Automated driving control device and automated driving control program

Abstract

This automatic driving ECU functions as an automatic driving control device, and causes a host vehicle to travel by autonomous traveling control. The automatic driving ECU recognizes an emergency vehicle approaching the host vehicle. When the approach of the emergency vehicle has been recognized, the automatic driving ECU controls the behavior of the host vehicle so as to avoid the emergency vehicle.

Claims

1. An automatic driving control device capable of driving its own vehicle (Am) by autonomous driving control, The vehicle's external recognition unit (62) recognizes an emergency vehicle approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions to avoid the emergency vehicle when the approach of the emergency vehicle is detected, The aforementioned behavior control unit, When the approach of the aforementioned emergency vehicle is detected, rerouting control is performed to readjust the planned route of the vehicle itself so as to avoid the estimated route of the aforementioned emergency vehicle. An automatic driving control device further comprising a notification unit (71) that, if the rerouting control causes a delay in the scheduled arrival time at the destination, asks the passengers of the vehicle whether or not to permit the implementation of the rerouting control.

2. The external vehicle recognition unit estimates the position at which the emergency vehicle stopped sounding its siren. The automatic driving control device according to claim 1, wherein the behavior control unit readjusts the planned driving route to avoid an avoidance area that is within a predetermined distance from the termination position.

3. An automatic driving control device capable of driving its own vehicle (Am) by autonomous driving control, The vehicle's external recognition unit (62) recognizes an emergency vehicle approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions to avoid the emergency vehicle when the approach of the emergency vehicle is detected, The external vehicle recognition unit estimates the position at which the emergency vehicle stopped sounding its siren. The aforementioned behavior control unit, When the approach of the aforementioned emergency vehicle is detected, rerouting control is performed to readjust the planned route of the vehicle itself so as to avoid the estimated route of the aforementioned emergency vehicle. An automatic driving control device that readjusts the planned driving route to avoid an avoidance area that is within a predetermined distance from the termination position.

4. The external vehicle recognition unit estimates the position at which the emergency vehicle stopped sounding its siren. The aforementioned behavior control unit, When the approach of the aforementioned emergency vehicle is detected, the vehicle implements a low-speed driving control to suppress its own vehicle's speed. The automatic driving control device according to claim 1 or 3, which continues the low-speed driving control until it leaves the avoidance area set based on the termination position.

5. An automatic driving control device capable of driving its own vehicle (Am) by autonomous driving control, The vehicle's external recognition unit (62) recognizes an emergency vehicle approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions to avoid the emergency vehicle when the approach of the emergency vehicle is detected, The external vehicle recognition unit estimates the position at which the emergency vehicle stopped sounding its siren. The aforementioned behavior control unit, When the approach of the aforementioned emergency vehicle is detected, the vehicle implements a low-speed driving control to suppress its own vehicle's speed. An automatic driving control device that continues the low-speed driving control until it leaves the avoidance area set based on the termination position.

6. The external vehicle recognition unit recognizes the content of the emergency warning from the audio of the emergency warning broadcast around the vehicle, The automatic driving control device according to any one of claims 1, 3, or 5, further comprising a notification unit (71) for informing the occupants of the vehicle of the contents of the emergency warning.

7. The automatic driving control device according to claim 6, wherein the notification unit cancels the notification based on the emergency warning if it has already notified the same content as the emergency warning based on emergency information obtained from a different route than the external vehicle recognition unit.

8. An automatic driving control device capable of driving its own vehicle (Am) by autonomous driving control, The vehicle's external recognition unit (62) recognizes an emergency vehicle approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions to avoid the emergency vehicle when the approach of the emergency vehicle is detected, The external vehicle recognition unit recognizes the content of the emergency warning from the audio of the emergency warning broadcast around the vehicle, An automatic driving control device further comprising: a notification implementation unit (71) that notifies the occupants of the vehicle of the content of the emergency warning, and cancels notification based on the emergency warning if the same content as the emergency warning has already been notified based on emergency information obtained from a different route than the external recognition unit.

9. The automatic driving control device according to claim 8, wherein the notification unit, when the external vehicle recognition unit recognizes the emergency alarm, proposes to the passenger that an evacuation destination corresponding to the content of the emergency alarm be set as the destination of the vehicle.

10. The external vehicle recognition unit uses sound data collected by the external sound detection unit (32) mounted on the vehicle to perform a first detection to detect the presence of the emergency vehicle, and a second detection to further detect the relative direction of the emergency vehicle, in a step-by-step manner. The automatic driving control device according to any one of claims 1, 3, 5, or 8, wherein the action control unit changes at least one of the vehicle's speed target value and steering control amount in a first control performed after the first detection and before the second detection, and a second control performed after the second detection.

11. An automatic driving control device capable of driving its own vehicle (Am) by autonomous driving control, The vehicle's external recognition unit (62) recognizes an emergency vehicle approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions to avoid the emergency vehicle when the approach of the emergency vehicle is detected, The external vehicle recognition unit uses sound data collected by the external sound detection unit (32) mounted on the vehicle to perform a first detection to detect the presence of the emergency vehicle, and a second detection to further detect the relative direction of the emergency vehicle, in a step-by-step manner. The aforementioned behavior control unit is an automatic driving control device that changes at least one of the vehicle's speed target value and steering control amount in a first control performed after the first detection and before the second detection, and a second control performed after the second detection.

12. The aforementioned behavior control unit, As the first control, a low-speed driving control is implemented to suppress the driving speed of the vehicle itself. The automatic driving control device according to claim 11, wherein the second control is to perform a stop control to stop the vehicle itself or an evasive steering control to move the vehicle itself away from the emergency vehicle.

13. The automatic driving control device according to claim 11, wherein the behavior control unit performs interior sound control to reduce the sound inside the vehicle based on the first detection.

14. The external vehicle recognition unit further performs a third detection using image data captured by the external vehicle camera unit (31) mounted on the vehicle to detect the emergency vehicle. The aforementioned behavior control unit, As the first control, a low-speed driving control is implemented to suppress the driving speed of the vehicle itself. As the second control performed after the second detection and before the third detection, offset control within the vehicle's lane or lane change control to a shoulder lane adjacent to the shoulder is performed. The automatic driving control device according to claim 11, wherein the third control performed after the third detection is to perform action control according to the relative position of the emergency vehicle.

15. The external vehicle recognition unit uses sound data collected by the external sound detection unit (32) mounted on the vehicle to detect an abnormal vehicle that is emitting an abnormal sound. The automatic driving control device according to any one of claims 1, 3, 5, 8, or 11, wherein the behavior control unit controls the behavior of the vehicle to avoid the abnormal vehicle when the abnormal vehicle is detected.

16. The external vehicle recognition unit uses the sound data to grasp the approaching sounds around the vehicle, The automatic driving control device according to claim 15, wherein the behavior control unit performs control to move its own vehicle to an evacuation location based on the detection of the abnormal vehicle, and avoids stopping at the evacuation location when the sound of its arrival corresponds to a predetermined avoidance condition.

17. An automatic driving control device capable of driving its own vehicle (Am) by autonomous driving control, The vehicle's external recognition unit (62) recognizes an emergency vehicle approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions to avoid the emergency vehicle when the approach of the emergency vehicle is detected, The external recognition unit uses sound data collected by the external sound detection unit (32) mounted on the vehicle to detect abnormal vehicles emitting abnormal sounds, and also grasps the approaching sounds around the vehicle. The aforementioned behavior control unit performs control to move its own vehicle to an evacuation location based on the detection of the abnormal vehicle, and is an automatic driving control device that avoids stopping at the evacuation location when the sound of the approaching vehicle meets predetermined avoidance conditions.

18. The external recognition unit continues to collect sound using the external sound detection unit (32) mounted on the vehicle, even when the vehicle is parked. The automatic driving control device according to any one of claims 1, 3, 5, 8, 11, or 17, further comprising an information provision unit (72) that provides at least one of the sound data collected by the external sound detection unit or analysis information of said sound data to a pre-set notification destination.

19. An automatic driving control device capable of driving its own vehicle (Am) by autonomous driving control, The vehicle's external recognition unit (62) recognizes an emergency vehicle approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions to avoid the emergency vehicle when the approach of the emergency vehicle is detected, The external recognition unit continues to collect sound using the external sound detection unit (32) mounted on the vehicle, even when the vehicle is parked. An automatic driving control device further comprising an information provision unit (72) that provides at least one of the sound data collected by the external sound detection unit or the analysis information of said sound data to a pre-set notification destination.

20. The automatic driving control device according to claim 19, wherein the external recognition unit, based on the sound data, detects the sound of a scream coming from around the vehicle, and initiates shooting using the external camera unit (31) mounted on the vehicle.

21. The aforementioned external vehicle recognition unit performs voiceprint analysis of the sound data, The automatic driving control device according to claim 19, wherein the information provision unit provides the results of the voiceprint analysis by the external vehicle recognition unit to the notification recipient as analysis information.

22. The automatic driving control device according to any one of claims 3, 5, 8, 11, 17, or 19, wherein the action control unit, when it recognizes the approach of the emergency vehicle, performs at least one of the following: stop control, which stops the vehicle at a position at a predetermined distance or more away from the emergency vehicle; and low-speed driving control, which suppresses the driving speed of the vehicle.

23. The automatic driving control device according to claim 22, wherein the behavior control unit moves the vehicle to a non-congested lane where no other vehicles are present or where there are fewer other vehicles than in the vehicle's lane, before starting the stop control or the low-speed driving control.

24. The automatic driving control device according to claim 22, further comprising a notification implementation unit (71) that shows time information related to the stop control or the low-speed driving control to the occupant of the vehicle.

25. The automatic driving control device according to claim 22, wherein the behavior control unit, when other vehicles are present around the vehicle, preferentially performs rerouting control to avoid the estimated driving path of the emergency vehicle, over the stop control and the low-speed driving control.

26. The automatic driving control device according to claim 22, further comprising a notification implementing unit (71) that uses an external notification device mounted on the vehicle to notify the outside of the vehicle of information related to the emergency vehicle before the start of the stop control or the low-speed driving control.

27. An autonomous driving control program that enables the vehicle (Am) to be driven by autonomous driving control, The vehicle recognizes an emergency vehicle approaching it (S13), When the vehicle recognizes the approach of the emergency vehicle, it controls the vehicle's actions to avoid the emergency vehicle (S33, S35, S39). This step is included in the process of having at least one processing unit (51) perform the following steps: In the step of controlling the aforementioned action, if the approach of the emergency vehicle is recognized, rerouting control is performed to readjust the planned route of the vehicle itself so as to avoid the estimated route of the emergency vehicle. An automated driving control program that further includes the step of causing the processing unit to perform the step of asking the passengers of the vehicle whether or not to permit the implementation of the rerouting control if the rerouting control causes a delay in the scheduled arrival time at the destination (S38).

28. An autonomous driving control program that enables the vehicle (Am) to be driven by autonomous driving control, The vehicle recognizes an emergency vehicle approaching it (S13), When the vehicle recognizes the approach of the emergency vehicle, it controls the vehicle's actions to avoid the emergency vehicle (S33, S35, S39). This step is included in the process of having at least one processing unit (51) perform the following steps: In the step of recognizing the emergency vehicle, the location where the emergency vehicle stopped sounding its siren is estimated. In the step of controlling the aforementioned behavior, When the approach of the aforementioned emergency vehicle is detected, rerouting control is performed to readjust the planned route of the vehicle itself so as to avoid the estimated route of the aforementioned emergency vehicle. An automated driving control program that readjusts the planned driving route to avoid an avoidance area that is within a predetermined distance from the termination point.

29. An autonomous driving control program that enables the vehicle (Am) to be driven by autonomous driving control, The vehicle recognizes an emergency vehicle approaching it (S13), When the vehicle recognizes the approach of the emergency vehicle, it controls the vehicle's actions to avoid the emergency vehicle (S33, S35, S39). This step is included in the process of having at least one processing unit (51) perform the following steps: In the step of recognizing the emergency vehicle, the location where the emergency vehicle stopped sounding its siren is estimated. In the step of controlling the aforementioned behavior, When the approach of the aforementioned emergency vehicle is detected, the vehicle implements a low-speed driving control to suppress its own vehicle's speed. An automated driving control program that continues the low-speed driving control until it leaves the avoidance area set based on the termination position.

30. An autonomous driving control program that enables the vehicle (Am) to be driven by autonomous driving control, The vehicle recognizes an emergency vehicle approaching it (S13), When the vehicle recognizes the approach of the emergency vehicle, it controls the vehicle's actions to avoid the emergency vehicle (S33, S35, S39). This step is included in the process of having at least one processing unit (51) perform the following steps: In the step of recognizing the emergency vehicle, the content of the emergency warning is recognized from the audio of the emergency warning broadcast around the vehicle. An automatic driving control program that further includes the step of causing the processing unit to execute the step of informing the occupants of the vehicle of the content of the emergency warning, and if the same content as the emergency warning has already been announced based on emergency information obtained by a different route than the step of recognizing the emergency vehicle, then canceling the announcement based on the emergency warning (S51, S52).

31. An autonomous driving control program that enables the vehicle (Am) to be driven by autonomous driving control, The vehicle recognizes an emergency vehicle approaching it (S13), When the vehicle recognizes the approach of the emergency vehicle, it controls the vehicle's actions to avoid the emergency vehicle (S33, S35, S39). This step is included in the process of having at least one processing unit (51) perform the following steps: In the step of recognizing the emergency vehicle, a first detection is performed in stages using sound data collected by the external sound detection unit (32) mounted on the vehicle, to detect the presence of the emergency vehicle, and a second detection is performed to further detect the relative direction of the emergency vehicle. An automated driving control program that, in the step of controlling the aforementioned action, changes at least one of the vehicle's speed target value and steering control amount in a first control performed after the first detection and before the second detection, and in a second control performed after the second detection.

32. An autonomous driving control program that enables the vehicle (Am) to be driven by autonomous driving control, The vehicle recognizes an emergency vehicle approaching it (S13), When the vehicle recognizes the approach of the emergency vehicle, it controls the vehicle's actions to avoid the emergency vehicle (S33, S35, S39). This step is included in the process of having at least one processing unit (51) perform the following steps: In the step of recognizing the emergency vehicle, the sound data collected by the external sound detection unit (32) mounted on the vehicle is used to detect an abnormal vehicle emitting an abnormal sound, and the approaching sounds around the vehicle are also grasped. An automatic driving control program that, in the step of controlling the aforementioned action, performs control to move the vehicle to a safe place based on the detection of the abnormal vehicle, and avoids stopping at the safe place if the sound of the approaching vehicle matches predetermined avoidance conditions.

33. An autonomous driving control program that enables the vehicle (Am) to be driven by autonomous driving control, The vehicle recognizes an emergency vehicle approaching it (S13), When the vehicle recognizes the approach of the emergency vehicle, it controls the vehicle's actions to avoid the emergency vehicle (S33, S35, S39). Even when the vehicle is parked, the external sound detection unit (32) mounted on the vehicle continues to collect sound (S71). The sound data collected by the external sound detection unit, or at least one of the analysis information of the sound data, is provided to a pre-set notification destination (S74). An automatic driving control program that includes the following step in the process of having at least one processing unit (51) perform this step.

Images