Automatic driving control device and automatic driving control program

Claims

1. An automatic driving control device capable of driving a vehicle (Am) by autonomous driving control, an outside recognition unit (62) that recognizes an emergency vehicle approaching the vehicle; an action control unit (63) that controls the action of the host vehicle so as to avoid the emergency vehicle when the approach of the emergency vehicle is recognized, The behavior control unit When the approach of the emergency vehicle is recognized, a reroute control is performed to reset a planned travel route of the vehicle so as to avoid the estimated travel route of the emergency vehicle; The automatic driving control device further includes a notification execution unit (71) that, if the scheduled arrival time at the destination is delayed due to the reroute control, asks the passengers of the vehicle whether or not to allow the reroute control to be implemented.

2. The vehicle exterior recognition unit estimates a termination position where the emergency vehicle has stopped sounding the siren, The automatic driving control device according to claim 1 , wherein the behavior control unit resets the planned travel route so as to avoid an avoidance area that is within a predetermined distance from the end position.

3. An automatic driving control device capable of driving a vehicle (Am) by autonomous driving control, an outside recognition unit (62) that recognizes an emergency vehicle approaching the vehicle; an action control unit (63) that controls the action of the host vehicle so as to avoid the emergency vehicle when the approach of the emergency vehicle is recognized, The vehicle exterior recognition unit estimates a termination position where the emergency vehicle has stopped sounding the siren, The behavior control unit When the approach of the emergency vehicle is recognized, a reroute control is performed to reset a planned travel route of the vehicle so as to avoid the estimated travel route of the emergency vehicle; An automatic driving control device that resets the planned driving route so as to avoid an avoidance area that is within a predetermined distance from the end position.

4. The vehicle exterior recognition unit estimates a termination position where the emergency vehicle has stopped sounding the siren, The behavior control unit When the approach of the emergency vehicle is recognized, low-speed travel control is performed to suppress the travel speed of the host vehicle; The automatic driving control device according to claim 1 or 3, wherein the low-speed traveling control is continued until the vehicle leaves the avoidance area set based on the end position.

5. An automatic driving control device capable of driving a vehicle (Am) by autonomous driving control, an outside recognition unit (62) that recognizes an emergency vehicle approaching the vehicle; an action control unit (63) that controls the action of the host vehicle so as to avoid the emergency vehicle when the approach of the emergency vehicle is recognized, The vehicle exterior recognition unit estimates a termination position where the emergency vehicle has stopped sounding the siren, The behavior control unit When the approach of the emergency vehicle is recognized, low-speed travel control is performed to suppress the travel speed of the host vehicle; An automatic driving control device that continues the low-speed driving control until the vehicle leaves the avoidance area set based on the end position.

6. the vehicle exterior recognition unit recognizes the content of the emergency alert from the sound of the emergency alert broadcast around the vehicle; The automatic driving control device according to any one of claims 1 to 5, further comprising: a notification unit (71) that notifies a passenger of the vehicle of the content of the emergency warning.

7. The automatic driving control device according to claim 6, wherein the notification implementation unit cancels the notification based on the emergency alert if the same content as the emergency alert has already been notified based on emergency information obtained from a route different from that of the vehicle exterior recognition unit.

8. An automatic driving control device capable of driving a vehicle (Am) by autonomous driving control, an outside recognition unit (62) that recognizes an emergency vehicle approaching the vehicle; an action control unit (63) that controls the action of the host vehicle so as to avoid the emergency vehicle when the approach of the emergency vehicle is recognized, the vehicle exterior recognition unit recognizes the content of the emergency alert from the sound of the emergency alert broadcast around the vehicle; The automatic driving control device further includes an alert implementation unit (71) that notifies the passengers of the vehicle of the contents of the emergency alert, and if the same contents as the emergency alert have already been notified based on emergency information obtained from a route different from that of the outside vehicle recognition unit, cancels the notification based on the emergency alert.

9. The automatic driving control device according to claim 8, wherein when the emergency alert is recognized by the vehicle exterior recognition unit, the notification implementation unit suggests to the occupant that an evacuation destination corresponding to the content of the emergency alert be set as the destination of the vehicle.

10. The vehicle exterior recognition unit uses sound data collected by an exterior sound detection unit (32) mounted on the vehicle to perform a first detection for detecting the presence of the emergency vehicle and a second detection for further detecting the relative direction of the emergency vehicle in a stepwise manner, The automatic driving control device according to any one of claims 1, 3, 5, and 8, wherein the behavior control unit changes at least one of the target speed value and steering control amount of the vehicle between 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 a vehicle (Am) by autonomous driving control, an outside recognition unit (62) that recognizes an emergency vehicle approaching the vehicle; an action control unit (63) that controls the action of the host vehicle so as to avoid the emergency vehicle when the approach of the emergency vehicle is recognized, The vehicle exterior recognition unit uses sound data collected by an exterior sound detection unit (32) mounted on the vehicle to perform a first detection for detecting the presence of the emergency vehicle and a second detection for further detecting the relative direction of the emergency vehicle in a stepwise manner, The behavior control unit is an automatic driving control device that changes at least one of the target speed value and steering control amount of the vehicle between a first control performed after the first detection and before the second detection, and a second control performed after the second detection.

12. The behavior control unit As the first control, a low-speed travel control is performed to suppress a travel speed of the host vehicle; The automatic driving control device according to claim 11 , wherein the second control comprises a stop control for stopping the host vehicle or an evacuation steering control for moving the host vehicle 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 noise in a passenger compartment of the host vehicle based on the first detection.

14. The vehicle exterior recognition unit further performs a third detection to detect the emergency vehicle using image data captured by an exterior camera unit (31) mounted on the vehicle, The behavior control unit As the first control, a low-speed travel control is performed to suppress a travel speed of the host vehicle; as the second control to be performed after the second detection and before the third detection, an offset control within the own vehicle lane or a lane movement control to a shoulder lane adjacent to a road shoulder is performed; The automatic driving control device according to claim 11 , wherein a behavioral control is performed according to a relative position of the emergency vehicle as a third control performed after the third detection.

15. The vehicle exterior recognition unit detects an abnormal vehicle that is emitting an abnormal sound using sound data collected by an exterior sound detection unit (32) mounted on the vehicle, The automatic driving control device according to claim 1 , wherein the behavior control unit controls the behavior of the host vehicle so as to avoid the abnormal vehicle when the abnormal vehicle is detected.

16. The vehicle exterior recognition unit uses the sound data to recognize incoming sounds around the vehicle, The automatic driving control device according to claim 15, wherein the behavior control unit performs control to move the vehicle to an evacuation location based on the detection of the abnormal vehicle, and avoids stopping the vehicle at the evacuation location where the arriving sound satisfies a predetermined avoidance condition.

17. An automatic driving control device capable of driving a vehicle (Am) by autonomous driving control, an outside recognition unit (62) that recognizes an emergency vehicle approaching the vehicle; an action control unit (63) that controls the action of the host vehicle so as to avoid the emergency vehicle when the approach of the emergency vehicle is recognized, The vehicle exterior recognition unit detects an abnormal vehicle that is generating an abnormal sound by using sound data collected by an exterior sound detection unit (32) mounted on the vehicle, and grasps incoming sounds around the vehicle, The behavior control unit is an automatic driving control device that controls the vehicle to move to an evacuation location based on the detection of the abnormal vehicle, and avoids stopping at the evacuation location where the arriving sound meets a predetermined avoidance condition.

18. The vehicle exterior recognition unit continues to collect sound using an exterior 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, and 17, further comprising an information providing unit (72) that provides at least one of sound data collected by the vehicle external sound detection unit or analysis information of the sound data to a predetermined reporting destination.

19. An automatic driving control device capable of driving a vehicle (Am) by autonomous driving control, an outside recognition unit (62) that recognizes an emergency vehicle approaching the vehicle; an action control unit (63) that controls the action of the host vehicle so as to avoid the emergency vehicle when the approach of the emergency vehicle is recognized, The vehicle exterior recognition unit continues to collect sound using an exterior sound detection unit (32) mounted on the vehicle even when the vehicle is parked, The automatic driving control device further includes an information providing unit (72) that provides at least one of the sound data collected by the vehicle external sound detection unit or analysis information of the sound data to a predetermined reporting destination.

20. The automatic driving control device according to claim 19, wherein the outside recognition unit starts taking pictures using an outside camera unit (31) mounted on the vehicle when it detects a scream around the vehicle based on the sound data.

21. the vehicle exterior recognition unit performs a voiceprint analysis of the sound data; The automatic driving control device according to claim 19, wherein the information providing unit provides a result of the voiceprint analysis by the vehicle exterior recognition unit to the reporting destination as the analysis information.

22. The automatic driving control device according to any one of claims 3, 5, 8, 11, 17, and 19, wherein the behavior control unit, when detecting the approach of the emergency vehicle, performs at least one of stop control to stop the vehicle at a position at least a predetermined distance away from the emergency vehicle, and low-speed driving control to suppress the driving speed of the vehicle.

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

24. The automatic driving control device according to claim 22, further comprising: a notification execution unit (71) that displays time information related to the stop control or the low-speed traveling control to a passenger in the vehicle.

25. 23. The automatic driving control device according to claim 22, wherein the behavior control unit, when there is another vehicle around the vehicle, performs reroute control, which resets the planned driving route of the vehicle so as to avoid the estimated driving route of the emergency vehicle, in priority to the stop control and the low-speed driving control.

26. 23. The automatic driving control device according to claim 22, further comprising an alarm implementation unit (71) that uses an exterior alarm mounted on the vehicle to notify the exterior of the vehicle of information related to the emergency vehicle before the start of the stop control or the low-speed traveling control.

27. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control, Recognizing an emergency vehicle approaching the vehicle (S13); When the approach of the emergency vehicle is recognized, the behavior of the host vehicle is controlled so as to avoid the emergency vehicle (S33, S35, S39). The process to be executed by at least one processing unit (51) includes the steps of: In the step of controlling the behavior, when the approach of the emergency vehicle is recognized, a reroute control is performed to reset a planned traveling route of the host vehicle so as to avoid an estimated traveling route of the emergency vehicle; An automatic driving control program that further includes a step of having the processing unit execute a step of inquiring of an occupant of the vehicle as to whether or not to permit the implementation of the reroute control if the scheduled arrival time at the destination will be delayed due to the reroute control (S38).

28. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control, Recognizing an emergency vehicle approaching the vehicle (S13); When the approach of the emergency vehicle is recognized, the behavior of the host vehicle is controlled so as to avoid the emergency vehicle (S33, S35, S39). The process to be executed by at least one processing unit (51) includes the steps of: In the step of recognizing the emergency vehicle, a termination position where the emergency vehicle has stopped emitting the siren sound is estimated, In the step of controlling the behavior, When the approach of the emergency vehicle is recognized, a reroute control is performed to reset a planned travel route of the vehicle so as to avoid the estimated travel route of the emergency vehicle; An automatic driving control program that resets the planned driving route so as to avoid avoidance areas that are within a predetermined distance from the end position.

29. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control, Recognizing an emergency vehicle approaching the vehicle (S13); When the approach of the emergency vehicle is recognized, the behavior of the host vehicle is controlled so as to avoid the emergency vehicle (S33, S35, S39). The process to be executed by at least one processing unit (51) includes the steps of: In the step of recognizing the emergency vehicle, a termination position where the emergency vehicle has stopped emitting the siren sound is estimated, In the step of controlling the behavior, When the approach of the emergency vehicle is recognized, low-speed travel control is performed to suppress the travel speed of the host vehicle; An automatic driving control program that continues the low-speed driving control until the vehicle leaves the avoidance area set based on the end position.

30. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control, Recognizing an emergency vehicle approaching the vehicle (S13); When the approach of the emergency vehicle is recognized, the behavior of the host vehicle is controlled so as to avoid the emergency vehicle (S33, S35, S39). The process to be executed by at least one processing unit (51) includes the steps of: In the step of recognizing the emergency vehicle, the content of the emergency alert is recognized from the sound of the emergency alert broadcast around the vehicle; An automatic driving control program further including a step of causing the processing unit to execute the steps of notifying the occupants of the vehicle of the contents of the emergency alert, and if the same contents as the emergency alert have already been notified based on emergency information obtained via a route different from the step of recognizing the emergency vehicle, canceling the notification based on the emergency alert (S51, S52).

31. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control, Recognizing an emergency vehicle approaching the vehicle (S13); When the approach of the emergency vehicle is recognized, the behavior of the host vehicle is controlled so as to avoid the emergency vehicle (S33, S35, S39). The process to be executed by at least one processing unit (51) includes the steps of: In the step of recognizing the emergency vehicle, a first detection for detecting the presence of the emergency vehicle and a second detection for further detecting the relative direction of the emergency vehicle are carried out in a stepwise manner using sound data collected by an external sound detection unit (32) mounted on the vehicle; An automatic driving control program in which, in the step of controlling the behavior, at least one of the target speed value and steering control amount of the vehicle is changed between a first control performed after the first detection and before the second detection, and a second control performed after the second detection.

32. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control, Recognizing an emergency vehicle approaching the vehicle (S13); When the approach of the emergency vehicle is recognized, the behavior of the host vehicle is controlled so as to avoid the emergency vehicle (S33, S35, S39). The process to be executed by at least one processing unit (51) includes the steps of: In the step of recognizing the emergency vehicle, an abnormal vehicle generating an abnormal sound is detected using sound data collected by an external sound detection unit (32) mounted on the vehicle, and an approaching sound around the vehicle is grasped; In the step of controlling the behavior, an automatic driving control program is provided that performs control to move the vehicle to an evacuation location based on the detection of the abnormal vehicle, and avoids stopping at the evacuation location where the arriving sound satisfies a predetermined avoidance condition.

33. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control, Recognizing an emergency vehicle approaching the vehicle (S13); When the approach of the emergency vehicle is recognized, the behavior of the host vehicle is controlled so as to avoid the emergency vehicle (S33, S35, S39). Even when the vehicle is parked, the outside sound detector (32) mounted on the vehicle continues to collect sound (S71), At least one of the sound data collected by the vehicle external sound detection unit and analysis information of the sound data is provided to a predetermined notification destination (S74). The automatic driving control program includes the steps of: