Automated driving enabled vehicle

An automated driving enabled vehicle includes a travel controller, an automated driving indicator lamp, and a lamp controller. The automated driving indicator lamp is switched on perceptibly from outside the vehicle on the occasion of automated driving. The lamp controller acquires, during the execution of the automated driving, information regarding a surrounding moving body present around the vehicle. The lamp controller makes a lighting control of the automated driving indicator lamp during the execution of the automated driving, in response to presence of any surrounding moving body around the vehicle executing the automated driving.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority from Japanese Patent Application No. 2019-175677 filed on Sep. 26, 2019, the entire contents of which are hereby incorporated by reference.

BACKGROUND

The technology relates to an automated driving enabled vehicle.

As to vehicles, research and development of automated driving, or automation of vehicle travel, has been in progress.

For example, vehicles in the future are expected to travel to a destination by an automatic control in response to setting of the destination, and to stop and park at the destination.

SUMMARY

An aspect of the technology provides an automated driving enabled vehicle including a travel controller, an automated driving indicator lamp, and a lamp controller. The travel controller is configured to control travel of the vehicle while switching a travel control state between automated driving and manual driving. The automated driving indicator lamp is configured to be switched on perceptibly from outside the vehicle on the occasion of the automated driving. The lamp controller is configured to switch on the automated driving indicator lamp to indicate that the travel control state is the automated driving, during execution of the automated driving in which the travel controller controls the travel of the vehicle by the automated driving. The lamp controller is configured to acquire, during the execution of the automated driving, information regarding a surrounding moving body present around the vehicle. The lamp controller is configured to make a lighting control of the automated driving indicator lamp during the execution of the automated driving, in response to presence of any surrounding moving body around the vehicle executing the automated driving.

DETAILED DESCRIPTION

The aims of automated driving enabled vehicles may possibly include making appropriate selection of a travel path, a safety check of a course, and an avoidance control of uncertainties, to travel to the destination without an unanticipated incident.

Executing such a control for safer travel, however, would not guarantee safety to 100% perfection. The possibility is that even such a travel control by automated driving enabled vehicles will provide only a limited level of safety.

For example, automated driving enabled vehicles may include an automated driving indicator lamp. Automated driving enabled vehicles may switch on the automated driving indicator lamp perceptibly from outside them, in a case where they are executing automated driving. Reference is made to, for example, Japanese Unexamined Patent Application Publication (JP-A) Nos. 2018-032433 and 2019-064471.

Such an automated driving enabled vehicle switching on the automated driving indicator lamp during the execution of the automated driving makes it possible for those around the automated driving enabled vehicle, e.g., occupants of surrounding vehicles or pedestrians, to grasp the situation that the vehicle is executing the automated driving, allowing the occupants or the pedestrians to take an action or a prior countermeasure in response to the situation.

As described, a travel control of automated driving enabled vehicles themselves provides only a limited level of safety in their travel environment. Automated driving enabled vehicles owe their enhanced safety to cooperation with surrounding vehicles and pedestrians.

On the other hand, keeping automated driving indicator lamps on during the execution of the automated driving contributes to an increase in power consumption of automated driving enabled vehicles. In particular, for electrically powered vehicles, a steady increase in power consumption may shorten their cruising ranges and directly affect their travel performance.

Moreover, it is desirable that illumination of automated driving indicator lamps be perceptible not only in the night-time but also in the bright daytime environment. Accordingly, for automated driving indicator lamps, the probability is that bright colors such as turquoise blue are selected. Since turquoise blue is such a bright color, continuous and steady illumination in turquoise blue may make some of those outside the vehicles feel incongruous.

As described, automated driving enabled vehicles have had room for improvements.

In the following, some preferred but non-limiting embodiments of the technology are described in detail with reference to the accompanying drawings. Note that the following description is directed to illustrative examples of the disclosure and not to be construed as limiting to the technology. In each of the drawings referred to in the following description, elements have different scales in order to illustrate the respective elements with sizes recognizable in the drawings. Therefore, factors including, without limitation, the number of each of the elements, the shape of each of the elements, a size of each of the elements, a dimension of each of the elements, a material of each of the elements, a ratio between the elements, relative positional relationship between the elements, and any other specific numerical value are illustrative only and not to be construed as limiting to the technology. Further, elements in the following example embodiments which are not recited in a most-generic independent claim of the disclosure are optional and may be provided on an as-needed basis. Throughout the specification and the drawings, elements having substantially the same function and configuration are denoted with the same reference characters to avoid redundant description, and elements not in direct relation to the technology may not be illustrated.

FIGS.1A to1Care schematic diagrams of an automated driving enabled automobile1according to an embodiment of the technology. In the following, the automated driving enabled automobile1is also simply referred to as an “automobile1”.

FIGS.1A to1Cschematically illustrate the automobile1. In one embodiment of the technology, the automobile1may serve as an “automated driving enabled vehicle” or a “vehicle”.

FIG.1Ais a top view of the automobile1.FIG.1Aalso illustrates a surrounding automobile2and some pedestrians3.FIG.1Bis a side view of the automobile1.FIG.1Cis a rear view of the automobile1.

Referring toFIGS.1A to1C, the automobile1is configured to travel while switching between automated driving and manual driving. The automobile1includes an automated driving indicator lamp5. The automated driving indicator lamp5is configured to be switched on, on the occasion of the automated driving.

The automated driving indicator lamp5may be a lamp that is switched on, to indicate that the automated driving is in execution. The automated driving indicator lamp5may circumscribe a vehicle body6of the automobile1, for example, on all sides, i.e., front, rear, right and left sides, of the vehicle body6. This makes it possible for those around the automobile1, e.g., the pedestrian3and an occupant of the surrounding automobile2, to visually recognize, from outside the automobile1, illumination of the automated driving indicator lamp5on the occasion of the execution of the automated driving. Switching on the automated driving indicator lamp5on the occasion of the automated driving makes it possible to receive cooperation with the pedestrian3near the automobile1and the occupant of the surrounding automobile2. Hence, it is possible to expect a higher level of safety than provided solely by a travel control of the automobile1itself.

The automated driving indicator lamp5may have other configurations than described above. For example, the automated driving indicator lamp5may be provided separately on four corners, i.e., front right, front left, rear right, and rear left corners, of the vehicle body6. In one alternative, the automated driving indicator lamp5may be provided along an outer periphery of a roof panel over a vehicle cabin. In another alternative, the automated driving indicator lamp5may protrude from the roof panel.

The automated driving indicator lamp5is configured to be switched on, in a case where the automobile1is traveling by the automated driving. Moreover, it is desirable that presence or absence of the illumination of the automated driving indicator lamp5be perceptible to those outside the automobile1, e.g., the pedestrian3and the occupant of the surrounding automobile2, even in the summer daytime with strong sunlight around the automobile1. Accordingly, the automated driving indicator lamp5may have a color or brightness that is rare in existence in the natural environment, e.g., turquoise blue. Moreover, the automated driving indicator lamp5may give illumination of a brighter color and higher brightness than anything in the natural environment. Strong illumination of turquoise blue light leads to higher possibility that the presence or the absence of the illumination of the automated driving indicator lamp5becomes more perceptible to those outside the automobile1, e.g., the pedestrian3and the occupant of the surrounding automobile2. This makes it possible for those outside the automobile1, e.g., the pedestrian3and the occupant of the surrounding automobile2, to take an action or a prior countermeasure in response to, for example, the automobile1executing the automated driving.

On the other hand, keeping the automated driving indicator lamp5on during the execution of the automated driving may cause an increase in power consumption of the automated driving enabled automobile1. Giving the highly bright illumination of the automated driving indicator lamp5involves even more power consumption. In particular, for the electrically powered automobile1, a steady increase in power consumption during the execution of the automated driving may shorten its cruising range and directly affect its travel performance.

Moreover, selecting the bright color that is rare in existence in the natural environment, e.g., turquoise blue, for the automated driving indicator lamp5may cause the possibility that continuous and steady illumination of the automated driving indicator lamp5makes those who perceive the illumination feel uncomfortable or incongruous. Those who work at a place with constant presence of the automated driving enabled automobile1are forced to keep perceiving bright color light that is rare in existence in the natural environment, e.g., turquoise blue.

As described, the automated driving enabled automobile1has had room for improvements.

FIG.2illustrates a control system10of the automobile1inFIGS.1A to1C. The control system10of the automobile1may include a plurality of controllers that are installed in their respective control ECUs (electronic control units). InFIG.2, each of the plurality of the controllers is typically represented by a corresponding one of the control ECUs. Each of the plurality of the controllers may include not only the control ECU but also a storage member, input and output ports, a timer, and an internal bus to which the control ECU, the storage member, the input and output ports, and the timer are coupled. The storage member may hold, for example, a control program and data. The input and output ports may be coupled to an object to be controlled, and/or to a device that detects a state of the object to be controlled. The timer may measure time and timing.

As illustrated inFIG.2, in one specific but non-limiting example, the control ECUs may include a driving ECU11, a steering ECU12, a braking ECU13, an automated driving and driver assistance ECU14, a driving operation ECU15, a detection ECU16, an external communication ECU17, a UI operation ECU18, a lamp ECU19, and an alarm ECU20. The control system10of the automobile1may further include other undepicted control ECUs.

The plurality of the control ECUs may be coupled to a vehicle network26adopted by the automobile1such as a CAN (controller area network) and a LIN (local interconnect network). The vehicle network26may include a plurality of bus cables27and a CGW (central gateway)28. The plurality of the bus cables27is able to be coupled to the plurality of the control ECUs. The central gateway28may serve as a relay device to which the plurality of the bus cables27is coupled. To the plurality of the control ECUs, their respective IDs (identifications) may be assigned. The IDs may differ from one another and serve as identification information. Each of the control ECU may output, basically on a periodical basis, notification data to one or more of the other control ECUs. To the notification data, the ID of the sender control ECU and the ID of the receiver control ECU may be attached. The other control ECUs than the sender control ECU may monitor the respective ones of the bus cables27to which they are coupled. For example, in a case where any one of the other control ECUs finds the ID of the receiver control ECU to match its own ID, the relevant control ECU may acquire the notification data and execute processing based on the notification data. The central gateway28may monitor each of the plurality of the bus cables27coupled to the central gateway28. In a case where the central gateway28detects one or more of the other control ECUs coupled to any one of the bus cables27different from the bus cable27to which the sender control ECU is coupled, the central gateway28may supply the notification data to the relevant one of the bus cables27. With such relay processing by the central gateway28, it is possible for each of the control ECUs to send the notification data to one or more of the other control ECUs coupled to respective ones of the bus cables27different from the bus cable27to which the sender control ECU is coupled. It is also possible for each of the control ECUs to receive the notification data from any one of the control ECUs coupled to the corresponding one of the bus cables27different from the bus cable27to which the receiver control ECU is coupled.

The external communication ECU17may perform wireless communication with, for example, a communication base station101and a communication device of the surrounding automobile2. The communication base station101and the surrounding automobile2are present outside the automobile1. The communication base station101may be, for example, a base station of an ADAS (advanced driver assistance system) communication network, or alternatively, the communication base station101may be, for example, a base station of a carrier communication network.

The base station of the carrier communication network may communicate not only with the communication device of the surrounding automobile2but also with a mobile device102held by the pedestrian3. The external communication ECU17may be divided into a plurality of subunits for respective categories of partners with whom the external communication ECU17communicates directly, and the subunits may be provided in the automobile1. The communication base station101, the communication device of the surrounding automobile2, and the mobile device102, together with a server apparatus103, may constitute a traffic system100. The external communication ECU17may transmit and receive communication data to and from the server apparatus103, the surrounding automobile2, or the mobile device102by directly performing wireless communication with the communication base station101or the communication device of the surrounding automobile2.

To the UI operation ECU18, a display device21and an operation device22may be coupled as, for example, a user interface device with an occupant of the automobile1. The display device21may include, for example, a liquid crystal device or a video projection device, or both. The operation device22may be, for example, a touchscreen, a keyboard, or a contactless operation sensing device, or any combination thereof. The display device21and the operation device22may be mounted on, for example, an inner surface of the vehicle cabin in which the occupant rides. The UI operation ECU18may acquire the notification data from the vehicle network26, and display the notification data on the display device21. The UI operation ECU18may output, to the vehicle network26, an operation input made on the operation device22. Moreover, the UI operation ECU18may perform processing based on the operation input and incorporate a result of the processing in the notification data. The UI operation ECU18may provide, for example, display of a navigation screen on the display screen21. The navigation screen may allow for setting of, for example, a destination. The UI operation ECU18may search a path to the destination selected by the operation input. The UI operation ECU18may incorporate data regarding the path in the notification data. The data regarding the path may include attribute information regarding, for example, lanes of roads to be used to move from a current position to the destination.

To the driving operation ECU15, coupled may be operation members that allow the occupant to control the travel of the automobile1. Specific but non-limiting examples of the operation members may include a steering wheel31, a brake pedal32, an accelerator pedal33, and a shift lever34. If any operation is made on the operation members, the driving operation ECU15may output, to the vehicle network26, the notification data including, for example, presence or absence of the operation and an amount of the operation. Moreover, the driving operation ECU15may execute processing regarding the operation on the operation members, and incorporate a result of the processing in the notification data. For example, if any operation is made on the accelerator pedal33, with presence of surrounding moving bodies and/or fixed objects in a traveling direction of the automobile1, the driving operation ECU15may make a determination that the operation on the accelerator pedal33is an abnormal operation. The driving operation ECU15may incorporate the result of the determination in the notification data.

To the detection ECU16, coupled may be detection members that detect a travel state of the automobile1. Specific but non-limiting examples of the detection members may include a speed sensor41, an acceleration sensor42, an external camera43, and a GPS receiver44. The speed sensor41may detect a speed of the automobile1. The acceleration sensor42may detect an acceleration rate of the automobile1. The external camera43may capture an image of external surroundings of the automobile1, and include, for example, a stereo camera. The GPS receiver44may serve as a GNSS (global navigation satellite system) receiver that detects a position of the automobile1. The detection ECU16may acquire detection information from the detection members. The detection ECU16may output the notification data including the detection information to the vehicle network26. Furthermore, the detection ECU16may execute processing based on the detection information and incorporate a result of the processing in the notification data. For example, in a case where the acceleration sensor42detects the acceleration rate being higher than a threshold of detection of a collision, the detection ECU16may make a determination that a collision has been detected. The detection ECU16may incorporate the result of the determination in the notification data. The detection ECU16may extract a moving body such as the pedestrian3or the surrounding automobile2that are present around the automobile1, on the basis of the image of the external camera43. The detection ECU16may determine a kind and attributes of the moving body, and make estimation of a relative direction, a relative distance, and a direction of movement of the moving body in accordance with a position, a size, and a change of the moving body in the image. The detection ECU16may incorporate information regarding the moving body including a result of the estimation in the notification data and output the notification data to the vehicle network26.

The automated driving and driver assistance ECU14may acquire the notification data from the vehicle network26and switch a travel control state of the automobile1between the automated driving and the manual driving.

Moreover, the automated driving and driver assistance ECU14may acquire the notification data from the vehicle network26, execute a control for the automated driving or driver assistance of the automobile1, and generate travel control data to output the travel control data to the driving ECU11, the steering ECU12, and the braking ECU13. The driving ECU11, the steering ECU12, and the braking ECU13may control the travel of the automobile1on the basis of the travel control data to be supplied.

In one embodiment of the technology, the automated driving and driver assistance ECU14may serve as a “travel controller”.

In one specific but non-limiting example, in performing the automated driving of the automobile1, the automated driving and driver assistance ECU14may acquire the notification data from the vehicle network26and search or acquire the path to the destination. The automated driving and driver assistance ECU14may acquire the notification data from the vehicle network26, determine presence or absence of an abnormality or uncertainties in the automobile1. In a case without any abnormality or uncertainties in the automobile1, the automated driving and driver assistance ECU14may generate the travel control data regarding a course to be traveled along the path, and output the generated travel control data as the notification data. The automated driving and driver assistance ECU14may control the travel of the automobile1on the basis of positional information of the automobile1from, for example, the GPS receiver44, to allow the automobile1to travel along the path of its movement until an arrival at the destination, i.e., until the automobile1stops, for example, in a parking lot at the destination. In a case with an abnormality or uncertainties with respect to the automobile1, the automated driving and driver assistance ECU14may generate the travel control data to avoid the abnormality or the uncertainties, and output the generated travel control data as the notification data.

In assisting with driving of the automobile1, the automated driving and driver assistance ECU14may acquire the notification data regarding the operation input from the UI operation ECU18through the vehicle network26. The automated driving and driver assistance ECU14may generate the travel control data in which an operation based on the operation input is adjusted, and output the travel control data as the notification data. The automated driving and driver assistance ECU14may control the travel of the automobile1in accordance with a driving operation by the occupant. In a case with an abnormality or uncertainties with respect to the automobile1, the automated driving and driver assistance ECU14may generate the travel control data to avoid the abnormality or the uncertainties, and output the generated travel control data as the notification data.

To the lamp ECU19, coupled may be head lamps51, turn signal lamps52, stop lamps53, and the automated driving indicator lamp5. The head lamps51may be provided in a front part of the vehicle body6of the automobile1. The turn signal lamps52may be provided on front right, front rear, rear right, and rear left corners of the vehicle body6. The stop lamps53may be provided in a rear part of the vehicle body6. Moreover, as illustrated in the figure, a memory59may be coupled to the lamp ECU19. The memory59coupled to the lamp ECU19may hold setting values the lamp ECU19uses for a control.

In one embodiment of the technology, the lamp ECU19may serve as a “lamp controller”.

In one specific but non-limiting example, the lamp ECU19may acquire, from the vehicle network26, the notification data for a lamp control. In accordance with the notification data acquired, the lamp ECU19may control lighting states of the head lamps51, the turn signal lamps52, the stop lamps53, and the automated driving indicator lamp5. For example, in a case where the automated driving and driver assistance ECU14is controlling the travel of the automobile1by the automated driving, the lamp ECU19may switch on the automated driving indicator lamp5during the execution of the automated driving. This makes it possible for the moving body outside the automobile1, e.g., the pedestrian3and the surrounding automobile2, to visually recognize, with the clue of the illumination of the automated driving indicator lamp5, that the automobile1is executing the automated driving. Hence, it is possible for the moving body outside the automobile1, e.g., the pedestrian3and the surrounding automobile2, to cope with the travel of the automobile1executing the automated driving. The lamp ECU19may perform a lighting control to switch off the automated driving indicator lamp5, in a case where, for example, travel environment of the automobile1renders it unnecessary to switch on the automated driving indicator lamp5regardless of the execution of the automated driving.

To the alarm ECU20, an external speaker61may be coupled. The alarm ECU20may acquire the notification data regarding an alarm output from the vehicle network26and output an alarm sound from the external speaker61in response to the notification data thus acquired.

FIG.3is a flowchart of a switching control between the automated driving and assisted manual driving. The automated driving and driver assistance ECU14may repeatedly execute processing ofFIG.3in a case where, for example, the occupant rides in the automobile1.

In step ST1, the automated driving and driver assistance ECU14may determine whether or not to start the travel of the automobile1. In a case where the travel of the automobile1is not going to be started (N in step ST1), the automated driving and driver assistance ECU14may terminate the processing ofFIG.3. In a case where the travel of the automobile1is going to be started (Y in step ST1), the automated driving and driver assistance ECU14may cause the processing to proceed to step ST2.

In step ST2, the automated driving and driver assistance ECU14may determine whether or not the travel of the automobile1is controlled by the automated driving. The automated driving and driver assistance ECU14may determine whether or not the travel of the automobile1is controlled by the automated driving on the basis of, for example, a setting value of a driving mode acquired from the UI operation ECU18. In a case where the travel of the automobile1is controlled by the automated driving (Y in step ST2), the automated driving and driver assistance ECU14may cause the processing to proceed to step ST3. In a case where the travel of the automobile1is not controlled by the automated driving but is otherwise controlled, e.g., by the assisted manual driving (N in step ST2), the automated driving and driver assistance ECU14may cause the processing to proceed to step ST7.

In step ST3, the automated driving and driver assistance ECU14may start the travel by the automated driving. The automated driving and driver assistance ECU14may control the travel of the automobile1by the automated driving.

In step ST4, the automated driving and driver assistance ECU14may determine whether or not to finish the travel of the automobile1. The automated driving and driver assistance ECU14may determine that the travel of the automobile1is going to be finished, in a case where the positional information of the automobile1indicates that the automobile1is stopped, for example, in a parking lot at the destination of the automated driving, with the acceleration rate being zero (0). The positional information of the automobile1may be acquired from the external communication ECU17or the GPS receiver44. In a case where the automated driving and driver assistance ECU14determines that the travel of the automobile1is going to be finished (Y in step ST4), the automated driving and driver assistance ECU14may terminate the processing ofFIG.3. Thus, the travel by the automated driving is finished. In a case where the automated driving and driver assistance ECU14does not determine that the travel of the automobile1is going to be finished (N in step ST4), the automated driving and driver assistance ECU14may cause the processing to proceed to step ST5.

In step ST5, the automated driving and driver assistance ECU14may determine whether or not to switch the travel of the automobile1from the automated driving to otherwise than the automated driving, e.g., the manual driving. The automated driving and driver assistance ECU14may determine that the travel of the automobile1is going to be switched from the automated driving, on the basis of, for example, the setting value of the driving mode acquired from the UI operation ECU18. In a case where the travel of the automobile1is not going to be switched from the automated driving to otherwise than the automated driving (N in step ST5), the automated driving and driver assistance ECU14may cause the processing to return to step ST4. The automated driving and driver assistance ECU14may repeat the determinations of steps ST4and ST5while the automated driving is in execution. In a case where the travel of the automobile1is going to be switched from the automated driving to otherwise than the automated driving (Y in step ST5), the automated driving and driver assistance ECU14may cause the processing to proceed to step ST6.

In step ST6, the automated driving and driver assistance ECU14may switch the travel of the automobile1from the automated driving to otherwise than the automated driving, e.g., the assisted manual driving. Thus, the travel by the automated driving is finished, and the travel by the manual driving is started. Thereafter, the automated driving and driver assistance ECU14may cause the processing to proceed to step ST8.

In step ST7, the automated driving and driver assistance ECU14may start the assisted manual driving or otherwise than the automated driving.

In step ST8, the automated driving and driver assistance ECU14may determine whether or not to finish the travel of the automobile1. For example, the automated driving and driver assistance ECU14may determine that the travel of the automobile1is going to be finished, in a case where the automobile1is stopped, with the acceleration rate being zero (0), and an operation is made on an ignition switch of the automobile1. In a case with a determination that the travel of the automobile1is going to be finished (Y in step ST8), the automated driving and driver assistance ECU14may terminate the processing ofFIG.3. Thus, the travel by the assisted manual driving is finished. In a case without the determination that the travel of the automobile1is going to be finished (N in step ST8), the automated driving and driver assistance ECU14may cause the processing to proceed to step ST9.

In step ST9, the automated driving and driver assistance ECU14may determine whether or not to switch the travel of the automobile1from the assisted manual driving to the automated driving. The automated driving and driver assistance ECU14may determine that the travel of the automobile1is going to be switched from the assisted manual driving, on the basis of, for example, the setting value of the driving mode acquired from the UI operation ECU18. In a case where the travel of the automobile1is not going to be switched from the assisted manual driving to the automated driving (N in step ST9), the automated driving and driver assistance ECU14may cause the processing to return to step ST8. The automated driving and driver assistance ECU14may repeat the determinations of steps ST8and ST9while the assisted manual driving is in execution. In a case where the travel of the automobile1is going to be switched from the assisted manual driving to the automated driving (Y in step ST9), the automated driving and driver assistance ECU14may cause the processing to proceed step ST10.

In step ST10, the automated driving and driver assistance ECU14may switch the travel of the automobile1from the assisted manual driving to the automated driving. Thus, the travel by the assisted manual driving is finished, and the travel by the automated driving is started. Thereafter, the automated driving and driver assistance ECU14may cause the processing to proceed to step ST4.

As described, the automated driving and driver assistance ECU14may repeatedly execute the processing ofFIG.3, in a case where, for example, the automobile1is traveling, with the occupant riding therein. For example, the automated driving and driver assistance ECU14may acquire, through the vehicle network26, the notification data inclusive of setting information of the driving mode from the UI operation ECU18, and switch the travel of the automobile1between the automated driving and the assisted manual driving. Moreover, the automated driving and driver assistance ECU14may acquire the notification data inclusive of an instruction to compulsively switch to the manual driving, and switch the travel of the automobile1between the automated driving and the assisted manual driving. Such an instruction may be based on, for example, detection of an abnormality from the detection ECU16. Furthermore, the automated driving and driver assistance ECU14itself may generate the notification data inclusive of the instruction based on the detection of an abnormality, to compulsively switch to the manual driving, and switch the travel of the automobile1between the automated driving and the assisted manual driving.

FIG.4is a flowchart of the lighting control of the automated driving indicator lamp5in accordance with the switching control between the automated driving and the assisted manual driving illustrated inFIG.3.

The lamp ECU19may repeatedly execute processing ofFIG.4, while keeping on acquiring, as the notification data, information from the automated driving and driver assistance ECU14controlling the travel of the automobile1.

In step ST11, the lamp ECU19may determine whether or not the travel of the automobile1by the automated driving has been started. The lamp ECU19may acquire, for example, information and/or notification the automated driving and driver assistance ECU14outputs to the vehicle network26for a control of the automated driving, and determine whether or not the travel of the automobile1by the automated driving has been started. In a case where the travel of the automobile1by the automated driving has not been started (N in step ST11), the lamp ECU19may terminate the processing ofFIG.4. In a case where the travel of the automobile1by the automated driving has been started (Y in step ST11), the lamp ECU19may cause the processing to proceed to step ST12.

In step ST12, the lamp ECU19may switch on the automated driving indicator lamp5that has been off.

In step ST13, the lamp ECU19may determine whether or not the travel of the automobile1by the automated driving has been finished. For example, the lamp ECU19may determine whether or not the travel of the automobile1by the automated driving has been finished, on the basis of an end of acquisition of the information supplied to the vehicle network26from the automated driving and driver assistance ECU14for the control of the automated driving. Alternatively, the lamp ECU19may determine whether or not the travel of the automobile1by the automated driving has been finished, by acquiring notification that the automated driving has been finished. In a case where the travel of the automobile1by the automated driving has not been finished (N in step ST13), the lamp ECU19may repeat the determination process of step ST13. In a case where the travel of the automobile1by the automated driving has been finished (Y in step ST13), the lamp ECU19may cause the processing to proceed to step ST14.

In step ST14, the lamp ECU19may switch off the automated driving indicator lamp5that has been switched on.

As described, the lamp ECU19may basically switch on the automated driving indicator lamp5during the execution of the automated driving in which the automated driving and driver assistance ECU14controls the travel of the automobile1by the automated driving.

FIG.5is a flowchart of a lighting state control of the automated driving indicator lamp5during the execution of the automated driving according to the embodiment of the technology.

The lamp ECU19may repeatedly execute processing ofFIG.5, while keeping on acquiring, as the notification data, the information from the automated driving and driver assistance ECU14controlling the travel of the automobile1by, for example, the automated driving.

In one embodiment of the technology, the lamp ECU19may serve as the “lamp controller”.

In step ST21, the lamp ECU19may determine whether or not the automated driving is in execution. The lamp ECU19may acquire, for example, the information and/or the notification the automated driving and driver assistance ECU14outputs to the vehicle network26for the control of the automated driving, and determine whether or not the automated driving is in execution. In a case where the automated driving is not in execution (N in step ST21), the lamp ECU19may terminate the processing ofFIG.5. In a case where the automated driving is in execution (Y in step ST21), the lamp ECU19may cause the processing to proceed to step ST22.

In step ST22, the lamp ECU19may acquire information regarding the travel control state of the automobile1, as the notification data, from the various control ECUs of the automobile1through the vehicle network26. The lamp ECU19may acquire, for example, information regarding the position, the speed, the acceleration rate, the course, presence or absence of a failure, and lighting states of various lamps, as to the automobile1.

In step ST23, the lamp ECU19may acquire information regarding the travel environment, as the notification data, from the various control ECUs of the automobile1such as the external communication ECU17and the detection ECU16through the vehicle network26. The lamp ECU19may acquire, for example, information regarding a surrounding moving body present around the automobile1. For example, the lamp ECU19may acquire information regarding presence or absence of any surrounding moving body around the automobile1. In a case with the presence of any surrounding moving body around the automobile1, the lamp ECU19may acquire information regarding, for example, a position, a speed, a predicted course, possibility of a collision, and attributes of the surrounding moving body present around the automobile1. The external communication ECU17is configured to acquire attribute information regarding a lane of a road being traveled by the automobile1, on the basis of navigation information, V2V (virtual to virtual) received information, and ETC (electronic toll collection system) information by ADAS communication. The detection ECU16is configured to detect a moving body around the automobile1in the image captured by the external camera43, e.g., the surrounding automobile2and the pedestrian3. Moreover, the detection ECU16is configured to detect illumination in turquoise blue of a lamp of another autonomous car, in superimposition on a picture of the outside of the automobile1.

In step ST24, the lamp ECU19may determine presence or absence of a moving body around the automobile1, e.g., a surrounding vehicle and a pedestrian. In a case with the presence of a surrounding moving body around the automobile1(Y in step ST24), the lamp ECU19may cause the processing to proceed to step ST25. In a case with the absence of a surrounding moving body around the automobile1(N in step ST24), the lamp ECU19may cause the processing to proceed to step ST26.

In step ST25, the lamp ECU19may determine whether or not the surrounding automobile present around the automobile1is an autonomous car. In a case where the surrounding automobile present around the automobile1is an autonomous car (Y in step ST25), the lamp ECU19may cause the processing to proceed to step ST26. In a case where the surrounding automobile present around the automobile1is anything other than an autonomous car (N in step ST25), the lamp ECU19may cause the processing to proceed to step ST29.

In step ST26, the lamp ECU19may determine whether or not the automated driving indicator lamp5is on. In a case where the automated driving indicator lamp5is on (Y in step ST26), the lamp ECU19may cause the processing to proceed to step ST27. In a case where the automated driving indicator lamp5is not on (N in step ST26), the lamp ECU19may cause the processing to proceed to step ST31.

In step ST27, the lamp ECU19may determine whether or not a lamp other than the automated driving indicator lamp5is on. For example, the lamp ECU19may determine whether or not a signaling light other than the stop lamp53, the turn signal lamp52, and a reverse light54, or the head lamp51is on. In one embodiment of the technology, the stop lamp53may serve as a “brake light”. In one embodiment of the technology, the turn signal lamp52may serve as a “direction indicator”. In one embodiment of the technology, the head lamp51may serve as a “headlight”. In a case where neither of these lamps is on (N in step ST27), the lamp ECU19may cause the processing to proceed to step ST28.

Meanwhile, in a case where any one of these lamps is on (Y in step ST27), the lamp ECU19may cause the processing to skip the process of step ST28and proceed to step ST31.

In step ST28, the lamp ECU19may switch off the automated driving indicator lamp5that has been on.

In step ST29, the lamp ECU19may determine whether or not the automated driving indicator lamp5is off. In a case where the automated driving indicator lamp5is off (Y in step ST29), the lamp ECU19may cause the processing to proceed to step ST30. In a case where the automated driving indicator lamp5is not off (N in step ST29), the lamp ECU19may cause the processing to proceed to step ST31.

In step ST30, the lamp ECU19may switch the automated driving indicator lamp5back on that has been off.

In step ST31, the lamp ECU19may determine if there has been any change in the lighting state of the automated driving indicator lamp5. The lamp ECU19may determine that there has been a change in the lighting state of the automated driving indicator lamp5, in a case where the automated driving indicator lamp5that has been on is switched off, or in a case where the automated driving indicator lamp5is switched back on that has been off. In a case with the change in the lighting state of the automated driving indicator lamp5(Y in step ST31), the lamp ECU19may cause the processing to proceed to step ST32. In a case without the change in the lighting state of the automated driving indicator lamp5(N in step ST31), the lamp ECU19may terminate the processing ofFIG.5.

In step ST32, the lamp ECU19may output, to the vehicle network26, an instruction to output an alarm. The alarm ECU20may acquire, from the vehicle network26, the instruction to output the alarm. Thereupon, the alarm ECU20may output an alarm sound from the external speaker61. The alarm ECU20may output the alarm, in the case with the change in the lighting state of the automated driving indicator lamp5during the execution of the automated driving in which the automated driving and driver assistance ECU14controls the travel of the automobile1by the automated driving. Those around the automobile1, e.g., the occupant of the nearby surrounding automobile2, can hear the alarm sound.

As described, the lamp ECU19is configured to change the lighting state of the automated driving indicator lamp5during the execution of the automated driving, in response to the change in the travel control state or the change in the travel environment, or both. The lamp ECU19may switch off the automated driving indicator lamp5during the execution of the automated driving, in the case with the absence of any moving body around the automobile1, e.g., a surrounding automobile or a pedestrian.

Moreover, the lamp ECU19may switch the automated driving indicator lamp5back on that has been off during the execution of the automated driving, in response to emergent presence of any moving body around the automobile1, e.g., a surrounding vehicle or a pedestrian, during the execution of the automated driving, with the automated driving indicator lamp5off. Furthermore, the alarm ECU20may output the alarm in the case with the change in the lighting state of the automated driving indicator lamp5during the execution of the automated driving.

FIG.6is a flowchart of a lighting intensity control of the automated driving indicator lamp5.

The lamp ECU19may repeatedly execute processing ofFIG.6, while keeping on acquiring the notification data from, for example, the detection ECU16, in the case with the automated driving and driver assistance ECU14controlling the travel of the automobile1by, for example, the automated driving.

In one embodiment of the technology, the lamp ECU19may serve as the “lamp controller”.

The image captured by the external camera43may include an image portion of the outside of the automobile1. In this case, on the basis of the image portion of the outside of the automobile1included in the image captured by the external camera43, the detection ECU16may calculate brightness, illuminance, and luminance of the outside of the automobile1, and acquire results of the calculation. In addition, for example, in a case where an undepicted illuminance sensor is coupled to the detection ECU16, the detection ECU16may output, as the notification data, a detection value of illuminance by the illuminance sensor.

In step ST41, the lamp ECU19may determine whether or not the automated driving is in execution. The lamp ECU19may acquire, for example, the information and/or the notification the automated driving and driver assistance ECU14outputs to the vehicle network26for the control of the automated driving, and determine whether or not the automated driving is in execution. In a case where the automated driving is not in execution (N in step ST41), the lamp ECU19may repeat the determination process of step ST41. In a case where the automated driving is in execution (Y in step ST41), the lamp ECU19may cause the processing to proceed to step ST42.

In step ST42, the lamp ECU19may acquire a distance from the automobile1to a moving body. The lamp ECU19may acquire the distance from the automobile1to the moving body from, for example, the detection ECU16.

In step ST43, the lamp ECU19may acquire ambient illuminance around the automobile1. The lamp ECU19may acquire the ambient illuminance around the automobile1from, for example, the detection ECU16.

In step ST44, the lamp ECU19may calculate intensity of the automated driving indicator lamp5perceptible from a surrounding moving body in environment having the ambient illuminance around the automobile1. As the intensity at which the automated driving indicator lamp5is to be switched on, the lamp ECU19may calculate higher intensity than intensity that provides at least the ambient illuminance around the automobile1.

In step ST45, the lamp ECU19may update the intensity of the automated driving indicator lamp5on the basis of the calculation. The lamp ECU19may update the intensity of the automated driving indicator lamp5that is held by the memory59to allow for reference in the lighting state control in steps ST12and ST30. As described, the lamp ECU19may switch on the automated driving indicator lamp5with the intensity according to both the distance from the automobile1executing the automated driving to the surrounding moving body present around the automobile1, and the ambient illuminance around the automobile1executing the automated driving.

It is to be noted that the lamp ECU19may switch on the automated driving indicator lamp5, with intensity according to the distance from the automobile1executing the automated driving to the surrounding moving body present around the automobile1, or the ambient illuminance around the automobile1executing the automated driving.

FIG.7is a flowchart of the lighting state control of the automated driving indicator lamp5, in a case where the automated driving is cancelled.

The lamp ECU19may repeatedly execute processing ofFIG.7, while keeping on acquiring, as the notification data, the information from the automated driving and driver assistance ECU14controlling the travel of the automobile1by, for example, the automated driving.

In one embodiment of the technology, the lamp ECU19may serve as the “lamp controller”.

In step ST51, the lamp ECU19may determine whether or not the automated driving is in execution. The lamp ECU19may acquire, for example, the information and/or the notification the automated driving and driver assistance ECU14outputs to the vehicle network26for the control of the automated driving, and determine whether or not the automated driving is in execution. In a case where the automated driving is not in execution (N in step ST51), the lamp ECU19may repeat the determination process of step ST51. In a case where the automated driving is in execution (Y in step ST51), the lamp ECU19may cause the processing to proceed to step ST52.

In step ST52, the lamp ECU19may determine whether or not the automated driving has been cancelled after a start of the automated driving. The lamp ECU19may acquire, for example, the information and/or the notification the automated driving and driver assistance ECU14outputs to the vehicle network26for the control of the automated driving, and determine whether or not the automated driving has been cancelled. In a case where the automated driving has not been cancelled (N in step ST52), the lamp ECU19may terminate the processing ofFIG.7. In a case where the automated driving has been cancelled (Y in step ST52), the lamp ECU19may cause the processing to proceed to step ST53.

In step ST53, the lamp ECU19may acquire information regarding the lighting state of the automated driving indicator lamp5, and determine whether or not the automated driving indicator lamp5is off during the execution of the automated driving. In a case where the automated driving indicator lamp5is not off, i.e., in a case where the automated driving indicator lamp5is on during the execution of the automated driving (N in step ST53), the lamp ECU19may cause the processing to proceed to step ST55. In a case where the automated driving indicator lamp5is off during the execution of the automated driving (Y in step ST53), the lamp ECU19may cause the processing to proceed to step ST54.

In step ST54, the lamp ECU19may switch the automated driving indicator lamp5back on that has been off during the execution of the automated driving.

In step ST55, the lamp ECU19may switch off the automated driving indicator lamp5that has been temporarily switched back on or that has been on.

As described, the lamp ECU19may switch the automated driving indicator lamp5back on, and afterwards, switch off the automated driving indicator lamp5, in the case where the automated driving and driver assistance ECU14switches the travel control state of the automobile1from the automated driving to, for example, the assisted manual driving, after the lamp ECU19switches off the automated driving indicator lamp5during the execution of the automated driving. In a case with an override from the automated driving to the manual driving during the execution of the automated driving, with the automated driving indicator lamp5off, the lamp ECU19may switch the automated driving indicator lamp5back on, and afterwards, switch off the automated driving indicator lamp5. Switching off the automated driving indicator lamp5that has been switched on makes it possible for, without limitation, a subsequent automobile to recognize that a driving state of the automobile1has changed from the automated driving.

FIG.8is a flowchart of the lighting state control of the automated driving indicator lamp5, in a case where a disturbance or an abnormality is detected or predicted during the execution of the automated driving.

The lamp ECU19may repeatedly execute processing ofFIG.8, while keeping on acquiring the notification data from the automated driving and driver assistance ECU14controlling the travel of the automobile1by, for example, the automated driving.

In one embodiment of the technology, the lamp ECU19may serve as the “lamp controller”.

For example, the detection ECU16may predict a collision with a nearby moving body captured by the external camera43, detect the collision by the acceleration sensor42, and output them as the notification data. The external communication ECU17may acquire information regarding, for example, a traffic congestion and a falling object on the lane or the road being traveled by the automobile1, on the basis of, for example, traffic information by the ADAS communication. The external communication ECU17may output the acquired information as the notification data. The automated driving and driver assistance ECU14may determine a failure state of equipment of the automobile1, and output a determination result as the notification data.

In step ST61, the lamp ECU19may determine whether or not the automated driving is in execution. The lamp ECU19may acquire, for example, the information and/or the notification the automated driving and driver assistance ECU14outputs to the vehicle network26for the control of the automated driving, and determine whether or not the automated driving is in execution. In a case where the automated driving is not in execution (N in step ST61), the lamp ECU19may repeat the determination process of step ST61. In a case where the automated driving is in execution (Y in step ST61), the lamp ECU19may cause the processing to proceed to step ST62.

In step ST62, the lamp ECU19may determine whether or not any disturbance or abnormality has been detected or predicted after the start of the automated driving. The lamp ECU19may acquire the notification from, for example, the automated driving and driver assistance ECU14, and determine presence or absence of any disturbance or abnormality after the start of the automated driving. In a case with no disturbance nor abnormality after the start of the automated driving (N in step ST62), the lamp ECU19may terminate the processing ofFIG.8. In a case with some disturbance or abnormality after the start of the automated driving (Y in step ST62), the lamp ECU19may cause the processing to proceed to step ST63.

In step ST63, the lamp ECU19may acquire the information regarding the lighting state of the automated driving indicator lamp5and determine whether or not the automated driving indicator lamp5is off during the execution of the automated driving. In a case where the automated driving indicator lamp5is not off, that is, in a case where the automated driving indicator lamp5is on during the execution of the automated driving (N in step ST63), the lamp ECU19may terminate the processing ofFIG.8. In a case where the automated driving indicator lamp5is off during the execution of the automated driving (Y in step ST63), the lamp ECU19may cause the processing to proceed to step ST64.

In step ST64, the lamp ECU19may switch the automated driving indicator lamp5back on that has been off during the execution of the automated driving. As described, in the case with some disturbance or abnormality after switching off the automated driving indicator lamp5during the execution of the automated driving, the lamp ECU19may switch the automated driving indicator lamp5back on that has been off during the execution of the automated driving. The lamp ECU19may switch the automated driving indicator lamp5back on that has been off during the execution of the automated driving, in the case where any abnormality or disturbance affecting the travel of the automobile1is detected or predicted, with the automated driving indicator lamp5off during the execution of the automated driving.

Switching the automated driving indicator lamp5back on that has been off during the execution of the automated driving makes it possible for, without limitation, a subsequent vehicle on, for example, an exclusive lane for the automated driving to recognize that some change, including an abnormal situation, has occurred in the automobile1executing the automated driving.

FIG.9is a flowchart of start-up, in accordance with user setting, of the lighting state control of the automated driving indicator lamp5during the execution of the automated driving.

The lamp ECU19may repeatedly execute processing ofFIG.9, for example, at start-up of the automobile1, with the occupant getting into the automobile1. The lamp ECU19may repeatedly execute the processing ofFIG.9, for example, on acquiring, from the UI operation ECU18, the notification data regarding an instruction to start up in response to an operation on an undepicted start switch provided on the automobile1.

In step ST71, the lamp ECU19may determine whether or not to start up the automobile1. In a case where the automobile1is not going to be started up (N in step ST71), the lamp ECU19may terminate the processing ofFIG.9. In a case where the automobile1is going to be started up (Y in step ST71), the lamp ECU19may cause the processing to proceed to step ST72.

In step ST72, the lamp ECU19may acquire a user setting value from the memory59coupled to the lamp ECU19. The user setting value may be held in the memory59. The user setting value may include a setting value of lamp lighting acquired from the UI operation ECU18by the user's setting operation in advance. The user setting value may further include a setting value as to whether or not to permit the lighting control of the automated driving indicator lamp5during the execution of the automated driving. A default setting value may be a value that permits the lighting control, or alternatively, the default setting value may be a value that inhibits the lighting control.

In step ST73, the lamp ECU19may determine whether or not the user setting value thus acquired permits the lighting control. The user setting value may be the setting value as to whether or not to permit the lighting control of the automated driving indicator lamp5. In a case where the user setting value is a value that does not permit the lighting control, i.e., in a case where the user setting value is the value that inhibits the lighting control (N in step ST73), the lamp ECU19may terminate the processing ofFIG.9. In a case where the user setting value is the value that permits the lighting control (Y in step ST73), the lamp ECU19may cause the processing to proceed to step ST74.

In step ST74, the lamp ECU19may start up the processing of the lighting state control of the automated driving indicator lamp5during the execution of the automated driving. The processing to be started up here may be, for example, the processing ofFIGS.5to8. In the case with the user's permission to carry out the lighting control of the automated driving indicator lamp5during the execution of the automated driving (Y in step ST73), the automated driving indicator lamp5has its lighting state controlled during the execution of the automated driving, on the basis of the user setting.

Meanwhile, in the case with the user's inhibition from carrying out the lighting control of the automated driving indicator lamp5during the execution of the automated driving (N in step ST73), the process of step ST74is not executed. The lamp ECU19may execute only the processing ofFIG.4. In this case, the automated driving indicator lamp5has no longer its lighting state controlled during the execution of the automated driving. Thus, the automated driving indicator lamp5is kept on during the execution of the automated driving.

As described, the lamp ECU19may change the lighting state of the automated driving indicator lamp5, during the execution of the automated driving, in response to the change in the travel control state or the change in the travel environment, or both, on the basis of the user setting regarding the lighting control of the automated driving indicator lamp5during the execution of the automated driving.

It is to be noted that the lamp ECU19may control lighting states of other lamps than the automated driving indicator lamp5, on the basis of user setting, in accordance with, for example, whether or not the automated driving is in execution. For example, the lamp ECU19may control the lighting states of other lamps than the automated driving indicator lamp5, in accordance with the lighting control of the automated driving indicator lamp5during the execution of the automated driving.

As described, in this embodiment, the automated driving indicator lamp5is switched on during the execution of the automated driving in which the automated driving and driver assistance ECU14of the automobile1controls the travel of the automobile1by the automated driving. The automated driving indicator lamp5indicates that the travel control state is the automated driving. Hence, it is possible for those outside the automobile1, e.g., the pedestrian3and/or the occupant of the surrounding automobile2, to recognize that the automobile1is executing the automated driving.

Moreover, in this embodiment, the automated driving indicator lamp5is not kept on during the execution of the automated driving, but changes in its lighting state in accordance with the presence of a moving body around the automobile1executing the automated driving, e.g., the surrounding automobile2and/or the pedestrian3. For example, the lamp ECU19may switch off the automated driving indicator lamp5during the execution of the automated driving, in the case with the absence of a surrounding moving body around the automobile1executing the automated driving. This leads to reduction in power consumption of the automated driving indicator lamp5. Hence, it is possible to reduce the power consumption of the automated driving indicator lamp5, in comparison to a case where the automated driving indicator lamp5is kept on during the execution of the automated driving. This allows for reduction in wasteful power consumption.

Furthermore, in this embodiment, the automated driving indicator lamp5may be switched on, with the intensity according to both the distance from the automobile1to the surrounding moving body present around the automobile1, and the ambient illuminance around the automobile1executing the automated driving. This makes it possible to switch on the automated driving indicator lamp5, with enough intensity for the surrounding moving body present around the automobile1executing the automated driving to recognize the presence or the absence of the illumination of the automated driving indicator lamp5at the sight of the automobile1. It is also possible to prevent the automated driving indicator lamp5from being switched on, with excessively higher intensity than is necessary for the recognition of the presence or the absence of the illumination of the automated driving indicator lamp5. Hence, it is possible to suppress the wasteful power consumption as in the case where the automated driving indicator lamp5is switched on with higher intensity than necessary.

Although some preferred embodiments of the technology are described above by way of example with reference to the accompanying drawings, the technology is by no means limited to the embodiments described above. It should be appreciated that modifications and alterations may be made by persons skilled in the art without departing from the scope as defined by the appended claims.

For example, in the forgoing embodiments, in the case with the change in the lighting state of the automated driving indicator lamp5, the alarm ECU20may output the alarm sound from the external speaker61.

In one alternative, for example, in the case with the change in the lighting state of the automated driving indicator lamp5, the external communication ECU17may transmit the travel control state of the automobile1as the communication data.

Moreover, in the case with the automated driving indicator lamp5off during the execution of the automated driving, the external communication ECU17may periodically transmit, as the communication data, the travel control state of the automobile1being the automated driving in execution.

In the case with the automated driving indicator lamp5off during the execution of the automated driving, the alarm ECU20may output the alarm sound at intermittent time intervals from the external speaker61.

In the case with the automated driving indicator lamp5off during the execution of the automated driving, the UI operation ECU18may provide continuous display of information indicating that the automated driving indicator lamp5is off during the execution of the automated driving.

In the forgoing embodiments, all of the determination processes described inFIGS.5to9are performed in the lamp ECU19.

In one alternative, for example, some or all of the determination processes described inFIGS.5to9may be performed otherwise than by the lamp ECU19. For example, some or all of the determination processes described inFIGS.5to9may be performed by the automated driving and driver assistance ECU14.

It should be appreciated that modifications and alterations may be made by persons skilled in the art without departing from the scope as defined by the appended claims. The use of the terms first, second, etc. does not denote any order or importance, but rather the terms first, second, etc. are used to distinguish one element from another. The technology is intended to include such modifications and alterations in so far as they fall within the scope of the appended claims or the equivalents thereof.