Vehicle control device and vehicle control method

Abstract

To provide a vehicle control device and a vehicle control method that can appropriately and easily switch a vehicular driving mode.SOLUTION: A vehicle control device comprises a setting part and an indication part. The setting part sets a vehicular driving mode capable of automatic driving to an automatic driving mode and a manual driving mode. The indication part indicates to a vehicle control part so that a vehicle stops, when the driving mode is set to the automatic driving mode and if a passenger on the vehicle performs any operation with respect to the vehicle. The setting part sets the driving mode to the manual driving mode, when the vehicle is in a stop state and if driving operation of the vehicle according to the passenger of the vehicle or a mode change operation has been performed.SELECTED DRAWING: Figure 1B

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, there is known a vehicle control device that controls a vehicle that travels around a predetermined route by automatic driving (see, for example, Patent Document 1). The vehicle can also be driven manually. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-154420 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional vehicle control devices, the vehicle's driving mode is switched from an automatic driving mode to a manual driving mode in response to an instruction from a boarding attendant, but there is room for improvement in the switching method.

[0005] The present invention has been made in view of the above, and has an object to provide a vehicle control device and a vehicle control method that can switch driving modes appropriately and easily. [Means for solving the problem]

[0006] A vehicle control device according to one aspect of the embodiment includes a setting unit and an instruction unit. The setting unit sets the driving mode of an autonomously operable vehicle to an autonomous driving mode or a manual driving mode. The instruction unit instructs a vehicle control unit to stop the vehicle when the driving mode is the autonomous driving mode and an occupant of the vehicle performs some operation on the vehicle. The setting unit sets the driving mode to the manual driving mode when the vehicle is stopped and the occupant of the vehicle performs a driving operation or a mode change operation on the vehicle. [Effects of the Invention]

[0007] According to one aspect of the embodiment, the driving mode of a vehicle can be switched appropriately and easily. [Brief explanation of the drawings]

[0008] [Figure 1A] FIG. 1A is a diagram showing a facility through which a vehicle travels. [Figure 1B] FIG. 1B is a diagram illustrating a vehicle control method according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of the operation management system according to the embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of the configuration of the vehicle control device according to the embodiment. [Figure 4] FIG. 4 is a diagram showing the transition state of the operation mode. [Figure 5] FIG. 5 is a flowchart (part 1) illustrating the driving process according to the embodiment. [Figure 6] FIG. 6 is a flowchart illustrating the driving process according to the embodiment (part 2). DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle control device and a vehicle control method according to an embodiment will be described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the present embodiment.

[0010] (Embodiment) First, an overview of a vehicle control method according to an embodiment will be described with reference to Fig. 1A and Fig. 1B. Fig. 1A is a diagram showing a facility P through which a vehicle V travels. Fig. 1B is a diagram explaining a vehicle control method according to an embodiment. The vehicle control method is executed by a vehicle control device 1.

[0011] The vehicle control device 1 is provided in an autonomously driven vehicle V. The vehicle V is, for example, an electric vehicle driven by a motor. The vehicle V is not limited to this. The vehicle V may be a hybrid vehicle equipped with multiple drive sources such as a motor and an engine, or may be a fuel cell vehicle. An electric vehicle will be described below as an example. The vehicle V may include multiple types of vehicles with different maximum passenger numbers.

[0012] A vehicle V travels within a facility P as shown in FIG. 1A. Multiple vehicles V are arranged within the facility P. The facility P includes, for example, theme parks, shopping malls, event venues, airports, schools such as universities, and parks. Theme parks include amusement parks and zoos. Event venues include permanent venues and venues with limited time slots. The facility P includes, for example, a charging station S for charging the battery installed in the vehicle V. Multiple travel routes are provided within the facility P. The facility P may be a single building, or may have multiple buildings within its premises. The vehicle V may travel within the facility P either inside a building or outdoors within the premises. Note that the vehicle V is not limited to traveling within the facility P and may also travel on public roads.

[0013] The vehicle V travels, for example, at a predetermined low speed within the facility P. The predetermined low speed is, for example, 10 km to 15 km. The vehicle V has three driving modes: an "automatic driving mode," a "manual driving mode," and a "standby mode."

[0014] The "autonomous driving mode" is a mode in which the vehicle travels within the facility P along a set driving route. When the driving mode is the autonomous driving mode, the vehicle control device 1 operates the steering wheel and adjusts the driving speed of the vehicle V so that the vehicle V travels along the driving route. The vehicle control device 1 acquires position information from a position information device, such as a GPS (Global Positioning System) device, mounted on the vehicle V, and drives the vehicle V along the driving route based on the position information.

[0015] When the driving mode is the autonomous driving mode and the vehicle V is circulating at a low speed within the facility P, people can freely get on and off the vehicle V. For example, if the vehicle control device 1 detects a person around the vehicle V, it reduces the driving speed of the vehicle V. This allows people to easily get on and off the vehicle V. Note that when a person gets on or off the vehicle V, the vehicle V may be stopped. When the driving mode is the autonomous driving mode and the vehicle V arrives at a destination within the facility P along a predetermined driving route, the driving mode changes to standby mode.

[0016] "Manual driving mode" is a mode in which the vehicle travels within facility P in response to operations by the passenger. When the driving mode is manual driving mode, for example, the vehicle V travels in response to the passenger's steering, accelerator, and brake operations. Note that manual driving mode also includes a case in which the passenger sets the destination of the vehicle V within facility P, and some of the vehicle V's operations are automatically performed toward the set destination.

[0017] The "standby mode" is a mode in which the vehicle V is stopped and made to wait at the stopped position.

[0018] Note that vehicle V may be, for example, a public bus, allowing multiple people (groups) to ride freely in one vehicle V, or one person (group) may rent one vehicle V exclusively. When renting vehicle V exclusively, for example, after a person gets on board or after switching to manual driving mode, a door or bar provided at the vehicle boarding / alighting section may be automatically or manually moved to prevent subsequent people from boarding. The driving mode may be changed in response to the passenger operating a mode selector switch.

[0019] The vehicle control device 1 can switch the driving mode between an automatic driving mode and a manual driving mode when the vehicle V travels within the facility P. In other words, the vehicle V serves both as a vehicle V that travels around the facility P along a predetermined travel route and as a vehicle V whose destination within the facility P is set by the passenger.

[0020] For example, if vehicles that are only compatible with automatic driving mode and vehicles that are only compatible with manual driving mode are deployed at facility P, vehicles that are only compatible with each driving mode will be deployed according to peak vehicle demand. As a result, there is a risk of an oversupply of each vehicle during normal times when demand is lower than the peak vehicle demand. Furthermore, since a larger number of vehicles are required, there is a risk of increased costs and reduced maintainability.

[0021] In contrast, in the embodiment, the vehicle V has an automatic driving mode and a manual driving mode, which reduces the number of vehicles V required and reduces costs. Also, by using the same vehicle V, the vehicle V can be made easier to maintain.

[0022] 1B, for example, when the vehicle V is traveling in an autonomous driving mode and an occupant performs some operation on the vehicle V (S1), the vehicle control device 1 according to the embodiment stops the vehicle V (S2). At this time, the driving mode of the vehicle V may be temporarily shifted to a standby mode.

[0023] The certain operation is an operation on an input means provided in the vehicle V. The certain operation includes, for example, a brake operation. The certain operation may include various switch operations such as a mode change switch for switching driving modes, and driving-related operations such as a brake operation, a steering operation, and a shift operation. The certain operation includes a remote operation on a passenger's terminal device (for example, a smartphone).

[0024] The certain operation is basically a driving operation of the vehicle V (such as a braking operation or a steering operation) or an input operation related to a mode change, but in the autonomous driving of the vehicle V, the occupant generally does not operate the vehicle V. Therefore, the certain operation is not limited to a driving operation of the vehicle V (such as a braking operation or a steering operation) or an input operation related to a mode change, but may also include various operations by the occupant on the vehicle V. When the occupant performs some operation on the vehicle V during the autonomous driving mode, the vehicle control device 1 may stop the vehicle V. In the following, a braking operation is described as an example of the certain operation.

[0025] Thereafter, when the occupant operates the vehicle V, specifically operates the accelerator (S3), the vehicle control device 1 sets the driving mode to the manual driving mode (S4).

[0026] Note that when the vehicle V is stopped (standby mode) and it is detected that the occupant has performed some driving-related operation such as a steering operation or a shift operation, or has performed an operation to change the state of the vehicle such as a mode selector switch, a start switch, or a start switch. For example, when the occupant operates the mode selector switch to set the driving mode to the manual driving mode, the vehicle control device 1 sets the driving mode to the manual driving mode. The vehicle control device 1 may set the driving mode to the manual driving mode based on remote operation of the occupant's terminal device.

[0027] As a result, vehicle V travels based on the operation of the occupant. For example, assume that the travel route in autonomous driving mode is route A indicated by the dashed arrow, and the occupant wishes to travel along route B indicated by the solid arrow instead of route A. In this case, the occupant operates the brakes and accelerator, which changes the driving mode of vehicle V to manual driving mode. Therefore, the occupant can drive vehicle V along route B as desired.

[0028] In this way, the driving mode can be switched by a simple operation by the passenger, and the vehicle control device 1 can therefore switch the driving mode appropriately and easily.

[0029] Next, a driving management system including the vehicle control device 1 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the configuration of a driving management system 2 according to an embodiment.

[0030] The driving management system 2 includes a plurality of vehicle control devices 1 and a management device 3. The plurality of vehicle control devices 1 and the management device 3 can communicate with each other wirelessly via a network N.

[0031] The management device 3 is realized by a server device, a cloud system, or the like. The management device 3 manages vehicles V traveling within the facility P in accordance with the demand for vehicles V within the facility P. The management device 3 detects the congestion state within the facility P. For example, the management device 3 detects the congestion state within the facility P based on an image captured by a camera installed within the facility P. The management device 3 predicts the demand for vehicles V in the facility P based on the current congestion state within the facility P, which is the detected current situation. The management device 3 may predict the demand for vehicles V within the facility P based on past congestion states within the facility P and usage trends of vehicles V, which are past situations, or may predict the demand for vehicles V based on both the current situation and the past situation.

[0032] Next, the vehicle control device 1 will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the configuration of the vehicle control device 1 according to the embodiment. The vehicle control device 1 includes a communication unit 10, a storage unit 11, and a control unit 12. Note that here, the configuration for performing functions related to the driving mode of the vehicle control device 1 will be described, and descriptions of other functions will be omitted.

[0033] The communication unit 10 is realized by, for example, a network interface card (NIC) or the like. The communication unit 10 is also wirelessly connected to a network N (see FIG. 2). The communication unit 10 receives information regarding the demand for vehicles V within the facility P from the management device 3.

[0034] The storage unit 11 is realized by, for example, a semiconductor memory element such as a random access memory (RAM) or a flash memory, or a storage device such as a hard disk or an optical disk.

[0035] The control unit 12 is a controller, and is realized by, for example, a CPU (Central Processing Unit), MPU (Micro Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), etc., by executing various programs (corresponding to examples of information processing programs) stored in a storage device inside the vehicle control device 1 using a storage area such as RAM as a working area.

[0036] 3, the control unit 12 includes an acquisition unit 20, a measurement unit 21, a determination unit 22, a setting unit 23, and an instruction unit 24. The acquisition unit 20, the measurement unit 21, the determination unit 22, the setting unit 23, and the instruction unit 24 are not limited to this, and may be configured as an integrated unit or may be configured as separate units.

[0037] The acquisition unit 20 acquires information regarding the demand for the vehicle V via the communication unit 10. The acquisition unit 20 acquires location information of the vehicle V from a location information device. The acquisition unit 20 acquires information regarding the operation of various switches such as a mode change switch.

[0038] The acquisition unit 20 acquires information regarding the brake operation by the passenger. The acquisition unit 20 acquires information regarding the brake operation by the passenger, for example, from a sensor that detects the operation of the brake pedal. The information regarding the brake operation may be acquired from a switch, a terminal device of the passenger, an operation panel, or the like. In other words, the configuration that generates a braking force on the vehicle V is not limited to the brake pedal.

[0039] The acquisition unit 20 acquires information related to the driving operation by the passenger. For example, the acquisition unit 20 acquires information related to the accelerator operation by the passenger from a sensor that detects the operation of the accelerator pedal. Information related to the accelerator operation may be acquired from a switch, a terminal device of the passenger, an operation panel, or the like. In other words, the configuration related to the accelerator operation is not limited to the accelerator pedal.

[0040] When the driving mode of the vehicle V is the standby mode, the measurement unit 21 measures a first elapsed time. The first elapsed time is the time that has elapsed since the standby mode started. When the driving mode is switched to the standby mode, the measurement unit 21 starts measuring the first elapsed time.

[0041] When the driving mode of the vehicle V is the manual driving mode, the measurement unit 21 measures a second elapsed time. The second elapsed time is a period of no operation during which the occupant does not perform any vehicle operations, such as driving, braking, or operating various switches (mainly switches located near the driver's seat), in the manual driving mode. When the driving mode is the manual driving mode, the measurement unit 21 starts measuring the second elapsed time when the above-mentioned driving operations and other operations are no longer performed. When the above-mentioned driving operations and other operations are performed, the measurement unit 21 resets the second elapsed time.

[0042] The determination unit 22 determines whether there is a shortage of vehicles V patrolling in autonomous driving mode within the facility P. The determination unit 22 determines whether there is a shortage of vehicles V patrolling in autonomous driving mode based on information regarding the demand for vehicles V. For example, if the number of vehicles V patrolling in autonomous driving mode is equal to or less than a predetermined number, the determination unit 22 determines that there is a shortage of vehicles V patrolling in autonomous driving mode within the facility P. The predetermined number is set based on information regarding the demand for vehicles V. Note that the predetermined number may be a fixed value. Management of the number of vehicles V may be performed for the entire facility P, or the facility P or the patrol route may be divided into multiple zones and management may be performed for each divided zone. Management of the number of vehicles V is not limited to vehicles V in autonomous driving mode, but may also include management of the number of vehicles V in manual driving mode and standby mode. For example, management of vehicles V within the facility P or waiting (standby mode) in each zone may be included.

[0043] The determination unit 22 determines whether the remaining charge of the battery mounted on the vehicle V is equal to or less than a predetermined remaining charge. The predetermined remaining charge is a remaining charge that is set in advance and allows the vehicle V to travel to the charging station S.

[0044] When the driving mode is the autonomous driving mode, the determination unit 22 determines whether the passengers on board the vehicle V are in only one riding group. The determination unit 22 determines whether the passengers on board the vehicle V are in only one riding group, for example, based on an image captured by a camera. The determination unit 22 may determine whether the passengers are in only one riding group based on registration information of the riding group via an application on a smartphone. For example, any riding group is registered by family, friends, etc., and the registration information of the riding group is acquired using short-range communication, for example, Bluetooth (registered trademark), etc. Note that the riding group includes a riding group of one person.

[0045] The determination unit 22 determines whether or not a brake operation is being performed on the vehicle V. The determination unit 22 determines whether or not a driving operation is being performed on the vehicle V. Specifically, the determination unit 22 determines whether or not an accelerator operation is being performed on the vehicle V.

[0046] When the driving mode is the standby mode, the determination unit 22 determines whether the first elapsed time is equal to or longer than a first predetermined time. The first predetermined time is a preset time, which is the time for passengers to completely disembark from the vehicle V or the time for confirming that no new passengers are getting on the vehicle V. The first predetermined time is, for example, one minute.

[0047] When the driving mode is the manual driving mode, the determination unit 22 determines whether the second elapsed time is equal to or longer than a second predetermined time. The second predetermined time is a preset time during which it can be determined that the passenger who has been driving the vehicle V no longer intends to drive the vehicle V. For example, the second predetermined time is one minute. For example, when the vehicle V is operated in the manual driving mode and the passenger arrives near a destination that the passenger had intended to drive manually, or when the passenger wishes to take over as driver, the passenger who had been driving the vehicle V until then will no longer drive the vehicle V, and will no longer operate the vehicle V. The second predetermined time is the time for determining such a state.

[0048] The setting unit 23 sets a driving route for the vehicle V within the facility P. For example, the setting unit 23 sets a driving route for the vehicle V when the driving mode is an autonomous driving mode, based on information regarding the demand for the vehicle V. For example, the setting unit 23 sets the driving route so that the vehicle V travels through congested points or points where congestion is predicted. Congested points or points where congestion is predicted are points where it is predicted that many people will get on and off the vehicle V.

[0049] If the remaining battery charge is equal to or less than a predetermined remaining charge, the setting unit 23 sets a travel route so that the charging station S becomes the destination.

[0050] The setting unit 23 sets the driving mode. When there is a shortage of vehicles V patrolling in the autonomous driving mode and the driving mode is the standby mode, the setting unit 23 switches the driving mode from the standby mode to the autonomous driving mode.

[0051] When the driving mode is the automatic driving mode, only one passenger group is on board the vehicle V, and a brake operation is performed, the setting unit 23 switches the driving mode from the automatic driving mode to the standby mode.

[0052] In addition, if the driving mode is the automatic driving mode, there are multiple passenger groups on board the vehicle V, and the brakes are operated, the setting unit 23 does not switch the driving mode to the standby mode, but maintains it in the automatic driving mode.

[0053] When the driving mode is the autonomous driving mode and the vehicle V arrives at a destination (a charging station, the end point of a tour route, or a waiting point), the setting unit 23 switches the driving mode from the autonomous driving mode to the waiting mode.

[0054] When the driving mode is the standby mode, the vehicle V is stopped, and a driving operation of the vehicle V, for example, an accelerator operation, is performed, the setting unit 23 switches the driving mode from the standby mode to the manual driving mode.

[0055] When the operation mode is the manual operation mode and the second elapsed time is equal to or greater than the second predetermined time, the setting unit 23 switches the operation mode from the manual operation mode to the standby mode.

[0056] Here, the transition of the operation mode will be described with reference to Fig. 4. Fig. 4 is a diagram showing the transition state of the operation mode.

[0057] When the driving mode is the autonomous driving mode, if a brake operation is performed, the driving mode transitions from the autonomous driving mode to the standby mode.When the driving mode is the autonomous driving mode, if the vehicle V arrives at its destination, the driving mode transitions from the autonomous driving mode to the standby mode.

[0058] When the operation mode is standby mode, if there are not enough vehicles V patrolling the facility P by automatic driving, the operation mode will transition from standby mode to automatic driving mode. When the operation mode is standby mode, if the remaining charge of the battery installed in the vehicle V falls below a predetermined level and the battery capacity is insufficient, the operation mode will transition from standby mode to automatic driving mode. When the operation mode is standby mode, if a driving operation is performed, the operation mode will transition from standby mode to manual driving mode.

[0059] When the operation mode is the manual operation mode, if the no-operation time has elapsed for a second predetermined time, the operation mode transitions from the manual operation mode to the standby mode.

[0060] When the driving mode is the automatic driving mode and a passenger applies a brake to the vehicle V, the instruction unit 24 instructs the vehicle V to stop. Specifically, when the driving mode is the automatic driving mode, one passenger group is on board the vehicle V, and a passenger applies a brake to the vehicle V, the setting unit 23 sets the driving mode to a standby mode. Based on the standby mode set by the setting unit 23, the instruction unit 24 generates a control signal to stop the vehicle V, and outputs the control signal to a braking device (vehicle control unit) of the vehicle V. This causes a braking force to be generated by the braking device, causing the vehicle V to decelerate and stop.

[0061] In addition, if the driving mode is automatic driving mode and the occupant operates the brakes on the vehicle V, the vehicle V may stop while the driving mode remains automatic driving mode, and after stopping, the driving mode may be transitioned to standby mode.

[0062] When the driving mode is the automatic driving mode, multiple passenger groups are on board the vehicle V, and a passenger applies a brake to the vehicle V, the setting unit 23 maintains the driving mode in the automatic driving mode. Therefore, the instruction unit 24 instructs the braking operation not to stop the vehicle V. Specifically, the instruction unit 24 does not generate a control signal to stop the vehicle V in response to the braking operation. In other words, when the driving mode is the automatic driving mode, multiple passenger groups are on board the vehicle V, and a passenger applies a brake to the vehicle V, the instruction unit 24 does not stop the vehicle V in response to the braking operation.

[0063] In addition, an emergency stop button or the like may be provided so that when multiple passenger groups are on board the vehicle V, an emergency stop can be made by a passenger.

[0064] When the driving mode is the manual driving mode and the remaining battery power is equal to or less than a predetermined remaining power, the instruction unit 24 notifies the passenger that the remaining battery power is low and stops the vehicle V. For example, the instruction unit 24 notifies the passenger that the remaining battery power is low by voice. The instruction unit 24 also displays the fact that the remaining battery power is low on a monitor or the like.

[0065] Next, the driving process according to the embodiment will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a flowchart (part 1) illustrating the driving process according to the embodiment. Fig. 6 is a flowchart (part 2) illustrating the driving process according to the embodiment. Here, it is assumed that the driving mode of the vehicle V is in standby mode. The process described below is repeatedly executed at predetermined processing intervals.

[0066] The vehicle control device 1 determines whether there are insufficient vehicles V circulating within the facility P. Specifically, the vehicle control device 1 determines whether the driving mode is the automatic driving mode and whether there are insufficient vehicles V traveling within the facility P (S100).

[0067] If there is no shortage of vehicles V circulating within the facility P (S100: No), the vehicle control device 1 determines whether the remaining amount of the battery is equal to or less than a predetermined remaining amount (S101).

[0068] If the remaining battery charge is greater than the predetermined remaining charge (S101: No), the vehicle control device 1 ends the current process. That is, the vehicle control device 1 maintains the driving mode in the standby mode. The vehicle control device 1 repeatedly executes the above process until the driving mode is switched from the standby mode to the autonomous driving mode.

[0069] If the remaining battery charge is equal to or less than a predetermined remaining charge (S101: Yes), the vehicle control device 1 sets the destination of the vehicle V to the charging station S (S102). Specifically, the vehicle control device 1 sets a driving route to the charging station S.

[0070] If there is a shortage of vehicles V circulating within the facility P (S100: Yes), the vehicle control device 1 sets a travel route for the vehicles V (S103).

[0071] The vehicle control device 1 switches the driving mode from the standby mode to the automatic driving mode (S104), and performs automatic driving along the travel route (S105).

[0072] The vehicle control device 1 determines whether one riding group is riding in the vehicle V (S106). If there is not one riding group (S106: No), the vehicle control device 1 continues automatic driving (S105).

[0073] When one riding group rides in the vehicle V (S106: Yes), the vehicle control device 1 determines whether or not a brake operation has been performed (S107).

[0074] If the driving mode is the automatic driving mode and the brake operation is not being performed (S107: No), the vehicle control device 1 continues the automatic driving (S105).

[0075] If the driving mode is the automatic driving mode and the brake operation is performed (S107: Yes), the vehicle control device 1 switches the driving mode from the automatic driving mode to the standby mode (S108) and stops the vehicle V (S109).

[0076] When the driving mode is the autonomous driving mode, and the vehicle V arrives at a destination (a charging station, the end point of a route, or a waiting point), the vehicle control device 1 switches the driving mode from the autonomous driving mode to a waiting mode and stops the vehicle V. This process may be executed separately as a stop process, or may be incorporated into the driving process.

[0077] The vehicle control device 1 determines whether a driving operation has been performed (S110). Specifically, the vehicle control device 1 determines whether an accelerator operation has been performed while the driving mode is in standby mode. If a driving operation has not been performed (S110: No), the vehicle control device 1 determines whether a first elapsed time has become equal to or greater than a first predetermined time (S111). If the first elapsed time is shorter than the first predetermined time (S111: No), the vehicle control device 1 maintains the standby mode and determines whether a driving operation has been performed (S110).

[0078] If the first elapsed time is equal to or greater than the first predetermined time (S111: Yes), the process ends. That is, when the first elapsed time is equal to or greater than the first predetermined time, the process returns to step S100, and after a predetermined processing time has elapsed, the driving process is started again and a determination is made as to whether to switch the driving mode to the autonomous driving mode.

[0079] If a driving operation has been performed (S110: Yes), the vehicle control device 1 switches the driving mode to the manual driving mode (S112).

[0080] The vehicle control device 1 determines whether the remaining battery charge is equal to or less than a predetermined remaining charge (S113). If the remaining battery charge is equal to or less than the predetermined remaining charge (S113: Yes), the vehicle control device 1 notifies the passenger that the remaining battery charge is low (S114) and stops the vehicle V (S115). The vehicle control device 1 sets the destination of the vehicle V to the charging station S (S102). Note that the vehicle control device 1 may set the destination of the vehicle V to the charging station S after confirming that the passenger has disembarked.

[0081] If the remaining battery charge is greater than the predetermined remaining charge (S113: No), the vehicle control device 1 determines whether the second elapsed time is equal to or greater than the second predetermined time (S116). If the second elapsed time is equal to or greater than the second predetermined time (S116: Yes), the vehicle control device 1 switches the driving mode from the manual driving mode to the standby mode (S117).

[0082] The vehicle control device 1 includes a setting unit 23 and an instruction unit 24. The setting unit 23 sets the driving mode of the automatically driveable vehicle V to an automatic driving mode or a manual driving mode. When the driving mode is the automatic driving mode and a brake operation is performed on the vehicle V by an occupant of the vehicle V, the instruction unit 24 instructs the braking device of the vehicle V to stop the vehicle V. When the vehicle V is stopped and a driving operation of the vehicle V is performed by an occupant of the vehicle V, the setting unit 23 sets the driving mode to the manual driving mode.

[0083] This allows the vehicle control device 1 to set the driving mode according to the occupant's operation of the vehicle V. When the occupant stops the vehicle V by braking and then performs a driving operation, the vehicle control device 1 changes the driving mode of the vehicle V to the manual driving mode. Therefore, the occupant can easily switch the driving mode of the vehicle V to the manual driving mode. The vehicle control device 1 can appropriately and easily switch the driving mode of the vehicle V.

[0084] The vehicle V travels within the facility P. The automatic driving mode is a driving mode in which the vehicle travels around the facility P along a set driving route.

[0085] This allows the vehicle control device 1 to appropriately and easily switch the driving mode of the vehicle V traveling within the facility P. The vehicle control device 1 can cause the vehicle V to travel within the facility P by automatic driving.

[0086] When the vehicle V is in a stopped state and the accelerator pedal of the vehicle V is operated by a passenger of the vehicle V, the setting unit 23 sets the driving mode to the manual driving mode.

[0087] This allows the vehicle control device 1 to set the driving mode to the manual driving mode in response to the accelerator operation by the occupant, thereby allowing the occupant to easily switch the driving mode of the vehicle V to the manual driving mode.

[0088] When the driving mode is the automatic driving mode and one riding group is on board the vehicle V, the instruction unit 24 instructs the braking device of the vehicle V to stop the vehicle V in response to a brake operation.

[0089] As a result, when one passenger group is on board the vehicle V, the passengers can stop the vehicle V by operating the brakes. Therefore, by operating the accelerator of the stopped vehicle V, the passengers can switch the driving mode to manual driving mode and operate the vehicle V to travel within the facility P.

[0090] When the driving mode is the automatic driving mode and multiple passenger groups are on board the vehicle V, the instruction unit 24 instructs the braking device of the vehicle V not to stop the vehicle V in response to a braking operation.

[0091] As a result, the vehicle control device 1 prevents the driving mode from being switched to the manual driving mode when multiple riding groups are on board the vehicle V. Therefore, the vehicle control device 1 can prevent, for example, a situation in which a destination is changed by an operation by a certain riding group to a destination that is not desired by other riding groups.

[0092] The setting unit 23 sets the driving mode to an automatic driving mode, a manual driving mode, or a standby mode. When there is a shortage of vehicles V traveling in the automatic driving mode and the driving mode is the standby mode, the setting unit 23 sets the driving mode to the automatic driving mode.

[0093] This allows the vehicle control device 1 to appropriately adjust the number of vehicles V traveling within the facility P.

[0094] (Variation) When there is little demand for vehicles V traveling within the facility P and the vehicle V has a lower remaining battery charge than other vehicles V, the vehicle control device 1 may set the driving mode to the automatic driving mode and move the vehicle V to the charging station S. For example, the vehicle control device 1 of each vehicle V obtains information regarding the remaining battery charge of the other vehicles V via the management device 3.

[0095] When there is little demand for the vehicle V to travel within the facility P, the vehicle control device 1 may set the driving mode to the automatic driving mode and move the vehicle V to the charging station S.

[0096] The driving management system 2 may determine whether there is a shortage of vehicles V patrolling in autonomous driving mode within the facility P using the management device 3. Based on the position information of each vehicle V and the demand for vehicles V traveling within the facility P, the management device 3 transmits a control signal to, for example, a vehicle V whose driving mode is in standby mode so that the driving mode changes to autonomous driving mode.

[0097] As a result, for example, the driving mode of the vehicle V that stops near a point with high demand becomes the automatic driving mode. As a result, the vehicle V arrives at the point with high demand quickly. Therefore, the driving management system 2 can eliminate congestion within the facility P.

[0098] When the driving mode is the automatic driving mode and a brake operation is performed, the vehicle control device 1 may stop the vehicle V regardless of the number of passenger groups riding in the vehicle V.

[0099] When the driving mode is the autonomous driving mode and a brake operation is performed, the vehicle control device 1 may stop the vehicle in the autonomous driving mode without changing the driving mode to standby mode.When the driving mode is the autonomous driving mode and a brake operation is performed, the vehicle control device 1 may stop the vehicle by switching the driving mode to the manual driving mode without changing the driving mode to standby mode.

[0100] The vehicle control device 1 may switch the driving mode from the standby mode to the autonomous driving mode when the first elapsed time is equal to or greater than a first predetermined time. In this case, even when the first elapsed time is equal to or greater than the first predetermined time, if there is not a shortage of vehicles V patrolling in the autonomous driving mode within the facility P or within the area, the driving mode may be maintained in the standby mode without being switched from the standby mode to the autonomous driving mode.

[0101] When the vehicle control device 1 makes the vehicle V wait in standby mode, it may make the vehicle wait at a location where the driving mode has become standby mode, or may temporarily change the driving mode to automatic driving mode so that the vehicle V moves by automatic driving to a predetermined waiting location or a charging station. After the vehicle V moves by automatic driving to a predetermined waiting location or a charging station, the vehicle control device 1 changes the driving mode back to standby mode.

[0102] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0103] 1 Vehicle control device 3 Management device 10. Communications Department 11 Storage section 12 Control Unit 20 Acquisition Department 21 Measurement section 22 Judgment section 23 Setting section 24 Instruction section P Facility V vehicle

Claims

1. A vehicle control device that sets a driving mode of an automatically driven vehicle, When the driving mode is an automatic driving mode, if an occupant of the vehicle performs any operation on the vehicle, instruct a vehicle control unit to bring the vehicle into a stopped state; A vehicle control device comprising: a control unit that sets the driving mode to a manual driving mode if an occupant of the vehicle performs a driving operation or a mode change operation on the vehicle before the elapsed time since the vehicle entered the stopped state becomes equal to or exceeds a threshold time; and that sets the driving mode to the automatic driving mode if neither the driving operation nor the mode change operation is performed before the elapsed time becomes equal to or exceeds the threshold time.

2. The vehicle travels within the facility, The vehicle control device according to claim 1 , wherein the automatic driving mode is a driving mode in which the vehicle travels around the facility along a set driving route.

3. the certain operation is a brake operation, The vehicle control device according to claim 1 or 2, wherein the driving operation or the mode change operation is an accelerator operation of the vehicle.

4. A vehicle control device for an autonomously driven vehicle that sets an autonomous driving mode and a manual driving mode, A vehicle control device including a control unit that instructs a vehicle control unit not to stop the vehicle when multiple passenger groups are on board the vehicle and the vehicle is traveling in the automatic driving mode, even if any operation is performed by the passengers.

5. A vehicle control device for an autonomously driven vehicle that sets an autonomous driving mode, a manual driving mode, and a standby mode, A vehicle control device comprising: a control unit that sets the vehicle to the autonomous driving mode when there are insufficient vehicles running in the autonomous driving mode in the standby mode.

6. A vehicle control method for setting a driving mode of an autonomously driven vehicle, When the driving mode is an automatic driving mode, if an occupant of the vehicle performs any operation on the vehicle, instruct a vehicle control unit to bring the vehicle into a stopped state; If a driving operation of the vehicle or a mode change operation is performed by an occupant of the vehicle before the elapsed time from the vehicle entering the stopped state becomes equal to or greater than a threshold time, the driving mode is set to a manual driving mode, and if the driving operation or the mode change operation is not performed before the elapsed time becomes equal to or greater than the threshold time, the driving mode is set to the automatic driving mode. A vehicle control method in which a control device controls.

7. A vehicle control method for an autonomously driven vehicle that sets an autonomous driving mode and a manual driving mode, When the vehicle is traveling in the automatic driving mode with multiple passenger groups on board, instruct the vehicle control unit not to stop the vehicle even if any operation is performed by the passengers. A vehicle control method controlled by a control device.

8. A vehicle control method for an autonomously driven vehicle that sets an autonomous driving mode, a manual driving mode, and a standby mode, When there are insufficient vehicles that can run in the autonomous driving mode in the standby mode, the vehicle is set to the autonomous driving mode. A vehicle control method controlled by a control device.

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