JP6613623B2 - On-vehicle device, operation mode control system, and operation mode control method - Google Patents

Description

  The present invention relates to an in-vehicle device, an operation mode control system, and an operation mode control method.

  2. Description of the Related Art Conventionally, efforts have been made to promote driver's safety awareness by evaluating driver's driving behavior and feeding back the evaluation result to the driver, leading to safe driving. For example, a service for diagnosing a driver's driving technique from simulated driving data using a driving simulator and providing advice and guidance regarding safe driving based on the diagnosis result is provided (for example, see Non-Patent Document 1). In addition, services for diagnosing driving suitability are provided by a written test, a risk sensitivity test, a machine diagnosis using a machine dedicated to aptitude diagnosis, and the like (for example, see Non-Patent Document 2).

  In recent years, technology has also emerged in which automobiles support safe driving by drivers. For example, a technique for generating safety diagnosis content using vehicle behavior data acquired from a car navigation device (see, for example, Patent Document 1) is known. In addition, a technique is known in which it is determined whether the user is driving safely based on a predetermined standard, and the number of points is calculated / cumulated according to the determination result (see, for example, Patent Document 2). Further, a technology (for example, a method for detecting driving data of a vehicle from electronic components and sensors mounted on the vehicle, selecting a driving action to be urged to the driver based on an analysis result of the driving data, and providing the driving action to the driver of the vehicle (for example, Patent Document 3) is known.

JP 2006-243856 A JP 2007-293626 A JP 2012-248087 A

Incorporated Administrative Agency Automobile Accident Countermeasures Organization, Driver Proper Diagnosis Flow, [online], [Search May 1, 2015], Internet (URL: http://www.nasva.go.jp/fusegu/tekiseiflow.html ) Yamato Staff Supply Co., Ltd., Operational Diagnosis, [online], [Search May 1, 2015], Internet (URL: http://www.y-staff-supply.co.jp/reason/index .html)

  However, according to the conventional technology, it is up to the driver to reflect the diagnosis result or the evaluation result in the driving operation, and thus there is a case where safe driving cannot be sufficiently supported. In recent years, development of automatic driving technology and functions for assisting driving of automobiles has been promoted, but control according to driver technology and skill is not sufficiently performed.

  In one aspect, an object of the present invention is to provide an in-vehicle device, an operation mode control system, and an operation mode control method that can support safe driving.

In one embodiment, the in-vehicle apparatus includes a transmission unit that transmits to the external server via the first communication network evaluation information indicating an evaluation of driving behavior of another driver by driver driving a vehicle, said from the external server An acquisition unit that acquires second evaluation information indicating evaluation of the driving behavior of the driver by another driver, a manual driving mode in which manual driving by the driver is performed based on the acquired second evaluation information, and the vehicle And a control unit that performs control related to switching to an automatic operation mode in which automatic traveling control for automatically traveling is performed .

  As one aspect, safe driving can be supported.

It is a figure showing roughly the composition of the operation mode control system concerning one embodiment. It is a figure showing roughly composition of an in-vehicle system. FIG. 3A is a diagram illustrating an example of the hardware configuration of the control device of the in-vehicle device, and FIG. 3B is a diagram illustrating an example of the hardware configuration of the server. It is a functional block diagram of a vehicle-mounted apparatus and a server. Fig.5 (a)-FIG.5 (c) are figures which show the data structure of identification code management DB. It is a figure which shows the data structure of driving | operation evaluation information DB. It is a figure which shows the data structure of update count DB classified by area. It is a flowchart which shows the other vehicle recognition process of a vehicle-mounted apparatus. Fig.9 (a)-FIG.9 (c) are the figures for demonstrating the image displayed on a windshield. It is a flowchart which shows the evaluation information transmission process of a vehicle-mounted apparatus. It is a flowchart which shows the evaluation information update process of a server. It is a flowchart which shows the operation mode control process of a vehicle-mounted apparatus. It is a flowchart which shows the operation mode control process according to area of a vehicle-mounted apparatus. It is a flowchart which shows the separation process of a vehicle-mounted apparatus. FIGS. 15A and 15B are diagrams illustrating another example of the data structure of the driving evaluation information DB.

  Hereinafter, an embodiment of the operation mode control system will be described in detail with reference to FIGS.

  FIG. 1 schematically shows a configuration of an operation mode control system 100 according to an embodiment. The operation mode control system 100 includes one or more in-vehicle systems 20 and a server 10. The in-vehicle system 20 and the server 10 are connected to a network 80 such as the Internet.

  FIG. 2 schematically shows the configuration of the in-vehicle system 20. The in-vehicle system 20 is a system provided in a vehicle such as an automobile, and includes an in-vehicle device 30 and an automatic driving device 40 as shown in FIG.

  The in-vehicle device 30 includes a GPS (Global Positioning System) module 32, an LTE (Long Term Evolution) module 33, a Wi-Fi (Wireless Fidelity) module 34, an inter-vehicle communication module 35, antennas 33A to 35A, a display A unit 36, a microphone 37, a camera 38, and a control device 31 are provided.

  The GPS module 32 detects vehicle position information and outputs it to the control device 31.

  The LTE module 33 and the Wi-Fi module 34 are hardware modules for performing wireless communication, and are connected to the antennas 33A and 34A, respectively. The control device 31 switches between the LTE module 33 and the Wi-Fi module 34 according to the radio wave arrival area, thereby connecting to the network 80 shown in FIG. 1 and transmitting / receiving data to / from the server 10. To do.

  The inter-vehicle communication module 35 is a hardware module for performing inter-vehicle communication with other vehicles, and is connected to the directional antenna 35A. By using the directional antenna 35A, it is possible to detect the direction of arrival of radio waves for vehicle-to-vehicle communication. Therefore, the control device 31 selects a vehicle that has performed vehicle-to-vehicle communication among vehicles (peripheral vehicles) around the host vehicle. Can be identified.

  The display unit 36 is, for example, a head-up display device, and displays a predetermined image on the windshield based on control from the control device 31 described later. In the present embodiment, the display unit 36 displays the vehicle icon and the display number on the windshield so that the driver can easily evaluate the driving behavior (driving manners, driving behavior, etc.) of the driver of the other vehicle (FIG. 9C )reference). In FIG. 9C, the display unit 36 uses a vehicle icon (ICN1 to ICN3) for specifying the vehicle and a display number (DN1 to DN3) for uniquely identifying the vehicle as a predetermined image. Display on glass. As a result, the driver can easily identify and evaluate the other vehicles C1 to C3 as compared to a state in which nothing is displayed on the windshield as shown in FIG. The display unit 36 may be, for example, a display unit provided in advance in the vehicle in order to assist driving, or may be a display unit retrofitted.

  The microphone 37 is a voice input device, and is installed, for example, near a driver's seat of a steering wheel, a dashboard, or a rear-view mirror or the like where a driver can easily input (sound collection) voice generated in the vehicle. The sound input to the microphone 37 is input to the control device 31.

  The camera 38 is provided on the front side of the vehicle, for example. However, the number and arrangement of the cameras 38 may be appropriately changed according to the shape of the vehicle. It is assumed that the camera 38 is a wide-angle camera that can capture a range that the driver sees through the windshield. The camera 38 may be, for example, a camera provided in advance in the vehicle to assist driving or may be a retrofitted camera.

  The control device 31 acquires and processes information from the GPS module 32, the microphone 37, the camera 38, and the server 10. Further, the control device 31 controls the display unit 36 based on the processing result, transmits various data to the server 10, and transmits various instructions to the automatic driving device 40. FIG. 3A shows the hardware configuration of the control device 31. As shown in FIG. 3A, the control device 31 includes a CPU (Central Processing Unit) 311, a ROM (Read Only Memory) 312, a RAM (Random Access Memory) 313, and a storage unit (here, an HDD (Hard Disk Drive)). 314, a network interface 315, and the like. Each part of the control device 31 is connected to a bus 316. Note that the GPS module 32, the display unit 36, the microphone 37, and the camera 38 shown in FIG. 2 are connected to the bus 316 via an interface unit (not shown). The CPU 311 executes the program stored in the ROM 312 or the HDD 314, thereby causing the control device 31 to function as each unit illustrated in FIG. Details of each part in FIG. 4 will be described later.

  Returning to FIG. 2, the automatic driving device 40 includes a switch 47, an operation mode switching control ECU (Electronic Control Unit) 41, a white line detection / obstacle detection sensor 43, a GPS sensor 44, a vehicle speed sensor 45, an actuator 46, and an automatic driving ECU 42. Etc.

  The switch 47 is a switch for the driver to switch the driving mode of the vehicle between a manual driving mode in which manual driving by the driver is performed and an automatic driving mode in which automatic driving control for automatically driving the host vehicle is performed. . The switch 47 is provided at a position where the driver can easily operate during driving, such as a handle, for example. When the driver operates the switch 47, an operation mode switching instruction signal is transmitted to the operation mode switching control ECU 41.

  The operation mode switching control ECU 41 switches the vehicle operation mode between the manual operation mode and the automatic operation mode. The operation mode switching control ECU 41 switches the operation mode based on the operation mode switching instruction signal received from the switch 47. Further, the operation mode switching control ECU 41 is connected to a CAN (Controller Area Network) -BUS 27, and can thereby receive a control instruction related to operation mode switching transmitted from the control device 31.

  The white line detection / obstacle detection sensor 43 includes a camera and an image processing device, and is a sensor that detects a pair of white lines (lanes) and an obstacle. The white line detection / obstacle detection sensor 43 transmits the recognized pair of white line information as a white line detection signal to the automatic driving ECU 42 and transmits the obstacle information as an obstacle detection signal to the automatic driving ECU 42.

  The GPS sensor 44 detects vehicle position information and outputs it to the automatic driving ECU 42.

  The vehicle speed sensor 45 is a sensor for detecting the speed of the vehicle. The vehicle speed sensor 45 detects the vehicle speed and transmits the detected vehicle speed to the automatic driving ECU 42 as a vehicle speed signal.

  The actuator 46 includes, for example, a steering actuator, an accelerator actuator, a brake actuator, and the like. The steering actuator is an actuator for applying a steering torque to the steering mechanism. When a steering control signal is received from the automatic driving ECU 42, the motor is driven to rotate according to the steering control signal to generate a steering torque. The accelerator actuator is an actuator that adjusts the opening degree of the throttle valve of the engine. When an engine control signal is received from the automatic operation ECU 42, the accelerator actuator operates according to the engine control signal and adjusts the opening degree of the throttle valve. The brake actuator is an actuator that adjusts the brake hydraulic pressure of the wheel cylinder of each wheel. When the brake control signal is received from the automatic operation ECU 42, the brake actuator operates according to the brake control signal and adjusts the brake hydraulic pressure of the wheel cylinder.

  The automatic operation ECU 42 is connected to the operation mode switching control ECU 41, and starts automatic operation control when the operation mode switching control ECU 41 switches the operation mode to the automatic operation mode. Specifically, the automatic driving ECU 42 receives signals from the sensors 43 to 45 at regular time intervals. Then, the automatic driving ECU 42 determines the situation inside and outside the vehicle based on the received signal, controls the actuator 46 so that the host vehicle automatically travels according to the determination result, and controls the steering angle and the vehicle speed. Automatic running control is performed. The automatic operation ECU 42 is connected to the CAN-BUS 27 and receives a control instruction related to automatic operation transmitted from the control device 31.

  Returning to FIG. 1, the server 10 is a device that manages information obtained from evaluation information (details will be described later) transmitted from each in-vehicle system 20. The server 10 has a hardware configuration as shown in FIG. Specifically, as shown in FIG. 3B, the server 10 can read data stored in the CPU 101, ROM 102, RAM 103, storage device (HDD) 104, network interface 105, and portable storage medium 106. A portable storage medium drive 107 and the like. Each component of the server 10 is connected to the bus 108. The CPU 101 causes the server 10 to function as each unit in FIG. 4 by executing a program stored in the ROM 102 or the HDD 104 or a program read from the portable storage medium 106 by the portable storage medium drive 107.

  Next, functions of the in-vehicle device 30 and the server 10 will be described with reference to FIG.

  As illustrated in FIG. 4, when the CPU 311 executes the program, the control device 31 functions as a communication unit 321 as a transmission unit and an acquisition unit, a specification unit 322, an association unit 323, and a control unit 324. Further, the server 10 functions as the information processing unit 13 when the CPU 101 executes the program.

  The associating unit 323 of the control device 31 updates the identification code management DB 325 by associating information on other vehicles that have received the vehicle information by inter-vehicle communication with display symbols. The associating unit 323 controls the display unit 36 to display a vehicle icon indicating a vehicle and a display symbol on the windshield based on the identification code management DB 325.

  Here, the data structure of the identification code management DB 325 will be described with reference to FIG. As shown in FIG. 5A, the identification code management DB 325 includes fields such as a display number, an identification code, and an evaluation point. In the display number field, a number for uniquely identifying the vehicle visually recognized by the driver through the windshield is stored. In the identification code field, vehicle information received from another vehicle by inter-vehicle communication (in this embodiment, an identification code assigned in advance to each vehicle) is stored. The evaluation point field stores an evaluation point for a vehicle with an identification code, which is acquired from a driving evaluation information DB 12 described later. The evaluation point is obtained by quantifying the evaluation from the other person regarding the driving behavior of the driver who drives the vehicle of the identification code, and the higher the value, the higher the evaluation from the other person for the driving behavior of the vehicle. Indicates. In the present embodiment, the data in the identification code management DB 325 is deleted when the engine is stopped. However, the present invention is not limited to this, and when the last update date and time of the data of each vehicle is managed in the identification code management DB 325, the associating unit 323 passes a predetermined time (for example, 1 hour) from the last update date and time. The deleted data may be deleted.

  Returning to FIG. 4, the identifying unit 322 analyzes the voice input from the microphone 37, identifies the evaluation of the driving behavior of the driver of the other vehicle performed by the driver of the host vehicle, and evaluates the evaluation information (details) for the driver of the other vehicle. Is transmitted to the communication unit 321 as described later.

  The communication unit 321 transmits evaluation information for the driver of the other vehicle specified by the specifying unit 322 to the server 10. The information processing unit 13 of the server 10 updates the driving evaluation information DB 12 and the area-specific update count DB 11 based on the received evaluation information. The communication unit 321 communicates with the server 10 via the network 80, acquires evaluation information of the driver of the host vehicle from the driving evaluation information DB 12 of the server 10, and transmits the evaluation information to the control unit 324. In addition, the communication unit 321 acquires evaluation point update count data from the area-specific update count DB 11 of the server 10 based on the position information of the host vehicle acquired by the control unit 324 and transmits the evaluation point update count data to the control unit 324. Further, the communication unit 321 acquires evaluation information of a driver who drives a surrounding vehicle from the driving evaluation information DB 12 and transmits the evaluation information to the control unit 324.

  Here, the data structure of the driving evaluation information DB 12 and the data structure of the update count DB 11 for each area will be described based on FIG. 6 and FIG.

  The driving evaluation information DB 12 is a database for managing the evaluation points of each vehicle, and has fields such as identification codes and evaluation points as shown in FIG. In the field of the identification code, information on the identification code for uniquely identifying the vehicle is stored. In the evaluation point field, the evaluation point of the vehicle with the identification code calculated based on the evaluation information received from the in-vehicle device 30 by the information processing unit 13 is stored.

  The area-specific update count DB 11 is a database that manages the update count of evaluation points for each position, and has fields such as rounded latitude, rounded longitude, and evaluation point update count, as shown in FIG. The rounded latitude and rounded longitude fields store values (rounded latitude and rounded longitude) obtained by rounding up position information (latitude and longitude) included in the evaluation information transmitted from the in-vehicle device 30 to 1/1000 units. . The evaluation point update count field stores the number of times the driver's driving behavior has been evaluated at the position (area) represented by the rounded latitude and the rounded longitude.

  Returning to FIG. 4, the control unit 324 performs control related to switching of the driving mode of the host vehicle based on the evaluation information from the other person with respect to the driver of the host vehicle acquired by the communication unit 321. In addition, the control unit 324 performs control related to switching of the driving mode of the host vehicle based on the evaluation point update frequency data acquired by the communication unit 321. Furthermore, the control unit 324 performs control for changing the positional relationship between the other vehicle and the host vehicle based on the evaluation information of the driver driving the surrounding vehicle.

  Hereinafter, processing executed in the in-vehicle device 30 and the server 10 will be described in detail along the flowcharts of FIGS. 8 and 10 to 14 with reference to other drawings as appropriate.

(Other vehicle recognition processing: in-vehicle device 30)
FIG. 8 is a flowchart showing the other vehicle recognition process performed by the in-vehicle device 30. This process is a process for recognizing other vehicles in the vicinity of the host vehicle and performing a display as shown in FIG. 9C on the windshield. The process of FIG. 8 is started when the engine is started.

  In the process of FIG. 8, first, in step S10, the communication unit 321 stands by until vehicle information (in this embodiment, a vehicle identification code) is received from another vehicle by inter-vehicle communication. In the present embodiment, it is assumed that the other vehicle broadcasts vehicle information at a predetermined time interval. If the communication part 321 receives vehicle information from another vehicle, it will transfer to step S12.

  When the process proceeds to step S12, the associating unit 323 refers to the identification code management DB 325 to determine whether or not the identification code acquired in step S10 exists in the identification code management DB 325. Here, for example, it is assumed that the communication unit 321 receives the identification code “0x8E1BB08E” in a state where the identification code management DB 325 illustrated in FIG. 5B is stored. In this case, since the identification code “0x8E1BB08E” does not exist in the identification code management DB 325 shown in FIG. 5B, the process proceeds to step S14.

  If transfering it to step S14, the correlation part 323 will number the display number provided with respect to the vehicle which received vehicle information. For example, the associating unit 323 assigns the display number “3” to the vehicle having the identification code “0x8E1BB08E”.

  Next, in step S <b> 16, the communication unit 321 acquires an evaluation point associated with the identification code from the driving evaluation information DB 12 of the server 10. For example, in the driving evaluation information DB 12 of FIG. 6, the communication unit 321 acquires the evaluation point “0” associated with the identification code “0x8E1BB08E”.

  Returning to FIG. 8, in step S18, the associating unit 323 uses the identification code acquired in step S10, the display number assigned in step S14, and the evaluation point acquired by the communication unit 321 in step S16. The management DB 325 is updated, and the process proceeds to step S20. For example, the identification code management DB 325 shown in FIG. 5B is updated as shown in FIG.

  By the way, it is assumed that the communication unit 321 receives the identification code “0x7CF4A697” in a state where the identification code management DB 325 illustrated in FIG. 5B is stored. In this case, since the received identification code exists in the identification code management DB 325, the determination in step S12 is affirmed, and the associating unit 323 proceeds to step S20.

  When the process proceeds to step S20, the associating unit 323 selects any one of the other vehicles taken by the camera 38 from the video input from the camera 38 and the arrival direction and intensity of the radio wave received from the other vehicle in the inter-vehicle communication. Determine whether vehicle information has been received from the vehicle. For example, the associating unit 323 specifies that the vehicle that has received the identification code “08xE1BB08E” is the vehicle C3 in FIG. 9A from the arrival direction of the radio wave in the inter-vehicle communication and the captured image of the camera 38.

  In subsequent step S <b> 22, the associating unit 323 calculates a display position on the display unit 36 that displays an image for the vehicle that has received the vehicle information.

  In continuing step S24, the display part 36 displays a display number and a vehicle icon on a windshield based on the display position calculated by step S22. For example, the display unit 36 displays the display numbers DN1 and DN2 and the vehicle icons ICN1 and ICN2 on the windshield as shown in FIG. 9B based on the identification code management DB 325 shown in FIG. Suppose that Here, it is assumed that the identification code “08xE1BB08E” is received from the vehicle C3 in FIG. 9A and the identification code management DB 325 is updated as shown in FIG. 5C. In this case, as shown in FIG. 9C, the display unit 36 adds the display number DN3 and the vehicle icon ICN3, and displays the display numbers DN1 to DN3 and the vehicle icons ICN1 to ICN3 on the windshield. The display unit 36 displays on the windshield so that the display number and the vehicle icon follow the other vehicle while the camera 38 is photographing the other vehicle.

  After the above processing is performed, the process returns to step S10. The process of FIG. 8 is repeated until the engine of the vehicle is stopped.

(Evaluation information transmission processing: in-vehicle device 30)
FIG. 10 is a flowchart showing the evaluation information transmission process by the in-vehicle device 30. This process is a process of acquiring evaluation information and transmitting it to the server 10 when the driver evaluates the driving behavior of the driver of another vehicle. Note that the process of FIG. 10 is executed in parallel with the process of FIG. 8 while the engine is driven.

  In the process of FIG. 10, in step S <b> 40, the specifying unit 322 waits until audio data is input from the microphone 37. When the voice data is input, the determination in step S40 is affirmed, and the process proceeds to step S42.

  If transfering it to step S42, the specific | specification part 322 will perform the analysis process of the input audio | voice data, and will acquire the display number and evaluation of a vehicle from the said audio | voice data. For example, in FIG. 9C, it is assumed that the driver of the vehicle with the display number 1 takes a highly evaluated driving action and the driver of the own vehicle utters “No. 1, Good” toward the microphone 37. In this case, the specifying unit 322 analyzes the audio data and acquires the display number “1” and the evaluation “Good”. Further, for example, in FIG. 9C, it is assumed that the driver of the vehicle with the display number 3 takes a driving action with a low evaluation and the driver of the own vehicle utters “No. 3, bad” toward the microphone 37. In this case, the specifying unit 322 analyzes the audio data and acquires the display number “3” and the evaluation “bad”. In addition, the specifying unit 322 acquires position information (latitude, longitude) when the voice data is input from the GPS module 32. In addition, as a driving action with high evaluation, for example, when a car waiting for a signal is long and has reached the next intersection, it is assumed that a right turn car will come from the oncoming lane, leaving a sufficient space between the cars For example, the action in cooperation with surrounding drivers is applicable. In addition, desirable driving manners such as a signal when giving way at the junction of lanes (for example, eye contact), a greeting or thanks signal when interrupting from the alley (bowing, waving hands), etc. The case where the vehicle is operated also falls under the highly evaluated driving behavior. Note that the voice data input in step S40 may be voice data unrelated to the evaluation (for example, normal conversation with a passenger). In this case, since the specifying unit 322 cannot acquire the display number or the evaluation, it is only necessary to return to step S40 without executing steps S42 to S46.

  In subsequent step S44, the specifying unit 322 searches the identification code management DB 325 using the display number as a key, and acquires the evaluated vehicle identification code.

  In subsequent step S46, the communication unit 321 includes the identification code of the own vehicle (self-identification code), the identification code of the vehicle evaluated by the driver (evaluation target identification code), and position information (latitude) when the driver has evaluated. , Longitude) and evaluation information including the evaluation is transmitted to the server 10 via the network 80. After transmitting the evaluation information, the process returns to step S40. The process of FIG. 10 is repeated until the engine stops.

(Evaluation information update processing: server 10)
FIG. 11 is a flowchart showing the evaluation information update process executed by the information processing unit 13 of the server 10. This process is a process for updating the driving evaluation information DB 12 and the area-specific update count DB 11 using the evaluation information received from the in-vehicle device 30 by the information processing unit 13.

  In the process of FIG. 11, in step S <b> 60, the information processing unit 13 of the server 10 stands by until evaluation information is received from the in-vehicle device 30. And when evaluation information is received (when step S46 of FIG. 10 is performed), judgment of step S60 is affirmed and it will transfer to step S62.

  If transfering it to step S62, the information processing part 13 will acquire the evaluation point linked | related with the self-identification code | symbol included in evaluation information with reference to driving | operation evaluation information DB12. For example, when the driving evaluation information DB 12 of FIG. 6 is stored, if the self-identification code included in the evaluation information is “0x9F1BB08E”, the information processing unit 13 acquires the evaluation point “10”.

  In subsequent step S64, the information processing section 13 determines the coefficient r based on the evaluation point acquired in step S64. In the present embodiment, the information processing unit 13 sets the coefficient r = 1.5 when the evaluation point acquired in step S64 is a positive value, and sets the coefficient r = 0.5 when the evaluation point is a negative value. Thereby, it is possible to weight the evaluation of the driver of the other vehicle based on the evaluation from the other person with respect to the driving behavior of the driver who has performed the evaluation. For example, when the evaluation point is high, the driver of the vehicle with the self-identifying code is highly likely to have high driving skill or good driving manners. Therefore, for the evaluation performed by such a driver, the driving behavior of other drivers can be highly evaluated by calculating the evaluation point using the coefficient r = 1.5. On the other hand, when the evaluation point is low, the driver of the vehicle with the self-identifying code is likely to have low driving skill or bad driving manners. For the evaluation performed by such a driver, by calculating the evaluation point using the coefficient r = 0.5, the evaluation of the driver of the other vehicle can be prevented from being lowered more than necessary.

  Subsequently, in step S66, the information processing unit 13 updates data in the driving evaluation information DB 12. Specifically, a value obtained by multiplying the point corresponding to the evaluation included in the evaluation information by the coefficient r determined in step S64 is added to the evaluation point in the driving evaluation information DB 12 associated with the evaluation object identification code. In this embodiment, the point corresponding to the evaluation “Good” is “1”, and the point corresponding to the evaluation “Bad” is “−1”. For example, it is assumed that the evaluation for the evaluation object identification code “0x7CF4A697” is “good” and the coefficient r determined in step S64 is 1.5. In this case, the information processing unit 13 rewrites the evaluation point from “32” to “33.5” in the driving evaluation information DB 12 illustrated in FIG. 6. Further, for example, it is assumed that the evaluation for the evaluation object identification code “0x8E1BB08E” is “bad” and the coefficient r determined in step S64 is 1.5. In this case, the information processing section 13 rewrites the evaluation point from “0” to “−1.5” in the driving evaluation information DB 12 shown in FIG.

  Returning to FIG. 11, in the subsequent step S <b> 68, the information processing unit 13 updates the data in the area-specific update count DB 11. Specifically, the information processing unit 13 calculates a value (rounded latitude, rounded longitude) obtained by rounding up the latitude and longitude included in the evaluation information to 1/1000 unit, and the evaluation corresponding to the calculated rounded latitude and rounded longitude. Add 1 to the number of point updates. Thereafter, the process returns to step S60. The process of FIG. 11 is repeated until the power of the server 10 is turned off.

(Operation mode control processing: in-vehicle device 30)
FIG. 12 is a flowchart showing the operation mode control process executed by the in-vehicle device 30. This process is started when the engine is started. In this process, it is controlled whether to allow the driver to freely switch from the automatic operation mode to the manual operation mode, or to place a restriction in accordance with the evaluation from others.

  In the process of FIG. 12, first, in step S <b> 80, the communication unit 321 acquires an evaluation point associated with the identification code (self-identification code) of the host vehicle from the server 10. That is, in this step, an evaluation (cumulative value) from another person for the driving behavior of the driver of the host vehicle is acquired. For example, in the case where the driving evaluation information DB 12 illustrated in FIG. 6 is stored, when the identification code of the host vehicle is “0x7CF4A697”, the communication unit 321 acquires the evaluation point “32”.

  In continuing step S82, the control part 324 judges whether an evaluation point is more than a threshold value. For example, the control unit 324 determines whether or not the evaluation point is 20 or more. That is, in this step, it can be said that it is determined whether or not the driving skill or driving manner of the driver of the own vehicle is equal to or higher than a predetermined level. When the determination here is affirmed, the control unit 324 ends the process of FIG. This is because there is no problem even if the driver freely selects and switches the driving mode because the driving skill or driving manner of the driver of the own vehicle is above a predetermined level. On the other hand, when judgment here is denied, it transfers to step S86.

  If transfering it to step S86, the control part 324 will restrict | limit switching of the operation mode by a driver. Specifically, the control unit 324 prevents the operation mode from being switched even when the driver operates the switch 47. For example, the control unit 324 instructs the driving mode switching control ECU 41 not to permit switching of the driving mode until the vehicle is completely stopped. The operation mode switching control ECU 41 that has received the instruction does not switch the operation mode even if the operation mode switching instruction signal is received from the switch 47. If the driving mode is switched during traveling, a driver whose driving skill is lower than a predetermined level may be confused and the vehicle may not be able to travel safely. Therefore, by restricting the switching of the driving mode during traveling so that the driving mode can be switched after the vehicle is completely stopped, it is possible to prevent the driver from being confused and to support the driver's safe driving.

  After execution of step S86, the control unit 324 ends all the processes in FIG.

(Area-specific operation mode control processing: in-vehicle device 30)
FIG. 13 shows the area-specific operation mode control process executed by the in-vehicle device 30 in a flowchart. This process is started when the engine is started, and is executed concurrently with the processes of FIGS. In this process, control for switching the operation mode to the automatic operation mode in a specific area is executed.

  In the process of FIG. 13, first, in step S <b> 100, the communication unit 321 acquires the current vehicle position information (latitude and longitude) from the GPS module 32.

  In subsequent step S102, the communication unit 321 calculates a rounded latitude / rounded longitude obtained by rounding the latitude / longitude acquired in step S100 into 1/1000 units.

  In subsequent step S <b> 104, the communication unit 321 acquires the evaluation point update count from the area-specific update count DB 11 of the server 10 using the rounded latitude and the rounded longitude as keys.

  In subsequent step S <b> 106, the control unit 324 determines whether or not the number of updates is greater than or equal to a threshold (for example, 100). Here, when the number of updates is equal to or greater than the threshold, the area in which the host vehicle is traveling is an area where the evaluation of driving behavior is frequently performed. For example, an accident such as a road with a high traffic volume or an intersection There is a high possibility that the area is likely to occur. In such areas, it is desirable to use the automatic operation mode to prevent accidents.

  Therefore, when the number of updates is equal to or greater than the threshold, the process proceeds to step S108, and the control unit 324 determines whether or not the driving mode of the host vehicle is the automatic driving mode. When the determination here is affirmed, the control unit 324 instructs the operation mode switching control ECU 41 to maintain the automatic operation mode in step S110, and returns to step S100.

  On the other hand, when the operation mode is the manual operation mode, the determination in step S108 is denied, and in step S112, the control unit 324 instructs the operation mode switching control ECU 41 to switch the operation mode to the automatic operation mode. Return to S100. Thus, the automatic operation mode is used in an area where an accident is likely to occur, and the possibility of an accident occurring can be reduced. When the driver operates the switch 47 to manually switch the operation mode, if the driver's driving technique is less than a predetermined level, the switching of the operation mode is limited by step S86 in FIG.

  By the way, when the number of evaluation point updates is not equal to or greater than the threshold value, the determination in step S106 is denied and the process returns to step S100. The process of FIG. 13 is repeated until the engine stops.

(Separation processing: vehicle-mounted device 30)
FIG. 14 is a flowchart showing the separation process executed by the in-vehicle device 30. This process is started when the engine is started, and is executed in parallel with the processes of FIGS. 8, 10, 12, and 13. In this process, when a specific vehicle is present near the host vehicle, control for increasing the inter-vehicle distance between the specific vehicle and the host vehicle is executed.

  In the process of FIG. 14, in step S260, the control unit 324 refers to the identification code management DB 325 and determines whether there is a vehicle with an evaluation point less than a threshold value (for example, less than 5). In this step, it can be said that it is determined whether or not a vehicle driven by a driver whose driving skill or driving manner does not reach a predetermined level exists in the vicinity of the own vehicle. The process of step S260 is repeated until a vehicle having an evaluation point less than the threshold is detected. Then, when there is a vehicle with an evaluation point less than the threshold, the determination in step S260 is affirmed, and the process proceeds to step S262.

  If transfering it to step S262, the control part 324 will judge whether the driving mode of the own vehicle is an automatic driving mode. When judgment here is affirmed, it transfers to step S264.

  If transfering it to step S264, the control part 324 will instruct | indicate to automatic driving | operation ECU42 to leave | separate from the vehicle whose evaluation point is less than a threshold value. For example, the control unit 324 instructs the automatic driving ECU 42 so that the inter-vehicle distance with the corresponding vehicle is N times normal (N is an arbitrary number determined in advance). As a result, it is possible to move away from a vehicle that has a high possibility of taking an unexpected driving action, and it is possible to drive the host vehicle safely.

  On the other hand, if the determination in step S262 is negative, the process proceeds to step S266, and the control unit 324 performs a process for alerting the driver (attention calling process). For example, the control unit 324 may blink the display number of the corresponding vehicle displayed on the windshield, or may display a message “Please leave the vehicle with the display number X”. The control unit 324 may output the message by voice from a speaker (not shown). As a result, the driver can recognize the dangerous vehicle and take a driving action such as leaving the vehicle, so that the host vehicle can travel safely.

  When the process of step S264 or step S266 ends, the process returns to step S260. The process of FIG. 14 is repeated until the engine stops.

  As described above in detail, according to this embodiment, the communication unit 321 of the in-vehicle device 30 transmits evaluation information of other drivers evaluated by the driver driving the host vehicle to the server 10 via the network 80. . Further, the communication unit 321 acquires the evaluation information of the driver of the host vehicle from the server 10, and the control unit 324 performs control related to the driving mode of the vehicle based on the acquired evaluation information of the driver (Step S86 in FIG. 12). Etc.). For example, the control unit 324 permits the free switching of the driving mode when the driver's driving behavior is highly evaluated by the other person, and the driver driving when the driver's driving behavior is low. Limit mode switching. More specifically, for example, the control unit 324 prevents the automatic operation mode from being switched to the manual operation mode until the vehicle is completely stopped. Thus, control according to the skill of the driver or the like can be performed so as not to cause confusion of the driver or the like when the operation mode is switched, so that safe driving of the driver can be appropriately supported.

  In the present embodiment, when communication with another vehicle is established by inter-vehicle communication, the associating unit 323 associates the information of the other vehicle with the display number, and the display unit 36 displays the display number. Is displayed as a display symbol indicating another vehicle. As a result, the driver can easily identify other vehicles and evaluate other drivers.

  Moreover, in this embodiment, since the display part 36 displays a display number on the windshield of a vehicle, it can make it easy for a driver to confirm the correlation with another vehicle and a display number.

  In the present embodiment, the in-vehicle device 30 includes a microphone 37 that collects voices of drivers who drive the vehicle, and a specifying unit 322 that specifies evaluation information of other drivers based on the voices collected by the microphones 37. Prepare. Thereby, the driver can easily input an evaluation for another driver from the microphone 37.

  In the present embodiment, the communication unit 321 transmits evaluation information including evaluations for other drivers and position information (latitude, longitude) when the drivers have evaluated to the server 10. The server 10 manages the number of evaluations (evaluation point update count) in the area including the position when the driver performs the evaluation (update count DB for each area DB11). In addition, the communication unit 321 transmits the current position information of the vehicle to the server 10, and acquires the number of evaluations performed in the area including the current position of the vehicle from the area-specific update number DB of the server 10. The control unit 324 performs control related to the driving mode of the host vehicle in accordance with whether or not the number of evaluations is equal to or greater than a threshold in an area including the current position of the vehicle (step S110 in FIG. 13, step S112 etc.). Specifically, when the number of evaluation point updates is equal to or greater than a threshold value, control is performed to use the automatic operation mode. As a result, the automatic driving mode is used in areas where accidents are likely to occur, such as roads with heavy traffic, intersections, and the like, so that it is possible to support the driver's safe driving and prevent accidents from occurring.

  Moreover, in this embodiment, the communication part 321 acquires the evaluation information of the driver who drives the surrounding vehicle which exists in the circumference | surroundings of the own vehicle from the server 10, and the control part 324 evaluates the acquired driver who drives the surrounding vehicle. The vehicle is controlled based on the information. Specifically, when a vehicle having an evaluation point less than the threshold exists around the host vehicle, the control unit 324 controls the host vehicle to leave the vehicle. Thereby, since it can leave | separate from a dangerous vehicle with high possibility of causing an accident, the own vehicle can be drive | worked safely.

(Modification)
In the above embodiment, evaluation information is managed for each vehicle. However, a plurality of people may drive one vehicle, such as sharing one vehicle with a family or driving one vehicle such as a company car by a plurality of employees. In car sharing and the like, a plurality of people drive one vehicle. Furthermore, in bus companies and taxi companies, the vehicle-driver relationship may be a many-to-many relationship. In such a case, for example, by adding a field for identifying a driver in the driving evaluation information DB 12, the evaluation information can be managed for each vehicle / driver.

  For example, as shown in FIG. 15A, by adding a field of driver's license number to the driving evaluation information DB 12, evaluation points can be managed for each driver for one vehicle. In the driving evaluation information DB 12 of FIG. 15A, the driving license numbers “309621780120” and “300723905640” are registered for the vehicle having the identification code “0x7CF4A697”. That is, two drivers are driving one vehicle, and evaluation points (32 and 20) are managed for each of the two drivers.

  In order to obtain the driver's license number, for example, an IC (Integrated Circuit) card reader is mounted on the in-vehicle device 30. Then, the IC card driving license loaded with the IC chip is read by the IC card reader at the start of driving so that the driver inputs the driving license number to the in-vehicle device 30. Further, for example, a face recognition device, a fingerprint authentication device, or the like may be mounted on the in-vehicle device 30 and driver information may be registered in the in-vehicle device 30.

  In recent years, there are many people who do not have a car and rent a car only when necessary, so that evaluation points may be managed for each driver. Thereby, evaluation points can be accumulated and managed even for drivers whose vehicles are different each time. In this case, the driving evaluation information DB 12 may have a driving license number and an evaluation point as fields as shown in FIG. 15B, for example.

  In the above embodiment, the evaluation point update count in the area-specific update count DB 11 monotonously increases according to the number of operating days of the operation mode control system 100. Therefore, the evaluation point update count is normalized by the operation period of the operation mode control system 100 (for example, the evaluation point update count is divided by the operation month of the operation mode control system 100) to obtain more accurate data. be able to.

  Moreover, in the said embodiment, the control part 324 performs switching control of driving mode using the average evaluation point which divided the evaluation point of driving evaluation information DB12 by the number of drivers who evaluated the vehicle of an identification code. You can go. In this case, the driving evaluation information DB 12 only needs to have a field for storing the number of drivers who have evaluated the vehicle with the identification code.

  In the above embodiment, the information processing unit 13 of the server 10 changes the coefficient r depending on whether the evaluation point is a positive value or a negative value in step S64 of the evaluation information update process (FIG. 11). However, the determination method is not limited to this. The information processing unit 13 may determine the coefficient r depending on which value range the evaluation point value falls within. For example, when the evaluation point is 10 or more, the coefficient r = 1.5, when the evaluation point is 0 or more and less than 10, the coefficient r = 1, and when the evaluation point is less than 0, the coefficient r = 0.5. Good.

  Further, the information processing unit 13 may calculate the evaluation points without using the coefficient r. In this case, the information processing unit 13 may omit the process of step S64 in FIG. 11 and calculate an evaluation point based on the evaluation (“good” or “bad”) of the driver of the host vehicle in step S66. .

  Moreover, in the said embodiment, although the server 10 calculated the evaluation point (step S66 of FIG. 11), the vehicle-mounted apparatus 30 may perform the said process. In this case, the specifying unit 322 of the in-vehicle device 30 determines the coefficient r based on the evaluation point of the own vehicle (evaluation point linked to the self-identification code), and evaluates the driver of the other vehicle (“good” or “bad”). ) And the coefficient r may be calculated.

  Moreover, in the said embodiment, although the display part 36 displayed the vehicle icon and the display number on the windshield of the own vehicle, for example, on the spectacle-type wearable terminal worn by the driver, the rearview mirror, etc. A vehicle icon and a display number may be displayed.

  Moreover, in the said embodiment, although the display part 36 displayed the display number in order to identify each vehicle, it displays symbols other than numbers, such as figures, such as a circle and a triangle, a color frame, and a hiragana, for example. May be.

  Moreover, in the said embodiment, although the specific | specification part 322 specified evaluation with respect to another vehicle based on the audio | voice data which the microphone 37 collected, you may specify evaluation based on a driver's gesture, for example. . For example, the camera is installed at a position where the driver in the vehicle can be photographed, and the specifying unit 322 analyzes the image captured by the camera, and the driver makes a predetermined gesture (for example, a gesture for creating a circle with the thumb and forefinger). The evaluation may be specified based on whether or not.

  The above processing functions can be realized by a computer. In that case, a program describing the processing contents of the functions that the processing apparatus should have is provided. By executing the program on a computer, the above processing functions are realized on the computer. The program describing the processing contents can be recorded on a computer-readable recording medium (except for a carrier wave).

  When the program is distributed, for example, it is sold in the form of a portable recording medium such as a DVD (Digital Versatile Disc) or a CD-ROM (Compact Disc Read Only Memory) on which the program is recorded. It is also possible to store the program in a storage device of a server computer and transfer the program from the server computer to another computer via a network.

  The computer that executes the program stores, for example, the program recorded on the portable recording medium or the program transferred from the server computer in its own storage device. Then, the computer reads the program from its own storage device and executes processing according to the program. The computer can also read the program directly from the portable recording medium and execute processing according to the program. Further, each time the program is transferred from the server computer, the computer can sequentially execute processing according to the received program.

  The above-described embodiment is an example of a preferred embodiment of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the scope of the present invention.

In addition, regarding the description of the embodiment, the following additional notes are disclosed.
(Supplementary Note 1) A transmission unit that transmits evaluation information of other drivers evaluated by a driver driving a vehicle to an external server via a communication network;
An acquisition unit for acquiring evaluation information of the driver from the external server;
Based on the acquired evaluation information of the driver, a control unit that performs control related to the driving mode of the vehicle;
A vehicle-mounted device comprising:
(Supplementary Note 2) When communication with another vehicle is established in inter-vehicle communication, an association unit that associates information of the other vehicle with a display symbol;
The in-vehicle device according to appendix 1, further comprising: a display unit that displays the display symbol associated with the information of the other vehicle as a display symbol indicating the other vehicle.
(Additional remark 3) The said display part displays the said display symbol on the windshield of the said vehicle, The vehicle-mounted apparatus of Additional remark 2 characterized by the above-mentioned.
(Additional remark 4) The microphone which collects the voice of the driver who drives the vehicle,
An in-vehicle device according to any one of appendices 1 to 3, further comprising: a specifying unit that specifies evaluation information of the other driver based on the sound collected by the microphone.
(Additional remark 5) The said transmission part transmits the information of the position which the said driver evaluated with the said other driver's evaluation information to the said external server,
The acquisition unit transmits information on the position of the vehicle to the external server via the communication network, acquires information on the frequency at which the evaluation is performed at the position of the vehicle from the external server,
The in-vehicle device according to any one of appendices 1 to 4, wherein the control unit performs control related to an operation mode of the vehicle based on the acquired information related to the frequency.
(Additional remark 6) The said acquisition part acquires the evaluation information of the driver who drives the surrounding vehicle which exists in the circumference | surroundings of the said vehicle from the said external server,
The in-vehicle device according to any one of appendices 1 to 5, wherein the control unit controls the vehicle based on the acquired evaluation information of a driver driving the surrounding vehicle.
(Appendix 7) An external server for accumulating driver evaluation information;
The in-vehicle device according to any one of supplementary notes 1 to 6, which is mounted on a plurality of vehicles and connected to the external server via a communication network;
An operation mode control system comprising:
(Appendix 8) Sending evaluation information of other drivers evaluated by the driver driving the vehicle to the external server via the communication network,
Obtaining evaluation information of the driver from the external server;
Based on the acquired evaluation information of the driver, control relating to the driving mode of the vehicle is performed.
An operation mode control method, wherein a computer executes the process.
(Supplementary Note 9) When communication with another vehicle is established in inter-vehicle communication, the information of the other vehicle is associated with a display symbol,
Displaying the display symbol associated with the information of the other vehicle as a display symbol indicating the other vehicle;
The operation mode control method according to appendix 8, wherein the process is executed by a computer.
(Additional remark 10) The said display symbol is displayed on the windshield of the said vehicle in the said process to display, The operation mode control method of Additional remark 9 characterized by the above-mentioned.
(Additional remark 11) Based on the audio | voice which the microphone which collects the audio | voice of the driver who drives the said vehicle collected, the evaluation information of said other driver is specified,
The operation mode control method according to any one of appendices 8 to 10, wherein the process is executed by a computer.
(Additional remark 12) In the process to transmit, the information on the position where the driver has evaluated is transmitted to the external server together with the evaluation information of the other driver.
In the process of acquiring, information on the position of the vehicle is transmitted to the external server via the communication network, and information on the frequency at which the evaluation is performed at the position of the vehicle is acquired from the external server,
12. The operation mode control method according to any one of appendices 8 to 11, wherein in the control process, control relating to the operation mode of the vehicle is performed based on the acquired information relating to the frequency.
(Additional remark 13) In the process to acquire, the evaluation information of the driver who drives the surrounding vehicle which exists in the circumference of the vehicle is acquired from the external server,
The operation mode control method according to any one of appendices 8 to 12, wherein in the control process, the vehicle is controlled based on the acquired evaluation information of a driver driving the surrounding vehicle.
(Supplementary Note 14) A transmission unit that transmits evaluation information of other drivers evaluated by a driver driving a vehicle to an external server via a communication network;
When inter-vehicle communication is established with another vehicle, an acquisition unit that acquires evaluation information of a driver that drives the other vehicle from the external server;
Based on the acquired evaluation information of the driver driving the other vehicle, a control unit for controlling the vehicle;
A vehicle-mounted device comprising:
(Additional remark 15) The transmission part which transmits the evaluation information of the other driver which the driver who drives a vehicle evaluated, and the information on the position which the driver evaluated to an external server via a communication network,
An acquisition unit that transmits information on the position of the vehicle to the external server via the communication network, and acquires information on the frequency of evaluation performed at the position of the vehicle from the external server;
Based on the acquired information on the frequency, a control unit that performs control on the operation mode of the vehicle;
A vehicle-mounted device comprising:

DESCRIPTION OF SYMBOLS 10 Server 30 Vehicle-mounted apparatus 36 Display part 37 Microphone 100 Operation mode control system 321 Communication part (transmission part, acquisition part)
322 identification unit 323 association unit 324 control unit

Claims (10)

A transmission unit that transmits first evaluation information indicating an evaluation of driving behavior of another driver by a driver driving the vehicle to an external server via a communication network;
An acquisition unit for acquiring second evaluation information indicating an evaluation of the driving behavior of the driver by the other driver from the external server;
Based on the acquired second evaluation information, a control unit that performs control related to switching between a manual operation mode in which a manual operation by the driver is performed and an automatic operation mode in which an automatic travel control for automatically driving the vehicle is performed;
A vehicle-mounted device comprising: When communication with another vehicle is established in inter-vehicle communication, an association unit that associates information of the other vehicle with a display symbol;
The vehicle-mounted apparatus of Claim 1 provided with the display part which displays the said display symbol linked | related with the information of the said other vehicle as a display symbol which shows the said other vehicle.   The in-vehicle device according to claim 2, wherein the display unit displays the display symbol on a windshield of the vehicle. A microphone that collects the voice of the driver driving the vehicle;
The in-vehicle device according to any one of claims 1 to 3, further comprising: a specifying unit that specifies an evaluation on the driving behavior of the other driver by the driver based on the voice collected by the microphone. The transmission unit transmits information on a position where the driver has evaluated together with the first evaluation information to the external server,
The acquisition unit transmits information on the position of the vehicle to the external server via the communication network, acquires information on the frequency at which the evaluation is performed at the position of the vehicle from the external server,
5. The vehicle-mounted device according to claim 1, wherein the control unit performs control related to switching between the manual operation mode and the automatic operation mode based on the acquired information regarding the frequency. apparatus. The acquisition unit acquires, from the external server, third evaluation information indicating evaluation from a driver other than the driver driving the surrounding vehicle with respect to the driving behavior of the driver driving the surrounding vehicle existing around the vehicle,
The said control part controls the said vehicle based on the acquired said 3rd evaluation information, The vehicle-mounted apparatus as described in any one of Claims 1-5 characterized by the above-mentioned. An external server for accumulating evaluation information indicating an evaluation from a driver other than the driver with respect to the driving behavior of the driver ;
The in-vehicle device according to any one of claims 1 to 6, which is mounted on a plurality of vehicles and connected to the external server via a communication network,
An operation mode control system comprising: Transmitting first evaluation information indicating an evaluation of driving behavior of another driver by a driver driving the vehicle to an external server via a communication network;
Obtaining second evaluation information indicating evaluation of the driving behavior of the driver by the other driver from the external server;
Based on the acquired second evaluation information, performing control related to switching between a manual operation mode for performing manual operation by the driver and an automatic operation mode for performing automatic travel control for automatically traveling the vehicle ,
An operation mode control method, wherein a computer executes the process. A first evaluation information indicating an evaluation of the driving behavior of another driver by a driver driving the vehicle to the external server via the communication network; and
When vehicle-to-vehicle communication is established with another vehicle, second evaluation information indicating evaluation by a driver other than the driver driving the other vehicle with respect to the driving behavior of the driver driving the other vehicle is set to the external An acquisition unit to acquire from the server;
Based on the acquired second evaluation information, a control unit that controls switching between a manual operation mode for performing a manual operation by the driver and an automatic operation mode for performing an automatic travel control for automatically traveling the vehicle ;
A vehicle-mounted device comprising: A transmission unit that transmits first evaluation information indicating an evaluation of driving behavior of another driver by a driver driving the vehicle, and information on a position where the driver has evaluated to an external server via a communication network;
An acquisition unit that transmits information on the position of the vehicle to the external server via the communication network, and acquires information on the frequency of evaluation performed at the position of the vehicle from the external server;
Based on the acquired information on the frequency, a control unit that performs control related to switching between a manual operation mode for performing manual operation by the driver and an automatic operation mode for automatically driving the vehicle, and
A vehicle-mounted device comprising:

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