Vehicle control device, vehicle control method, and vehicle control program

Claims

1. A vehicle control device used in a self-driving vehicle (Am) that is capable of driving by automatic driving, in which sleep is permitted for the occupant seated in the driver's seat, The aforementioned approach detection unit (83) detects the approach of an emergency vehicle to the vehicle, A state-aware unit (81) that determines whether the passenger is in a sleep state, The system includes a notification unit (88) that performs an emergency approach notification to inform the occupants of the approach of the emergency vehicle, The aforementioned notification implementation unit, During the automated driving period under the aforementioned autonomous driving system, if an emergency vehicle approaches the vehicle while the passenger is in the aforementioned sleep state, a limited proximity notification will be issued to show the passenger the approaching emergency vehicle, while limiting the wake-up notification to prompt the passenger to wake up. A vehicle control device that, if the state recognition unit determines that the occupant has changed from a sleeping state to an awake state after the commencement of the limited approach notification, announces by voice that the vehicle is performing corresponding driving control in response to the emergency vehicle.

2. The approach detection unit further determines whether the emergency vehicle is traveling in the same direction as the vehicle itself. The aforementioned notification implementation unit, In the first situation where the approach of the emergency vehicle has been detected, but it is unclear whether the emergency vehicle is traveling in the same direction, the limited approach notification is implemented. The vehicle control device according to claim 1, which determines whether or not to implement the limited proximity notification depending on whether or not the occupant is in a sleeping state in the second situation in which it is determined that the emergency vehicle is traveling in the same direction.

3. A vehicle control device used in a self-driving vehicle (Am) that is capable of driving by automatic driving, in which sleep is permitted for the occupant seated in the driver's seat, The aforementioned approach detection unit (83) detects the approach of an emergency vehicle to the vehicle, A state-aware unit (81) that determines whether the passenger is in a sleep state, The system includes a notification unit (88) that performs an emergency approach notification to inform the occupants of the approach of the emergency vehicle, The approach detection unit further determines whether the emergency vehicle is traveling in the same direction as the vehicle itself. The aforementioned notification implementation unit, During the automated driving period under the aforementioned autonomous driving system, if an emergency vehicle approaches the vehicle while the passenger is in the aforementioned sleep state, a limited proximity notification will be issued to show the passenger the approaching emergency vehicle, while limiting the wake-up notification to prompt the passenger to wake up. In the first situation where the approach of the emergency vehicle has been detected, but it is unclear whether the emergency vehicle is traveling in the same direction, the limited approach notification is implemented. A vehicle control device that determines whether or not to implement the restricted proximity notification in the second situation in which it is determined that the emergency vehicle is traveling in the same direction, depending on whether or not the occupant is in a sleeping state.

4. The aforementioned notification implementation unit, In the second situation described above, if the passenger is in the sleep state, the limited approach notification is issued. The vehicle control device according to claim 2 or 3, which, in the second situation, if the passenger is not in the sleep state, provides an emergency approach notification to the passenger by both voice and display to indicate the approach of the emergency vehicle.

5. The vehicle control device according to claim 1 or 3, further comprising: a response restriction unit (S57) that temporarily suspends the response driving control if the occupant becomes awake during the period in which the vehicle performs the response driving control corresponding to the emergency vehicle.

6. The aforementioned notification implementation unit, When an emergency vehicle approaches the vehicle while the passenger is not in the sleep state, the emergency approach notification shall inform the passenger of the approach of the emergency vehicle by both audio and visual means. The vehicle control device according to claim 1 or 3, which, when an emergency vehicle approaches the vehicle while the passenger is in the sleep state, discontinues the audible notification and indicates the approach of the emergency vehicle to the passenger via a display.

7. The approach detection unit determines whether the vehicle is obstructing the movement of the emergency vehicle. The vehicle control device according to claim 1 or 3, wherein the notification implementing unit performs the alert notification if the vehicle is obstructing the movement of the emergency vehicle after the commencement of the restricted approach notification.

8. The vehicle control device according to claim 7, wherein the notification unit restarts the display indicating the approach of the emergency vehicle from the beginning after the start of the alert notification.

9. The proximity detection unit determines whether the road on which the vehicle is traveling is a public road or not. The vehicle control device according to claim 1 or 3, wherein the notification unit changes the manner of notification to the passenger indicating the approach of the emergency vehicle when the emergency vehicle approaches the vehicle on a public road or when the emergency vehicle approaches the vehicle on a specific road other than a public road, while the passenger is in a sleeping state.

10. The vehicle control device according to claim 9, wherein the notification implementing unit, when the passenger is in the state of sleep, increases the intensity of the notification that indicates the approach of the emergency vehicle to the passenger when the emergency vehicle approaches the vehicle traveling on the general road, to a higher intensity than the notification that indicates the approach of the emergency vehicle to the passenger when the vehicle is traveling on the specific road.

11. The approach detection unit determines whether or not the vehicle will come to a temporary stop using the corresponding driving control for the emergency vehicle. The vehicle control device according to claim 1 or 3, wherein the notification implementing unit changes the manner of notification to the passenger that an emergency vehicle is approaching, depending on whether the corresponding driving control that causes the vehicle to temporarily stop is performed or whether the corresponding driving control that does not cause the vehicle to temporarily stop is performed while the passenger is in the sleep state.

12. The vehicle control device according to claim 11, wherein the notification implementing unit increases the intensity of the notification that indicates the approach of an emergency vehicle to the passenger when the corresponding driving control that does not temporarily stop the vehicle is performed while the passenger is in a sleeping state, to a higher intensity than the notification that indicates the approach of an emergency vehicle to the passenger when the corresponding driving control that temporarily stops the vehicle is performed.

13. The vehicle control device according to claim 1 or 3, wherein the notification unit provides an audible wake-up notification when the passenger is in a sleeping state and driving operations are required by the passenger to respond to an emergency vehicle.

14. The aforementioned vehicle is a service vehicle that provides mobility services. The status recognition unit determines whether or not an operator is on board the service vehicle operated by the automated driving system. The aforementioned notification implementation unit, If the emergency vehicle approaches the service vehicle while the operator is not on board, the approach of the emergency vehicle will be notified by both audio and display. The vehicle control device according to claim 1 or 3, wherein, while the operator is on board, if the emergency vehicle approaches the service vehicle, the audible notification is discontinued and the approach of the emergency vehicle is notified by display.

15. A vehicle control device used in a service vehicle (Am) that provides mobility services and is capable of autonomous driving, The aforementioned approach detection unit (83) detects the approach of an emergency vehicle to the vehicle, A status-aware unit (81) that determines whether or not an operator is on board the service vehicle operated by the aforementioned autonomous driving system, The system includes a notification unit (88) that performs an emergency approach notification to inform the passengers of the service vehicle of the approach of the emergency vehicle, The notification unit, during the automated driving period under the automated driving system, If the emergency vehicle approaches the service vehicle while the operator is not on board, the emergency approach notification will be implemented to notify the service vehicle of the approach of the emergency vehicle by both voice and display. A vehicle control device that, when the aforementioned operator is on board and the emergency vehicle approaches the service vehicle, discontinues audible notification and notifies the approach of the emergency vehicle by display.

16. The vehicle control device according to any one of claims 1, 3, or 15, wherein the notification unit, when an emergency vehicle approaches the vehicle, uses an external display (45) mounted on the vehicle to notify the outside that an emergency vehicle is approaching.

17. The vehicle control device according to claim 16, wherein, when the notification unit determines that the emergency vehicle is traveling in the same direction as the vehicle itself, the notification unit initiates the flashing of the vehicle's hazard lights (44) in addition to the external notification on the external display.

18. The vehicle control device according to claim 1 or 3, further comprising an operation restriction unit (S55) that prohibits the passenger from performing manual driving after changing from a sleep state to an awake state.

19. A vehicle control method used in a self-driving vehicle (Am) that is capable of being driven by an automated system in which sleep is permitted for the occupant seated in the driver's seat, The vehicle becomes aware of the approach of an emergency vehicle to its own vehicle (S11), Determine whether the passenger is asleep or not (S13, S14), During the automated driving period under the aforementioned autonomous driving system, if the passenger is in the aforementioned sleep state and an emergency vehicle approaches the vehicle, a limited approach notification is implemented to show the passenger the approach of the emergency vehicle, while limiting the wake notification to prompt the passenger to wake up (S15). If it is determined that the occupant has changed from a sleeping state to an awake state after the commencement of the aforementioned limited approach notification, the vehicle will be notified by voice that it is performing corresponding driving control to the emergency vehicle (S56). A vehicle control method that includes the following step in a process performed in at least one processing unit (11).

20. A vehicle control method used in a self-driving vehicle (Am) that is capable of being driven by an automated system in which sleep is permitted for the occupant seated in the driver's seat, The vehicle becomes aware of the approach of an emergency vehicle to its own vehicle (S11), Further determination is made as to whether the emergency vehicle is traveling in the same direction as the vehicle itself (S12), Determine whether the passenger is asleep or not (S13, S14), During the period of autonomous driving under the aforementioned autonomous driving system, In the first situation, where the approach of the emergency vehicle is known but it is unclear whether the emergency vehicle is traveling in the same direction, a limited approach notification is implemented to indicate the approach of the emergency vehicle to the passenger by display, while limiting the alert to wake the passenger. In the second situation, when it is determined that the emergency vehicle approaching the vehicle is traveling in the same direction, it is decided whether or not to implement the limited proximity notification depending on whether or not the occupant is asleep (S15, S16). A vehicle control method that includes the following step in a process performed in at least one processing unit (11).

21. A vehicle control method used in a service vehicle (Am) that provides mobility services and is capable of driving by autonomous driving, The vehicle becomes aware of the approach of an emergency vehicle to its own vehicle (S211), The system determines whether or not an operator is on board the service vehicle operated by the automated driving system (S213), During the automated driving period under the aforementioned automated driving system, if the emergency vehicle approaches the service vehicle while the operator is not on board, an emergency approach notification is issued to the occupants of the service vehicle, informing them of the approach of the emergency vehicle both by voice and display. If the emergency vehicle approaches the service vehicle while the operator is on board, the voice notification is discontinued, and the approach of the emergency vehicle is notified by display (S214, S215). A vehicle control method that includes the following step in a process performed in at least one processing unit (11).

22. A vehicle control program used in a self-driving vehicle (Am) that is capable of being driven by an autonomous vehicle in which sleep is permitted for the occupant seated in the driver's seat, The vehicle becomes aware of the approach of an emergency vehicle to its own vehicle (S11), Determine whether the passenger is asleep or not (S13, S14), During the automated driving period under the aforementioned autonomous driving system, if the passenger is in the aforementioned sleep state and an emergency vehicle approaches the vehicle, a limited approach notification is implemented to show the passenger the approach of the emergency vehicle, while limiting the wake notification to prompt the passenger to wake up (S15). If it is determined that the occupant has changed from a sleeping state to an awake state after the commencement of the aforementioned limited approach notification, the vehicle will be notified by voice that it is performing corresponding driving control to the emergency vehicle (S56). A vehicle control program that causes at least one processing unit (11) to perform a process including the above.

23. A vehicle control program used in a self-driving vehicle (Am) that is capable of being driven by an autonomous vehicle in which sleep is permitted for the occupant seated in the driver's seat, The vehicle becomes aware of the approach of an emergency vehicle to its own vehicle (S11), Further determination is made as to whether the emergency vehicle is traveling in the same direction as the vehicle itself (S12), Determine whether the passenger is asleep or not (S13, S14), During the period of autonomous driving under the aforementioned autonomous driving system, In the first situation, where the approach of the emergency vehicle is known but it is unclear whether the emergency vehicle is traveling in the same direction, a limited approach notification is implemented to indicate the approach of the emergency vehicle to the passenger by display, while limiting the alert to wake the passenger. In the second situation, when it is determined that the emergency vehicle approaching the vehicle is traveling in the same direction, it is decided whether or not to implement the limited proximity notification depending on whether or not the occupant is asleep (S15, S16). A vehicle control program that causes at least one processing unit (11) to perform a process including the above.

24. A vehicle control program used in a service vehicle (Am) that provides mobility services and is capable of being driven by autonomous driving that allows sleep for a passenger seated in the driver's seat, The vehicle becomes aware of the approach of an emergency vehicle to its own vehicle (S211), The system determines whether or not an operator is on board the service vehicle operated by the automated driving system (S213), During the automated driving period under the aforementioned automated driving system, if the emergency vehicle approaches the service vehicle while the operator is not on board, an emergency approach notification is issued to the occupants of the service vehicle, informing them of the approach of the emergency vehicle both by voice and display. If the emergency vehicle approaches the service vehicle while the operator is on board, the voice notification is discontinued, and the approach of the emergency vehicle is notified by display (S214, S215). A vehicle control program that causes at least one processing unit (11) to perform a process including the above.