JP2019073279A - Vehicle control system, vehicle control method, and vehicle control program - Google Patents

Abstract

To provide a vehicle control system, a vehicle control method, and a vehicle control program capable of easily realizing sharing of a vehicle.SOLUTION: A vehicle control system comprises: an output unit 30 for outputting information to an outside of a vehicle; an in-vehicle situation acquisition unit 150 for acquiring a situation inside the vehicle; a control unit 160 that causes the output unit 30 to output, on the basis of in-vehicle information acquired by the in-vehicle situation acquiring unit 150, whether or not a user can board the vehicle; a recognition unit 121 for recognizing a person who is around the vehicle; and a determination unit 170 that determines whether the person recognized by the recognition unit is ineligible for boarding the vehicle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control system, a vehicle control method, and a vehicle control program.

  In recent years, research has been conducted on a technology related to car sharing in which a single vehicle is shared by a plurality of people. In connection with this, a user who wants to share a vehicle shares with a car sharing company, and at the time of using the vehicle, the vehicle is temporarily stored using authentication information including an ID and a password issued by the car sharing company. A technology that can be used exclusively is disclosed (see, for example, Patent Document 1).

International Publication No. 2015 / 166,811

  However, in the method according to the prior art, since each member individually uses one vehicle, it has been difficult to use it as a car. In addition, there is a case where the sharer can not easily grasp which of the running vehicles can share.

  The present invention has been made in consideration of such circumstances, and it is an object of the present invention to provide a vehicle control system, a vehicle control method, and a vehicle control program, which can easily realize joining of vehicles. Do.

  The invention according to claim 1 gets on the vehicle based on the in-vehicle information acquired by the in-vehicle condition acquisition unit for acquiring the in-vehicle condition, and an output unit for outputting information to the outside of the vehicle. It is judged whether it is judged whether the person recognized by the control part which makes the above-mentioned output part output the recognition part which recognizes the person who is around the vehicle, and the person recognized by the recognition part is ineligible. And a vehicle control system.

  The invention according to claim 2 is the vehicle control system according to claim 1, wherein the determination unit determines whether or not the person recognized by the recognition unit is a ride applicant, It is determined whether the applicant is ineligible for getting on or off.

  The invention according to claim 3 is the vehicle control system according to claim 1 or 2, further comprising an imaging unit for imaging the periphery of the vehicle, and the determination unit is an image captured by the imaging unit. Are analyzed, and it is determined whether the person is ineligible for boarding based on the movement of the person included in the image obtained as an analysis result.

  The invention according to claim 4 is the vehicle control system according to any one of claims 1 to 3, further comprising a vehicle sensor for detecting a breath exhaled by the person, wherein the determination unit is Based on the information obtained from the breath detected by the vehicle sensor, it is determined whether the person is ineligible for boarding.

  The invention according to claim 5 is the vehicle control system according to any one of claims 1 to 4, wherein the determination unit is based on personal information preset by an occupant of the vehicle. And determining whether the person is ineligible for boarding.

  The invention according to a sixth aspect is the vehicle control system according to the fifth aspect, wherein the determination unit acquires and acquires person information which is set by an occupant when the user gets into the vehicle and who does not want to ride together. Based on the person information, it is determined whether the person is ineligible for boarding.

  The invention according to claim 7 is the vehicle control system according to any one of claims 1 to 6, comprising an interface control unit for outputting information to a passenger of the vehicle, the interface The control unit is configured to, when the determination unit determines that the person recognized by the recognition unit is a passenger, the output for inquiring whether or not the passenger is allowed to ride the passenger. The determination unit is configured to determine whether the person is ineligible for boarding based on the input result of the occupant for the output.

  The invention according to claim 8 is the vehicle control system according to claim 7, wherein the identification information of the occupant is registered in association with information of a person who is determined not to want to ride jointly by the occupant. The determination unit is configured to obtain, from the server, information of a person who is determined not to want to join the vehicle when the occupant gets on the vehicle.

  The invention according to claim 9 is the vehicle control system according to any one of claims 1 to 8, wherein in the vehicle, the determination unit determines that the person is ineligible for boarding. In this case, control is performed to deny the person's entry.

  According to the invention as set forth in claim 10, the on-vehicle computer acquires the situation inside the vehicle, and based on the acquired in-vehicle information, outputs whether or not it is possible to get into the vehicle by the output unit toward the outside of the vehicle A vehicle control method for recognizing a person who is on the vehicle and determining whether the recognized person is ineligible for getting on or off.

  The invention according to claim 11 causes the on-vehicle computer to acquire the situation inside the vehicle, and based on the acquired in-vehicle information, causes the output unit to output to the outside of the vehicle whether or not it is possible to get into the vehicle. The vehicle control program causes a person in the vehicle to be recognized and determines whether the recognized person is ineligible for boarding.

  According to the first to eleventh aspects of the present invention, the vehicle control system can easily realize the sharing of the vehicle.

  Furthermore, according to the invention of claims 4 to 9, the vehicle control system can suppress the ineligible person from getting on the vehicle.

It is a block diagram of vehicle system 1 of a 1st embodiment. It is a figure which shows a mode that the relative position and attitude | position of the vehicle M with respect to the travel lane L1 are recognized by the own vehicle position recognition part 122. FIG. It is a figure which shows a mode that a target track | orbit is produced | generated based on a recommendation lane. It is a figure for demonstrating the process by the in-vehicle condition acquisition part 150. FIG. It is a figure which shows an example of the content output toward the vehicle exterior. It is a figure which shows an example of a movement of the character string shown by the image 300F and 300L. It is a figure for demonstrating the determination content of the boarding applicant by boarding candidate determination part 170. FIG. It is a figure which shows an example of the inquiry screen displayed at the time of boarding. It is a figure which shows an example of the inquiry screen displayed at the time of determination of person information. It is a figure which shows an example of the information regarding the stop plan position output toward a vehicle exterior. It is a figure which shows an example of the information output to the vehicle exterior at the time of a follow-up run. It is a flowchart which shows an example of the vehicle control processing of 1st Embodiment. It is a block diagram of the vehicle system 2 of 2nd Embodiment. It is a flowchart which shows an example of the vehicle control processing of 2nd Embodiment.

First Embodiment
Hereinafter, a vehicle control system, a vehicle control method, and a vehicle control program according to a first embodiment will be described with reference to the drawings. In the first embodiment, the vehicle control system is applied to an autonomous driving vehicle. The automatic driving refers to, for example, automatically driving at least one of acceleration / deceleration or steering of the vehicle to drive the vehicle.

[overall structure]
FIG. 1 is a block diagram of a vehicle system 1 of the first embodiment. The vehicle on which the vehicle system 1 is mounted (hereinafter referred to as a vehicle M) is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle. The drive source is an internal combustion engine such as a diesel engine or gasoline engine, an electric motor, or It is a combination of these. The electric motor operates using the power generated by a generator connected to the internal combustion engine or the discharge power of a secondary battery or a fuel cell.

  The vehicle system 1 includes, for example, a camera (imaging unit) 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a navigation device 50, and an MPU. (Micro-Processing Unit) 60, a vehicle sensor 70, a drive operator 80, an in-room camera 90, an automatic driving control unit 100, a traveling driving force output device 200, a brake device 210, a steering device 220, Equipped with These devices and devices are mutually connected by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network or the like. The configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  In the first embodiment, the “vehicle control system” includes, for example, an HMI 30 and an automatic driving control unit 100. Moreover, HMI30 is an example of an "output part." Further, the interface control unit 160 is an example of a “control unit”. In addition, the external world recognition unit 121 is an example of a “recognition unit”. The boarding candidate determination unit 170 is an example of the “determination unit”. Further, the combination of the first control unit 120 and the second control unit 140 is an example of the “automatic operation control unit”.

  The camera 10 is, for example, a digital camera using a solid-state imaging device such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). One or more cameras 10 are attached to any part of the vehicle M on which the vehicle system 1 is mounted. When imaging the front, the camera 10 is attached to the top of the front windshield, the rear surface of the rearview mirror, or the like. When imaging the back, the camera 10 is attached to a rear windshield upper part, a back door, or the like. When imaging the side, the camera 10 is attached to a door mirror or the like. For example, the camera 10 periodically and repeatedly captures the periphery of the vehicle M. The camera 10 may be a stereo camera.

  The radar device 12 emits radio waves such as millimeter waves around the vehicle M, and detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and direction) of the object. One or more of the radar devices 12 are attached to any part of the vehicle M. The radar device 12 may detect the position and velocity of an object by a frequency modulated continuous wave (FMCW) method.

  The finder 14 is LIDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging) which measures scattered light with respect to the irradiation light and detects the distance to the object. One or more finders 14 are attached to any part of the vehicle M.

  The object recognition device 16 performs sensor fusion processing on the detection result of a part or all of the camera 10, the radar device 12, and the finder 14 to recognize the position, the type, the speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control unit 100.

  The communication device 20 communicates with other vehicles existing around the vehicle M using, for example, a cellular network, Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or a wireless base Communicate with various server devices through stations. The communication device 20 also communicates with a terminal device owned by a person outside the vehicle.

  The HMI 30 presents various information to the occupants in the vehicle, and accepts input operations by the occupants. The HMI 30 includes, for example, an in-vehicle device 31. The in-vehicle apparatus 31 is, for example, various display devices, a touch panel, a speaker, a microphone, a buzzer, a switch, a key, and the like.

  The HMI 30 also presents information to the outside of the vehicle. In this case, the HMI 30 includes, for example, an external display 32 and an external speaker 33.

  The external speaker 33 outputs sound to a predetermined range outside the vehicle. The vehicle exterior speaker 33 may output sound having directivity in a predetermined direction.

  The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a path determination unit 53, and stores the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Hold The GNSS receiver locates the vehicle M based on the signals received from GNSS satellites. The position of the vehicle M may be identified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 70. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys and the like. The navigation HMI 52 may be partially or entirely shared with the above-described HMI 30. The route determination unit 53 is, for example, a route (for example, a destination) from the position of the vehicle M specified by the GNSS receiver 51 (or any position input) to the destination input by the occupant using the navigation HMI 52 It determines with reference to the 1st map information 54, including the information regarding the way point when driving to the ground. The first map information 54 is, for example, information in which a road shape is represented by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The path determined by the path determination unit 53 is output to the MPU 60. In addition, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the route determined by the route determination unit 53. The navigation device 50 may be realized, for example, by the function of a terminal device such as a smartphone or a tablet terminal owned by the user. In addition, the navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20, and acquire the route returned from the navigation server.

  The MPU 60 functions as, for example, the recommended lane determination unit 61, and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determination unit 61 divides the route provided from the navigation device 50 into a plurality of blocks (for example, in units of 100 [m] in the traveling direction of the vehicle), and refers to the second map information 62 for each block. Determine the recommended lanes. The recommended lane determination unit 61 determines which lane to travel from the left. The recommended lane determination unit 61 determines the recommended lane so that the vehicle M can travel on a rational travel route for advancing to a branch destination when a branch point, a junction point, or the like exists in the route.

  The second map information 62 is map information that is more accurate than the first map information 54. The second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane. In addition, the second map information 62 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. The road information includes information indicating the type of road such as expressway, toll road, national road, prefecture road, the number of lanes of road, the area of emergency parking zone, the width of each lane, the slope of road, the position of road (longitude Information such as latitude, three-dimensional coordinates including height), curvature of curve of lane, positions of merging and branching points of lanes, signs provided on roads, and the like. The second map information 62 may be updated as needed by accessing another device using the communication device 20.

  Vehicle sensor 70 includes a vehicle speed sensor that detects the speed of vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity around the vertical axis, an orientation sensor that detects the direction of vehicle M, and the like.

  The operating element 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, and other operating elements. A sensor for detecting the amount of operation or the presence or absence of an operation is attached to the driving operation element 80, and the detection result is the automatic driving control unit 100 or the traveling driving force output device 200, the brake device 210, and the steering device. It is output to one or both of 220.

  The in-vehicle camera 90 captures an image of the upper body centering on the face of the occupant seated in the driver's seat. The captured image of the in-vehicle camera 90 is output to the automatic driving control unit 100.

[Automatic operation control unit]
For example, the autonomous driving control unit 100 includes a first control unit 120, a second control unit 140, an in-vehicle condition acquisition unit 150, an interface control unit 160, a boarding person determination unit 170, and a sharing settlement unit 180. Prepare. The first control unit 120, the second control unit 140, the in-vehicle condition acquisition unit 150, the interface control unit 160, the boarding person determination unit 170, and the sharing settlement unit 180 are each a CPU (Central Processing Unit) Etc. are realized by executing a program (software). In addition, some or all of the functional units of first control unit 120, second control unit 140, in-vehicle status acquisition unit 150, interface control unit 160, boarding person determination unit 170, and sharing settlement unit 180 described below will be described. The whole may be realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or may be realized by collaboration of software and hardware. Good.

  The first control unit 120 includes, for example, an external world recognition unit 121, a host vehicle position recognition unit 122, and an action plan generation unit 123.

  The external world recognition unit 121 recognizes the position, speed, acceleration, and other conditions of surrounding vehicles based on information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16. The position of the nearby vehicle may be represented by a representative point such as the center of gravity or a corner of the nearby vehicle, or may be represented by an area represented by the contour of the nearby vehicle. The "state" of the surrounding vehicle may include the acceleration or jerk of the surrounding vehicle, or the "action state" (e.g., whether or not a lane change is being made or is going to be made).

  Further, the external world recognition unit 121 may recognize positions of guardrails, utility poles, parked vehicles, persons such as pedestrians, and other objects in addition to surrounding vehicles.

  The host vehicle position recognition unit 122 recognizes, for example, the lane in which the vehicle M is traveling (traveling lane) and the relative position and posture of the vehicle M with respect to the traveling lane. The vehicle position recognition unit 122 may, for example, use a pattern of road divisions obtained from the second map information 62 (for example, an array of solid and broken lines) and a road around the vehicle M recognized from the image captured by the camera 10 The traveling lane is recognized by comparing with the pattern of the dividing lines. In this recognition, the position of the vehicle M acquired from the navigation device 50 or the processing result by the INS may be added.

  Then, the vehicle position recognition unit 122 recognizes, for example, the position and orientation of the vehicle M with respect to the traveling lane. FIG. 2 is a diagram showing how the own vehicle position recognition unit 122 recognizes the relative position and posture of the vehicle M with respect to the traveling lane L1. For example, the host vehicle position recognition unit 122 makes an angle θ with respect to a line connecting the deviation OS of the reference point (for example, the center of gravity) of the vehicle M from the traveling lane center CL and the traveling lane center CL in the traveling direction of the vehicle M. Is recognized as the relative position and attitude of the vehicle M with respect to the traffic lane L1. Instead of this, the vehicle position recognition unit 122 may recognize the position of the reference point of the vehicle M with respect to any one side end of the traveling lane L1 as the relative position of the vehicle M with respect to the traveling lane . The relative position of the vehicle M recognized by the vehicle position recognition unit 122 is provided to the recommended lane determination unit 61 and the action plan generation unit 123.

  The action plan generation unit 123 generates an action plan for the vehicle M to automatically drive the destination or the like. For example, the action plan generation unit 123 determines events to be sequentially executed in the automatic driving control so as to travel the recommended lane determined by the recommended lane determination unit 61 and to correspond to the peripheral situation of the vehicle M. Do. The events in the automatic driving according to the first embodiment include, for example, a constant speed traveling event which travels the same traveling lane at a constant speed, a lane change event which changes the traveling lane of the vehicle M, an overtaking event which overtakes the front traveling vehicle, Follow-up travel event to follow the vehicle, junction event to merge the vehicle at junction, branch event to drive the vehicle M in the target direction at junction of the road, emergency stop event to emergency stop the vehicle M, automatic driving And a handover event for switching to the manual operation. In addition, during the execution of these events, an action for avoidance may be planned based on the surrounding conditions of the vehicle M (presence of surrounding vehicles and pedestrians, lane constriction due to road construction, etc.).

  The action plan generation unit 123 generates a target track on which the vehicle M travels in the future. The target trajectory includes, for example, a velocity component. For example, a target trajectory sets a plurality of future reference times for each predetermined sampling time (for example, about 0 comma [sec]), and is generated as a set of target points (orbit points) to reach those reference times. Ru. For this reason, when the distance between the track points is wide, it indicates that the section between the track points travels at high speed.

  FIG. 3 is a diagram showing how a target track is generated based on a recommended lane. As shown, the recommended lanes are set to be convenient to travel along the route to the destination. When the action plan generation unit 123 approaches a predetermined distance before the switching point of the recommended lane (may be determined according to the type of event), it activates a lane change event, a branch event, a merging event, and the like. When it is necessary to avoid an obstacle during the execution of each event, an avoidance trajectory is generated as illustrated.

  The action plan generation unit 123 generates, for example, a plurality of candidate target trajectory candidates, and selects an optimal target trajectory that conforms to the route to the destination at that time based on the viewpoint of safety and efficiency. Further, the action plan generation unit 123 generates a target trajectory in consideration of, for example, processing results of the in-vehicle condition acquisition unit 150, the interface control unit 160, and the boarding person determination unit 170 and the like. This will be described later.

  The second control unit 140 includes, for example, a traveling control unit 141. The traveling control unit 141 controls the traveling driving force output device 200, the brake device 210, and the steering device 220 so that the vehicle M passes the target track generated by the action plan generating unit 123 at a scheduled time. .

  The traveling driving force output device 200 outputs traveling driving force (torque) for the vehicle to travel to the driving wheels. The traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU (Electronic Control Unit) that controls these. The ECU controls the above configuration in accordance with the information input from the traveling control unit 141 or the information input from the drive operator 80.

  The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with the information input from the travel control unit 141 or the information input from the drive operator 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the drive operator 80 to the cylinder via the master cylinder. The brake device 210 transmits the hydraulic pressure of the master cylinder to the cylinder by controlling the actuator according to the information input from the traveling control unit 141 or the information input from the drive operator 80, not limited to the configuration described above. It may be an electronically controlled hydraulic brake device. Further, the brake device 210 may be provided with a plurality of brake devices in consideration of safety.

  The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with the information input from the traveling control unit 141 or the information input from the drive operator 80.

[Vehicle control to get on the boarding candidate]
Hereinafter, vehicle control for allowing the passenger to board the vehicle according to the first embodiment will be described. The vehicle M according to the first embodiment outputs information to the outside of the vehicle by interface control described later, based on, for example, an in-vehicle condition and a predetermined condition. Further, when it is determined that the person outside the vehicle is the person who wants to get in, the vehicle M according to the first embodiment determines whether the person who is desired to get in is the person who is ineligible to get in and is not disqualified for getting on. In this case, stop control is performed to allow the passenger to get on the vehicle. In addition, the vehicle M according to the first embodiment performs ride sharing when the passenger who rides on the ride gets off.

[In-vehicle situation]
In-vehicle condition acquisition unit 150 acquires the condition in vehicle M or in-vehicle information. FIG. 4 is a diagram for explaining the process performed by the in-vehicle condition acquisition unit 150. In the example of FIG. 4, the vehicle M includes the display for outside the vehicle 32, a camera 90 inside the vehicle, and a seat S. The display for outside of the vehicle 32 includes, for example, a front display 32F of the vehicle M, a right side display 32R, a left side display 32L, and a rear display 32B.

  The front display 32F is, for example, a light transmissive liquid crystal panel formed on at least a part of a windshield. The front display 32F secures the driver's front view and displays an image that can be seen by a person in front of the vehicle. Further, each of the right side display 32R, the left side display 32L, and the rear display 32B is a light transmission type liquid crystal panel formed on at least a part of the glass provided in each direction, like the front display 32F. . The right side display 32R and the left side display 32L are formed in the side window of the rear seat in the vehicle M, but the invention is not limited thereto, and may be formed in the side window of the front seat. It may be formed on both of the rear seats.

  Although the display 32 outside the vehicle is provided on at least a part of the glass of the vehicle M as described above, it is provided instead of (or in addition to) the body portion outside the vehicle M. It may be done.

  Further, in the example of FIG. 4, the in-vehicle camera 90 is provided at a position where it is possible to image a part or all of the seats S1 to S4 on which the occupant provided on the vehicle M is seated. In the following description, for convenience, the position, the angle of view, and the like of the in-vehicle camera 90 are assumed to be fixed. Therefore, the in-vehicle condition acquisition unit 150 grasps in advance which seat of the vehicle M is shown at the position (coordinates) on the captured image of the in-vehicle camera 90.

  The in-vehicle condition acquisition unit 150 acquires a captured image captured by the in-vehicle camera 90, analyzes the captured image, and a passenger is seated in any seat among the positions of the seats S1 to S4 in the vehicle M Determine if it is. For example, the in-vehicle situation acquisition unit 150 determines whether or not there is a face area including feature information of a face (for example, an eye, a nose, a mouth, a face outline) in the captured image. Further, when it is determined that the face area is present, the in-vehicle condition acquisition unit 150 seats the passenger on any one of the seats S1 to S4 based on the position (center position) of the face area present in the captured image Determine what you are doing.

  When a load sensor is provided for each of the seats S1 to S4, the in-vehicle condition acquisition unit 150 seats an occupant on the seat when the load value from each load sensor is equal to or greater than the threshold value. It may be determined that there is.

  Furthermore, the in-vehicle condition acquisition unit 150 analyzes the hair style, clothes, shape and color of the face, etc. of the occupant sitting on the seat from the captured image of the in-vehicle camera 90, and based on the analysis result, Sex may be estimated. For example, when the hair of the occupant is long and the color of the lips is red, the in-vehicle condition acquisition unit 150 determines that the occupant is a woman. In addition, the in-vehicle condition acquisition unit 150 may use the in-vehicle device 31 to receive input of information on the sex of the occupant when the occupant gets on the vehicle. For example, the in-vehicle condition acquisition unit 150 may acquire the male-female ratio of the occupant based on the acquired information on the gender of each occupant. In the example of FIG. 4, when the occupant P1 is a male and the occupant P2 is a female, the male-female ratio is 1: 1.

  Then, the in-vehicle condition acquisition unit 150 calculates the remaining number of people who can get on the vehicle M based on the total number of seats S1 to S4 and the number of seats in which the occupants are seated (the number of occupants). In the example of FIG. 4, the in-vehicle condition acquisition unit 150 recognizes that the occupants P1 and P2 are seated on the seats S1 and S3 among the seats S1 to S4. Further, since the occupants are seated in two of the four seats, the in-vehicle condition acquisition unit 150 recognizes that the remaining number of people who can get on the vehicle M is two.

  Further, the in-vehicle condition acquisition unit 150 acquires information on the in-vehicle equipment set for the vehicle M. The information on the in-vehicle equipment is, for example, information on whether or not the charging equipment for charging the terminal device is provided, and whether or not the humidifying equipment for humidifying the interior of the vehicle is provided. The information on the in-vehicle equipment may be held, for example, in a storage device such as an HDD or a flash memory (not shown) in the automatic driving control unit 100. The information on the in-vehicle equipment may be preset, for example, at the time of factory shipment, and may be updated when the equipment is attached to the vehicle M or removed.

[Interface control]
The interface control unit 160 outputs information to the outside of the vehicle using at least one of the display for outside the vehicle 32 and the speaker 33 for the outside of the vehicle. The information is, for example, content such as an image displayed on the display for outside of the vehicle 32 or a sound output from the speaker 33 for outside of the vehicle. The information presented by the content is, for example, information for recruiting passengers. The information presented by the content is, for example, in-vehicle information obtained from the in-vehicle condition acquisition unit 150. For example, the information presented by the content is information on whether or not the vehicle M can be boarded. Further, the information presented by the content may be information on the number of people who can get on the vehicle M. Further, the information presented by the content may be information on the in-vehicle equipment acquired by the in-vehicle condition acquisition unit 150 or the information on the ratio of male to female of the occupant, or the like.

  Further, the information presented by the content may be information on a travel plan of the vehicle M. The information on the travel plan of the vehicle M includes, for example, at least one of a destination or a transit point of the vehicle M. By outputting the via point, it is possible to ride a person with the same destination halfway along the way. The interface control unit 160 may appropriately combine each of the information presented by the content described above and output the information to the outside of the vehicle.

  FIG. 5 is a diagram showing an example of content output toward the outside of the vehicle. When the external world recognition unit 121 recognizes the person P3, the interface control unit 160 outputs the content using the external display 32 in the direction seen from the position of the person P3. In the example of FIG. 5, the images 300F and 300L concerning the destination and the number of persons who can get on the vehicle M are displayed on the front display 32F and the left side display 32L of the vehicle M traveling on the traveling lane L1. Further, the interface control unit 160 may display the images 300F and 300L in a blinking manner, or may change the color in the daytime and the nighttime.

  Further, the interface control unit 160 outputs a voice having the same content as the information shown in the image 300L, using the vehicle exterior speaker 33. In addition, the interface control unit 160 may output music or an alarm that the surroundings draw attention by using the vehicle exterior speaker 33.

  Further, the interface control unit 160 may display the character strings indicated by the images 300F and 300L while sequentially moving them from the beginning of the character.

  FIG. 6 is a diagram showing an example of movement of the character strings shown in the images 300F and 300L. In the example of FIG. 6, the interface control unit 160 moves the image 300F displayed on the front display 32F in the arrow D1 direction, and moves the image 300L displayed on the left side display 32L in the arrow D2 direction. The interface control unit 160 repeatedly displays the images 300F and 300L.

  The interface control unit 160 also controls the direction in which the images 300F and 300L are moved and the display speed based on the walking direction and walking speed of the person recognized by the external world recognition unit 121.

  For example, when displaying the image 300L using the left side display 32L, the interface control unit 160 displays the image 300L while moving in a direction opposite to the walking direction of the person P3. Moreover, it is preferable that the speed which moves the display of the image 300L is the same speed as the walking speed of the person P3. Thereby, the interface control unit 160 can easily make the person P3 visually recognize the image 300L. The person P3 can also recognize that the vehicle M is aware of himself.

  Further, when outputting the images 300F and 300L to the person P3, the interface control unit 160 instructs the action plan generation unit 123 to reduce the traveling speed of the vehicle M based on the traveling speed of the person P3. May be For example, the interface control unit 160 can easily make the person P3 visually recognize the images 300F and 300L by causing the vehicle M to travel at a speed that is the same as or similar to the traveling speed of the person P3.

  Further, when there are a plurality of persons recognized by the external world recognition unit 121, the interface control unit 160 causes the display for outside the vehicle 32 to output the image 300, for example, for the person recognized first. In addition, the interface control unit 160 may output the image 300 to the vehicle external display 32 for the person closest to the vehicle M.

[Predetermined condition]
The predetermined conditions for outputting the content to the outside of the vehicle are, for example, (1) the traveling position of the vehicle M, (2) the traveling speed of the vehicle M, (3) the operation of the person outside the vehicle, (4) the vehicle M This is a condition regarding the number of people who can get in. The interface control unit 160 outputs the content to the outside of the vehicle when all of the set conditions are satisfied. Hereinafter, each of (1) to (4) will be specifically described.

(1) Traveling Position of Vehicle M The interface control unit 160, for example, based on the position information of the vehicle M recognized by the vehicle position recognition unit 122, when the vehicle M is traveling in a predetermined section, Output content outside the car. The setting of the section may be performed at the time of factory shipment, or may be performed by an occupant or the like. In addition, in the setting of the section, a setting prohibited section such as a highway may be set.

(2) Traveling Speed of Vehicle M The interface control unit 160 outputs the content outside the vehicle, for example, when the traveling speed of the vehicle M is equal to or less than a threshold. The threshold may be set in advance for each road, or may be set by an occupant. Thereby, for example, the interface control unit 160 can suppress the output of the content to the outside of the vehicle in a situation where a person such as an expressway can not get on the vehicle. Also, a person outside the vehicle can easily grasp the content output to the vehicle traveling at a low speed. By outputting the content when traveling at a low speed, the vehicle M can be smoothly stopped when the passenger who wants to get on the vehicle travels.

(3) Operation of Person Outside Vehicle The interface control unit 160 may output the content outside the vehicle, for example, when it is estimated that a person outside the vehicle is raising a hand. For example, the interface control unit 160 analyzes the image captured by the camera 10 and raises the hand by pattern matching between the contour shape of the person included in the captured image and the contour shape of the person who raised the hand set in advance. Estimate the person who is Thus, the interface control unit 160 can output content to a person who is highly likely to be a passenger.

(4) Number of people who can get in the vehicle M The interface control unit 160 may output the content outside the vehicle, for example, when the number of people who can get in the vehicle M is one or more. As a result, the interface control unit 160 can suppress the output of the content when the content is full.

  In addition to the above (1) to (4), may the interface control unit 160 output contents to the occupants of the vehicle M outside the vehicle using the in-vehicle device 31 of the HMI 30? If the user makes an inquiry as to whether or not the input is acceptable from the occupant, the content may be output to the outside of the vehicle. Thereby, the interface control unit 160 can be configured not to output the content for recruiting the passenger according to the request of the passenger who does not want to ride the passenger, for example.

[Judgment of applicants for boarding]
The boarding person determination unit 170 determines whether or not the person recognized by the external world recognition unit 121 is the boarding person if the interface control unit 160 is outputting contents toward the outside of the vehicle. Do. FIG. 7 is a diagram for explaining the determination contents of the boarding applicant by the boarding person determination section 170. In the example of FIG. 7, the terminal devices 400-1 and 400-2 possessed by the vehicle M, the persons P4 to P6, and the persons P4 and P5 (hereinafter referred to as "the terminal device 400 except in the case where they are individually distinguished and described) And the server device 500 are shown. Communication between the vehicle M, the terminal device 400, and the server device 500 is performed via the network NW. The network NW is, for example, a wide area network (WAN) or a local area network (LAN).

  The terminal device 400 is, for example, a smartphone or a tablet terminal. The terminal device 400 has a function of communicating with the vehicle M present in the vicinity using a cellular network, Wi-Fi network, Bluetooth, DSRC, or the like, or communicating with the server device 500 via a wireless base station.

  The server device 500 manages traveling positions, situations, and the like of one or more vehicles. The server device 500 is, for example, one information processing device. Further, the server device 500 may be a cloud server configured of one or more information processing devices.

  For example, when the terminal device 400-1 of the person P4 who is outside the vehicle is notified of the information indicating that he / she is a passenger, the person P4 who is recognized by the outside world recognition portion 121 wishes to get in. It is determined that the In the example of FIG. 7, the person P4 uses the terminal device 400-1 to output to the surroundings a signal indicating that the person is a passenger. The surrounding is a communicable range defined by a communication standard. Vehicle M receives a signal from terminal device 400-1 by communication device 20. Based on the signal received from the terminal device 400-1, the passenger identification unit 170 recognizes the person near the vehicle M by the external recognition unit 121, and determines that the recognized person P4 is a passenger. .

  In addition, a person who is recognized by the outside world recognition unit 121 when the boarding candidate determination unit 170 is notified indirectly of the terminal device 400-2 that the user is a boarding desire person indirectly via the server device 500. Is determined to be a passenger. In the example of FIG. 7, the person P5 transmits the information indicating that he / she is a passenger and the position information of the terminal device 400-2 to the server device 500 via the network NW using the terminal device 400-2. Do. The server device 500 extracts the vehicle M traveling the closest to the position of the terminal device 400-2 based on the information received from the terminal device 400-2, and the person who desires to get in the extracted vehicle M. The information indicating that it is and the position information of the terminal device 400-2 are transmitted. Based on the information received from the server device 500, the boarding person determination unit 170 determines that the person P5 near the position of the terminal device 400-2 is the boarding person.

  Also, the boarding person determination unit 170 analyzes the image captured by the camera 10 and determines that the person is the boarding person if it is determined that the person included in the captured image is raising his hand. It is also good. In the example of FIG. 7, the person P6 is raising a hand. Therefore, by the analysis of the captured image by the camera 10, the boarding person determination unit 170 determines that the person P6 is a boarding person.

[Determination of whether or not a passenger is ineligible for riding]
Further, when the riding applicant determination unit 170 determines that the person recognized by the outside world recognition unit 121 is the riding applicant, the person information is further based on the person information that the riding applicant is not suitable for riding or not. It may be determined.

  For example, if the boarding candidate determination unit 170 analyzes the image captured by the camera 10 and there is a contour shape of a pet such as a dog or a cat or feature information of the pet's face in the vicinity of the boarding candidate, the boarding request is made. It is determined that the person is with a pet. In this case, the boarding person determination unit 170 determines that the boarding person is carrying a pet such as a dog or a cat when the boarding person refuses to accompany the pet companion. Determines the passenger as a person who is not suitable for riding.

  In addition, the boarding person determination unit 170 analyzes the image captured by the camera 10, and it is unnatural that the boarding person's action is shaken and unnatural, and that the boarding person is drunk when the complexion is red. You may judge. Further, when the vehicle sensor 70 includes an alcohol detection sensor, the boarding person determination unit 170 may determine the drunkenness based on the detection result of the alcohol detection sensor with respect to the breath exhaled by the occupant candidate. When it is determined that the boarding candidate is in a state of being drunk, the boarding candidate determination unit 170 may determine that the boarding candidate is an ineligible person for boarding.

  In addition, the boarding candidate determination unit 170 analyzes the image captured by the camera 10 and determines that the boarding candidate has a cigarette or is smoking a cigarette, and the boarding candidate is a smoker. It may be determined that Further, when the vehicle sensor 70 includes an odor detection sensor, the boarding person determination unit 170 may determine the smoker based on the detection result of the odor detection sensor for the breath exhaled by the occupant candidate. The boarding candidate determination unit 170 determines that the boarding candidate is an ineligible person for boarding if it is determined that the boarding candidate is a smoker and the occupant has refused to board the smoker. You may

  In addition, the boarding candidate determination unit 170 analyzes the image taken by the camera 10, and when it is determined that the boarding candidate is a dangerous person having a weapon etc., the boarding candidate is not eligible for boarding. It may be determined as a person.

  In addition, the boarding person determining unit 170 may store in advance person information that the occupants do not want to ride side by side, and may determine that the boarding person is not suitable for boarding if the boarding person satisfies the condition. Further, the interface control unit 160 displays an inquiry screen on the touch panel of the in-vehicle device 31 at the time of getting on the passenger or obtaining the person information of the passenger desired person, and the passenger does not want to ride as a passenger. Person information may be acquired.

  FIG. 8 is a diagram showing an example of an inquiry screen displayed when getting on the vehicle. In the example of FIG. 8, the screen example displayed on the touch panel 31A of the in-vehicle device 31 is shown. The touch panel 31A is installed, for example, at a predetermined position in front of each seat in the vehicle M. The interface control unit 160 displays, using the touch panel 31A, a screen that allows the occupant of the vehicle M to select a person who does not want to ride in a row among the preset person information. In the example of FIG. 8, GUI (Graphical User Interface) objects such as “pet companion”, “smoker”, and “drunk person” are displayed on the screen of the touch panel 31A. The interface control unit 160 also outputs personal information associated with at least one GUI object selected by the occupant to the boarding candidate determination unit 170. Thereby, the boarding candidate determination unit 170 can determine whether the boarding candidate as described above is not suitable for boarding.

  In addition, the interface control unit 160 may make an inquiry to the occupant by displaying an inquiry screen for the person information on the touch panel 31A at the timing when the person desiring to boarding person determination unit 170 determines the person information of the person desiring to board.

  FIG. 9 is a view showing an example of an inquiry screen displayed at the time of determination of person information. The interface control unit 160 causes the occupant of the vehicle M to display personal information of a passenger who desires to get on the screen of the touch panel 31A, and inquires whether the person may get on the vehicle. For example, if the boarding candidate determination unit 170 determines that the boarding candidate is carrying a pet, the interface control unit 160 may, as shown in FIG. The screen to be inquired is displayed on the touch panel 31A. The interface control unit 160 also displays on the screen a GUI object for permitting or refusing the entry of the entry applicant, and outputs the result selected by the occupant to the entry applicant determination unit 170. Thereby, the boarding candidate determination unit 170 can determine whether the boarding candidate as described above is not suitable for boarding.

  Further, even if the interface control unit 160 notifies the occupant of the same information as the information shown on the above screen by voice from the speaker of the in-vehicle device 31 and outputs the answer acquired from the microphone to the boarding person determination unit 170 Good. The interface control unit 160 may also notify the occupant by combining the screen display and the audio output.

  The interface control unit 160 may store the information once inquired, and may not repeat the same inquiry repeatedly. In addition, the interface control unit 160 may cause the server device 500 to manage, for each passenger, information on a person who does not want to ride together. In this case, the boarding candidate determination unit 170 associates the information on the person who does not want to ride together with the identification information such as the face authentication result of the occupant or the occupant ID and registers the information in the server device 500 via the communication device 20. Further, the interface control unit 160 acquires the identification information of the occupant when the occupant gets in, makes an inquiry to the server device 500 from the communication device 20, and causes the server device 500 to obtain information on a person who does not want to ride along. get.

  If the boarding candidate determination unit 170 determines that the boarding candidate is a person who is not suitable for boarding, the interface control section 160 performs control to reject the boarding request of the boarding candidate. Specifically, for example, the interface control unit 160 locks the door of the vehicle M, or uses the display for outside the vehicle 32 and the speaker 33 for outside the vehicle to notify, for example, the rejection of boarding and the like. Thereby, the boarding candidate determination unit 170 can suppress the ineligible person from getting on the vehicle M.

[Stop control]
If the boarding candidate determination unit 170 determines that the boarding candidate is not a person who is not suitable for boarding (is a qualified person), the action plan generation unit 123 instructs the vehicle M to stop near the person. Output to The action plan generation unit 123 generates a target trajectory for stopping the vehicle according to an instruction from the passenger applicant determination unit 170, and outputs the generated target trajectory to the travel control unit 141. Thus, the vehicle M can be stopped near the passenger.

  In addition, when the vehicle M is stopped, the interface control unit 160 may output information indicating that the vehicle M is stopped, using at least one of the external display 32 or the external speaker 33 toward the outside of the vehicle. Furthermore, the interface control unit 160 may output information about a point (planned stop position) where a passenger who wants to get on the vehicle is to get on the vehicle, using at least one of the vehicle external display 32 and the vehicle external speaker 33 outside the vehicle.

  FIG. 10 is a diagram showing an example of information on the planned parking position output toward the outside of the vehicle. For example, in the case where a passenger wishing to ride is in a parking prohibited section such as near a pedestrian crossing, near a bus stop, etc., the vehicle M can not stop near the passenger wishing to board. Therefore, the interface control unit 160 acquires the planned parking position based on the target trajectory generated by the action plan generation unit 123, and acquires information regarding the acquired planned parking position according to at least the display 32 for the car or the speaker 33 for the car. Present to the passenger using the one.

  In the example of FIG. 10, a person P6 who is determined to be a boarding candidate by the boarding person determining unit 170 is in the vicinity of a pedestrian crossing. In this case, the interface control unit 160 uses the front display 32F to display an image 310F related to the planned parking position. The image 310F includes, for example, information such as "Stop at 15 m ahead". Thereby, the person P6 can easily grasp that the vehicle M stops in order to carry itself and the position at which the vehicle M stops.

  The interface control unit 160 receives the destination of the person P6 by using the in-vehicle device 31 after the person P6 is taken on the vehicle, and the route through which the accepted destination travels to the preset destination is set. When it is a ground, the action plan generation unit 123 generates an action plan for stopping the vehicle M at the destination of the person P6.

  Further, for example, when the following control is performed while traveling to the destination, the interface control unit 160 uses the external display 32 based on the positional relationship with other vehicles on which the vehicle M is following. You may change the content and position to display.

  FIG. 11 is a diagram showing an example of information output to the outside of the vehicle at the time of follow-up traveling. In the example of FIG. 11, the vehicles M-1 to M-3 are a series of vehicles performing a following movement. One of the vehicles M-1 to M-3 corresponds to the above-described vehicle M.

  The action plan generation unit 123 executes a follow-up traveling event that causes the front-traveling vehicle to travel in a case where the front-traveling vehicle is present while traveling. When the follow-up traveling is started, the interface control unit 160 performs inter-vehicle communication with the surrounding vehicles using the communication device 20, and from the information obtained from each surrounding vehicle, the vehicle M follows the following traveling vehicle M , It is determined which vehicle is traveling at what time. Further, when the vehicle M is the leading vehicle or the last vehicle among the series of vehicles M-1 to M-3 traveling following the interface M, the interface control unit 160 follows the information together with the information on the destination of the vehicle M. It outputs information about driving to the outside of the vehicle.

  In the example of FIG. 11, when the leading vehicle (vehicle M-1) is the leading vehicle (vehicle M-1) among the vehicles that the vehicle M is following, the interface control unit 160 causes the front display 32F to display the destination of the vehicle M and the beginning of following An image 320F indicating a vehicle is output. Further, when the vehicle M is the last vehicle (vehicle M-3) among the vehicles following the traveling, the interface control unit 160 controls the rear display 32B with the destination of the vehicle M and the last vehicle following the traveling An image 320B indicating that there is is output.

  As a result, the occupants of the vehicles peripheral to the vehicles M-1 to M-3 can visually recognize the destination of the vehicle and the head and tail of a series of vehicles traveling following. Therefore, when the host vehicle is made to follow following the tail end or overtaking, it is possible to realize appropriate running while keeping in mind the following vehicle.

[Share ride settlement]
When a plurality of persons ride on the vehicle M, the sharing settlement unit 180 calculates the cost for each passenger based on conditions such as the number of people, section, distance, actual cost (fuel cost, high-speed charge) and the like. For example, each passenger can reach the destination with little cost by dividing the total amount of money by the number of persons who share the car, for example. In addition, when the passenger gets off, the sharing settlement unit 180 may present the result of the settlement to the passenger using the in-vehicle device 31.

  Further, the sharing settlement unit 180 may calculate points for the shared passenger instead of calculating the amount of money. The calculated amount or point may be settled on the spot or may be transmitted to the server device 500 shown in FIG. 7 via the communication device 20.

  When the calculated amount or point calculated is transmitted to the server device 500, the server device 500 manages the amount or point for each occupant. As a result, the passenger can settle the amount of money used each month, and obtain benefits such as using the accumulated points when sharing with him or exchanging points for goods etc. Can.

[Vehicle control processing]
Hereinafter, an example of various vehicle control by the vehicle system 1 of 1st Embodiment is demonstrated. FIG. 12 is a flowchart showing an example of the vehicle control process of the first embodiment. Note that, in the example of FIG. 12, vehicle control in the case of performing joint driving on a vehicle M on which a passenger is already riding will be described. The process of FIG. 12 is performed, for example, each time the sharing operation is performed.

  First, the navigation device 50 has already received the setting of a passenger (step S100). Next, the action plan generation unit 123 generates an action plan for the vehicle M to automatically drive the destination or the like (step S102). Next, the traveling control unit 141 causes the vehicle M to travel based on the generated action plan (step S104).

  Next, the action plan generation unit 123 determines whether the vehicle M has arrived at the destination (step S106). When the vehicle has not arrived at the destination, the in-vehicle condition acquisition unit 150 acquires the condition in the vehicle M (step S108). The condition in the vehicle M includes at least information on the number of people who can get in the vehicle M.

  Next, the interface control unit 160 determines whether to output information outside the vehicle based on a predetermined condition (step S110). When outputting information outside the vehicle, the interface control unit 160 outputs information on at least the number of people who can get in the vehicle using at least one of the display for outside the vehicle 32 or the speaker 33 for the outside of the vehicle (step S112).

  Next, the boarding candidate determination unit 170 determines whether there is a boarding candidate (step S114). If the passenger desires to ride, the passenger wishing determination section 170 acquires personal information on the rider desired to ride (step S116). Next, the boarding candidate determination unit 170 determines whether the boarding candidate is an unqualified person for boarding (step S118). If the person desiring to board the vehicle is a person who is not suitable for boarding, the interface control unit 160 performs control relating to boarding refusal (step S120), and returns to the process of step S104. If the passenger is not a person who is not suitable for getting on the vehicle, the action plan generation unit 123 generates a target track for stopping the vehicle, and stops the vehicle M based on the generated target track (step S122). ), And after getting on the boarding person, the process returns to the process of step S104.

  Further, in step S106, when arriving at the destination, the sharing settlement unit 180 determines whether there is a sharer (step S124). When there is a sharer, the share settlement section 180 performs share settlement for the passenger (step S126). Thus, the present flowchart ends.

  As described above, according to the first embodiment, the vehicle control system can easily realize the sharing of the vehicle by outputting the information as to whether or not the vehicle can be boarded toward the outside of the vehicle. Specifically, according to the first embodiment, a person who is outside the vehicle by outputting information such as information on the number of people who can get into the vehicle, information on a travel plan of the vehicle, equipment in the vehicle, and a male-female ratio of the occupant. In addition, it is possible to easily select the vehicle that you want to get on. Further, according to the first embodiment, control regarding sharing can be performed in a predetermined section. In addition, when traveling on an expressway or the like, it is possible not to perform control regarding sharing, and safe traveling can be realized.

  Further, according to the first embodiment, it is possible to make the occupants of the surrounding vehicles visually recognize the head and tail of a series of vehicles traveling following. Therefore, it is possible to realize appropriate traveling when the host vehicle is made to follow the trailing end and overtaking traveling is performed. Further, according to the first embodiment, it is possible to easily determine the passenger who desires to get on the vehicle by the notification from the terminal device. Further, according to the first embodiment, the passenger can easily be determined by the operation of raising the hand of the person.

  In the first embodiment, the passenger who first got on the vehicle M sets the destination, and controls the sharing ride in the automatic driving for the destination, but it is limited to this. Alternatively, the control of passenger ride by unmanned operation may be performed. In this case, for example, a patrol route is set from the server device 500 to the vehicle M, and information on the patrol route of the vehicle M is output using the exterior display 32 and the exterior speaker 33. Thereby, the vehicle system 1 of 1st Embodiment can be applied to an unmanned taxi, an unmanned bus, etc., for example.

Second Embodiment
Next, a vehicle control system, a vehicle control method, and a vehicle control program according to the second embodiment will be described. In the second embodiment, the vehicle control system is applied to a vehicle that is not an autonomous driving vehicle. In the following description, the same components as those in the first embodiment are denoted by the same constituent blocks and reference numerals, and the specific description is omitted here.

[overall structure]
FIG. 13 is a block diagram of a vehicle system 2 of the second embodiment. The vehicle system 2 includes a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI 30, a drive operator 80, an in-vehicle camera 90, and a drive control unit 600. A traveling driving force output device 200, a brake device 210, and a steering device 220 are provided. These devices and devices are mutually connected by a multiplex communication line such as a CAN communication line, a serial communication line, a wireless communication network or the like. The configuration shown in FIG. 13 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  In the second embodiment, the “vehicle control system” includes, for example, an HMI 30 and a drive control unit 600.

[Operation control unit]
The operation control unit 600 includes, for example, an in-vehicle condition acquisition unit 650, an interface control unit 660, a boarding candidate determination unit 670, and a sharing settlement unit 680. The in-vehicle condition acquisition unit 650, the interface control unit 660, the boarding person determination unit 670, and the sharing settlement unit 680 are realized by a processor such as a CPU executing a program (software). Some or all of the functional units of the in-vehicle status acquisition unit 650, the interface control unit 660, the boarding person determination unit 670, and the sharing settlement unit 680 may be realized by hardware such as an LSI, an ASIC, or an FPGA. And may be realized by cooperation of software and hardware.

  The in-vehicle status acquisition unit 650, the interface control unit 660, the boarding candidate determination unit 670, and the sharing settlement unit 680 are respectively connected to the in-vehicle status acquisition unit 150, the interface control unit 160, the boarding candidate determination unit 170, and the joining settlement unit 180. Equivalent to.

[Vehicle control processing]
Hereinafter, an example of various vehicle control by the vehicle system 2 of 2nd Embodiment is demonstrated. FIG. 14 is a flowchart showing an example of the vehicle control process of the second embodiment. Note that, in the example of FIG. 14, vehicle control in the case of performing joint driving on a vehicle M for which traveling to a destination has already been executed by driver's driving will be described. The process of FIG. 14 is performed, for example, each time the sharing operation is performed.

  First, the operation control unit 600 determines whether the vehicle M has arrived at the destination (S200). When the vehicle has not arrived at the destination, the in-vehicle condition acquisition unit 650 acquires the condition in the vehicle M (step S202).

  Next, the interface control unit 660 determines whether to output information outside the vehicle based on a predetermined condition (step S204). When outputting information outside the vehicle, the interface control unit 660 outputs information on at least the number of people who can get into the vehicle using at least one of the display for outside the vehicle 32 or the speaker 33 for the outside of the vehicle (step S206).

  Next, the boarding candidate determination unit 670 determines whether there is a boarding candidate (step S208). If the passenger desires to ride, the passenger wishing determination unit 670 acquires personal information on the rider desired to ride (step S210). Next, the boarding candidate determination unit 670 determines whether the boarding candidate is an unqualified person for boarding (step S212). If the person desiring to board the vehicle is a person who is not suitable for boarding, the interface control unit 660 performs control relating to boarding refusal (step S214), and returns to the process of step S200. Further, when the passenger is not a person who is not suitable for riding, the interface control unit 660 notifies the passenger driving the vehicle M that there is a passenger using the in-vehicle device 31 (Step S216). In this case, for example, the interface control unit 660 may output an alarm using a speaker, or may output to a display device that there is a passenger desire. Thereby, the vehicle M can be stopped at the position where the passenger wants to get in by the driver's driving. After the passenger wants to ride, the process returns to the process of step S200.

  Further, in step S200, when arriving at the destination, the sharing settlement unit 680 determines whether there is a sharer (step S218). When there is a sharer, the share settlement section 180 performs share settlement for the occupant (step S220). Thus, the present flowchart ends.

  As described above, according to the second embodiment, the vehicle control system can easily realize joining of a vehicle for manual driving. Thus, the vehicle system 2 according to the second embodiment can be applied to, for example, a taxi or a bus in which a driver is present.

  As mentioned above, although the form for carrying out the present invention was explained using an embodiment, the present invention is not limited at all by such an embodiment, and various modification and substitution within the range which does not deviate from the gist of the present invention Can be added.

  1, 2 ... vehicle system, 10 ... camera, 12 ... radar device, 14 ... finder, 16 ... object recognition device, 20 ... communication device, 30 ... HMI, 31 ... in-vehicle devices, 32 ... in-vehicle displays, 33 ... vehicles Speaker for external use, 50: navigation device, 60: MPU, 70: vehicle sensor, 80: driving operation element, 90: in-vehicle camera, 100: automatic driving control unit, 120: first control unit, 121: external recognition unit, 122 ... Vehicle position recognition unit, 123 ... Action plan generation unit, 140 ... Second control unit, 141 ... Travel control unit, 150, 650 ... In-vehicle status acquisition unit, 160, 660 ... Interface control unit, 170, 670 ... Ride request Judgment unit 180, 680 ... Reconciliation unit 200 ... Travel driving force output device 210 ... Brake device 220 ... Steering device 400 ... Terminal Location, 500 ... server, 600 ... operation control unit, M ... vehicle

Claims (11)

An output unit that outputs information to the outside of the vehicle;
An in-vehicle condition acquisition unit that acquires the condition in the vehicle,
A control unit that causes the output unit to output whether or not it is possible to get into the vehicle based on the in-vehicle information acquired by the in-vehicle condition acquisition unit;
A recognition unit that recognizes a person who is in the vicinity of the vehicle;
A determination unit that determines whether the person recognized by the recognition unit is ineligible for boarding;
Vehicle control system comprising: The determination unit determines whether or not the person recognized by the recognition unit is a rider and is determined to be ineligible for the rider.
The vehicle control system according to claim 1. It further comprises an imaging unit for imaging the periphery of the vehicle,
The determination unit analyzes an image captured by the imaging unit, and determines whether the person is ineligible for getting on the basis of an operation of a person included in the image obtained as an analysis result.
A vehicle control system according to claim 1 or 2. The vehicle further comprises a vehicle sensor for detecting a breath exhaled by the person,
The determination unit determines whether the person is ineligible for boarding based on information obtained from the breath detected by the vehicle sensor.
The vehicle control system according to any one of claims 1 to 3. The determination unit determines whether the person is ineligible for boarding based on person information preset by an occupant of the vehicle.
The vehicle control system according to any one of claims 1 to 4. The determination unit acquires person information which is not desired to be joined by a passenger when the user gets into the vehicle, and determines whether the person is ineligible for boarding based on the acquired person information.
The vehicle control system according to claim 5. An interface control unit for outputting information to the occupants of the vehicle;
When it is determined by the determination unit that the person recognized by the recognition unit is a passenger, the interface control unit inquires whether or not the passenger may join the passenger. Output
The determination unit determines whether the person is ineligible for boarding based on an input result of the occupant for the output.
The vehicle control system according to any one of claims 1 to 6. The server is provided with a server that associates and registers information of a person who is determined not to want to ride jointly by the occupant with the identification information of the occupant.
The determination unit acquires, from the server, information of a person who is determined not to want to join the vehicle when the occupant gets on the vehicle.
The vehicle control system according to claim 7. The vehicle performs control to reject the person's getting on when the determination unit determines that the person is not suitable for getting on the vehicle.
The vehicle control system according to any one of claims 1 to 8. The in-vehicle computer
Get the situation in the car,
Based on the acquired in-vehicle information, the output unit outputs to the outside of the vehicle whether it is possible to get in the vehicle,
Recognize the person around the vehicle,
Determine whether the recognized person is ineligible for a ride
Vehicle control method. In-vehicle computers,
Get the situation in the car,
Based on the acquired in-vehicle information, the output unit outputs to the outside of the vehicle whether or not it is possible to get in the vehicle,
Make people aware of the surroundings of the vehicle,
Make it possible to determine whether the recognized person is ineligible for getting on the vehicle,
Vehicle control program.

Images