a diagram showing a process executed by a reclining control unit 424 in the third embodiment. [Figure 7] FIG. 10 is a diagram showing another process executed by the reclining control unit 424. [Figure 8] 10 is a diagram showing a process executed by a reclining control unit 424 of the fourth embodiment following FIG. 3. [Figure 9] FIG. 11 is a block diagram showing functions of an autonomous driving ECU 42 according to a fifth embodiment. [Figure 10] FIG. 10 is a diagram showing a process executed by a wiper control unit 425. [Figure 11] FIG. 10 is a diagram showing another process executed by the wiper control unit 425. DETAILED DESCRIPTION OF THE INVENTION

[0023] Hereinafter, several embodiments will be described with reference to the drawings. Note that corresponding components in each embodiment are given the same reference numerals, and redundant description may be omitted. When only a portion of the configuration is described in each embodiment, the configuration of another embodiment described previously can be applied to the remaining portion of the configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations of several embodiments can also be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0024] (First embodiment) The vehicle 6 shown in FIG. 1 is equipped with an automatic driving system 40 and the like. The vehicle 6 is equipped with a driver's seat. An occupant sitting in the driver's seat can drive the vehicle 6 as a driver. However, the vehicle 6 is capable of automatic driving, that is, traveling automatically without the driver performing any driving operations. The vehicle 6 also has a passenger seat in which a passenger sits. The vehicle 6 travels on a road equipped with a driver's seat, a passenger seat, and the configuration shown in FIG. 1.

[0025] The angle of the back of at least a portion of the driver's seat and passenger's seat can be changed. The back supports the upper body of the occupant and is sometimes called the backrest. The seat angle adjustment unit 10 adjusts the angle of the back. The seat angle adjustment unit 10 includes a driver's seat angle adjustment unit 11 and a passenger seat angle adjustment unit 12.

[0026] Driver's seat angle adjustment unit 11 adjusts the angle of the back of the driver's seat (hereinafter referred to as the driver's seat back). Driver's seat angle adjustment unit 11 includes a gear that changes the angle of the driver's seat back by rotating, and a motor that rotates the gear. In addition to the gear and motor, driver's seat angle adjustment unit 11 also includes an angle sensor that detects the angle of the driver's seat back, and a motor control circuit that controls the motor to achieve a target angle based on the angle detected by the angle sensor. The motor rotation speed can be changed in multiple stages (for example, two stages), and driver's seat angle adjustment unit 11 can change the angle of the driver's seat back at multiple speeds.

[0027] Passenger seat angle adjustment unit 12 adjusts the angle of the back of the passenger seat (hereinafter referred to as the passenger seat back). Like driver's seat angle adjustment unit 11, passenger seat angle adjustment unit 12 is configured to include a gear, a motor, an angle sensor, a motor control circuit, etc. Like driver's seat angle adjustment unit 11, passenger seat angle adjustment unit 12 can change the angle of the passenger seat back at a plurality of speeds.

[0028] The vehicle 6 also includes an occupant status judgment unit 20, a notification unit 30, an operation unit 33, an automatic driving system 40, a driving control ECU 50, a surrounding monitoring sensor 60, a locator 70, a navigation device 75, an on-board communication device 80, and a communication bus 90 that connects these so that they can communicate with each other.

[0029] The occupant state determination unit 20 includes a driver state determination unit 21 and a passenger state determination unit 22. The driver state determination unit 21 sequentially determines the state of the driver. The driver state determination unit 21 includes, for example, a near-infrared light source, a near-infrared camera, and a control unit that controls them. The driver state determination unit 21 is installed on the top surface of the steering column or the top surface of the instrument panel, with the near-infrared camera facing the headrest of the driver's seat. The driver state determination unit 21 uses the near-infrared camera to capture an image of the driver's head illuminated with near-infrared light from the near-infrared light source. The image captured by the near-infrared camera is analyzed by the control unit. Based on the image analysis results, the control unit sequentially determines whether the driver's state of consciousness is awake or asleep. The asleep state also includes a state of drowsiness that is not suitable for driving.

[0030] The passenger state determination unit 22 sequentially determines whether the passenger's state of consciousness is awake or asleep. In addition, the passenger state determination unit 22 also determines whether the passenger is an infant or toddler. For example, the passenger state determination unit 22 determines whether the passenger is an infant or toddler by analyzing the appearance of the passenger photographed by a camera.

[0031] The notification unit 30 provides various notifications to the driver and passengers. The notification unit 30 includes a speaker 31 and a display 32. The speaker 31 outputs sound toward the passenger compartment of the vehicle 6. One or more displays 32 are provided. At least one display 32 is disposed in a position visible to the driver. For example, one display 32 is a center information display (hereinafter referred to as CID) disposed on the instrument panel.

[0032] The operation unit 33 is an interface that accepts user operations by the driver, passengers, etc. User operations related to activation and deactivation of the autonomous driving function, user operations for inputting a destination into the navigation device 75, etc. are input to the operation unit 33. The operation unit 33 includes a steering switch provided on the spokes of the steering wheel, a touch panel provided integrally with the display 32, a voice input device that recognizes what the passengers are saying, etc.

[0033] The autonomous driving system 40 is a system that can achieve autonomous driving at multiple autonomous driving levels. At one of the multiple autonomous driving levels, the driver is not required to monitor the surrounding area as long as it is within the ODD. When autonomous driving at this level is being performed, the driver is allowed to take a nap. This level of autonomous driving is referred to as the nap-enabling autonomous driving level. However, for simplicity, this level of autonomous driving will be referred to as autonomous driving level 4 below. The ODD can be set in various ways. One or more road conditions, geographical conditions, environmental conditions, and other conditions can be set in the ODD. One example of an ODD is to limit road types to expressways. Another example of an ODD is to assume that the weather is not heavy rain or snow.

[0034] The autonomous driving system 40 is also capable of autonomous driving control at autonomous driving levels lower than autonomous driving level 4, i.e., autonomous driving level 3 and below. At autonomous driving level 3, the autonomous driving system 40 drives the vehicle 6 automatically within the ODD set for autonomous driving level 3, and the driver is not required to monitor the surroundings. However, autonomous driving level 3 requires that the driver be able to immediately take over driving. At autonomous driving level 2, the autonomous driving system 40 allows the driver to drive the vehicle 6 primarily, and the autonomous driving system 40 provides driving assistance to the driver. At autonomous driving level 2, the driver is naturally required to monitor the surroundings.

[0035] The automatic driving system 40 includes a driving assistance ECU 41 and an automatic driving ECU 42 .

[0036] The driving assistance ECU 41 is an ECU (Electronic Control Unit) that sequentially determines vehicle control when the autonomous driving system 40 executes autonomous driving equivalent to driving assistance. The autonomous driving ECU 42 is an ECU that sequentially determines vehicle control when the autonomous driving system 40 executes autonomous driving at a level where the driver is not required to monitor the surroundings.

[0037] The autonomous driving ECU 42 is a computer including a processing unit 43, RAM 44, a storage unit 45, an input / output interface 46, and a bus connecting these components. The driving assistance ECU 41 is also a computer including a processing unit, RAM, a storage unit, an input / output interface, and a bus connecting these components.

[0038] The processing unit 43 includes at least one processor. The processing unit 43 accesses the RAM 44 to execute various processes for implementing the driver's vehicle control method of the present disclosure. The storage unit 45 stores various programs (such as a driver's vehicle control method program) executed by the processing unit 43. By executing the programs by the processing unit 43, the autonomous driving ECU 42 implements the functions of each unit shown in Fig. 2. The contents of Fig. 2 will be described later.

[0039] The cruise control ECU 50 is an electronic control device that primarily includes a microcontroller. The cruise control ECU 50 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. The cruise control ECU 50 continuously controls the braking force of each wheel, the output of the on-board power source, and the steering angle based on one of an operation command based on the driver's driving operation, a control command from the driving assistance ECU 41, and a control command from the autonomous driving ECU 42. In addition, the cruise control ECU 50 generates vehicle speed information indicating the current traveling speed of the vehicle 6 based on detection signals from wheel speed sensors installed in the hubs of each wheel, and sequentially outputs the generated vehicle speed information to the communication bus 90.

[0040] The periphery monitoring sensor 60 is an autonomous sensor that monitors the environment around the vehicle 6. The periphery monitoring sensor 60 can detect moving objects and stationary objects within a detection range around the vehicle. The periphery monitoring sensor 60 can detect at least a vehicle ahead, a vehicle behind, a vehicle on either side, and the like traveling around the vehicle 6. The periphery monitoring sensor 60 provides detection information of objects around the vehicle to the driving assistance ECU 41, the autonomous driving ECU 42, and the like.

[0041] The perimeter monitoring sensor 60 includes, for example, one or more of a camera unit 61, a millimeter-wave radar 62, a lidar 63, and a sonar 64. The camera unit 61 is mounted on the vehicle 6 so as to be able to capture an image of the area ahead of the vehicle 6. The millimeter-wave radar 62 emits millimeter waves or quasi-millimeter waves toward the surroundings of the vehicle. The millimeter-wave radar 62 receives reflected waves from moving objects, stationary objects, and the like, and outputs detection information generated by the process. The lidar 63 emits laser light toward the surroundings of the vehicle. The lidar 63 receives laser light reflected from moving objects, stationary objects, and the like within the irradiation range, and outputs detection information generated by the process. The sonar 64 emits ultrasonic waves toward the surroundings of the vehicle. The sonar 64 receives ultrasonic waves reflected from moving objects, stationary objects, and the like near the vehicle, and outputs detection information generated by the process.

[0042] Locator 70 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, etc. Locator 70 sequentially determines the current position, traveling direction, etc. of vehicle 6 by combining the positioning signal received by the GNSS receiver, the measurement results of the inertial sensor, and vehicle speed information, etc. output to communication bus 90. Locator 70 sequentially outputs position information and direction information of vehicle 6 based on the positioning results to communication bus 90 as locator information.

[0043] Locator 70 also has a map database (hereinafter referred to as map DB) 71 that stores map data. Map DB 71 is mainly composed of a large-capacity storage medium that stores a large amount of 3D map data and 2D map data. The 3D map data is a so-called HD (High Definition) map, and includes road information necessary for autonomous driving control. The 3D map data includes information necessary for advanced driving assistance and autonomous driving, such as 3D shape information for roads and detailed information for each lane. Locator 70 reads map data for the area around the current location from map DB 71 and provides it to driving assistance ECU 41, autonomous driving ECU 42, etc., along with locator information.

[0044] The navigation device 75 acquires information about a destination specified by a passenger such as a driver based on operation information from a user operation. The navigation device 75 sets a route from the current location to the destination using locator information acquired from the locator 70. The navigation device 75 displays a guidance image for route guidance on the display 32 provided as a CID. Furthermore, the navigation device 75 provides the automated driving system 40 with destination information indicating the destination and route information indicating the set route to the destination.

[0045] The in-vehicle communication device 80 is an external communication unit mounted on the vehicle 6, and is used for V2X (Vehicle to Everywhere) communication. The in-vehicle communication device 80 functions as a "Everything" communication device. The in-vehicle communication device 80 transmits and receives information via wireless communication with roadside devices installed on the side of the road. As an example, the in-vehicle communication device 80 receives congestion information around the current position of the vehicle 6 and in the direction of travel from the roadside devices. The in-vehicle communication device 80 provides the received congestion information to the autonomous driving ECU 42, etc.

[0046] [Functions performed by the autonomous driving ECU 42] 2 shows the functions executed by the autonomous driving ECU 42. Through execution of a program by the processing unit 43, the autonomous driving ECU 42 realizes the functions of an autonomous driving control execution unit 421, an autonomous driving level acquisition unit 422, a driver state acquisition unit 423, and a reclining control unit 424. By providing the functions of the autonomous driving level acquisition unit 422, the driver state acquisition unit 423, and the reclining control unit 424, the autonomous driving ECU 42 realizes a vehicle control device for the driver.

[0047] The autonomous driving control execution unit 421 recognizes the driving environment necessary for autonomous driving by combining detection information obtained from the periphery monitoring sensor 60, locator information and map data obtained from the locator 70, and traffic congestion information obtained from the in-vehicle communication device 80. The autonomous driving control execution unit 421 sequentially determines the autonomous driving level to be currently executed based on the recognized driving environment and the ODD. When a destination is set in the navigation device 75, the autonomous driving control execution unit 421 enables execution of an autonomous driving level that does not require periphery monitoring. If the determined autonomous driving level is an autonomous driving level that does not require periphery monitoring, the autonomous driving control execution unit 421 sequentially outputs control commands to the driving control ECU 50 to execute vehicle control to autonomously drive the vehicle 6 based on the recognized driving environment. If the determined autonomous driving level corresponds to a level corresponding to driving assistance, the autonomous driving control execution unit 421 instructs the driving assistance ECU 41 to control the vehicle.

[0048] The autonomous driving control execution unit 421 determines not only the autonomous driving level currently being executed, but also the autonomous driving level to be executed. The autonomous driving level currently being executed refers to the autonomous driving level required to keep the vehicle 6 running in accordance with the traffic flow. The autonomous driving level currently being executed can also be referred to as the active driving level being executed. The autonomous driving level currently being executed is, for example, the autonomous driving level up to the next few seconds.

[0049] On the other hand, the autonomous driving level to be implemented is an autonomous driving level at a point in time later than the autonomous driving level currently being implemented. For example, consider a case where the ODD for autonomous driving level 4 is limited to expressways, and vehicle 6 is scheduled to enter a public road 10 km from the scheduled time. In this case, the autonomous driving control execution unit 421 determines to end autonomous driving level 4 10 km from the scheduled time and switch to a lower autonomous driving level, for example, autonomous driving level 2.

[0050] The autonomous driving level acquisition unit 422 sequentially acquires the autonomous driving level sequentially determined by the autonomous driving control execution unit 421. When the autonomous driving control execution unit 421 has determined the autonomous driving level to be executed, the autonomous driving level acquisition unit 422 acquires the autonomous driving level to be executed and the time when that autonomous driving level will be executed.

[0051] The driver state acquisition unit 423 sequentially acquires the state of consciousness of the driver sequentially determined by the driver state determination unit 21. As described above, the state of consciousness of the driver is whether the driver is awake or asleep.

[0052] The reclining control unit 424 sequentially acquires the currently executed autonomous driving level and the scheduled executed autonomous driving level from the autonomous driving level acquisition unit 422. It also sequentially acquires the driver's state from the driver state acquisition unit 423. In addition, the reclining control unit 424 sequentially acquires the passenger's state from the passenger state determination unit 22. The passenger's state includes the passenger's state of consciousness and whether or not the passenger is an infant. The reclining control unit 424 also acquires the angles of the driver's seat back and passenger's seat back from the seat angle adjustment unit 10. The reclining control unit 424 controls the angle (reclining state) of the driver's seat back and passenger's seat back based on the acquired information.

[0053] The control executed by reclining control unit 424 is outlined below. When the driver's seat back is in a reclined state and autonomous driving level acquisition unit 422 acquires that the autonomous driving level will be switched to a level lower than autonomous driving level 4, reclining control unit 424 executes angle control to end the reclined state. In addition, it executes output control to cause notification unit 30 to output a notification accompanying the end of the reclined state. Reclining control unit 424 determines the control order of the angle control and output control according to the driver's state of consciousness. In addition, it also varies the maximum upright angle of the driver's seat back when ending the reclined state according to the driver's state of consciousness.

[0054] As described above, the reclined state refers to a state in which the back of the driver's seat is tilted further toward the rear of the vehicle than the appropriate angle for driving. The specific tilt angle is set as appropriate. For example, the angle of the driver's seat back when the vehicle 6 is traveling at autonomous driving level 2 or lower is defined as the driving angle, and the reclined state refers to a state in which the back of the driver's seat is tilted toward the rear of the vehicle by a certain angle (e.g., 10 degrees) or more than the driving angle. The reclined state of the passenger seat back refers to a state in which the back of the passenger seat is tilted further toward the rear of the vehicle than the angle at which the seat belt can fully function. The angle of the passenger seat back at which the seat belt can fully function is defined as the standard angle. The specific angle range in which the passenger seat back is reclined can be the same as the angle range in which the driver's seat back is reclined.

[0055] [Detailed Control of Reclining Control Unit 424] The control executed by reclining control unit 424 will be described in detail using Figures 3 and 4. When autonomous driving control execution unit 421 starts autonomous driving at autonomous driving level 4 or higher, reclining control unit 424 sequentially executes the processing shown in Figure 3. Note that in Figures 3 and 4, reclining control unit 424 executes processing other than S1, S5, and S11. S1 is executed by 422, and S5 and S11 are executed by driver state acquisition unit 423.

[0056] In S1, the driver state acquisition unit 423 acquires the autonomous driving level currently being executed and the autonomous driving level to be executed by the autonomous driving control execution unit 421.

[0057] In S2, it is determined based on the information acquired in S1 whether the autonomous driving level should be switched to level 3 or lower. If the determination is NO, the process in Figure 3 is terminated. If the determination result in S2 is YES, the process proceeds to S3.

[0058] In S3, the angle of the driver's seat back is obtained from the driver's seat angle adjustment unit 11, and it is determined whether the driver's seat is in a reclined state. If the determination result in S3 is NO, the process in Fig. 3 also ends. If the determination result in S3 is YES, the process proceeds to S4.

[0059] In S4, it is determined whether or not switching the autonomous driving level is urgent. If it is determined in S1 that the currently executing autonomous driving level will be switched, that is, that the autonomous driving level will be switched immediately, the determination result in S4 is YES. If the ODD is unexpectedly deactivated due to weather changes or the like, the autonomous driving level may be switched immediately. On the other hand, if it is determined in S1 that the autonomous driving level will be switched soon, the determination result in S4 is NO. For example, if vehicle 6 is scheduled to enter a public road at 10 km, it may be determined that the autonomous driving level will be switched soon. If the determination result in S4 is YES, proceed to S5.

[0060] In S5, it is determined whether the driver is awake. If the driver is awake, the process proceeds to S6. In S6, an emergency notification indicating that the autonomous driving level will be switched in an emergency is output from the notification unit 30. Note that if the seat is reclined, it is preferable to use at least a sound for the notification. This is because it is often difficult to see the display 32 when the seat is reclined. Of course, it is preferable to use both a sound and a display.

[0061] After the emergency notification is output in S6, the reclining state of all seats that are currently reclined is terminated in the following S7. The speed at which the seat backs change when the reclining state is terminated in S7 is set to high. The specific speed is set to the highest speed within the speed range that is permissible when an occupant is seated. In addition, the angle of the seat backs after the reclining state is terminated is the driving angle for the driver's seat and the standard angle for the passenger seat.

[0062] If it is determined in S5 that the driver is asleep, the process proceeds to S8. In S8 and S9, the sequential control conditions are determined. If the sequential control conditions are met, even if the driver is asleep, the process proceeds to S6, and the controls are executed sequentially in the order of emergency notification and end of reclining. In S8, it is determined whether or not there is an awake passenger. If the determination result in S8 is YES, the process proceeds to S9.

[0063] In S9, it is determined whether the only awake passengers are infants. If the determination result in S9 is NO, that is, if there are awake passengers who are not infants, the process proceeds to S6 described above. On the other hand, if the only awake passengers are infants, the process proceeds to S10. Also, if the determination result in S8 is NO, the process proceeds to S10.

[0064] In S10, the reclining state of all seats that are currently in a reclining state is terminated. In S10, the speed of change of the seat back when terminating the reclining state is set to be high. Furthermore, the seat back angle after terminating the reclining state is the driving angle for the driver's seat and the standard angle for the passenger seat. In S10, simultaneously with the angle control to terminate the reclining state, an emergency notification indicating that the autonomous driving level will be switched in an emergency is output from the notification unit 30. In other words, in S10, S6 and S7 are executed simultaneously. "Simultaneous" does not necessarily mean simultaneous in the strict sense. A time difference within a range that is perceived as simultaneous by an awake occupant is permissible. Meanwhile, after S6 is executed and before S7 is executed, there is a time period that is generally required for an awake occupant to recognize the emergency notification and understand its meaning.

[0065] Next, a process to be performed when the determination result in S4 is NO will be described. When the determination result in S4 is NO, the process proceeds to S11 shown in FIG.

[0066] In S11, as in S5, it is determined whether the driver is awake or not. If the driver is awake, the process proceeds to S12.

[0067] In S12, a notification of the end of monitoring not required is output from the notification unit 30. The notification of the end of monitoring not required is a notification that directly or indirectly indicates that autonomous driving level 4, which is an autonomous driving level that does not require driver monitoring, will soon end. An example of the latter notification is a notification that conveys the autonomous driving level after switching. It is also preferable to notify when the autonomous driving level will switch.

[0068] In the next step S13, the reclining state of the driver's seat back is ended. The speed of change of the back when ending the reclining state in step S7 is slow. The speed of change of the back in step S13 is slower than the speed of change of the back in step S7. The speed of change of the back in step S13 is the speed of change when the occupant operates the switch.

[0069] If it is determined in S11 that the driver is asleep, the process proceeds to S14. In S14, the reclining state of the back of the driver's seat is ended by forward tilt end control. Forward tilt end control is a control in which the back is once tilted forward and then returned to the driving angle. The forward tilt angle means an angle that is tilted further forward than the driving angle. Therefore, the forward tilt angle also includes vertical. In the forward tilt end control, the degree to which the back is tilted forward is set in advance. For example, the back of the driver's seat is tilted to an angle that is 20 degrees forward of the vehicle from vertical.

[0070] When the reclining state is ended, the angle at which the back of the driver's seat is positioned furthest forward of the vehicle is defined as the maximum control angle. The maximum control angle when S14 is executed is the forward tilt angle described above. On the other hand, the maximum control angle of the back of the driver's seat in S7, S10, and S13 is the angle when driving.

[0071] S15 is the same process as S12, and causes a notification of the end of the monitoring-unnecessary state to be output from the notification unit 30. It is also preferable to notify when the autonomous driving level will be switched.

[0072] The reclining control unit 424 executes angle control to end the reclined state even when autonomous driving at autonomous driving level 4 or higher continues. As an example, when the driver's smartphone is connected to the communication bus 90 (in-vehicle network), the reclining control unit 424 ends the reclined state of the driver's seat when the smartphone receives an incoming call or email. The control to end the reclined state when the smartphone receives an incoming call or email may be configured not to be executed by user operation. Furthermore, even in a situation where it becomes necessary to operate the operation unit 33, the reclining control unit 424 may end the reclined state of the driver's seat and perform an operation to raise the back of the driver's seat to a position where the operation unit 33 can be operated. Furthermore, when the perimeter monitoring sensor 60 detects the approach of an emergency vehicle, the reclining control unit 424 may end the reclined state and execute angle control to raise the back of the driver's seat to an extent that the emergency vehicle can be seen.

[0073] Summary of the first embodiment In the first embodiment described above, when the driver's seat back is reclined and the autonomous driving level is switched to autonomous driving level 3 or lower (S2, S3: YES), reclining control unit 424 ends the reclined state (S7, S10, S13, S15). In addition, reclining control unit 424 causes notification unit 30 to output a notification accompanying the end of the reclined state (S6, S10, S12, S15). By outputting a notification accompanying the end of the reclined state, it is possible to prevent the driver from feeling uncomfortable when the reclined state is automatically ended.

[0074] Furthermore, when ending the reclining state, reclining control unit 424 determines the control order of controlling the angle of the driver's seat back to end the reclining state and controlling the notification from notification unit 30, depending on the driver's state of consciousness. This makes it easier for the driver to adapt to the lowered autonomous driving level, ensuring the convenience of autonomous driving that allows for naps.

[0075] For example, when ending the reclining state, if the simultaneous control condition is met, the reclining control unit 424 simultaneously controls the angle of the driver's seat back and controls the output from the notification unit 30 (S10). The simultaneous control condition is that the autonomous driving level acquisition unit 422 has acquired that the autonomous driving level will immediately switch to autonomous driving level 3 or lower (S4: YES), the driver is asleep (S5: YES), and the sequential control conditions (S8, S9) are not met.

[0076] Therefore, if the driver is asleep, the reclining state may be ended and an emergency notification may be issued at the same time. Since the driver can be woken up by ending the reclining state, the driver is more likely to recognize the emergency notification than if the notification unit 30 simply output the emergency notification.

[0077] However, even if the driver is asleep (S5: YES), if the sequential control conditions (S8, S9) are met, including the passenger being awake, an emergency notification is output (S6), and then angle control of the driver's seat back is initiated (S7). This is because if the passenger is awake, it is expected that the passenger will recognize the emergency notification and wake up the driver. If the reclining state were to be automatically ended in a situation where it is expected that the passenger will wake up the driver, the driver would have to understand or recognize many things at the same time, which could confuse the driver. Therefore, if the sequential control conditions (S8, S9) are met, including the passenger being awake, S6 and S7 are executed sequentially.

[0078] The sequential control conditions included the passenger being awake (S8: YES) and the passenger not being an infant (S9: NO). This is because an awake passenger is unlikely to wake the driver if they are an infant.

[0079] When the autonomous driving level is switched to autonomous driving level 3 or lower (S2, S3: YES) and the driver is awake (S5, S11: YES), the reclining control unit 424 first controls the output from the notification unit 30 (S6, S12). Then, it starts controlling the angle of the driver's seat back (S7, S13). Even if the driver's seat is reclined, if the driver is awake, a warning is issued, allowing the driver to assume a driving position on their own. Therefore, there is little need to automatically and quickly end the reclining state. Furthermore, by issuing a notification first, the driver can understand the reason for the reclining state, even if the reclining state is automatically ended later. Therefore, it is possible to prevent the driver from becoming confused when the reclining state is automatically ended.

[0080] Furthermore, when ending the reclining state, if the autonomous driving level change is not urgent (S4: NO) and the driver is asleep (S11: Asleep), the reclining control unit 424 ends the reclining state (S14). Then, it notifies the driver that autonomous driving level 4 will soon end (S15). Since ending the reclining state is expected to wake the driver, ending the reclining state first makes it easier for the driver to notice the notification.

[0081] Furthermore, when ending the reclining state, if the autonomous driving level change is not urgent (S4: NO) and the driver is awake (S11: Awake), the reclining control unit 424 notifies the driver that autonomous driving level 4 will soon end (S12). Then, the reclining state is ended (S13). By notifying the driver in advance, it is possible to reduce the sense of discomfort felt by the driver when the reclining state is automatically ended later.

[0082] In this embodiment, when ending the reclining state, reclining control unit 424 varies the maximum control angle of the back of the driver's seat depending on the driver's state of consciousness (S7, S10, S13, S15). By varying the maximum control angle of the back of the driver's seat depending on the driver's state of consciousness, the driver can easily adapt to the switched autonomous driving level quickly, regardless of the driver's state of consciousness, ensuring the convenience of autonomous driving that allows for naps.

[0083] For example, if the autonomous driving level is close to level 3 or lower (S2: YES, S4: NO) and the driver is asleep (S11: asleep), the reclining control unit 424 executes forward tilt end control (S14). In the forward tilt end control, the back of the seat is tilted forward once. When the back of the driver's seat is tilted forward, the driver is placed in an uncomfortable position, which tends to wake the driver up.

[0084] On the other hand, if the autonomous driving level acquisition unit 422 acquires that the autonomous driving level will immediately switch to autonomous driving level 3 or lower (S4: YES), the reclining control unit 424 sets the angle of the driver's seat back to the driving angle (S7, S10) regardless of the driver's state of consciousness. This allows the driver to quickly assume a driving position.

[0085] Furthermore, if autonomous driving level acquisition unit 422 acquires that the autonomous driving level will immediately switch to autonomous driving level 3 or lower (S4: YES), reclining control unit 424 sets the angle of the back of the passenger seat to the standard angle (S7, S10). This allows the passenger to quickly assume a safe position, making it possible to prepare for the possibility of a collision or sudden braking of vehicle 6.

[0086] Furthermore, when the autonomous driving level change is urgent (S4: YES), the reclining control unit 424 increases the angle change speed of the back of the driver's seat (S7, S10) compared to when the autonomous driving level change is not urgent (S4: NO). This allows the driver to quickly assume a position suitable for driving. Furthermore, because the angle change speed of the back of the driver's seat is not increased even when the autonomous driving level change is not urgent (S4: NO), it is possible to prevent the driver from being unnecessarily startled.

[0087] (Second embodiment) In the second embodiment, the use of autonomous driving level 4 on public roads is permitted. The autonomous driving ECU 42 can cause the vehicle 6 to arrive at a parking lot at the destination set by the driver while continuing autonomous driving at autonomous driving level 4. When autonomous driving level 4 can be continued and the driver's seat is in a reclined position, the autonomous driving ECU 42 executes the process shown in FIG. 5 (hereinafter referred to as state control process) based on approaching the destination.

[0088] The state control process includes reclining control when the vehicle arrives near the destination, rather than in an emergency, and systematically wakes up the driver. The autonomous driving ECU 42 determines that the vehicle is approaching the destination when, for example, the remaining distance to the destination becomes less than a predetermined distance or the remaining time until the destination is reached becomes less than a predetermined time, and starts the state control process shown in FIG.

[0089] In S201, the driver state acquisition unit 423 determines whether the driver is awake or not. If the driver is awake, the process proceeds to S206, and if the driver is asleep, the process proceeds to S202.

[0090] In S202, the autonomous driving control execution unit 421 compares the estimated arrival time notified to the driver in advance with the current time, and determines whether the current time is earlier than the estimated arrival time. The estimated arrival time is the time presented to the driver when setting the destination, and is calculated by the edge-side navigation device 75 or the cloud-side route search server, etc. In the determination of S202, if the current time is before the estimated arrival time, proceed to S203, and if the current time is after the estimated arrival time, proceed to S204.

[0091] If the driver is asleep (S201: Asleep) and the current time is earlier than the estimated arrival time (S202: YES), in S203 the autonomous driving control execution unit 421 executes sleep maintenance control to keep the driver asleep. Specifically, as sleep maintenance control, the autonomous driving control execution unit 421 executes autonomous driving to circulate around the destination while maintaining autonomous driving level 4. The autonomous driving control execution unit 421 executes driving control to circulate around the destination until the driver wakes up (S201: Awake) or until the estimated arrival time arrives (S202: NO).

[0092] On the other hand, if the estimated arrival time has passed (S202: NO), in S204, the automatic driving control execution unit 421 performs automatic parking control to park the vehicle 6 in a parking lot at the destination. In this case, in S205, the driver state acquisition unit 423 further acquires sleep-related information related to the driver's sleep. The driver state acquisition unit 423 acquires information such as the driver's sleeping time, fatigue level, and whether or not the driver is in REM sleep state from the driver state determination unit 21 as sleep-related information.

[0093] Based on the sleep-related information acquired by the driver state acquisition unit 423, the reclining control unit 424 determines whether to control the angle of the driver's seat back to end the reclined state. For example, if the sleeping time is less than a predetermined time, if the fatigue level exceeds a predetermined value, or if the driver is in a non-REM sleep state, the reclining control unit 424 determines that the sleeping state will continue (S205: YES). In this case, the end of the reclining state is put on hold, and the process returns to S201. On the other hand, if the sleeping time exceeds a predetermined time, if the fatigue level is less than a predetermined value, or if the driver is in a REM sleep state, the reclining control unit 424 determines that the driver is awake (S205: NO). In this case, the process proceeds to S206.

[0094] In S206, the reclining control unit 424 ends the reclining state of the driver's seat. If the passenger seat is also reclined in the same manner as the driver's seat, the reclining control unit 424 also ends the reclining state of the passenger seat. The reclining control unit 424 performs reclining control to wake up the driver and passenger and get them into a dismounting position. In S206, the speed at which the backrests change when ending the reclining state may be slow. In addition, the seat slide positions of the driver's seat and passenger seat may be moved further rearward than the positions during driving (traveling). Furthermore, in S206, the notification unit 30 may issue a notification of arrival at the destination.

[0095] In the state control process described above, even if the driver is awake, if the passenger is asleep, the reclining control to put the vehicle in a dismounting position may be suspended until the passenger wakes up. In this case, the autonomous driving control execution unit 421 also executes autonomous driving that circulates around the destination until the estimated arrival time.

[0096] Summary of the second embodiment The second embodiment described above also achieves the same effects as the first embodiment. In addition, in the second embodiment, when the vehicle 6 approaches the destination while maintaining the nap-enabling autonomous driving level, if the driver is asleep, the angle control of the driver's seat back (S206) that ends the reclining state is suspended. This allows the driver to maintain their sleep state. As a result, the convenience of nap-enabling autonomous driving can be ensured.

[0097] Furthermore, when the driver is asleep, the autonomous driving control execution unit 421 patrols the area around the destination using autonomous driving at autonomous driving level 4 (S203). In this way, driving control that delays the timing of parking makes it less likely that the driver and passengers will be seen sleeping. In addition, crime prevention can be improved. Furthermore, if the passenger is an infant, the behavior and vibrations of the vehicle 6 heading to the parking lot make it less likely that the sleeping infant will be woken up. Furthermore, when only one of the driver and passengers is asleep, patrol driving allows the awake passenger to see the scenery around the destination.

[0098] Furthermore, if the arrival time is earlier than the estimated arrival time notified to the driver in advance (S202: YES), the automatic driving control execution unit 421 performs automatic driving that circulates around the destination. In other words, if the estimated arrival time has passed, circulating around the destination is not performed. Therefore, it is less likely that arrival at the destination will be delayed due to circulating.

[0099] Furthermore, when the driver is asleep, the driver state acquisition unit 423 further acquires sleep-related information related to the driver's sleep. Then, when the vehicle 6 is parked at the destination and the driver is asleep, the reclining control unit 424 determines, based on the sleep-related information, whether to control the angle of the driver's seat back to end the reclined state. This makes it possible to avoid a situation in which reclining control is implemented to forcefully wake the driver even when the driver is in a state where it is difficult to wake up. As a result, the convenience of automated driving that allows for naps is further improved.

[0100] (Third embodiment) As in the second embodiment, the autonomous driving ECU 42 of the third embodiment is capable of autonomous driving at autonomous driving level 4 on public roads, and can cause the vehicle 6 to reach its destination while continuing autonomous driving. In addition, the autonomous driving ECU 42 is equipped with an automatic valet parking function, and can automatically park the vehicle in a parking lot at the destination with no occupants on board.

[0101] In more detail, the driver can park the vehicle at a designated boarding / alighting point, get out, and delegate parking to the automatic valet parking function (automatic driving ECU 42). The automatic driving ECU 42 receives instructions on the driving route and parking location from the parking lot control center, and automatically drives the vehicle 6 to the parking location at a low speed in accordance with those instructions. The driver can call the vehicle 6 from the designated boarding / alighting point using a mobile terminal. Upon receiving a request from the driver, the automatic driving ECU 42 automatically drives the vehicle 6 at a low speed in accordance with instructions from the control center, and stops the vehicle at the boarding / alighting point.

[0102] [Reclining control upon arrival] When autonomous driving level 4 can be continued and the driver's seat or passenger seat is in a reclined state, the autonomous driving ECU 42 executes the process shown in Fig. 6 (hereinafter referred to as arrival process) based on approaching the destination. In the arrival process shown in Fig. 6, the content of the control to end the reclined state changes depending on whether the vehicle is traveling autonomously to a boarding / disembarking area or a parking lot.

[0103] In S301 of the arrival processing, the autonomous driving control execution unit 421 determines the type of destination. Based on information acquired from the navigation device 75, the autonomous driving control execution unit 421 determines whether the vehicle 6 is scheduled to arrive at a boarding / alighting point. If the vehicle 6 will arrive at a boarding / alighting point, the process proceeds to S302, and if the vehicle 6 will arrive at a parking lot instead of a boarding / alighting point, the process proceeds to S303. If the destination is a road adjacent to the destination, the process also proceeds to S302.

[0104] In S302, the reclining control unit 424 starts controlling the angle of the back of each seat to end the reclined state of the driver's seat or passenger seat before the vehicle arrives at the boarding / alighting point by automatic driving. The reclining control unit 424 wakes up the driver and passenger before arriving at the boarding / alighting point and completes the reclining control to put them in a dismounting position. After the driver or passenger dismounts, the vehicle 6 moves to a parking location using the automatic valet parking function.

[0105] In S303, after the vehicle 6 has arrived at a parking lot by automatic driving, the reclining control unit 424 starts controlling the angle of the back of each seat to end the reclined state of the driver's seat or passenger seat. As described above, after the vehicle 6 has stopped at the parking place, the reclining control unit 424 performs reclining control to wake up the driver and passenger and get them into a dismounting position.

[0106] [Reclining control when starting] When starting from a boarding / alighting area or a parking lot, if autonomous driving at autonomous driving level 4 can be started immediately, the autonomous driving ECU 42 executes the process shown in Fig. 7 (hereinafter referred to as start-up process). In the start-up process shown in Fig. 7, the start of control to recline the driver's seat or passenger seat is temporarily suspended.

[0107] In S321 of the start processing, the autonomous driving control execution unit 421 determines the type of departure location. Based on information acquired from the navigation device 75, the autonomous driving control execution unit 421 determines whether the vehicle 6 is starting from a predetermined departure location. The predetermined departure location is, for example, a location where people are present, such as a boarding / alighting area or a parking lot. If starting from a predetermined departure location, the process proceeds to S322. If starting from a location that does not correspond to a predetermined departure location, for example, from a state where the vehicle is parked on the shoulder of the road, the process proceeds to S323.

[0108] In S322, the reclining control unit 424 determines whether the condition for starting the reclining control is met. For example, if the vehicle 6 moves to a secluded road or if the traveling speed of the vehicle 6 exceeds a threshold speed (e.g., 30 km / h), the reclining control unit 424 meets the condition for starting the reclining control. On the other hand, while the vehicle 6 is traveling at a low speed near a boarding / alighting area or a parking lot (S322: NO), the reclining control is put into a standby state.

[0109] If the vehicle is departing from a place other than the predetermined departure point (S321: NO), or if the start condition is met (S322: YES), reclining control unit 424 starts reclining control to tilt the back of the driver's seat backward in S323. If a passenger is on board, reclining control unit 424 also starts reclining control to tilt the back of the passenger's seat backward.

[0110] Summary of the third embodiment The third embodiment described above also achieves the same effects as the first embodiment. Additionally, in the third embodiment, when the vehicle 6 can reach the destination while maintaining autonomous driving level 4, the type of destination, which includes at least a boarding / alighting area and a parking lot, is further identified (S301). The reclining control unit 424 then changes the angle control of the driver's seat back to end the reclined state depending on whether the destination is a boarding / alighting area or a parking lot (S302, S303). As a result of the above, reclining control appropriate for the location where the driver, passengers, and other occupants will disembark can be implemented.

[0111] Furthermore, when the vehicle 6 heads to a boarding / alighting area while maintaining Level 4 autonomous driving, the angle control of the driver's seat back is initiated before the vehicle arrives at the boarding / alighting area (S302). On the other hand, when the vehicle 6 heads to a parking lot while maintaining Level 4 autonomous driving, the angle control of the driver's seat back is initiated after the vehicle arrives at the parking lot (S303). Generally, the probability of encountering other people is higher at a boarding / alighting area than at a parking lot, making it easier for the driver to be seen sleeping. Therefore, by ending the reclining state before arriving at the boarding / alighting area, the possibility of the driver being seen sleeping can be reduced. Furthermore, since the driver arrives at the boarding / alighting area in an awake state, crime prevention can also be improved.

[0112] Furthermore, when vehicle 6 starts from a boarding / alighting area or parking lot in automated driving at automated driving level 4, the back of the driver's seat is reclined when the vehicle 6 has reached a predetermined location or has reached a predetermined speed (S321-S323). In this way, reclining control unit 424 does not reclin the driver's seat until vehicle 6 has reached a secluded road. This prevents the driver from being seen sleeping and feeling embarrassed.

[0113] (Fourth embodiment) In the fourth embodiment, the autonomous driving ECU 42 performs a process different from that of the first embodiment when it is determined that switching the autonomous driving level is not urgent (S4: NO, see FIG. 3). If the determination result in S4 is NO, the autonomous driving ECU 42 starts the process shown in FIG. 8 (hereinafter, scheduled awakening process). In the scheduled awakening process, a reclining control is performed to wake up the driver preferentially over the passenger.

[0114] In steps S11 to S15 of the planned awakening process, the reclining control unit 424 performs substantially the same processes as those in the first embodiment. Through these processes, the reclining control unit 424 performs a notification of the end of monitoring not required and angle control to end the reclining state, while changing the control order depending on whether the driver is in an awakening state or not.

[0115] In S416, the angle of the passenger seat back is obtained from the passenger seat angle adjustment unit 12, and it is determined whether the passenger seat is in a reclined state. If the determination result in S416 is YES, the process proceeds to S417, and if the determination result in S416 is NO, the series of scheduled awakening processes ends.

[0116] In S417, an inquiry as to whether or not to end the reclining state of the passenger seat is made to the driver by a display on the display 32, etc. In S418, the reclining control unit 424 determines whether or not an end operation has been input to the operation unit 33. The end operation is an operation to instruct the end of the reclining state of the passenger seat, and specifically, is a touch operation of touching a button icon displayed on the display 32.

[0117] If the determination result in S418 is YES, the process proceeds to S419, where reclining control section 424 performs angle control to end the reclining state of the passenger seat. On the other hand, if the determination result in S418 is NO, the series of scheduled awakening processes ends.

[0118] Summary of the Fourth Embodiment The fourth embodiment described above also achieves the same effects as the first embodiment. In addition, in the fourth embodiment, when ending the reclined state, the driver's seat back angle control (S13, S14) takes priority over the passenger seat back angle control (S419). That is, the reclining control unit 424 performs control to raise the driver's seat back before the passenger seat back. Therefore, the driver can recognize the notification of the end of the monitoring-unnecessary state and resume monitoring of the surroundings without being disturbed by the passenger.

[0119] Furthermore, reclining control section 424 starts angle control of the passenger seat back to end the reclined state based on the driver's input of an end operation (S418, S419). In this way, by determining the reclining control of the passenger seat based on the driver's operation, it is possible to avoid reclining control that would force the passenger to sit up.

[0120] (Fifth embodiment) The autonomous driving ECU 42 of the fifth embodiment is provided with the same functional units 421 to 424 as those of the first embodiment (see FIG. 1) and the like, as well as the functions of a wiper control unit 425 shown in FIG. 9, by executing a program by the processing unit 43. The wiper control unit 425 cooperates with the body ECU 35 and can control the operation of the wiper module 36 mounted on the vehicle 6.

[0121] The body ECU 35 is an ECU that comprehensively controls the body-related in-vehicle devices mounted on the vehicle 6. The body ECU 35 outputs signals to start and stop the operation of the wipers to the wiper module 36. The wiper module 36 has a controller section and a motor section. The wiper module 36 changes the wiping timing, wiping speed, etc. of the front and rear wipers mounted on the vehicle 6 in accordance with command signals from the body ECU 35.

[0122] [Wiper operation restriction process and restriction release process] When the autonomous driving control execution unit 421 starts autonomous driving at autonomous driving level 4, the autonomous driving ECU 42 executes the process shown in FIG. 10 (hereinafter referred to as the operation restriction process). In S501 of the operation restriction process shown in FIG. 10, the driver state acquisition unit 423 and the reclining control unit 424 determine the reclining states of the driver's seat and passenger seat. In S502 following S501, the reclining control unit 424 determines whether all seats, including the driver's seat, are reclined. If the determination result in S502 is NO, the processes of S501 and S502 are repeated. On the other hand, if the back of the driver's seat and the back of the passenger's seat are both reclined and the determination result in S502 is YES, in S503 the wiper control unit 425 restricts the operation of the wipers.

[0123] When the wiper control unit 425 activates the operation restriction, it basically stops wiping by the wipers. The wiper control unit 425 may make changes to the operation restriction, such as lengthening the wiping interval or slowing the wiping speed. However, when raindrops interfere with detection by the camera unit 61, the wiper control unit 425 may operate the wipers sequentially so as not to impair the forward recognition function of the camera unit 61.

[0124] Based on the activation of the wiper operation restriction, the autonomous driving ECU 42 executes the process shown in Fig. 11 (hereinafter referred to as the restriction release process). At S521 of the restriction release process shown in Fig. 11, the autonomous driving control execution unit 421 determines whether autonomous driving level 4 is scheduled to end. If the urgency increases, if a driving changeover point is approaching, if a decrease in the autonomous driving level is expected, etc., the autonomous driving control execution unit 421 determines that autonomous driving level 4 is scheduled to end, in other words, that there is a plan to switch to autonomous driving level 3.

[0125] If the determination result of S521 is NO, the determination of S521 is repeated. On the other hand, if the determination result of S521 is YES, the wiper control unit 425 relaxes the operation restrictions on the wipers in S522. The wiper control unit 425 may release all operation restrictions and cause the wipers to start normal operation, or may gradually release the operation restrictions and gradually increase the wiping frequency and wiping speed of the wipers.

[0126] Summary of the fifth embodiment The fifth embodiment described above also achieves the same effects as the first embodiment. In addition, in the fifth embodiment, a passenger state determination unit 22 that determines the wakefulness state of a passenger and a passenger seat angle adjustment unit 12 that adjusts the angle of the passenger seat back are installed in the vehicle 6. When the driver's seat back and the passenger seat back are both in a reclined position (S502: YES), the wiper control unit 425 limits the operation of the wipers installed in the vehicle 6 (S503). As a result, when all seats in which passengers are seated are in a reclined position and there is a possibility that all passengers are asleep, the operation of the wipers is limited. As a result, it is less likely that the operating noise of the wipers will disturb the sleep of the passengers.

[0127] Furthermore, when there is a plan to switch to an autonomous driving level lower than autonomous driving level 4 (S521: YES), the wiper control unit 425 relaxes the restrictions on wiper operation (S522). As a result, wiper operation can be resumed at a timing when it becomes necessary for the driver to monitor the surroundings. As a result, the driver can resume monitoring the surroundings while maintaining visibility.

[0128] Although multiple embodiments have been described above, the disclosed technology is not limited to the above-described embodiments, and the following modifications are also included within the scope of the disclosure. Furthermore, various modifications other than those described below can be made without departing from the spirit of the invention.

[0129] <Variation 1> In the above embodiment, the autonomous driving level acquisition unit 422, the driver state acquisition unit 423, and the reclining control unit 424 are executed by the autonomous driving ECU 42. However, the autonomous driving level acquisition unit 422, the driver state acquisition unit 423, and the reclining control unit 424 may be executed by an ECU other than the autonomous driving ECU 42.

[0130] <Variation 2> The driver state determination unit 21 and the passenger state determination unit 22 may detect the driver and passenger states using biological information detection means other than a camera instead of or in addition to a camera. Examples of biological information detection means other than a camera include biological information detection means that detect body temperature, heart rate, and pulse.

[0131] <Variation 3> The processing order of S2 and S3 may be reversed.

[0132] <Variation 4> In the above embodiment, if there is an emergency (S4: YES), the driver's seat back is quickly changed to the driving angle (S7, S10) regardless of the driver's state of consciousness. However, even if there is an emergency, if the driver is asleep, the forward tilt end control may be executed. This is because there are cases where it is better to quickly wake the driver up. For example, if there is an emergency in which the risk of collision is determined to be low and the driver is asleep, the forward tilt end control may be executed.

[0133] Also, even in an emergency, it is possible to stop reclining all seats in steps S7 and S10, and stop only the reclining of the driver's seat back. This is because in an emergency where the risk of a collision is judged to be low, it may be acceptable for the passenger seat to continue reclining.

[0134] <Variation 5> In the above embodiment, the functions related to the "driver's vehicle control device" that were implemented in the autonomous driving ECU 42 may be implemented in an in-vehicle ECU different from the autonomous driving ECU 42. As an example, at least some of the functions related to the "driver's vehicle control device" may be implemented in an HMI (Human Machine Interface)-ECU that comprehensively controls the user interfaces mounted on the vehicle 6. In such a configuration, the HMI-ECU, or a system including the autonomous driving ECU and the HMI-ECU, corresponds to the "driver's vehicle control device."

[0135] <Variation 6> The form of the storage medium (non-transitory tangible storage medium) that stores various programs and the like may be changed as appropriate. Such a storage medium is not limited to being mounted on a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot, and electrically connected to a control circuit such as an autonomous driving ECU or HCU. Furthermore, the storage medium may be an optical disk or hard disk drive, etc., from which programs are copied or distributed to the autonomous driving ECU 42.

[0136] <Variation 7> The driving assistance ECU 41, the autonomous driving ECU 42, and the cruise control ECU 50 are referred to as control units in the following description. The control units and methods described in the present disclosure may be implemented by a special-purpose computer comprising a processor programmed to execute one or more functions embodied in a computer program. Alternatively, the apparatus and methods described in the present disclosure may be implemented by a special-purpose hardware logic circuit. Alternatively, the apparatus and methods described in the present disclosure may be implemented by one or more special-purpose computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory tangible recording medium.

[0137] (Disclosure of technical ideas) This specification discloses multiple technical ideas described in the following multiple clauses. Some clauses may be written in a multiple dependent form, with the subsequent clause referring to the preceding clause as an alternative. Furthermore, some clauses may be written in a multiple dependent form, referring to another multiple dependent clause. These multiple dependent clauses define multiple technical ideas.

[0138] (Technical thought 1) an autonomous driving system (40) that can switch between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control device for a driver used in a vehicle equipped with an autonomous driving level acquisition unit (422) that acquires the autonomous driving level currently being executed by the autonomous driving system and the autonomous driving level to be executed; a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) that, when the driver's seat back is in a reclined state and the autonomous driving level acquisition unit acquires that the autonomous driving level will be switched from the nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, ends the reclined state and causes a notification unit mounted on the vehicle to output a notification associated with the end of the reclined state, The reclining control unit determines the control order of the angle control of the driver's seat back to end the reclining state and the output control from the notification unit to end the reclining state, depending on the driver's state of consciousness. (Technical thought 2) A vehicle control device for a driver according to Technical Idea 1, The reclining control unit, when terminating the reclining state, acquires from the autonomous driving level acquisition unit that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and when a simultaneous control condition is met, including the driver being asleep, simultaneously controls the angle of the driver's seat back and the output control from the notification unit. (Technical Thought 3) A vehicle control device for a driver according to Technical Concept 2, The vehicle is equipped with a passenger state determination unit (22) that determines the wakefulness state of a passenger who is a passenger other than the driver, The reclining control unit, when terminating the reclining state, acquires from the autonomous driving level acquisition unit that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and if sequential control conditions are met, including the driver being asleep but the passenger being awake, performs output control from the notification unit and then starts angle control of the driver's seat back. (Technical Thought 4) A vehicle control device for a driver according to Technical Concept 3, The sequential control conditions include that the passenger is in an awake state and that the awake passenger is not an infant. (Technical Thought 5) A vehicle control device for a driver according to any one of Technical Ideas 1 to 4, The reclining control unit, when terminating the reclining state, acquires from the autonomous driving level acquisition unit that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and if the driver is awake, performs output control from the notification unit and then starts angle control of the driver's seat back. A vehicle control device for a driver. (Technical Thought 6) A vehicle control device for a driver according to any one of Technical Ideas 1 to 5, A vehicle control device for a driver, in which, when the reclining control unit ends the reclining state, the autonomous driving level acquisition unit acquires that the autonomous driving level is about to switch from the nap-enabling autonomous driving level to a level lower than the nap-enabling autonomous driving level, and if the driver is asleep, after ending the reclining state, the notification unit outputs a notification indicating that the nap-enabling autonomous driving level will soon end. (Technical Thought 7) A vehicle control device for a driver according to any one of Technical Ideas 1 to 6, A vehicle control device for a driver, in which, when the reclining control unit ends the reclining state, the autonomous driving level acquisition unit acquires that the autonomous driving level is about to switch from the nap-enabling autonomous driving level to a level lower than the nap-enabling autonomous driving level, and if the driver is awake, the notification unit outputs a notification indicating that the nap-enabling autonomous driving level will soon end, and then the reclining state is ended. (Technical Thought 8) A vehicle control device for a driver according to any one of Technical Ideas 1 to 7, A vehicle control device for a driver, wherein the reclining control unit determines the control order of the angle control of the back of the driver's seat and the output control from the notification unit according to the driver's state of consciousness when ending the reclining state, and varies the maximum upright angle of the back of the driver's seat when ending the reclining state according to the driver's state of consciousness. (Technical Thought 9) A vehicle control device for a driver according to any one of Technical Ideas 1 to 8, When the vehicle can reach the destination while maintaining the nap-enabling autonomous driving level, the autonomous driving level acquisition unit further grasps a type of the destination including at least a boarding / alighting area and a parking lot; The reclining control unit is a vehicle control device for a driver that changes the content of the angle control of the driver's seat back to end the reclined state depending on whether the destination is the boarding and disembarking area or the parking lot. (Technical Thought 10) A vehicle control device for a driver according to Technical Idea 9, The reclining control section When the vehicle heads toward the boarding / alighting area while maintaining the nap-enabling autonomous driving level, the angle control of the driver's seat back is started before the vehicle arrives at the boarding / alighting area, A vehicle control device for a driver that starts angle control of the driver's seat back after arriving at the parking lot when the vehicle heads to the parking lot while maintaining the nap-enabling autonomous driving level. (Technical Thought 11) A vehicle control device for a driver according to Technical Idea 9 or 10, The reclining control unit is a vehicle control device for a driver that, when the vehicle departs from the boarding / alighting area or the parking lot at the nap-enabling autonomous driving level, puts the back of the driver's seat into the reclined state on the condition that the vehicle has moved to a predetermined location or has reached a predetermined speed or greater. (Technical Thought 12) A vehicle control device for a driver according to any one of Technical Ideas 1 to 11, The vehicle includes: a passenger state determination unit (22) for determining the wakefulness state of a passenger other than the driver; a passenger seat angle adjustment unit (12) for adjusting the angle of the passenger seat back; The vehicle control device for a driver, wherein the reclining control unit prioritizes the angle control of the driver's seat back over the angle control of the passenger seat back when ending the reclined state. (Technical Thought 13) A vehicle control device for a driver according to Technical Idea 12, The reclining control unit starts angle control of the passenger seat back to end the reclined state based on an end operation input by the driver. (Technical Thought 14) A vehicle control device for a driver according to any one of Technical Ideas 1 to 13, The vehicle control device for a driver further includes a wiper control unit (425) that limits operation of wipers mounted on the vehicle when both the driver's seat back and the passenger seat back are in the reclined state. (Technical Thought 15) A vehicle control device for a driver according to Technical Idea 14, The wiper control unit is a vehicle control device for a driver that relaxes restrictions on the operation of the wipers when there is a plan to switch to an autonomous driving level lower than the nap-enabling autonomous driving level. (Technical Thought 17) an autonomous driving system (40) that can switch between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control device for a driver used in a vehicle equipped with an autonomous driving level acquisition unit (422) that acquires the autonomous driving level currently being executed by the autonomous driving system and the autonomous driving level to be executed; a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) that ends the reclining state when the driver's seat back is in a reclined state and the autonomous driving level acquisition unit acquires that the autonomous driving level will be switched from the nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, The reclining control unit is a vehicle control device for a driver that, when ending the reclining state, varies the maximum control angle of the driver's seat back when ending the reclining state depending on the driver's state of consciousness. (Technical Thought 18) A vehicle control device for a driver according to Technical Idea 17, A vehicle control device for a driver, in which the reclining control unit, when terminating the reclining state, tilts the angle of the driver's seat back to a forward angle based on the autonomous driving level acquisition unit determining that the driver is asleep. (Technical Thought 19) A vehicle control device for a driver according to Technical Idea 18, The reclining control unit, when terminating the reclining state, acquires from the autonomous driving level acquisition unit that the autonomous driving level is switching to a level close to a level lower than the nap-enabling autonomous driving level, and if the driver is asleep, tilts the angle of the driver's seat back to a forward angle. This is a vehicle control device for a driver. (Technical Thought 20) A vehicle control device for a driver according to Technical Idea 18 or 19, A vehicle control device for a driver, in which the reclining control unit, when terminating the reclining state, sets the angle of the back of the driver's seat to the driving angle regardless of the driver's state of consciousness if the autonomous driving level acquisition unit acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level. (Technical Thought 21) A vehicle control device for a driver according to Technical Idea 20, A passenger seat angle adjustment unit (12) is provided to adjust the angle of the back of a seat other than the driver's seat, A vehicle control device for a driver, in which, when the reclining state is ended, if the autonomous driving level acquisition unit acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, the reclining control unit sets the angle of the back of the driver's seat to the driving angle and also sets the angle of the back of the seats other than the driver's seat to a standard angle. (Technical Thought 22) A vehicle control device for a driver according to Technical Idea 20, A vehicle control device for a driver, in which the reclining control unit, when the autonomous driving level acquisition unit acquires that the autonomous driving level is scheduled to immediately switch to a level lower than the nap-enabling autonomous driving level, increases the angle change rate of the driver's seat back compared to when the reclining state is terminated because the autonomous driving level acquisition unit acquires that the autonomous driving level is about to switch to a level lower than the nap-enabling autonomous driving level. (Technical Thought 24) An automated driving system (40) capable of performing automated driving at a nap-enabling automated driving level that allows the driver to take a nap; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control device for a driver used in a vehicle equipped with a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) for controlling the reclining state of the driver's seat back; The reclining control unit is a vehicle control device for a driver that suspends angle control of the driver's seat back to end the reclined state when the driver is asleep when the vehicle approaches a destination while maintaining the nap-enabling autonomous driving level. (Technical Thought 25) A vehicle control device for a driver according to Technical Idea 24, A vehicle control device for a driver, further comprising an automatic driving control execution unit (421) that, when the driver is asleep, circulates around the destination by automatic driving at the nap-enabling automatic driving level. (Technical Thought 26) A vehicle control device for a driver according to Technical Idea 25, The automatic driving control execution unit is a vehicle control device for a driver that performs automatic driving to circulate around the destination when the arrival time is earlier than the expected arrival time notified to the driver in advance. (Technical Thought 27) A vehicle control device for a driver according to any one of Technical Ideas 24 to 26, The driver state acquisition unit further acquires sleep-related information related to the sleep of the driver when the driver is in a sleeping state, The reclining control unit determines whether to control the angle of the driver's seat back to end the reclining state based on the sleep-related information when the vehicle is parked at the destination and the driver is asleep. [Explanation of symbols]

[0139] 6: Vehicle, 10: Seat angle adjustment unit, 11: Driver's seat angle adjustment unit, 12: Passenger seat angle adjustment unit, 20: Occupant state determination unit, 21: Driver state determination unit, 22: Passenger state determination unit, 30: Notification unit, 31: Speaker, 32: Display, 40: Autonomous driving system, 41: Driving assistance ECU, 42: Autonomous driving ECU, 43: Processing unit, 44: RAM, 45: Memory unit, 46: Input / output interface, 50: Cruise control ECU, 60: Surrounding monitoring sensor, 61: Camera unit, 62: Millimeter wave radar, 63: Lidar, 64: Sonar, 70: Locator, 71: Map DB, 80: In-vehicle communication device, 90: Communication bus, 421: Autonomous driving control execution unit, 422: Autonomous driving level acquisition unit, 423: Driver state acquisition unit, 424: Reclining control unit, 425: Wiper control unit

Claims

1. An autonomous driving system (40) capable of switching between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; A driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control device for a driver used in a vehicle equipped with an autonomous driving level acquisition unit (422) that acquires the autonomous driving level currently being executed by the autonomous driving system and the autonomous driving level to be executed; a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) that, when the driver's seat back is in a reclined state and the autonomous driving level acquisition unit acquires that the autonomous driving level will be switched from the nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, ends the reclined state and causes a notification unit mounted on the vehicle to output a notification associated with the end of the reclined state, When the vehicle can reach the destination while maintaining the nap-enabling autonomous driving level, the autonomous driving level acquisition unit further grasps a type of the destination including at least a boarding / alighting area and a parking lot; The reclining control section When terminating the reclining state, a control order of the angle control of the driver's seat back and the output control from the notification unit for terminating the reclining state is determined according to the driver's state of consciousness; changing the content of the angle control of the back of the driver's seat for ending the reclining state depending on whether the destination is the boarding / alighting area or the parking lot; When the vehicle heads toward the boarding / alighting area while maintaining the nap-enabling autonomous driving level, the angle control of the driver's seat back is started before the vehicle arrives at the boarding / alighting area, A vehicle control device for a driver that starts angle control of the driver's seat back after arriving at the parking lot when the vehicle heads to the parking lot while maintaining the nap-enabling autonomous driving level.

2. 2. A vehicle control device for a driver according to claim 1, The reclining control unit is a vehicle control device for a driver that, when the vehicle departs from the boarding / alighting area or the parking lot at the nap-enabling autonomous driving level, puts the back of the driver's seat into the reclined state on the condition that the vehicle has moved to a predetermined location or has reached a predetermined speed or greater.

3. 2. A vehicle control device for a driver according to claim 1, The reclining control unit, when terminating the reclining state, acquires from the autonomous driving level acquisition unit that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and when a simultaneous control condition is met, including the driver being asleep, simultaneously controls the angle of the driver's seat back and the output control from the notification unit.

4. 4. A vehicle control device for a driver according to claim 3, The vehicle is equipped with a passenger state determination unit (22) that determines the wakefulness state of a passenger who is a passenger other than the driver, The reclining control unit, when terminating the reclining state, acquires from the autonomous driving level acquisition unit that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and if sequential control conditions are met, including the driver being asleep but the passenger being awake, performs output control from the notification unit and then starts angle control of the driver's seat back.

5. An autonomous driving system (40) capable of switching between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; A driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; a passenger state determination unit (22) for determining the wakefulness state of a passenger other than the driver; A vehicle control device for a driver used in a vehicle equipped with an autonomous driving level acquisition unit (422) that acquires the autonomous driving level currently being executed by the autonomous driving system and the autonomous driving level to be executed; a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) that, when the driver's seat back is in a reclined state and the autonomous driving level acquisition unit acquires that the autonomous driving level will be switched from the nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, ends the reclined state and causes a notification unit mounted on the vehicle to output a notification associated with the end of the reclined state, When the reclining state is to be ended, the reclining control unit determining a control order of the angle control of the driver's seat back and the output control from the notification unit to terminate the reclining state according to the driver's state of consciousness; When the autonomous driving level acquisition unit acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level and a simultaneous control condition including the driver being asleep is satisfied, the angle control of the driver's seat back and the output control from the notification unit are simultaneously executed; A vehicle control device for a driver that, when the autonomous driving level acquisition unit acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and when sequential control conditions are met, including the driver being asleep but the passenger being awake, performs output control from the notification unit and then starts angle control of the driver's seat back.

6. 6. A vehicle control device for a driver according to claim 4 or 5, The sequential control conditions include that the passenger is in an awake state and that the awake passenger is not an infant.

7. 6. A vehicle control device for a driver according to claim 1 or 5, The reclining control unit, when terminating the reclining state, acquires from the autonomous driving level acquisition unit that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and if the driver is awake, performs output control from the notification unit and then starts angle control of the driver's seat back. A vehicle control device for a driver.

8. 6. A vehicle control device for a driver according to claim 1 or 5, A vehicle control device for a driver, in which, when the reclining control unit ends the reclining state, the autonomous driving level acquisition unit acquires that the autonomous driving level is about to switch from the nap-enabling autonomous driving level to a level lower than the nap-enabling autonomous driving level, and if the driver is asleep, after ending the reclining state, the notification unit outputs a notification indicating that the nap-enabling autonomous driving level will soon end.

9. 6. A vehicle control device for a driver according to claim 1 or 5, A vehicle control device for a driver, in which, when the reclining control unit ends the reclining state, the autonomous driving level acquisition unit acquires that the autonomous driving level is about to switch from the nap-enabling autonomous driving level to a level lower than the nap-enabling autonomous driving level, and if the driver is awake, the notification unit outputs a notification indicating that the nap-enabling autonomous driving level will soon end, and then the reclining state is ended.

10. 6. A vehicle control device for a driver according to claim 1 or 5, A vehicle control device for a driver, wherein the reclining control unit determines the control order of the angle control of the back of the driver's seat and the output control from the notification unit according to the driver's state of consciousness when ending the reclining state, and varies the maximum upright angle of the back of the driver's seat when ending the reclining state according to the driver's state of consciousness.

11. 6. A vehicle control device for a driver according to claim 1 or 5, The vehicle is equipped with a passenger seat angle adjustment unit (12) that adjusts the angle of the passenger seat back, The vehicle control device for a driver, wherein the reclining control unit prioritizes the angle control of the driver's seat back over the angle control of the passenger seat back when ending the reclined state.

12. 12. A vehicle control device for a driver according to claim 11, The reclining control unit starts angle control of the passenger seat back to end the reclined state based on an end operation input by the driver.

13. 6. A vehicle control device for a driver according to claim 1 or 5, The vehicle control device for a driver further comprises a wiper control unit (425) that limits operation of a wiper mounted on the vehicle when both the driver's seat back and the passenger seat back are in the reclined state.

14. 14. A vehicle control device for a driver according to claim 13, The wiper control unit is a vehicle control device for a driver that relaxes restrictions on the operation of the wipers when there is a plan to switch to an autonomous driving level lower than the nap-enabling autonomous driving level.

15. An autonomous driving system (40) capable of switching between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; A driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control method for a driver used in a vehicle equipped with the Acquire the autonomous driving level currently being executed by the autonomous driving system and the autonomous driving level to be executed; acquiring the driver's state of consciousness from the driver state determination unit; When the driver's seat back is in a reclined state and it is determined that the autonomous driving level will be switched from the nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, the reclined state is terminated and a notification unit mounted on the vehicle outputs a notification in association with the termination of the reclined state; If the vehicle can reach the destination while maintaining the nap-enabling autonomous driving level, further ascertain a type of the destination that includes at least a boarding / alighting area and a parking lot; When terminating the reclining state, a control order of the angle control of the driver's seat back and the output control from the notification unit for terminating the reclining state is determined according to the driver's state of consciousness; changing the content of the angle control of the back of the driver's seat for ending the reclining state depending on whether the destination is the boarding / alighting area or the parking lot; When the vehicle heads toward the boarding / alighting area while maintaining the nap-enabling autonomous driving level, the angle control of the driver's seat back is started before the vehicle arrives at the boarding / alighting area, A vehicle control method for a driver, in which, when the vehicle heads to the parking lot while maintaining the nap-enabling autonomous driving level, angle control of the driver's seat back is started after the vehicle arrives at the parking lot.

16. An autonomous driving system (40) capable of switching between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; A driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; a passenger state determination unit (22) for determining the wakefulness state of a passenger other than the driver; A vehicle control method for a driver used in a vehicle equipped with the Acquire the autonomous driving level currently being executed by the autonomous driving system and the autonomous driving level to be executed; acquiring the driver's state of consciousness from the driver state determination unit; When the driver's seat back is in a reclined state and it is determined that the autonomous driving level will be switched from the nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, the reclined state is terminated and a notification unit mounted on the vehicle outputs a notification in association with the termination of the reclined state; When terminating the reclining state, a control order of the angle control of the driver's seat back and the output control from the notification unit for terminating the reclining state is determined according to the driver's state of consciousness; When it is determined that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level and a simultaneous control condition including the driver being asleep is satisfied, the angle control of the driver's seat back and the output control from the notification unit are simultaneously executed; A vehicle control method for a driver that acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, and when sequential control conditions are met, including the driver being asleep but the passenger being awake, performs output control from the notification unit and then starts angle control of the driver's seat back.

17. An autonomous driving system (40) capable of switching between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; A driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control device for a driver used in a vehicle equipped with an autonomous driving level acquisition unit (422) that acquires the autonomous driving level currently being executed by the autonomous driving system and the autonomous driving level to be executed; a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) that ends the reclining state when the driver's seat back is in a reclined state and the autonomous driving level acquisition unit acquires that the autonomous driving level will be switched from the nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, The reclining control unit, when terminating the reclined state, varies the maximum control angle of the back of the driver's seat depending on the driver's state of consciousness, and tilts the angle of the back of the driver's seat forward based on the driver being asleep.

18. 18. A vehicle control device for a driver according to claim 17, The reclining control unit, when terminating the reclining state, acquires from the autonomous driving level acquisition unit that the autonomous driving level is switching to a level close to a level lower than the nap-enabling autonomous driving level, and if the driver is asleep, tilts the angle of the driver's seat back to a forward angle. This is a vehicle control device for a driver.

19. 19. A vehicle control device for a driver according to claim 17 or 18, A vehicle control device for a driver, in which the reclining control unit, when terminating the reclining state, sets the angle of the back of the driver's seat to the driving angle regardless of the driver's state of consciousness if the autonomous driving level acquisition unit acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level.

20. 20. A vehicle control device for a driver according to claim 19, A passenger seat angle adjustment unit (12) is provided for adjusting the angle of the back of a seat other than the driver's seat, A vehicle control device for a driver, in which, when the reclining state is ended, if the autonomous driving level acquisition unit acquires that the autonomous driving level will immediately switch to a level lower than the nap-enabling autonomous driving level, the reclining control unit sets the angle of the back of the driver's seat to the driving angle and also sets the angle of the back of the seats other than the driver's seat to a standard angle.

21. 20. A vehicle control device for a driver according to claim 19, A vehicle control device for a driver, in which the reclining control unit, when the autonomous driving level acquisition unit acquires that the autonomous driving level is scheduled to immediately switch to a level lower than the nap-enabling autonomous driving level, increases the angle change rate of the driver's seat back compared to when the reclining state is terminated because the autonomous driving level acquisition unit acquires that the autonomous driving level is about to switch to a level lower than the nap-enabling autonomous driving level.

22. An autonomous driving system (40) capable of switching between a nap-enabling autonomous driving level that allows the driver to take a nap and an autonomous driving level that is lower than the nap-enabling autonomous driving level that requires the driver to be able to immediately take over driving; A driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control method for a driver used in a vehicle equipped with the Acquire the autonomous driving level currently being executed by the autonomous driving system and the autonomous driving level to be executed; acquiring the driver's state of consciousness from the driver state determination unit; When the driver's seat back is in a reclined state and it is determined that the autonomous driving level will be switched from the nap-enabling autonomous driving level to an autonomous driving level lower than the nap-enabling autonomous driving level, the reclined state is terminated; A vehicle control method for a driver, which, when terminating the reclining state, varies the maximum control angle of the back of the driver's seat when terminating the reclining state depending on the driver's state of consciousness, and sets the angle of the back of the driver's seat to a forward tilt angle based on whether the driver is asleep.

23. An automated driving system (40) capable of performing automated driving at a nap-enabling automated driving level that allows a driver to take a nap; A driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control device for a driver used in a vehicle equipped with a driver state acquisition unit (423) that acquires the driver's state of consciousness from the driver state determination unit; a reclining control unit (424) for controlling the reclining state of the driver's seat back; The reclining control unit is a vehicle control device for a driver that, when the vehicle approaches a destination while maintaining the nap-enabling autonomous driving level, executes angle control of the back of the driver's seat to end the reclined state if the driver is awake, and suspends angle control of the back of the driver's seat to end the reclined state if the driver is asleep.

24. 24. A vehicle control device for a driver according to claim 23, A vehicle control device for a driver further comprising an automatic driving control execution unit (421) that, when the driver is asleep, circulates around the destination by automatic driving at the nap-enabling automatic driving level.

25. 25. A driver vehicle control device according to claim 24, The automatic driving control execution unit is a vehicle control device for a driver that performs automatic driving to circulate around the destination when the arrival time is earlier than the expected arrival time notified to the driver in advance.

26. 24. A vehicle control device for a driver according to claim 23, The driver state acquisition unit further acquires sleep-related information related to the sleep of the driver when the driver is in a sleeping state, The reclining control unit determines whether to control the angle of the driver's seat back to end the reclining state based on the sleep-related information when the vehicle is parked at the destination and the driver is asleep.

27. An automated driving system (40) capable of performing automated driving at a nap-enabling automated driving level that allows a driver to take a nap; A driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) that determines whether the driver's state of consciousness is awake or asleep; A vehicle control method for a driver used in a vehicle equipped with the acquiring the driver's state of consciousness from the driver state determination unit; A vehicle control method for a driver, in which, when the vehicle approaches a destination while maintaining the nap-enabling autonomous driving level, if the driver is awake, angle control of the back of the driver's seat to end the reclining state is executed, and if the driver is asleep, angle control of the back of the driver's seat to end the reclining state is suspended.

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