JP7222420B2 - Abnormal state notification method and abnormal state notification device - Google Patents

Description

The present invention relates to an abnormal condition notification method and an abnormal condition notification device.

In Patent Document 1, when a self-vehicle that is being automatically driven by an automatic driving system deviates from a planned travel course and changes lanes, the travel course of the lane change is indicated by an arrow in order to notify the occupants of the self-vehicle in advance. A technique for displaying a virtual vehicle of a host vehicle on a display screen of a display device by displaying a moving image of a virtual image using a symbol image is described.

JP 2016-182891 A U.S. Patent Application Publication No. 2013/0093618

According to Patent Literature 1, it is possible to give an easy-to-understand advance notice to the occupants of the vehicle of changes in the scheduled course of the vehicle during automatic driving. However, the change in the course of the vehicle also affects other vehicles in the vicinity of this vehicle.
In particular, when an automatically driven vehicle is in an abnormal state, it may travel on a different route than usual, making it difficult for other vehicles to predict the route of the automatically driven vehicle.
An object of the present invention is to facilitate prediction of the route of an automatically driven vehicle that is in an abnormal state in a vehicle other than the automatically driven vehicle.

In the abnormal state notification method according to one aspect of the present invention, the state of the own vehicle during automatic operation is determined, the planned route of the own vehicle is determined, and the fact that the own vehicle is in an abnormal state and the planned route of the own vehicle are determined. , to notify other vehicles in the vicinity of the own vehicle.
According to another aspect of the present invention, there is provided a method of notifying an abnormal state in which a host vehicle receives state information of another vehicle under automatic operation and information of a planned course of the other vehicle, and determines whether or not the other vehicle is in an abnormal state. When it is determined that the other vehicle is in an abnormal state, the driver of the own vehicle is notified that the other vehicle is in an abnormal state and the scheduled course of the other vehicle.

ADVANTAGE OF THE INVENTION According to one aspect of the present invention, it becomes easy to predict the course of an automatically driving vehicle in an abnormal state in other vehicles other than the automatically driving vehicle.
The objects and advantages of the invention may be realized and attained by means of the elements and combinations pointed out in the appended claims. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows an example of a schematic structure of the driving assistance system of embodiment. It is a figure showing an example of the schematic structure of the 1st vehicle in which the 1st driving assistance device is carried. 2 is a block diagram showing an example of a functional configuration of a first driving support device; FIG. FIG. 4 is a diagram showing an example of a schematic configuration of a second vehicle on which a second driving assistance device is mounted; It is a block diagram which shows an example of a functional structure of a 2nd driving assistance device. FIG. 5 is a diagram showing an example of MRM information and planned course information of a first vehicle displayed on a display device of a second vehicle; FIG. 5 is a diagram showing an example of driving change request information and planned route information of a first vehicle displayed on a display device of a second vehicle; FIG. 5 is a diagram showing an example of uncertainty information and planned course information of a first vehicle displayed on a display device of a second vehicle; It is a figure which shows an example of the strip|belt-shaped light-emitting body which shows the position of a 1st vehicle in a 2nd vehicle. 4 is a flowchart of an example of an abnormal condition notification method according to an embodiment implemented in a first vehicle; 8 is a flowchart of an example of an abnormal state notification method according to an embodiment implemented in a second vehicle;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(composition)
Please refer to FIG. The driving assistance system of the embodiment includes a first driving assistance device 10 mounted on a first vehicle 1 for driving assistance of the first vehicle 1 and a second driving assistance device 10 mounted on a second vehicle 2 for driving assistance of the second vehicle 2. A driving support device 20 is provided.
The driving support includes automatic driving control for automatically driving these vehicles without the involvement of the driver based on the respective driving environments around the first vehicle 1 and the second vehicle 2, and driving of these vehicles. , a cruise control that controls at least one of braking and steering.

Driving control may be, for example, automatic steering, automatic braking, preceding vehicle follow-up control, constant speed driving control, lane keeping control, merging support control, and the like.
Driving assistance may include output of information (messages) prompting the driver to perform steering operation, acceleration operation, and deceleration operation, in addition to automatic driving control and travel control.

The first driving assistance device 10 and the second driving assistance device 20 have a communication function and can exchange information with each other. Communication between the first driving support device 10 and the second driving support device 20 may be vehicle-to-vehicle communication, or communication via road-to-vehicle communication, public communication line 3, infrastructure such as cloud services. may For example, communication between the first driving support device 10 and the second driving support device 20 is realized by V2X (Vehicle-to-everything) communication.
The first driving assistance device 10 and the second driving assistance device 20 are examples of the abnormal state notification device described in the claims.

Please refer to FIG. The first driving support device 10 of the first vehicle 1 includes an ambient environment sensor 100, a vehicle sensor 101, a positioning device 102, a map database 103, a communication device 104, an occupant sensor 105, a user interface device 106, A navigation system 107 , a controller 108 , an actuator 109 and an external display 110 are provided.
In the drawings, the map database is denoted as "map DB", and the user interface device is denoted as "user I/F device".

The surrounding environment sensor 100 detects various information (surrounding environment information) about the surrounding environment of the first vehicle 1 , for example, objects around the first vehicle 1 . The surrounding environment sensor 100 detects objects existing around the first vehicle 1, the relative position between the first vehicle 1 and the object, the distance between the first vehicle 1 and the object, the direction in which the object exists, and the like. Detect your environment.
Ambient environment sensor 100 may comprise a ranging device, such as a laser range finder (LRF) or radar, or a camera. The camera may be, for example, a stereo camera. The camera may be a monocular camera, or the same object may be photographed from a plurality of viewpoints by the monocular camera, and the distance to the object may be calculated. Also, the distance to the object may be calculated based on the grounding position of the object detected from the captured image.

The vehicle sensor 101 detects various information (vehicle information) obtained from the first vehicle 1 . The vehicle sensor 101 includes, for example, a vehicle speed sensor that detects the running speed (vehicle speed) of the first vehicle 1, a wheel speed sensor that detects the rotational speed of each tire of the first vehicle 1, and three axial directions of the first vehicle 1. 3-axis acceleration sensor (G sensor) for detecting acceleration (including deceleration), steering angle sensor for detecting steering angle (including turning angle), gyro sensor for detecting angular velocity generated in first vehicle 1, yaw rate , an accelerator sensor that detects the accelerator opening of the first vehicle 1, and a brake sensor that detects the amount of brake operation by the driver.

The positioning device 102 measures the current position of the first vehicle 1 . The positioning device 102 may comprise, for example, a Global Positioning System (GNSS) receiver. The GNSS receiver is, for example, a global positioning system (GPS) receiver or the like, and measures the current position of the first vehicle 1 by receiving radio waves from a plurality of navigation satellites. The positioning device 102 may measure the current position of the first vehicle 1 by, for example, odometry.

The map database 103 may store high-precision map data (hereinafter simply referred to as "high-precision map") suitable as a map for automatic driving. A high-precision map is map data with higher precision than map data for navigation (hereinafter simply referred to as "navigation map"), and includes more detailed lane-by-lane information than road-by-road information.
For example, a high-definition map includes lane node information indicating a reference point on a lane reference line (for example, a central line within a lane) and lane link information indicating a section of a lane between lane nodes as information for each lane. including.

The lane node information includes the identification number of the lane node, the position coordinates, the number of connected lane links, and the identification number of the connected lane link. The lane link information includes the lane link identification number, lane type, lane width, lane boundary line type, lane shape, lane marking line shape, and lane reference line shape. The high-precision map further includes the types and positional coordinates of features such as traffic lights, stop lines, signs, buildings, utility poles, curbs, crosswalks, etc. that exist on or near the lane, and lane nodes corresponding to the positional coordinates of the features. includes feature information, such as the identification number of the lane and the identification number of the lane link.

Since the high-precision map includes node and link information for each lane, it is possible to identify the lane along which the first vehicle 1 travels on the travel route. The high-precision map has coordinates that can express the position in the extension direction and width direction of the lane. A high-precision map has coordinates (for example, longitude, latitude and altitude) that can represent a position in a three-dimensional space, and lanes and the features can be described as shapes in the three-dimensional space.

The map database 103 may also store a navigation map. A navigation map contains information on a road-by-road basis. For example, a navigation map includes, as information for each road, road node information that indicates a reference point on a road reference line (for example, a line in the center of a road) and road link information that indicates a section of a road between road nodes. . The road node information includes the road node identification number, position coordinates, the number of connected road links, and the connected road link identification number.
The road link information includes the road link identification number, road standard, link length, number of lanes, road width, and speed limit.

The communication device 104 performs wireless communication with a communication device outside the first vehicle 1 . For example, wireless communication is performed with the communication device 204 of the second vehicle 2 shown in FIG. The communication method by the communication device 104 may be, for example, vehicle-to-vehicle communication, road-to-vehicle communication, public communication line 3, communication via infrastructure such as cloud services. For example, communication by the communication device 104 may be V2X (Vehicle-to-everything) communication.

The occupant sensor 105 detects the state of an occupant riding in the first vehicle 1 (particularly, an occupant such as a driver who has the authority to give an operation instruction to the first vehicle 1). The occupant sensor 105 may be an in-vehicle camera that captures the occupants on board the first vehicle 1 and their surroundings. Alternatively, for example, the occupant sensor 105 may be a pressure sensor that detects the weight of the occupant and the movement of the body surface.
The video imaged by the occupant sensor 105 and information on the weight and body movement of the occupant are collectively referred to as "occupant sensor information".

The user interface device 106 includes an input device that receives operation input from the passenger to the navigation system 107 and the controller 108, and an output device that outputs information presented from the navigation system 107 and the controller 108 to the passenger.
The input device may be, for example, buttons, dials, sliders, or the like, or may be a touch panel provided on the display device.

Also, the input device may be an input terminal (for example, a tablet device) separate from the navigation system 107 and the controller 108 .
The output device may be a speaker or buzzer that outputs audio information from the navigation system 107 and controller 108, or a display device, instrument, or lamp that outputs visual information from the navigation system 107 and controller 108. good.
The output device may also be an output terminal (for example, a tablet device) separate from the navigation system 107 and the controller 108 .

The navigation system 107 recognizes the current position of the first vehicle 1 using the positioning device 102 and acquires map information for the current position from the map database 103 . The navigation system 107 sets a travel route to the destination input by the passenger, and provides route guidance to the passenger according to the travel route.
The navigation system 107 also outputs information on the set travel route to the controller 108 . During automatic driving control, the controller 108 automatically drives the first vehicle so as to travel along the travel route set by the navigation system 107 .

The controller 108 is an electronic control unit (ECU) that performs driving support control of the first vehicle 1 . Controller 108 includes a processor 111 and peripheral components such as storage device 112 . The processor 111 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit).
The storage device 112 may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The storage device 112 may include memories such as registers, cache memory, ROM (Read Only Memory) and RAM (Random Access Memory) used as main storage devices.

The functions of the controller 108 described below are realized by executing a computer program stored in the storage device 112 by the processor 111, for example.
Note that the controller 108 may be formed of dedicated hardware for executing each information processing described below.
For example, controller 108 may comprise functional logic circuitry implemented in a general purpose semiconductor integrated circuit. For example, controller 108 may comprise a programmable logic device (PLD), such as a field-programmable gate array (FPGA), or the like.

The controller 108 estimates the current position of the first vehicle 1, the estimated current position, the road map data of the map database 103, the route information output from the navigation system 107, the surrounding environment, and the position of the first vehicle 1. Based on the running state, the planned course along which the first vehicle 1 should travel is determined.
For example, the controller 108 sets a target travel trajectory along which the first vehicle 1 should travel as a planned route. The controller 108 performs automatic driving control and driving support control of the first vehicle 1 based on the determined planned route, and drives the actuator 109 to control the running of the first vehicle 1 .

The actuator 109 operates the steering wheel, the accelerator opening, and the braking device of the first vehicle 1 according to the control signal from the controller 108 to generate the vehicle behavior of the first vehicle 1 . Actuator 109 includes a steering actuator, an accelerator opening actuator, and a brake control actuator. The steering actuator controls the steering direction and amount of steering of the first vehicle 1 . The accelerator opening actuator controls the accelerator opening of the first vehicle 1 . The brake control actuator controls the braking operation of the brake system of the first vehicle 1 .

The external display 110 is provided on the outer surface of the vehicle body of the first vehicle 1 (for example, the roof, the front surface and/or the rear surface), and displays the visual information output by the controller 108 toward the outside of the first vehicle 1 . The external indicator 110 may be, for example, a display that displays characters and image information output by the controller 108, or may be a lamp that indicates the state of the first vehicle 1 and the like.

Further, the controller 108 determines the state of the first vehicle 1 and detects a predetermined abnormal state of the first vehicle 1 . That is, the controller 108 determines whether or not the first vehicle 1 is in a predetermined abnormal state.
The predetermined abnormal condition may be, for example, a decrease in reliability of the first vehicle 1 . The decrease in reliability of the first vehicle 1 is, for example, the decrease in reliability due to a failure or malfunction of the system of the first vehicle 1 (for example, the first driving support device 10), or the automatic driving function of the first driving support device 10. deterioration of the driving environment of the first vehicle 1 (weather, road surface condition, accident, etc.), failure or malfunction of the ambient environment sensor 100 or the vehicle sensor.

Further, for example, a predetermined abnormal state may be a request to shift the driving of the first vehicle 1 from automatic driving by the first driving support device 10 to manual driving by the passenger (that is, TOR (Take-Over Request) or RTI (Request To Intervene)). may be issued. When the first driving support device 10 recognizes a driving scene in which automatic driving is difficult, such as merging into a congested road, and determines that it is necessary to transfer the driving authority of the first vehicle 1 to the occupant, Issue a driving change request in advance.
Further, for example, the first driving assistance device 10 may issue a driving change request even when the reliability of the first vehicle 1 is lowered as described above.

Further, for example, the predetermined abnormal state may be automatic execution of a minimum risk maneuver (MRM) by the first driving assistance device 10 . For example, the first driving support device 10 moves the first vehicle 1 into the lane when the driver has lost consciousness and is not driving, or when the driver does not start manual driving even if a request for driving change is issued. A minimum risk operation is automatically executed to stop the first vehicle 1 by pulling it over to the shoulder of the road, or simply to slow down or stop the first vehicle 1.例文帳に追加
Even when the reliability of the first vehicle 1 is lowered as described above, the minimum risk operation may be automatically executed.

The controller 108 notifies other vehicles in the vicinity of the first vehicle 1 that the first vehicle 1 is in a predetermined abnormal state and the planned course of the first vehicle 1 .
For example, the controller 108 may notify the other vehicle by transmitting the state information indicating that the first vehicle 1 is in a predetermined abnormal state and the planned route information of the first vehicle 1 through the communication device 104 .
For example, the controller 108 may notify other vehicles by displaying on the external display 110 that the first vehicle 1 is in a predetermined abnormal state and the planned course of the first vehicle 1 .

Next, referring to FIG. 3, the functional configuration of the controller 108 will be described. The controller 108 includes an object recognition unit 120, a map generation unit 121, a driving behavior determination unit 122, a running trajectory generation unit 123, a running control unit 124, a reliability deterioration determination unit 125, a TOR determination unit 126, It includes an MRM determination unit 127 , a state information generation unit 128 , a shared information generation unit 129 and a shared information communication unit 130 .

The object recognition unit 120 predicts the behavior of mobile objects around the first vehicle 1 based on the surrounding environment information input from the surrounding environment sensor 100 and the high-precision map stored in the map database 103 .
Based on the surrounding environment information, the high-precision map, and the prediction result by the object recognition unit 120, the map generation unit 121 generates a route space map expressing the route around the first vehicle 1 and the presence or absence of objects, and a driving field. Generate a risk map that quantifies the degree of risk.

The driving action determination unit 122 generates a driving action plan for automatically driving the first vehicle 1 on the driving route based on the driving route set by the navigation system 107, the route space map, and the risk map.
A driving behavior plan is a plan of driving behavior at the lane level (lane level) in a range of medium and long distances, which defines lanes in which the vehicle is to be driven and driving behaviors required for driving in these lanes. is.
The driving behavior determined by the driving behavior determination unit 122 may be, for example, a right turn, a left turn, or a straight run at an intersection on the driving route, or a lane change when traveling on multiple lanes.
The driving action plan may be, for example, a plan that defines driving actions such as how many meters before the intersection the lane should be changed to the right turn lane in a scene where the vehicle is to turn right at an intersection located ahead.

Furthermore, when the driving action determination unit 122 recognizes a driving scene in which automatic driving is difficult, such as merging into a congested road, and determines that it is necessary to transfer the driving authority of the first vehicle 1 to the occupant, It decides to issue a driver change request.
Further, the driving action determination unit 122 may determine to issue a driving change request when a decrease in reliability of the first vehicle 1 is detected. The decrease in reliability of the first vehicle 1 is, for example, the decrease in reliability due to a failure or malfunction of the system of the first vehicle 1 (for example, the first driving support device 10), or the automatic driving function of the first driving support device 10. deterioration, adverse conditions of the running environment of the first vehicle 1, failure or malfunction of the ambient environment sensor 100 or the vehicle sensor.

Further, the driving action determining unit 122 determines, based on the state of the passenger recognized by the passenger sensor 105, for example, the state in which the driver has lost consciousness and is not performing driving operation, or the state in which the driver is not performing the driving operation even if the driver change request is issued. decides to perform the least risk operation if does not initiate manual operation.
Further, the driving action determination unit 122 may determine to execute the minimum risk operation even when the reliability of the first vehicle 1 is lowered as described above.

The running trajectory generation unit 123 generates candidates for a running trajectory and a speed profile for driving the first vehicle 1 based on the driving action plan generated by the driving action determining unit 122, the motion characteristics of the first vehicle 1, and the route space map. . The travel trajectory generation unit 123 evaluates the future risk of each candidate based on the risk map, selects the optimum travel trajectory and speed profile, and sets them as the target travel trajectory and target speed profile for the first vehicle 1 to travel. .

Further, when the driving behavior determining unit 122 determines to perform the minimum risk operation, the driving trajectory generating unit 123 sets the first vehicle 1 to the lane as the target driving trajectory and target speed profile for the minimum risk operation. A target travel trajectory and a target speed profile are generated that are changed to pull over to the road shoulder and stop, or simply slow down or stop the first vehicle 1 .
Travel control unit 124 drives actuator 109 so that first vehicle 1 travels on the target travel trajectory at a speed according to the target speed profile generated by travel trajectory generation unit 123 .

The reliability drop determination unit 125 determines whether or not the reliability of the first vehicle 1 has dropped.
For example, the reliability deterioration determination unit 125 detects a failure or malfunction of the system of the first vehicle 1 (for example, the first driving support device 10), deterioration of the automatic driving function by the first driving support device 10, failure or operation of various sensors. It may be determined whether or not reliability degradation such as failure has occurred.

The reliability deterioration determining unit 125 may determine these events based on various sensors, actuators, and diagnostic signals from an electronic control unit (ECU) mounted on the first vehicle 1 and status signals. .
Further, for example, the reliability deterioration determination unit 125 determines whether deterioration of the automatic driving function by the first driving support device 10 occurs due to adverse conditions of the driving environment of the first vehicle 1 based on the surrounding environment information of the surrounding environment sensor 100. It may be determined whether or not

When determining that the reliability of the first vehicle 1 has decreased, the reliability decrease determination unit 125 determines the reason why the reliability of the first vehicle 1 has decreased. Reasons for reduced reliability may be, for example, failures or malfunctions of certain sensors, actuators, electronic control units, adverse driving conditions, and the like.
Further, the reliability deterioration determination unit 125 determines the level of reliability deterioration, that is, the degree of reliability deterioration. For example, the reliability degradation determining unit 125 may determine a plurality of levels with different degrees, such as a "large" degradation level, a "medium" degradation level, and a "small" degradation level.

The TOR determination unit 126 determines whether or not a request for switching from automatic driving to manual driving by a passenger has been issued.
When a request for driving change is issued, the TOR determination unit 126 obtains the scheduled time for driving change, that is, the scheduled time at which the driving mode of the first vehicle 1 switches from automatic driving to manual driving, and information on the reason for the driving change request. , is obtained from the driving behavior determination unit 122 .
The reason for the driving change request may be, for example, a driving scene in which automatic driving is difficult, or a decrease in the reliability of the first vehicle 1 or a reason for the decrease in reliability.

The MRM determination unit 127 determines whether or not the minimum risk operation of the first vehicle 1 is performed. When the minimum risk operation is performed, the MRM determination unit 127 acquires information on the reason for the minimum risk operation and information on the scheduled time when the minimum risk operation will be performed from the driving action determination unit 122 .
The reason for the minimum risk maneuver may be, for example, the unconsciousness of the driver, the lack of driving maneuver, the unreliability of the first vehicle 1 or the reason for the unreliability.

The state information generator 128 generates state information indicating the state of the first vehicle 1 .
For example, when the reliability decrease determination unit 125 determines that the reliability of the first vehicle 1 is decreased, the state information generation unit 128 generates the state information indicating the abnormal state that the reliability of the first vehicle 1 is decreased. Uncertainty information may be generated to indicate that
The uncertainty information includes determination result information on reliability deterioration, information on the reason for reliability deterioration, and information on the reliability deterioration level.

For example, when the TOR determination unit 126 determines that a drive change request has been issued, the state information generation unit 128 generates drive change request information indicating that the drive change request has been issued as state information indicating an abnormal state. you can
The driving change request information includes determination result information about the issuance of the driving change request, information on the reason for issuing the driving change request, and information on the scheduled time of the driving change.

For example, when the MRM determination unit 127 determines that the minimum risk operation of the first vehicle 1 is being performed, the state information generation unit 128 generates the state information indicating the abnormal state that the minimum risk operation of the first vehicle 1 is being performed. MRM information may be generated indicating that the
The MRM information includes determination result information for execution of the minimum risk operation, information on the scheduled time at which the minimum risk operation will be executed, and information on the reason for executing the minimum risk operation.
Based on the vehicle information from the vehicle sensor 101 , the state information generator 128 generates state information other than the uncertainty information, the driving change request information, and the MRM information (for example, information indicating the normal state of the first vehicle 1). may be generated.

The shared information generation unit 129 generates shared information about the first vehicle 1 that is shared between the first vehicle 1 and other vehicles. The shared information includes, for example, the identification information of the first vehicle 1, the position information of the first vehicle 1, the speed information, the moving direction information, the driving intention information of the first vehicle 1 (for example, the driving behavior of the first vehicle 1 to be performed next). information), which may include ambient environment information detected by the ambient environment sensor 100 of the first vehicle 1 .

The shared information may also include state information generated by the state information generator 128, such as uncertainty information, drive change request information, MRM information, and other state information.
The shared information may also include planned route information regarding the planned route of the first vehicle 1 . The planned course information may be the target travel trajectory and the target speed profile generated by the travel trajectory generator 123 .

Further, the shared information generator 129 may generate simpler information representing the planned route of the first vehicle 1 as the planned route information based on the target travel trajectory and the target speed profile. The simpler planned route information may be, for example, information indicating the direction of the planned route of the first vehicle 1 and the acceleration/deceleration of the first vehicle 1 .

Shared information communication unit 130 transmits the shared information generated by state information generation unit 128 to the outside through communication device 104 .
The shared information communication unit 130 may always include the state information and the planned route information generated by the state information generation unit 128 in the shared information and transmit the shared information.
When the shared information includes the uncertainty information, the driving change request information, and the MRM information, the shared information including the planned route information of the first vehicle 1 in the abnormal state is transmitted. For example, when the shared information includes MRM information, the shared information including the planned course information of the planned course for the minimum risk operation (for example, the course target travel trajectory and the target speed profile for the minimum risk operation) is transmitted. be.

Alternatively, when the state information generator 128 generates any one of the uncertainty information, the drive change request information, and the MRM information, the shared information communication unit 130 determines that the first vehicle 1 is in an abnormal state. In addition, the state information and the planned course information may be included in the shared information and transmitted.
The shared information communication unit 130 may include the state information and the planned course information in the same communication frame of the shared information and transmit them. Each of them may be included in a communication frame and transmitted.

The shared information communication unit 130 may specify the destination of the shared information including the state information and the shared information including the planned route information to the other vehicle.
For example, the shared information communication unit 130 transmits shared information including state information and shared information including planned route information to other vehicles existing within a predetermined distance (for example, 50 m) from the first vehicle 1. good.

For example, when the relative positional relationship between the first vehicle 1 and the other vehicle is in a predetermined relationship, the shared information communication unit 130 transmits the shared information including the state information and the shared information including the planned route information to the other vehicle. can be sent to For example, the shared information communication unit 130 transmits shared information including state information and shared information including planned route information to other vehicles traveling within a predetermined distance (for example, 50 m) behind the first vehicle 1. You can For example, the shared information communication unit 130 may transmit shared information including state information and shared information including planned route information to adjacent vehicles on the front, rear, left and right sides of the first vehicle 1 .

Further, for example, the shared information communication unit 130 transmits shared information including state information and shared information including planned route information to other vehicles that are predicted to intersect the planned traveling trajectory of the first vehicle 1 executing the minimum risk operation. may be sent.
The shared information communication unit 130 designates the other vehicle as the destination of the shared information, for example, by including the identification information of the other vehicle in the shared information to be transmitted.
The shared information communication unit 130 is based on the identification information and position information of the other vehicle included in the shared information transmitted from the other vehicle, and the prediction result of the behavior of the moving object around the first vehicle 1 by the object recognition unit 120. , other vehicles to be transmitted and their identification information may be specified.

The shared information generation unit 129 also displays the state information generated by the state information generation unit 128 and the planned route information of the first vehicle 1 on the external display device 110 .
When displaying the planned course information on the external display device 110, the shared information generator 129 may display simpler planned course information generated based on the target travel trajectory and the target speed profile. For example, the shared information generation unit 129 displays an arrow, symbol, or character indicating the lane change direction of the first vehicle 1 or the approach direction to the road shoulder, or the symbol or character indicating the deceleration or stop of the first vehicle 1 on the external display 110 . may be displayed to

Next, the configuration of the second driving support device 20 mounted on the second vehicle 2 that receives the shared information transmitted from the first vehicle 1 will be described with reference to FIG.
The second driving support device 20 includes an ambient environment sensor 200, a vehicle sensor 201, a positioning device 202, a map database 203, a communication device 204, a user interface device 206, a navigation system 207, a controller 208, and an actuator. 209.

The ambient environment sensor 200, the vehicle sensor 201, the positioning device 202, the map database 203, the communication device 204, the user interface device 206, the navigation system 207, and the actuator 209 are the ambient environment sensor 100, the vehicle sensor, and the vehicle sensor described with reference to FIG. Sensor 101 , positioning device 102 , map database 103 , communication device 104 , user interface device 106 , navigation system 107 , and actuator 109 .

The controller 208 is an electronic control unit (ECU) that performs driving support control of the second vehicle 2 . Controller 208 includes a processor 211 and peripheral components such as storage device 212 . The processor 211 may be, for example, a CPU or MPU.
The storage device 212 may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The storage device 212 may include memory such as registers, cache memory, and ROM and RAM used as main memory.

The functions of the controller 208 described below are implemented by executing a computer program stored in the storage device 212 by the processor 211, for example.
Note that the controller 208 may be formed of dedicated hardware for executing each information processing described below.
For example, controller 208 may comprise functional logic circuitry implemented in a general purpose semiconductor integrated circuit. For example, controller 208 may comprise a programmable logic device (PLD), such as a field programmable gate array (FPGA), or the like.

The controller 208 estimates the current position of the second vehicle 2, the estimated current position, the road map data of the map database 203, the route information output from the navigation system 207, the surrounding environment, and the position of the second vehicle 2. Based on the running state, the planned route along which the second vehicle 2 should travel is determined.
For example, the controller 208 sets a target travel trajectory along which the second vehicle 2 should travel as a planned route. The controller 208 performs automatic driving control and driving support control of the second vehicle 2 based on the determined planned route, and drives the actuator 209 to control the travel of the second vehicle 2 .

Further, the controller 208 transmits the uncertainty information, the driving change request information, or the MRM information included in the shared information received from the first vehicle 1 and the planned route information of the first vehicle 1 to the second vehicle through the user interface device 206 . The occupants of vehicle 2 are notified.
A functional configuration of the controller 208 will be described with reference to FIG. The controller 208 includes an object recognition unit 220, a map generation unit 221, a driving action determination unit 222, a running track generation unit 223, a running control unit 224, a shared information communication unit 225, a state determination unit 226, a route An acquisition unit 227 and a notification control unit 228 are provided.

The functions of the object recognition unit 220, the map generation unit 221, the driving action determination unit 222, the travel trajectory generation unit 223, and the travel control unit 224 are the same as those of the object recognition unit 120, the map generation unit 121, and the driving control unit 220 described with reference to FIG. The functions are the same as those of the action determination unit 122 , the travel trajectory generation unit 123 , and the travel control unit 124 .
Shared information communication unit 225 receives shared information transmitted from first vehicle 1 by communication device 204 .

The state determination unit 226 acquires the state information of the first vehicle 1 from the received shared information.
When the shared information communication unit 130 of the first vehicle 1 always includes the state information and the planned route information in the shared information, the state determination unit 226 selects any one of the uncertainty information, the driving change request information, and the MRM information. is included in the shared information, it is determined whether the first vehicle 1 is in an abnormal state.
For example, when uncertainty information is included in the shared information, the state determination unit 226 determines that the reliability of the first vehicle 1 has decreased. When the driving change request information is included in the shared information, the state determination unit 226 determines that the driving change request has been issued. When the MRM information is included in the shared information, the state determination unit 226 determines that the minimum risk operation will be performed.

When it is determined that the first vehicle 1 is in an abnormal state, the state determination unit 226 acquires any one of the uncertainty information, the driving change request information, and the MRM information included in the shared information, and the notification control unit 228.
Further, when it is determined that the first vehicle 1 is in an abnormal state, the route acquisition unit 227 acquires the planned route information of the first vehicle 1 included in the shared information, and the object recognition unit 220 and the notification control unit 228.

When the shared information communication unit 130 of the first vehicle 1 determines that the first vehicle 1 is in an abnormal state and includes the state information and the planned route information in the shared information, the state determination unit 226 It is not necessary to determine whether or not one vehicle 1 is in an abnormal state.
The state determination unit 226 acquires any one of the uncertainty information, the driving change request information, and the MRM information included in the shared information, and outputs it to the notification control unit 228 . The route acquisition unit 227 acquires the planned route information of the first vehicle 1 included in the shared information, and outputs the information to the object recognition unit 220 and the notification control unit 228 .

The notification control unit 228 sends any of the uncertainty information, the driving change request information, and the MRM information acquired by the state determination unit 226 and the planned route information of the first vehicle 1 acquired by the route acquisition unit 227 to the user interface device 206. The occupant of the second vehicle 2 is notified by.
For example, the notification control unit 228 may display any one of the uncertainty information, the driving change request information, and the MRM information, and the planned course information of the first vehicle 1 on the display device of the user interface device 206 .

FIG. 6 shows an image 30 representing MRM information and planned course information displayed on the display of user interface device 206 .
The image 30 includes a three-dimensional image of the road around the second vehicle 2 which is the host vehicle, an icon display 31 of the second vehicle 2 arranged on the three-dimensional image and representing the position of the second vehicle 2, and a second vehicle 2. It includes an icon representation 32 of the first vehicle 1 representing the position of the first vehicle 1 in the vicinity of the vehicle 2 and MRM information 33 and 34 .

In the example of the image 30, the MRM information includes a balloon and a warning symbol 33 for emphasizing the first vehicle 1 performing the minimum risk maneuver and information indicating that the first vehicle 1 is performing the minimum risk maneuver. 34. The highlighting of the first vehicle 1 may be performed, for example, by changing the color of the icon display 32 or the clarity of the outline. Also, the time from the current time until the minimum risk operation is performed and the reason for the minimum risk operation may be displayed. Also, the display mode of the MRM information may be changed according to the time until the minimum risk operation is performed.
The image 30 also includes planned route information 35 for the second vehicle 2 and planned route information 36 and 37 for the first vehicle 1 . The planned route information of the first vehicle 1 includes the planned traveling trajectory 36 and the stop position display 37 of the first vehicle 1 by the minimum risk operation.

FIG. 7 shows an image 40 displayed on the display device of the user interface device 206 representing the driving change request information and the planned route information.
The image 40 includes a three-dimensional image of the road around the second vehicle 2, an icon display 41 of the second vehicle 2 arranged on the three-dimensional image and representing the position of the second vehicle 2, and the surroundings of the second vehicle 2. icon display 42 of the first vehicle 1 representing the position of the first vehicle 1, and driving change request information 43, 44 and 45.

In the example of the image 40, the driving change request information includes a balloon 43 for emphasizing the first vehicle 1 for which the driving change request has been issued, information 44 indicating that the driving change request has been issued, and driving change request information from the current time. It includes time information 45 until the shift. The highlighting of the first vehicle 1 may be performed, for example, by changing the color of the icon display 42 or the clarity of its outline. Also, the reason for issuing the driving change request may be displayed.

Further, the display mode of the driving change request information may be changed according to the time until the driving change. For example, the color and size of the balloon 43 may be changed.
The image 40 also includes planned route information 46 of the second vehicle 2 and planned route information 47 of the first vehicle 1 .

FIG. 8 shows an image 50 representing uncertainty information and planned course information displayed on the display of user interface device 206 .
The image 50 includes a three-dimensional image of the road around the second vehicle 2 , an icon display 51 of the second vehicle 2 arranged on the three-dimensional image and representing the position of the second vehicle 2 , and the surroundings of the second vehicle 2 . and uncertainty information 53 and 54 .

In the example of the image 50, the uncertainty information includes a balloon and an alert symbol 53 for highlighting the first vehicle 1 whose reliability is declining and including information 54 indicating The highlighting of the first vehicle 1 may be performed, for example, by changing the color of the icon display 52 or the clarity of the outline. Also, the reason for the decrease in reliability and the level of decrease in reliability may be displayed. Further, the display mode of the uncertainty information may be changed according to the reason for the decrease in reliability and the level of decrease in reliability.
For example, the color and size of the balloon 43 may be changed according to the level of reliability deterioration.
The image 50 also includes planned route information 55 of the second vehicle 2 and planned route information 56 of the first vehicle 1 .

Please refer to FIG. The notification control unit 228 may notify the passenger of any of the uncertainty information, the driving change request information, and the MRM information, and the planned course information of the first vehicle 1 by a method other than the display device.
For example, the notification control unit 228 may notify one of the uncertainty information, the driving change request information, and the MRM information, and the planned route information of the first vehicle 1 by a voice message.

The notification control unit 228 determines the relative positions of the first vehicle 1 and the second vehicle 2 based on the position information of the first vehicle 1 received from the first vehicle 1 and the position information of the second vehicle 2 which is the own vehicle. A voice message that briefly describes the relationship may be output.
For example, the notification control unit 228 may output a voice message such as "the vehicle running on the left front will perform the minimum risk operation".

In addition, the notification control unit 228 may output a voice message of simple planned route information indicating the direction of the planned route of the first vehicle 1 and the acceleration/deceleration of the first vehicle 1 .
For example, the notification control unit 228 may output a voice message such as "the vehicle running on the left front will change lanes to the right and pull over to the shoulder and stop" or "decelerate and stop".

The user interface device 206 is arranged in front of the driver's seat of the second vehicle 2 and along the vehicle width direction of the second vehicle 2 in order to notify the occupants of the position of the first vehicle 1 in an abnormal state. A strip of light may be provided.
See FIG. The strip-shaped luminous body 60 is arranged on the dashboard 61 of the second vehicle 2 along the lower end of the front window 62 so as to extend in the vehicle width direction between the lower ends of the left and right front pillars 63a and 63b. may be placed. The strip-shaped light emitter 60 may be configured by an array of light emitting diodes (LED), an organic electroluminescence (EL) panel, or the like.

The notification control unit 228 emits light in an arbitrary one or a plurality of regions 64 of the strip-shaped region of the strip-shaped light emitter 60, so that the azimuth angle at which the first vehicle 1 can be seen from the passenger sitting in the driver's seat is displayed to the passenger. may notify you.
For example, the area 64 in the direction in which the first vehicle 1 can be seen may be illuminated, or simply when the first vehicle 1 exists to the right front or right side of the second vehicle 2, the right area is illuminated, and the left front area is illuminated. or if it exists on the left side, the area on the left side may be made to emit light.

Please refer to FIG. The object recognition unit 220 receives the planned route information of the first vehicle 1 from the route acquisition unit 227 .
The object recognition unit 220 predicts the action and behavior of the first vehicle 1 based on the planned course information of the first vehicle 1 .
As a result, when driving assistance is performed in the second vehicle 2 , the driving behavior determination unit 222 determines the driving behavior of the second vehicle 2 according to the planned route information of the first vehicle 1 . For example, the driving behavior determining unit 222 determines driving behavior such as avoiding the first vehicle 1 or preventing excessive approach to the first vehicle 1 .

The traveling trajectory generator 223 generates a target traveling trajectory and a target speed profile of the second vehicle 2 according to the planned course information of the first vehicle 1 . For example, the travel trajectory generator 223 determines a target travel trajectory and a target speed profile that avoid the first vehicle 1 or prevent excessive approach to the first vehicle 1 .
Therefore, steering control and deceleration control by the travel control unit 224 are performed according to the planned course information of the first vehicle 1 . For example, the travel trajectory generator 223 drives the steering mechanism and braking mechanism of the second vehicle 2 so as to avoid the first vehicle 1 or prevent excessive approach to the first vehicle 1 .

(motion)
Next, an example of an abnormal state notification method in the embodiment will be described. FIG. 10 shows an example of an abnormal state notification method implemented in the first vehicle 1. FIG.
In step S<b>1 , the reliability deterioration determining section 125 , the TOR determining section 126 and the MRM determining section 127 determine the state of the first vehicle 1 .

When the MRM determination unit 127 determines that the minimum risk operation of the first vehicle 1 is performed (step S2: Y), the process proceeds to step S3. If it is not determined that the minimum risk operation will be executed (step S2: N), the process proceeds to step S4.
In step S3, the state information generator 128 generates MRM information. After that, the process proceeds to step S8.

When the TOR determination unit 126 determines that a request for changing driving of the first vehicle 1 has been issued (step S4: Y), the process proceeds to step S5. If it is determined that the driving change request has not been issued (step S4: N), the process proceeds to step S6.
In step S5, the state information generator 128 generates driving change request information. After that, the process proceeds to step S8.

When the reliability decrease determination unit 125 determines that the reliability of the first vehicle 1 has decreased (step S6: Y), the process proceeds to step S7.
If it is determined that the reliability is not lowered (step S6: N), any of the uncertainty information, the driving change request information, the MRM information, and the planned route information are not transmitted from the first vehicle 1 and processed. ends.

In step S7, the state information generator 128 generates uncertainty information. After that, the process proceeds to step S8.
In step S<b>8 , the shared information generator 129 acquires the planned route information of the first vehicle 1 . The shared information generation unit 129 generates shared information including any of uncertainty information, driving change request information, and MRM information, and planned route information.
In step S<b>9 , the shared information communication unit 130 transmits the shared information to the outside of the first vehicle 1 . The state information generator 128 may display any one of the uncertainty information, the driving change request information, the MRM information, and the planned route information on the external display 110 . Processing then ends.

FIG. 11 shows an example of an abnormal condition notification method implemented in the second vehicle 2 .
In step S<b>11 , the shared information communication unit 225 receives shared information transmitted from the first vehicle 1 .
In step S12, the state determination unit 226 determines whether or not the first vehicle 1 is in an abnormal state.

If it is determined that the minimum risk operation of the first vehicle 1 will be performed (step S12: Y), the process proceeds to step S13. If it is not determined that the minimum risk operation will be executed (step S12: N), the process proceeds to step S14.
In step S<b>13 , the notification control unit 228 notifies the passenger of the MEM information via the user interface device 206 . After that, the process proceeds to step S18.

If it is determined that the request for changing driving of the first vehicle 1 has been issued (step S14: Y), the process proceeds to step S15. If it is not determined that the driving change request has been issued (step S14: N), the process proceeds to step S16.
In step S<b>15 , the notification control unit 228 notifies the driver of the driver change request information via the user interface device 206 . After that, the process proceeds to step S18.

If it is determined that the reliability of the first vehicle 1 has decreased (step S16: Y), the process proceeds to step S17.
If it is not determined that the reliability of the first vehicle 1 has decreased (step S16: N), the process ends without notifying any of the uncertainty information, the driving change request information, the MRM information, and the planned route information. .

In step S<b>17 , the notification control unit 228 notifies the passenger of the uncertainty information via the user interface device 206 . After that, the process proceeds to step S18.
In step S<b>18 , the notification control unit 228 notifies the planned route information of the first vehicle 1 via the user interface device 206 . Processing then ends.

(Effect of Embodiment)
(1) The reliability deterioration determination unit 125, the TOR determination unit 126, and the MRM determination unit 127 of the first vehicle 1 determine the state of the first vehicle 1 during automatic operation. The driving action determination unit 122 and the travel trajectory generation unit 123 determine the planned route of the first vehicle 1 . The shared information generation unit 129 and the shared information communication unit 130 notify other vehicles around the first vehicle 1 that the first vehicle 1 is in an abnormal state and the planned course of the first vehicle 1 .

As a result, the first vehicle 1 can notify other vehicles in the vicinity of the first vehicle 1 that the first vehicle 1 is in an abnormal state and the planned course of the first vehicle 1 . For this reason, for example, when the driving mode of other vehicles around the first vehicle 1 is manual driving, the driver of the other vehicle anticipates the sudden behavior of the first vehicle 1 and may collide with the first vehicle 1 . and avoid excessive proximity.
Further, when the traveling mode of the other vehicle is automatic driving, the traveling trajectory of the other vehicle can be made to correspond to the sudden behavior of the first vehicle 1 . This makes it possible to prevent sudden acceleration/deceleration and steering operation of other vehicles during automatic driving.

(2) When the shared information generation unit 129 and the shared information communication unit 130 determine that the first vehicle 1 is in an abnormal state, the shared information generation unit 129 and the shared information communication unit 130 may be notified to other vehicles.
Since the first vehicle 1 during automatic operation can determine an abnormality of the first vehicle 1 itself, by notifying the other vehicles in the vicinity of it in advance, the occupants of the other vehicles in the vicinity of the first vehicle 1 can be alerted. can evoke

(3) The driving action determination unit 122 determines automatic stop of the first vehicle 1 as the planned course of the first vehicle 1 in the abnormal state. The shared information generation unit 129 and the shared information communication unit 130 may notify the other vehicles of the time until the automatic stop of the first vehicle 1 is started.
By notifying the time until the automatic stop of the first vehicle 1 is started, the attention of the occupants of other vehicles around the first vehicle 1 can be aroused.

(4) The shared information generation unit 129 and the shared information communication unit 130 may notify other vehicles of what kind of abnormal state the first vehicle 1 is in.
Occupants of other vehicles in the vicinity of the first vehicle 1 can thereby recognize the abnormal state of the first vehicle 1 , making it easier to anticipate the occurrence of a sudden behavior of the first vehicle 1 .

(5) The abnormal state of the first vehicle 1 may be a decrease in the reliability of the first vehicle 1, issuance of a request to change the driving of the first vehicle 1 from automatic driving to manual driving, or automatic execution of a minimum risk operation. .
As a result, when these abnormal conditions occur, other vehicles in the vicinity of the first vehicle 1 can be notified that the first vehicle 1 is in an abnormal condition and the planned course of the first vehicle 1 .

(6) The shared information communication unit 225 of the second vehicle 2 receives the state information of the first vehicle 1 during automatic operation and the information of the planned course of the first vehicle 1 . State determination unit 226 determines whether or not first vehicle 1 is in an abnormal state. When it is determined that the first vehicle 1 is in an abnormal state, the notification control unit 228 notifies the occupants of the second vehicle 2 that the first vehicle 1 is in an abnormal state and the planned course of the first vehicle 1. .

As a result, the second vehicle 2 can recognize that the first vehicle 1 around the second vehicle 2 is in an abnormal state and the planned course of the first vehicle 1 . For this reason, for example, when the driving mode of the second vehicle 2 is manual driving, the driver of the second vehicle 2 anticipates the sudden behavior of the first vehicle 1, and may You can avoid getting close.
Further, when the running mode of the second vehicle 2 is automatic driving, the running track of the second vehicle 2 can be adapted to the sudden behavior of the first vehicle 1 . As a result, sudden acceleration/deceleration and steering operation of the second vehicle 2 during automatic operation can be prevented.

(7) The notification control unit 228 may display that the first vehicle 1 is in an abnormal state and the planned course of the first vehicle 1 on the display device of the second vehicle 2 . Accordingly, the occupant of the second vehicle 2 can recognize that the first vehicle 1 is in an abnormal state and the planned course of the first vehicle 1 . For this reason, for example, when the driving mode of the second vehicle 2 is manual driving, the driver of the second vehicle 2 anticipates the sudden behavior of the first vehicle 1, and may You can avoid getting close.
When the traveling mode of the second vehicle 2 is automatic driving, the driver of the second vehicle 2 can expect that the traveling trajectory of the second vehicle 2 will change due to the sudden behavior of the first vehicle 1. .

(8) The notification control unit 228 may indicate the position of the first vehicle 1 by means of the light-emitting locations of the belt-shaped light emitters 60 arranged along the vehicle width direction in front of the driver's seat of the second vehicle. Thereby, the occupant of the second vehicle 2 can know which vehicle around the second vehicle 2 is in an abnormal state.

(9) The notification control unit 228 notifies the occupant of the second vehicle 2 of the position of the first vehicle 1 by voice message.
Thereby, the occupant of the second vehicle 2 can know which vehicle around the second vehicle 2 is in an abnormal state.

(10) The traveling trajectory generator 223 generates a traveling trajectory of the second vehicle 2 by automatic operation according to the planned course of the first vehicle 1 .
As a result, the running track of the second vehicle 2 can be adapted to the sudden behavior of the first vehicle 1, and sudden acceleration/deceleration and steering operation of the second vehicle 2 during automatic operation can be prevented.

All examples and conditional terms set forth herein are intended for educational purposes to aid the reader in understanding the invention and concepts provided by the inventors for the advancement of the art. and should be construed without limitation to the above examples and conditions specifically set forth and the configuration of the examples herein to demonstrate superiority and inferiority of the present invention. It is. Although embodiments of the invention have been described in detail, it should be understood that various changes, substitutions and modifications can be made thereto without departing from the spirit and scope of the invention.

DESCRIPTION OF SYMBOLS 1... 1st vehicle, 2... 2nd vehicle, 3... Public communication line, 10... 1st driving assistance device, 20... 2nd driving assistance device, 60... Strip|belt-shaped light-emitting body, 61... Dashboard, 62... Front window, DESCRIPTION OF SYMBOLS 100... Surrounding environment sensor, 101... Vehicle sensor, 102... Positioning device, 103... Map database, 104... Communication apparatus, 105... Occupant sensor, 106... User interface device, 107... Navigation system, 108... Controller, 109... Actuator, DESCRIPTION OF SYMBOLS 110... External display, 111... Processor, 112... Storage device, 120... Object recognition part, 121... Map generation part, 122... Driving action determination part, 123... Travel trajectory generation part, 124... Travel control part, 125... Reliability Performance degradation determination unit 126 TOR determination unit 127 MRM determination unit 128 State information generation unit 129 Shared information generation unit 130 Shared information communication unit 200 Surrounding environment sensor 201 Vehicle sensor 202 Positioning device 203 Map database 204 Communication device 206 User interface device 207 Navigation system 208 Controller 209 Actuator 211 Processor 212 Storage device 220 Object recognition unit 221 Map generation unit 222 Driving action determination unit 223 Driving trajectory generation unit 224 Travel control unit 225 Shared information communication unit 226 State determination unit 227 Route acquisition unit 228 Notification control unit

Claims (12)

Determining the state of the own vehicle during automatic driving,
determining a planned course of the own vehicle;
Information about the vehicle's abnormal state, information on the scheduled course of the vehicle associated with the minimum risk operation performed when the vehicle is in the abnormal state, and information on the time from the current time until the minimum risk operation is performed. , notifying other vehicles in the vicinity of the own vehicle;
An abnormal state notification method characterized by: 2. The method according to claim 1, wherein when it is determined that the own vehicle is in an abnormal state, the other vehicle is notified that the own vehicle is in an abnormal state and the scheduled course of the own vehicle. Abnormal state notification method. determining an automatic stop of the own vehicle as the scheduled course of the own vehicle in the abnormal state;
Notifying the other vehicle of the time until the self-vehicle automatically stops;
3. The abnormal state notification method according to claim 1 or 2, characterized in that: 4. The abnormal condition notification method according to any one of claims 1 to 3, wherein the other vehicle is notified of what kind of abnormal condition the host vehicle is in. 3. The abnormal condition of the own vehicle is a decrease in the reliability of the own vehicle, issuance of a request to change driving of the own vehicle from automatic driving to manual driving, or automatic execution of the minimum risk operation. 5. The abnormal state notification method according to any one of 1 to 4. Status information of another vehicle during automatic driving, information of the scheduled course of the other vehicle accompanying the minimum risk operation performed when the other vehicle is in an abnormal state, and the time from the current time to the minimum risk operation. receive the information by the own vehicle,
determining whether the other vehicle is in an abnormal state;
When it is determined that the other vehicle is in an abnormal state, an occupant of the own vehicle confirms that the other vehicle is in an abnormal state, the planned route of the other vehicle, and the time from the current time to the minimum risk operation. to notify
An abnormal state notification method characterized by: 7. The abnormal state notification method according to claim 6, wherein the fact that the other vehicle is in the abnormal state and the planned course of the other vehicle are displayed on a display device provided in the own vehicle. 8. The abnormal state notification method according to claim 6 or 7, wherein the position of the other vehicle is indicated by a light-emitting portion of a strip-shaped light emitter arranged along the vehicle width direction in front of the driver's seat of the own vehicle. . 9. The abnormal condition notification method according to any one of claims 6 to 8, wherein the position of the other vehicle is notified to the occupant of the own vehicle by means of a voice message. 10. The abnormal state notification method according to any one of claims 6 to 9, wherein the travel trajectory of the host vehicle under automatic operation is generated according to the scheduled trajectory of the other vehicle. A process of determining the state of the own vehicle during automatic driving;
a process of determining the scheduled course of the own vehicle;
Information about the vehicle's abnormal state, information on the scheduled course of the vehicle associated with the minimum risk operation performed when the vehicle is in the abnormal state, and information on the time from the current time until the minimum risk operation is performed. , a process of notifying other vehicles in the vicinity of the own vehicle;
Abnormal state notification device, characterized by comprising a controller for executing State information of the other vehicle, information of the scheduled course of the other vehicle accompanying the minimum risk operation performed when the other vehicle is in an abnormal state, and information of the time from the current time until the minimum risk operation is performed are automatically obtained. a process of receiving in the vehicle;
a process of determining whether or not the other vehicle is in an abnormal state;
When it is determined that the other vehicle is in an abnormal state, driving of the own vehicle determines that the other vehicle is in an abnormal state, the scheduled course of the other vehicle, and the time from the current time to the minimum risk operation. a process of notifying the
Abnormal state notification device, characterized by comprising a controller for executing

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