Automated driving control device and automated driving control program

Claims

1. An automatic driving control device that controls the movement of its own vehicle (Am) by an automatic driving function, The vehicle's external recognition unit (62) recognizes an emergency vehicle (Ae) approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions in order to yield the right of way to the emergency vehicle in the intersection area (IA) when the approach of the emergency vehicle is detected while the vehicle is located in the intersection area (IA). The aforementioned external vehicle recognition unit is The system detects the emergency vehicle using sound data collected by the external sound detection unit (32) mounted on the vehicle, Based on the sound data, the following is detected: The aforementioned behavior control unit, Based on the detection of the aforementioned appeal sound, the autonomous driving function transfers at least a portion of the control rights of the vehicle to the driver. An automatic driving control device that, when an emergency vehicle emitting the aforementioned warning sound approaches from behind the vehicle, moves the vehicle to a position that does not obstruct the path of the emergency vehicle, instead of transferring control rights.

2. An automatic driving control device that controls the movement of its own vehicle (Am) by an automatic driving function, The vehicle's external recognition unit (62) recognizes an emergency vehicle (Ae) approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions in order to yield the right of way to the emergency vehicle in the intersection area (IA) when the approach of the emergency vehicle is detected while the vehicle is located in the intersection area (IA). The aforementioned external vehicle recognition unit is The system detects the emergency vehicle using sound data collected by the external sound detection unit (32) mounted on the vehicle, Based on the sound data, the following is detected: Based on the detection of the appeal sound, the behavior control unit transfers at least a portion of the control rights of the vehicle from the automatic driving function to the driver. The vehicle further includes a notification unit (61) that, when the emergency vehicle emitting the aforementioned warning sound approaches from the rear of the vehicle, shows the driver proximity notification information related to the approach of the emergency vehicle. The aforementioned behavior control unit is an automated driving control device that, when the emergency vehicle emitting the appeal sound approaches the vehicle from behind, presents the approach notification information to the driver and transfers control rights.

3. The automatic driving control device according to claim 1 or 2, wherein the external recognition unit detects at least one of the amplified siren sound emitted by the emergency vehicle as it enters the intersection area, and the announcement sound emitted by the emergency vehicle, as the appeal sound.

4. An automatic driving control device that controls the movement of its own vehicle (Am) by an automatic driving function, The vehicle's external recognition unit (62) recognizes an emergency vehicle (Ae) approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions in order to yield the right of way to the emergency vehicle in the intersection area (IA) when the approach of the emergency vehicle is detected while the vehicle is located in the intersection area (IA). The behavior control unit, after recognizing the approach of the emergency vehicle in the intersection area, and before the vehicle exits the intersection area, if the traffic signal (TL) to which the vehicle follows instructs to stop, performs one of the following: slow exit control, which causes the vehicle to exit the intersection area by moving slowly in a direction where the emergency vehicle is not present; emergency exit control, which directs the vehicle to a planned exit destination; or transfer control, which transfers at least a portion of the control rights of the vehicle from the automatic driving function to the driver.

5. An automatic driving control device that controls the movement of its own vehicle (Am) by an automatic driving function, The vehicle's external recognition unit (62) recognizes an emergency vehicle (Ae) approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions in order to yield the right of way to the emergency vehicle in the intersection area (IA) when the approach of the emergency vehicle is detected while the vehicle is located in the intersection area (IA). The external vehicle recognition unit determines whether a passing line (PLE) for the emergency vehicle to pass is secured within the area when the vehicle stops within the area of ​​the intersection, The aforementioned behavior control unit is an automatic driving control device that, when the passage line is secured within the area, allows the implementation of stop control to stop the vehicle within the area.

6. An automatic driving control device that controls the movement of its own vehicle (Am) by an automatic driving function, The vehicle's external recognition unit (62) recognizes an emergency vehicle (Ae) approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions in order to yield the right of way to the emergency vehicle in the intersection area (IA) when the approach of the emergency vehicle is detected while the vehicle is located in the intersection area (IA). The aforementioned external vehicle recognition unit determines the distance to the approaching emergency vehicle, The aforementioned behavior control unit is an automatic driving control device that determines, depending on the distance to the emergency vehicle, which of the following will be implemented: a stop control that stops the vehicle within the area of ​​the intersection, and an exit control that moves the vehicle out of the intersection area.

7. An automatic driving control device that controls the movement of its own vehicle (Am) by an automatic driving function, The vehicle's external recognition unit (62) recognizes an emergency vehicle (Ae) approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions in order to yield the right of way to the emergency vehicle in the intersection area (IA) when the approach of the emergency vehicle is detected while the vehicle is located in the intersection area (IA). The aforementioned behavior control unit is an automatic driving control device that, if an emergency vehicle passes through the intersection area before the vehicle enters the intersection area, even if the traffic signal (TL) that the vehicle follows is in a state that permits proceeding, does not allow the vehicle to proceed into the intersection area during the current state of the permitting proceeding state, but instead allows the vehicle to proceed into the intersection area during the next state of the permitting proceeding state.

8. An automatic driving control device that controls the movement of its own vehicle (Am) by an automatic driving function, The vehicle's external recognition unit (62) recognizes an emergency vehicle (Ae) approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions in order to yield the right of way to the emergency vehicle in the intersection area (IA) when the approach of the emergency vehicle is detected while the vehicle is located in the intersection area (IA). The external vehicle recognition unit further recognizes the relative direction of the emergency vehicle approaching the vehicle, The aforementioned behavior control unit is an automatic driving control device that, if the approach of the emergency vehicle is recognized before the vehicle enters the intersection area, but the relative direction of the emergency vehicle is not recognized, slows the vehicle down to a speed that allows it to stop before the intersection area.

9. The automatic driving control device according to claim 8, wherein the action control unit stops its own vehicle before the intersection area if the relative direction of the emergency vehicle is not recognized.

10. An automatic driving control device that controls the movement of its own vehicle (Am) by an automatic driving function, The vehicle's external recognition unit (62) recognizes an emergency vehicle (Ae) approaching the vehicle, The vehicle includes a behavior control unit (63) that controls the vehicle's actions in order to yield the right of way to the emergency vehicle in the intersection area (IA) when the approach of the emergency vehicle is detected while the vehicle is located in the intersection area (IA). The external vehicle recognition unit determines whether the intersection area located in the direction of travel of the vehicle is a priority control area (IAp) where priority control of traffic signals (TL) that prioritize the passage of the emergency vehicle is performed. The aforementioned behavior control unit is an automatic driving control device that stops its own vehicle earlier if it recognizes the approach of an emergency vehicle before entering the priority control area than if it recognizes the approach of an emergency vehicle before entering the intersection area which is not the priority control area.

11. The automatic driving control device according to any one of claims 1, 2 and 4 to 10, wherein the behavior control unit, if it recognizes the approach of an emergency vehicle before the vehicle enters the intersection area, stops the vehicle even if the traffic signal (TL) that the vehicle follows permits it to proceed.

12. An automatic driving control program that controls the driving of the vehicle (Am) by an automatic driving function, The vehicle recognizes an emergency vehicle (Ae) approaching its own vehicle (S31), If the vehicle is located in the intersection area (IA) and the approach of the emergency vehicle is detected, the vehicle's actions are controlled in order to yield the right of way to the emergency vehicle in the intersection area (S39-S43). The process, which includes the steps described above, is to be executed by at least one processing unit (51). In the step of recognizing the aforementioned emergency vehicle, The system detects the emergency vehicle using sound data collected by the external sound detection unit (32) mounted on the vehicle, Based on the sound data, the following is detected: In the step of controlling the actions of the vehicle, Based on the detection of the aforementioned appeal sound, the autonomous driving function transfers at least a portion of the control rights of the vehicle to the driver. An automatic driving control program that, when the emergency vehicle emitting the aforementioned warning sound approaches from behind the vehicle, moves the vehicle to a position that does not obstruct the path of the emergency vehicle, instead of transferring control rights.

13. An automatic driving control program that controls the driving of the vehicle (Am) by an automatic driving function, The vehicle recognizes an emergency vehicle (Ae) approaching its own vehicle (S31), If the vehicle is located in the intersection area (IA) and the approach of the emergency vehicle is detected, the vehicle's actions are controlled in order to yield the right of way to the emergency vehicle in the intersection area (S39-S43). The process, which includes the steps described above, is to be executed by at least one processing unit (51). In the step of recognizing the aforementioned emergency vehicle, The system detects the emergency vehicle using sound data collected by the external sound detection unit (32) mounted on the vehicle, Based on the sound data, the following is detected: In the step of controlling the vehicle's actions, based on the detection of the appeal sound, the automatic driving function transfers at least a portion of the control rights of the vehicle to the driver. When the emergency vehicle emitting the aforementioned warning sound approaches from behind the vehicle, the processing unit is instructed to perform the step of showing the driver approach notification information related to the approach of the emergency vehicle (S33a). In the step of controlling the actions of the vehicle itself, an automated driving control program that, when the emergency vehicle emitting the appeal sound approaches from behind the vehicle itself, presents the driver with the approach notification information and transfers control rights.

14. An automatic driving control program that controls the driving of the vehicle (Am) by an automatic driving function, The vehicle recognizes an emergency vehicle (Ae) approaching its own vehicle (S31), If the vehicle is located in the intersection area (IA) and the approach of the emergency vehicle is detected, the vehicle's actions are controlled in order to yield the right of way to the emergency vehicle in the intersection area (S39-S43). The process, which includes the steps described above, is to be executed by at least one processing unit (51). In the step of controlling the vehicle's actions, if, after the approach of the emergency vehicle is recognized in the intersection area, and before the vehicle exits the intersection area, the traffic signal (TL) that the vehicle follows signals a stop, the automated driving control program implements one of the following: slow exit control, which causes the vehicle to exit the intersection area by moving slowly in a direction where the emergency vehicle is not present; emergency exit control, which directs the vehicle to a planned exit destination; or transfer control, which transfers at least a portion of the control rights of the vehicle from the automated driving function to the driver.

15. An automatic driving control program that controls the driving of the vehicle (Am) by an automatic driving function, The vehicle recognizes an emergency vehicle (Ae) approaching its own vehicle (S31), If the vehicle is located in the intersection area (IA) and the approach of the emergency vehicle is detected, the vehicle's actions are controlled in order to yield the right of way to the emergency vehicle in the intersection area (S39-S43). The process, which includes the steps described above, is to be executed by at least one processing unit (51). In the step of recognizing the emergency vehicle, it is determined whether a passing line (PLE) for the emergency vehicle to pass is secured within the area when the vehicle itself stops within the area of ​​the intersection, An automated driving control program that, in the step of controlling the actions of the vehicle, allows the implementation of stop control to stop the vehicle within the area if the passage line is secured within the area.

16. An automatic driving control program that controls the driving of the vehicle (Am) by an automatic driving function, The vehicle recognizes an emergency vehicle (Ae) approaching its own vehicle (S31), If the vehicle is located in the intersection area (IA) and the approach of the emergency vehicle is detected, the vehicle's actions are controlled in order to yield the right of way to the emergency vehicle in the intersection area (S39-S43). The process, which includes the steps described above, is to be executed by at least one processing unit (51). In the step of recognizing the emergency vehicle, the distance to the approaching emergency vehicle is determined, An automated driving control program that, in the step of controlling the actions of the vehicle itself, determines which of the following to implement, depending on the distance to the emergency vehicle: a stop control that stops the vehicle within the area of ​​the intersection, and an exit control that moves the vehicle out of the intersection area.

17. An automatic driving control program that controls the driving of the vehicle (Am) by an automatic driving function, The vehicle recognizes an emergency vehicle (Ae) approaching its own vehicle (S31), If the vehicle is located in the intersection area (IA) and the approach of the emergency vehicle is detected, the vehicle's actions are controlled in order to yield the right of way to the emergency vehicle in the intersection area (S39-S43). The process, which includes the steps described above, is to be executed by at least one processing unit (51). In the step of controlling the actions of the vehicle, if an emergency vehicle passes through the intersection area before the vehicle enters the intersection area, even if the traffic signal (TL) that the vehicle follows is in a state that permits proceeding, the automated driving control program will not allow the vehicle to proceed into the intersection area during the current period of the permitted proceeding state, but will allow the vehicle to proceed into the intersection area during the next period of the permitted proceeding state.

18. An automatic driving control program that controls the driving of the vehicle (Am) by an automatic driving function, The vehicle recognizes an emergency vehicle (Ae) approaching its own vehicle (S31), If the vehicle is located in the intersection area (IA) and the approach of the emergency vehicle is detected, the vehicle's actions are controlled in order to yield the right of way to the emergency vehicle in the intersection area (S39-S43). The process, which includes the steps described above, is to be executed by at least one processing unit (51). In the step of recognizing the emergency vehicle, the relative direction of the emergency vehicle approaching the vehicle is further recognized. In the step of controlling the vehicle's actions, if the approach of the emergency vehicle is recognized before the vehicle enters the intersection area, but the relative direction of the emergency vehicle is not recognized, the automatic driving control program slows the vehicle down to a speed that allows it to stop before reaching the intersection area.

19. An automatic driving control program that controls the driving of the vehicle (Am) by an automatic driving function, The vehicle recognizes an emergency vehicle (Ae) approaching its own vehicle (S31), If the vehicle is located in the intersection area (IA) and the approach of the emergency vehicle is detected, the vehicle's actions are controlled in order to yield the right of way to the emergency vehicle in the intersection area (S39-S43). The process, which includes the steps described above, is to be executed by at least one processing unit (51). In the step of recognizing the emergency vehicle, it is determined whether the intersection area located in the direction of travel of the vehicle is a priority control area (IAp) where priority control of traffic signals (TL) that prioritize the passage of the emergency vehicle is performed. In the step of controlling the vehicle's actions, the automatic driving control program stops the vehicle earlier if the approach of the emergency vehicle is recognized before entering the priority control area than if the approach of the emergency vehicle is recognized before entering the intersection area which is not the priority control area.