JP2020077385A - Automatic driving vehicle and program for automatic driving vehicle - Google Patents

Abstract

To enable only a user to flexibly instruct an automatic driving vehicle according to an action aspect and an action purpose of himself/herself after getting off the vehicle when the automatic driving vehicle which performs autonomous travel is utilized as a rent-a-car, a taxi, and a hired car.SOLUTION: Information of a user is stored in a setting authorized person information storage part as information of a setting authorized person who has authority for setting a behavior after getting off an automatic driving vehicle on the basis of registration permission, or registration processing by a manager who is the registration authorized person. It is discriminated whether or not an occupant is the setting authorized person from information acquired from the occupant and the information of the setting authorized person which is stored in the setting authorized person information storage part when the occupant of the automatic driving vehicle sets the behavior after getting off the vehicle. Control is performed to accept setting of the behavior after getting off the vehicle by the occupant, or to execute the behavior after getting off the vehicle set by the occupant when it is discriminated that the crew is the setting authorized person.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an autonomous vehicle and a program for an autonomous vehicle.

  2. Description of the Related Art There has been proposed an autonomous vehicle that can autonomously drive without a driver's operation. In addition, various inventions utilizing the characteristics of this autonomous vehicle have been proposed. For example, in Patent Document 1 (JP 2012-48563 A), when a user stores schedule information including designation of time and place (destination) in an autonomous vehicle in advance, based on the schedule information. Therefore, an automatic driving vehicle has been proposed in which a destination for automatic driving is determined and the vehicle is moved.

  For example, after the user A gets off, based on the stored schedule information, the place where the user A starts to use the autonomous vehicle next is estimated, and if the estimated place is the current position, the Wait at a place, and if the estimated place is different from the present place, move to the estimated place and wait.

JP 2012-48563 A

  However, in the invention of Patent Document 1 described above, the user needs to register and store schedule information including at least the date and time and the designation of the place in advance in the autonomous driving vehicle, which is bothersome and actually gets on board. There is a problem that the inside user cannot flexibly give an instruction to the self-driving vehicle according to the behavior mode and the purpose of the behavior after getting off the vehicle.

  In addition, since an autonomous vehicle is a vehicle that can run autonomously without a driver's driving operation, anyone in the vehicle can instruct an action by designating a destination or the like. I will end up. However, if anyone can instruct the behavior (behavior) of the self-driving car after getting off, the self-driving car will behave unpredictably by the owner or manager of the self-driving car. There is also the problem that there may be a situation in which it will not be possible to get out of hand.

  An object of the present invention is to provide an automatic driving vehicle that can solve the above problems.

In order to solve the above problems, the invention of claim 1 is
An automatic driving vehicle that is managed by an administrator and provided for use by a plurality of users and that has an automatic driving mode for autonomous driving,
Prior to using the self-driving car of the user, based on the registration permission by the administrator who is a registration authority, or based on the registration process by the administrator who is the registration authority, the information of the user, Storage means for storing in the setting authority information storage unit as information of the setting authority having authority to set the behavior of the self-driving vehicle after getting off the vehicle,
When the passenger of the autonomous vehicle sets the behavior after getting off the vehicle, the boarding is performed based on the information acquired from the passenger and the setting authority information stored in the setting authority information storage unit. Setting authority determining means for determining whether a person is the setting authority,
When the setting authority determining unit determines that the passenger is the setting authority, the setting of the behavior after getting off the vehicle by the passenger is accepted, or the behavior after being set by the passenger is set. Control means for controlling to execute,
A self-driving vehicle equipped with.

  According to the invention of claim 1 having the above-mentioned configuration, the information of the user sets the behavior of the self-driving vehicle after getting off, based on the registration permission by the administrator who is the registration authority or the registration process. It is stored in the setting authority information storage unit as information on the setting authority having authority to perform.

  When the occupant of the autonomous vehicle sets the behavior after getting off the vehicle, the occupant sets the setting authority based on the information acquired from the occupant and the information of the setting authority stored in the setting authority information storage unit. It is determined whether the person is a person. When it is determined that the passenger is the setting authority, the setting of the behavior after getting off the vehicle by the passenger is accepted, or the behavior after getting off set by the passenger is controlled.

  Therefore, only the user who is the setting authority registered by the administrator who is the registration authority can set the behavior of the self-driving vehicle after getting off when getting off the vehicle. Therefore, the invention of claim 1 is preferably applied when the autonomous vehicle is used as a rental car, a taxi, or a hire.

  The self-driving vehicle according to the present invention is preferably applied when used as a rental car, a taxi, or a hire.

It is a block diagram which shows the structural example of the electronic control circuit part of 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the example of the memory content of the user and setting authority information storage part used by 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the example of the memory content of the after-dismounting behavior storage part used by 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating the outline of the example of the registration processing operation of the user / setting authority in 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the outline | summary of the processing operation in 1st Embodiment of the self-driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the outline | summary of the processing operation in 1st Embodiment of the self-driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the outline | summary of the processing operation in 1st Embodiment of the self-driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of behavior setting acceptance operation after getting off in 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of behavior setting acceptance operation after getting off in 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of behavior setting acceptance operation after getting off in 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart which shows the example of the flow of the processing operation of the behavior after getting off in the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart which shows the example of the flow of the processing operation of the behavior after getting off in the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart which shows the example of the flow of the processing operation of the behavior after getting off in the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart which shows the example of the flow of the processing operation of the behavior after getting off in the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart which shows the example of the flow of the processing operation of the behavior after getting off in the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart which shows the example of the flow of the processing operation of the behavior after getting off in the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure for demonstrating the specific example of the after-dismounting behavior used by 1st Embodiment of the automatic driving vehicle by this invention. It is a figure for demonstrating the specific example of the after-dismounting behavior used by 1st Embodiment of the automatic driving vehicle by this invention. It is a figure for demonstrating the specific example of the after-dismounting behavior used by 1st Embodiment of the automatic driving vehicle by this invention. It is a figure for demonstrating the specific example of the after-dismounting behavior used by 1st Embodiment of the automatic driving vehicle by this invention. It is a block diagram which shows the structural example of the electronic control circuit part of 2nd Embodiment of the automatic driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the outline | summary of the processing operation in 2nd Embodiment of the self-driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the outline | summary of the processing operation in 2nd Embodiment of the self-driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the outline | summary of the processing operation in 2nd Embodiment of the self-driving vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the outline | summary of the processing operation in 2nd Embodiment of the self-driving vehicle by this invention.

  An embodiment of an autonomous vehicle according to the present invention will be described below with reference to the drawings.

[First Embodiment]
[Example of hardware configuration of autonomous vehicle 1]
FIG. 1 is a block diagram showing a hardware configuration example of an electronic control circuit unit 10 of an autonomous vehicle 1 according to a first embodiment of the present invention. The autonomous vehicle 1 of this embodiment is an example of an electric vehicle. However, the battery is not shown in FIG.

  The autonomous vehicle 1 of this embodiment has an automatic driving mode and a manual driving mode. The manual operation mode is a mode in which the vehicle can travel in accordance with the driver's accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (steering wheel operation), as in a normal automobile that is not an autonomous vehicle. In addition, in the automatic driving mode, even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever, and the steering wheel, the autonomous vehicle 1 itself automatically (autonomously) avoids obstacles while traveling. It is a mode to change and drive.

  Note that the driver of the autonomous vehicle 1 can switch the autonomous vehicle 1 running in the manual driving mode to the automatic driving mode by a predetermined operation through the touch panel 112 described later, and can also run in the automatic driving mode. When the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering wheel, the driver automatically returns to the manual operation mode.

  As shown in FIG. 1, the electronic control circuit unit 10 has a wireless communication unit 102, a motor drive control unit 103, and a steering drive control unit for a control unit 101 configured by mounting a computer through a system bus 100. 104, manual / automatic operation mode switching control unit 105, radar group 106, camera group 107, sensor group 108, surrounding moving body grasping unit 109, current position detecting unit 110, display unit 111, touch panel 112, car navigation (hereinafter, car navigation system). (Hereinafter abbreviated) function unit 113, user authentication unit 114, user / setting authority information storage unit 115, caller authentication unit 116, caller authentication information storage unit 117, behavior setting acceptance unit 118 after getting off, after getting off The behavior storage unit 119, the behavior control processing unit 120, the timer circuit 121, the voice input / output unit 122, the setting authority authentication unit 123, the authorized person contact information storage unit 124, and the registration authority authentication unit 125 are connected to each other. There is.

  A motor drive unit 131 is connected to the motor drive control unit 103. A steering drive unit 132 is connected to the steering drive control unit 104. A manual driving operation detection unit 133 is connected to the manual / automatic driving mode switching control unit 105. Further, a car navigation database 134 is connected to the car navigation function unit 113. A user / setting authority information storage unit 115 is connected to the user authentication unit 114. Further, a setting authority authenticating unit 123 is connected to the user / setting authority information storage unit 115. A caller authentication information storage unit 117 is connected to the caller authentication unit 116. A behavior storage unit 119 after dismounting is connected to the behavior setting receiving unit 118 after dismounting. Further, the voice input / output unit 122 is connected with a microphone 135 for collecting voice and a speaker 136 for outputting sound reproduction.

  In this embodiment, the wireless communication unit 102 has a function of performing communication such as telephone communication and electronic mail communication via a mobile phone network. That is, the wireless communication unit 102 of the self-driving vehicle 1 of this embodiment has a function as a subscriber terminal in a mobile phone network and has a subscriber number as a mobile phone terminal. Through the wireless communication unit 102, the control unit 101 has a function of performing processing when a call request is received from a caller, and a mobile phone terminal of a user whose subscriber telephone number of the mobile phone is registered. It has a function of transmitting and notifying a necessary message as a software processing function.

  Under the control of the control unit 101, the motor drive control unit 103 controls the supply of a drive signal to the motor drive unit 131 of the automatic driving vehicle 1 configured by the electric vehicle of this embodiment, and the automatic driving vehicle 1 The vehicle start, traveling speed control (including brake control and accelerator control), traveling stop, etc. are controlled.

  Under the control of the control unit 101, the steering drive control unit 104 controls the supply of a drive control signal to the steering drive unit 132 of the autonomous driving vehicle 1 of this embodiment to control the course change of the autonomous driving vehicle 1. Try to do.

  The manual / automatic operation mode switching control unit 105 performs control to switch the operation mode of the autonomous vehicle 1 to either the manual operation mode or the automatic operation mode according to the selection operation input through the touch panel 112. The manual driving operation detection unit 133 receives the operation information of the accelerator pedal operation, the brake pedal operation, the shift lever operation, and the steering operation by the driver, and supplies the manual driving operation information to the manual / automatic driving mode switching control unit 105. To do.

  The manual / automatic driving mode switching control unit 105 supplies the manual driving operation information from the manual driving operation detecting unit 133 to the motor drive control unit 103 and the steering drive control unit 104 when the automatic driving vehicle 1 is in the manual driving mode. Then, the motor drive unit 131 and the steering drive unit 132 are controlled according to the pedal operation, shift lever operation, and steering operation (steering wheel operation) performed by the driver.

  In addition, the manual / automatic operation mode switching control unit 105 outputs the outputs of the radar group 106, the camera group 107, the sensor group 108, and the surrounding moving body grasping section 109 when the autonomous vehicle 1 is in the automatic operation mode, as described later. The automatic driving operation information generated by the control unit 101 based on the above is supplied to the motor driving control unit 103 and the steering driving control unit 104, and the motor driving unit 131 and the steering driving unit 132 are driven and controlled by the automatic driving operation information. To do. In the automatic driving mode, the car navigation function unit 113 searches for a route from the current position to the destination (destination) set by the driver or the like, and controls to travel along the searched route. It

  The radar group 106 is for measuring the distance to a person or an object existing around the vehicle of the self-driving vehicle 1, and includes one to a plurality of laser radars and millimeter wave radars. The laser radar is embedded, for example, in the vicinity of a ceiling or a bumper, and the millimeter wave radar is provided, for example, in the front part and the rear part of the vehicle. Both the laser radar and the millimeter wave radar may be provided, or only one of them may be provided. Also, other radars such as microwave radar may be used. Further, a sonar (not shown) can be used for the same purpose as the radar.

  The camera group 107 includes one to a plurality of cameras that photograph the inside of the autonomous vehicle 1 and one to a plurality of cameras that photograph the outside of the vehicle, such as the front, side, and rear of the autonomous vehicle 1. .. The camera that captures the inside of the vehicle is attached, for example, to the rearview mirror (rear view mirror or rearview mirror) installed between the driver's seat and the passenger seat, or the upper part of the front window, and can be used by a person (driver) sitting in the driver's seat. In addition to the camera that captures the behavior, it also includes a camera that captures the behavior of the passenger (passenger) sitting in the passenger seat or the back seat. Further, the cameras for photographing the surroundings of the self-driving car 1 are attached to, for example, the left side and the right side of the rearview mirror, and two cameras (stereo cameras) for mainly photographing the left front and the right front of the self-driving car 1 and , A camera attached to, for example, a door mirror or a fender mirror of the self-driving vehicle 1 to photograph the left and right sides, a camera to photograph the rear of the self-driving vehicle 1, and the like.

  The sensor group 108 includes an opening / closing detection sensor that detects opening and closing of a door and a window, a sensor that detects wearing of a seat belt, and a seating sensor that detects that a passenger is seated in a seat such as a driver's seat or a passenger seat ( For example, a weight sensor), a touch sensor (for example, a capacitance sensor) that detects when a person touches the steering wheel in the driver's seat, a human sensor (for example, an infrared sensor) that detects a person near the outside of the vehicle, or an automatic driving. It consists of various sensors to obtain information that will be an aid for Examples of various sensors for acquiring information that assists automatic driving include a vibration sensor for detecting vibration of a vehicle and a tire, a rotation speed sensor for detecting a rotation speed of a tire, and a direction for detecting a bearing. It includes a geomagnetic sensor, an acceleration sensor for detecting acceleration, and a gyro sensor (gyroscope) for detecting an angle and an angular velocity. Further, in this embodiment, the sensor group 108 also includes a sensor for detecting lighting of a right turn signal, a left turn signal (direction indicator), and a hazard lamp (emergency blinking light).

  The surrounding moving body grasping unit 109 grasps a moving body (including a person) around the own vehicle using the images captured by the radar group 106, the sensor group 108, and the camera group 107. The surrounding moving body grasping unit 109 grasps surrounding obstacles and moving bodies by performing processing based on, for example, Bayes theory.

  The current position detection unit 110 receives radio waves from GPS satellites and detects the current position of the vehicle. Since the current position detection unit 110 is not accurate in the position detected by the radio waves from the GPS satellites, the current position detection unit 110 includes not only the information on the current position detected by the reception of the radio waves from the GPS satellites but A plurality of sensors and radar groups 106, images taken by the camera group 107 (also used with the navigation function) and the like are used, and processing based on, for example, Bayes theory is performed to detect and confirm the current position with higher accuracy. I have to.

  In the self-driving vehicle 1, in the self-driving mode, the current position detection unit 110 and the surrounding moving body grasping unit 109 acquire position information obtained by receiving radio waves from the radar group 106, the camera group 107, the sensor group 108, and GPS satellites. And the like, that is, information corresponding to information obtained from human eyes and ears is processed by machine learning such as Bayes theory, and based on this, the control unit 101 changes the course of the vehicle and avoids obstacles. Intelligent information processing (artificial intelligence) and control (artificial intelligence) are performed to generate automatic driving operation information.

  The display unit 111 includes, for example, an LCD (Liquid Crystal Display). The touch panel 112 is a display screen of a display unit 111 made of an LCD, on which a touch sensor capable of touch input with a finger, a touch pen, or the like is superimposed and arranged. A display image including software buttons (including a character input button on the keyboard) is displayed on the display screen of the display unit 111 under the control of the control unit 101. When the touch panel 112 detects a touch on the software button displayed on the display screen with a finger, a touch pen, or the like, the touch panel 112 transmits the touch to the control unit 101. Receiving this, the control unit 101 is configured to execute a control process corresponding to the software button.

  A domestic map and route guidance data are stored in advance in the car navigation database 134 connected to the car navigation function unit 113. The car navigation function unit 113 is a function unit for guiding the self-driving vehicle 1 to assist it in moving to a designated destination based on the map stored in the car navigation database 134 and the route guidance data. Is. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing in the manual operation mode and the automatic operation mode.

  That is, in the manual operation mode, the car navigation function unit 113 is detected and confirmed by the current position detection unit 110 on the map that explicitly displays the route to the destination on the display screen of the display unit 111. In addition to displaying an image that displays the current vehicle position, the vehicle position (current position) on the map is moved as the vehicle moves and route guidance such as intersections and branch points on the route is displayed. Try to give voice guidance where necessary. This is similar to the normal car navigation function.

  On the other hand, in the automatic driving mode, when the current position of the vehicle is away from the route to the destination, the car navigation function unit 113 notifies the control unit 101 of the separation direction and the distance, and When the present position of the vehicle is on the route to the destination, the control unit 101 is notified of the change instruction information of the direction of the route along the route before the intersection or branch point on the route as the vehicle moves. To do it. The control unit 101 instructs the vehicle to follow the route based on the information notified from the car navigation function unit 113, the current position confirmation result of the current position detection unit 110, and the grasping result of the surrounding moving body grasping unit 109. The motor drive control unit 103 controls the motor drive unit 131 so as to move along the route as described above, and the steering drive control unit 104 generates automatic driving operation information for controlling the steering drive unit 132. .. Therefore, by the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode, the automatic driving vehicle 1 can move to the destination even when the passenger is unattended.

  Then, in this embodiment, the car navigation function unit 113 also has a peripheral search function. In addition to map information, the car navigation database 134 stores base information (POI (Point Of Interest)) such as parking lots, convenience stores, etc. for peripheral search. Note that the peripheral search function is not included in the car navigation function unit 113, but the control unit 101 issues a peripheral search request including position information such as the current position information acquired by the current position detection unit 110 to the wireless communication unit 102. It may be realized as a function of sending the search result to the peripheral search server on the Internet via the Internet.

  In the user / setting authority information storage unit 115, the users who have the authority to use the autonomous vehicle 1 are registered and stored, and among the users, those who have the authority to set the behavior after getting off the vehicle. (Hereinafter, for the sake of simplicity of description, a setting authority) is registered and stored. In this embodiment, only a user who is registered and stored in the user / setting authority information storage unit 115 as a user who has the authority to use the autonomous vehicle 1 can use the autonomous vehicle 1. Become.

  In this embodiment, a person (hereinafter, referred to as a registration authority) who has the authority to permit the registration of the user and the setting authority is predetermined. The registration of the user and the setting authority in the setting authority information storage unit 115 can be performed only when permission is given by the registration authority. As the registered authority, for example, the owner or the administrator of the self-driving vehicle 1 is defined, and is registered and stored in the user / setting authority information report storage unit 115. For example, the family of the owner of the self-driving car 1 should be registered in the user / setting authority information storage unit 115 in advance before using the self-driving car 1 with the permission of the registration authority. You can also For other users who are not registered in advance, when using (boarding), register with the condition of permission from the registered authority.

  FIG. 2 shows an example of stored contents of the user / set authority information storage unit 115. As shown in FIG. 2, in this embodiment, the user / setting authority information storage unit 115 is provided with a registration authority information storage area 115A and a user / setting authority information storage area 115B. There is.

  Then, in the registration authority information storage area 115A, the information of the registration authority is registered prior to the registration processing of the user and the setting authority. In this example, the authentication information and the communication destination information are stored as the information of the registration authority. In this example, a face image captured by a camera is used as the authentication information in this case. In this embodiment, the face image of the user photographed by a predetermined camera in the camera group 107 is stored, but even if the user face image stored and prepared in advance in, for example, a card type memory is registered. Good. Further, as the communication destination information, a telephone number, a mail address, etc. are stored. The communication destination information is for the autonomous vehicle 1 to inquire whether the registered authority is allowed to register the user and the setting authority when the registered authority is not in the autonomous vehicle 1. Used for. In addition, although the number of persons having the registration authority is one in FIG. 2, it is of course possible to register a plurality of persons.

  Then, in the user / setting authority information area 115B of the user / setting authority information storage unit 115, in this example, as shown in FIG. 2, the authentication information of the registered user and the communication destination information. And a setting authority of behavior after getting off the vehicle and registration holding information as to whether or not to hold the user registration. In this example, for example, a face image captured by a camera is used as the registered user authentication information. In this embodiment, the face image of the user photographed by a predetermined camera in the camera group 107 is stored, but even if the user face image stored and prepared in advance in, for example, a card type memory is registered. Good. The communication destination information is used, for example, when the user gets out of the self-driving car and when the self-driving car starts moving, to notify the user who has left the car of the movement of the own vehicle. A telephone number, a mail address, etc. are stored as the communication destination information.

  The authority to set behavior after getting off is information on whether the user has the authority to set the behavior after getting off the vehicle from the autonomous driving vehicle 1. If there is no permission for the registration authority to be granted, “no” is registered. A user who has been set as a setting authority is a setting authority.

  Further, the registration holding information is also information set based on the permission of the registered authority, and when it is assumed to be always used, such as a family member, the user of the user / set authority information storage unit 115 is registered. This is information for holding the registered information and deleting it in other cases without holding it. In the example of FIG. 2, “hold” is recorded when there is a permission instruction from the registration authority, and “non-hold” is recorded when there is no permission instruction from the registration authority. In the case of “non-hold”, the registration information of the user is deleted after the user gets off the autonomous vehicle 1. However, when the setting authority of behavior after getting off the vehicle is set to “Yes” for the user, the behavior after storage after the exit set by the user is finished in the behavior storing unit 119 after getting off the vehicle. After confirming whether or not it has been completed, the registration information of the user is deleted. Therefore, for example, for a user such as a family member who is permitted to use at all times, "hold" is recorded as the registration holding information, and for a user who is permitted to use temporarily, "non-holding" is held as the registration holding information. By recording, you can take appropriate action.

  The registration process of the user / setting authority information will be described in detail later.

  The user authentication unit 114 uses the user authentication information stored in the user / set authority information storage unit 115 and the authentication information acquired from the passenger in the autonomous vehicle 1 at that time, Perform user authentication. Here, the passengers include not only passengers in the driver's seat but also passengers in passenger seats and rear seats other than the driver's seat. The self-driving vehicle 1 of this embodiment is capable of autonomous traveling in the self-driving mode even if there is no driver.

  In this embodiment, the user authentication unit 114 matches / does not match the face image of the user stored in the user / setting authority information storage unit 115 with the face image of the passenger in the autonomous vehicle 1. User authentication is performed by. Therefore, in this embodiment, the user authentication unit 114 is configured as an image recognition unit.

  In addition, the user authentication in the user authentication unit 114 is not limited to the face image, and the user authentication can be performed by the voice of the user. In that case, the automatic driving vehicle 1 uses the voice of the user who registers. Is picked up by the microphone 135, and the voice of the person getting off is stored in the user / setting authority information storage unit 115. Then, the user authentication unit 114 is configured to have a voice recognition function and a speaker recognition function, and stores the stored words (password) or voice (speaker voice) and the usage collected by the microphone 135. User authentication is performed by determining whether or not the person's voice matches. In the case of this user authentication, voice recognition for determining whether or not a word (password) stored in advance is matched, or a speaker for determining whether or not a voice (speaker voice) stored in advance is matched. It is done either by recognition. Of course, the determination may be made based on the match / mismatch of both.

  Further, the user's fingerprint can be used for user authentication. In that case, the self-driving vehicle 1 is provided with a fingerprint reading device, and the user / setting authority information information storage unit 115 is provided. The fingerprint of the alighting person is stored, and the user authentication unit 114 is configured to have a fingerprint recognition function, and the stored fingerprint and the occupant of the passenger in the autonomous vehicle 1 acquired by the fingerprint reading device. User authentication is performed by determining a match / mismatch with the fingerprint. Note that veins, iris, and other biometric information can be used for user authentication, and even in those cases, the same configuration can be changed. Note that the key of the self-driving vehicle 1 can be used for user authentication. In this case, the fact that the user possesses the key of the self-driving vehicle 1 is himself / herself authenticated.

  The caller authentication unit 116 acquires the caller authentication information stored in the caller authentication information storage unit 117 and the authentication acquired from the caller acquired when the wireless communication unit 102 receives a call (call, call). The caller authentication described above is performed using the usage information. In this embodiment, caller authentication is performed by matching / mismatching the telephone number of the mobile phone terminal of the person who has just been alighted and the telephone number of the mobile phone terminal of the caller.

  In this embodiment, the caller authentication information storage unit 117 stores the telephone number of the mobile phone terminal of the person who is scheduled to make a call, for example, the latest getting off passenger, which is input through the touch panel 112. The telephone number stored in the caller authentication information storage unit 117 is overwritten on the previously stored telephone number to be the telephone number of the most recent caller only. Of course, it is possible to keep the previously stored telephone number without overwriting. Note that the caller authentication information storage unit 117 is not limited to being stored with a telephone number, but may be an email address, biometric information such as the face image of the caller, name, address, date of birth, ID, password. And so on.

  When the caller authentication unit 116 receives an incoming call from the caller to the wireless communication unit 102, the caller authentication unit 116 acquires the telephone number of the incoming call and matches it with the telephone number stored in the caller authentication information storage unit 117. / The caller authentication is performed by determining the mismatch.

  As for the configurations of the caller authentication unit 116 and the caller authentication information storage unit 117, the information used as the authentication information is similar to the configurations of the user authentication unit 114 and the user / setting authority information storage unit 115. The configuration is changed according to the difference of.

  In the present embodiment, the after-dismounting behavior setting reception unit 118 receives the setting of after-dismounting behavior that the automated driving vehicle 1 should perform when the user, such as a driver or a passenger other than the driver, dismounts. Then, the received setting information is stored in a built-in storage unit (not shown). In this embodiment, the behavior after storage after exiting from the vehicle is registered and stored in the behavior storage unit 119 after exiting from the user in advance. The after-dismounting behavior setting reception unit 118 presents the user with a list of after-dismounting behaviors stored in the after-dismounting behavior storage unit 119, and information on the after-dismounting behavior selected and set by the user from the list. Accept settings for.

  In this case, although not shown in the figure, the items of the after-departure behavior in the after-departure behavior list (see FIG. 3 described later) are configured as icon buttons, and the user operates each desired icon button on the touch panel 112. By instructing, it is possible to select and input the behavior information after getting off the vehicle. An example of the after-dismounting behavior stored in the after-dismounting behavior storage unit 119 and the reception processing of the after-dismounting behavior setting reception unit 118 will be described later.

  As an input method for setting the behavior after getting off the vehicle, it is also possible to read aloud each behavior after getting off the vehicle. The control unit 101 has a voice recognition function for that purpose.

  In addition, the after-departure behavior setting reception unit 118 can also be configured to be able to accept a change or correction of the set after-departure behavior or a cancellation. In that case, in the after-get-off behavior behavior storage unit 119, identification information (for example, a user name in the user / setting authority information storage unit 115) of a user (setting authority) who sets the behavior after getting off the vehicle is stored. It is stored in association with the set behavior after getting off the vehicle.

  Then, if the user (setting authority) is before getting off from the automatic driving vehicle 1, the user (setting authority) who makes the change or correction or the cancellation is confirmed by using the identification information. A change, a correction, or a cancellation of the behavior after getting off the vehicle set by the confirmed user (setting authority) is accepted.

  If the user (setting authority) who has set the behavior after getting off the vehicle is after getting off from the autonomous driving vehicle 1, the user (setting authority) accesses the autonomous driving vehicle 1 A communication path is generated through the wireless communication unit 102, and a change or correction or cancellation of the behavior after exiting the vehicle set through the communication path is requested. In this case as well, the use registered in the user / setting authority information storage unit 115 based on the identification information of the user (setting authority) who has set the behavior after exiting stored in the after-departure behavior storage unit 119. The authentication information of the person is acquired, the authentication information is acquired from the user (setting authority) through the communication path, and authentication is performed using both. Then, with respect to the behavior after getting off the vehicle set by the user (setting authority) confirmed based on the authentication result, change, correction, or cancellation is accepted.

  In addition, when accepting a change or correction of the set behavior after getting off the vehicle or a cancellation, the self-driving vehicle 1 has a registrant storage unit that previously receives and stores registration of a person who has the right to change, modify, or cancel. (Not shown) to change or modify, or only when the person who has requested the change or cancellation is the registrant stored in the registrant storage unit, change or modification of the behavior after getting off the train, Cancellation may be accepted.

  The behavior control processing unit 120 executes the behavior of the user's own vehicle after getting off the vehicle based on the behavior after getting off the vehicle accepted by the behavior setting receiving section 118 after getting off the user. In this case, from the viewpoint that the movement control of the own vehicle should be performed in accordance with the control instruction by the driver when the driver is in the vehicle, the control unit 101 in this embodiment, after the user gets off the vehicle, Only when the driver does not exist in the vehicle, the control process based on the received behavior after getting off the vehicle is executed. An example of the behavior control processing by the behavior control processing unit 120 will be described in detail later.

  The timer circuit 121 has a function of providing current time and measuring time from a predetermined time point.

  The voice input / output unit 122 takes in the voice picked up by the microphone 135 and sends it to the system bus 100 for voice recognition processing, for example. Although not shown, the voice input / output unit 122 has a built-in memory for storing voice message data to be emitted to the outside, and converts the voice message data read from the memory into an analog voice signal. It has a built-in voice synthesizer and DA converter. Then, the voice input / output unit 122 supplies the voice message selected by the control of the control unit 101 to the speaker 136 and outputs the voice message to the outside as voice. As the voice message to be memorized, as will be described later, for example, an inquiry message such as "Do you want to set the behavior after getting off the vehicle?", A notification message such as "Authenticated.", "Could not be authenticated." Interactive messages etc. when accepting the behavior setting input are prepared.

  The setting authority authenticating unit 123 verifies whether or not the passenger has the setting authority of the behavior after getting off the autonomous driving vehicle 1 of the setting authority person stored in the user / setting authority information storage unit 115. This is done using the authentication information. The authentication process by the setting authority authenticating unit 123 is almost the same as the authentication process by the user authenticating unit 114. However, among the users stored in the user / setting authority information storage unit 115, only the setting authority, which is a user having the setting authority, is authenticated, which is different from the user authentication unit 114. In addition, the authentication process by the setting authority authenticating unit 123 is set to be stricter than the authentication processing by the user authenticating unit 114 so as to prevent accidentally becoming the setting authority or impersonating the setting authority. You can

  It should be noted that in the autonomous driving vehicle 1 of this embodiment, even a user who does not have the setting authority of the behavior after getting out of the autonomous driving vehicle 1 has the authority to permit the preset setting authority. For example, if the owner or the administrator of the self-driving vehicle 1 can obtain the permission, the behavior after getting off the vehicle can be set.

  For this reason, the authorized person contact information storage unit 124 has the authority to permit the setting authority of the behavior after getting off the autonomous vehicle 1, for example, the communication of the authorized person such as the owner or the administrator of the autonomous vehicle 1. Destination information is stored. A telephone number, a mail address, etc. are stored as the communication destination information.

  As will be described later, when the self-driving vehicle 1 determines that the person does not have the setting authority for behavior after getting off the vehicle, the autonomous vehicle 1 sends information to the person who can specify the person who does not have the setting authority to approve the permission. When the approval according to the request is obtained, the setting of the behavior after getting off the vehicle is permitted. As information that can identify a person who does not have the setting authority, for example, a face image of the person captured by the cameras of the camera group 107 is used.

  The registration authority person authentication unit 125 authenticates whether or not it is a registration authority person who has the authority to permit the registration of the user and the setting authority person, by registering the registration authority person information of the user / setting authority person information storage unit 115. This is performed using the authentication information of the registered authority stored in the area 115A. The authentication processing by the registered authority authenticating unit 125 is almost the same as the authentication processing by the user authenticating unit 114 and the setting authority authenticating unit 123. The authentication process by the registration authority authenticating unit 125 is set to be stricter than the authentication processing by the user authenticating unit 114 or the setting authority authenticating unit 123, and the registration authority may be mistakenly authenticated, or maliciously. You may prevent the act of impersonating a registered authority.

  As described above, the electronic control circuit unit 10 of the self-driving vehicle 1 is configured. Among the processing blocks shown in FIG. 1, the motor drive control unit 103, the steering drive control unit 104, the manual / automatic operation mode switching Control unit 105, surrounding moving body grasping unit 109, current position detecting unit 110, car navigation function unit 113, user authentication unit 114, caller authentication unit 116, behavior setting acceptance unit 118 after exiting, behavior control processing unit 120, voice input. Each processing function of the output unit 122 and the setting authority authenticating unit 123 can be realized as a software process performed by the control unit 101 executing a program.

[Example of stored information in behavior storage unit 119 after getting off]
As described above, the after-dismounting behavior storage unit 119 stores in advance the after-dismounting behavior desired to be specified by a person who intends to set the after-dismounting behavior (hereinafter referred to as a setter). As the behavior after getting off the vehicle, it can be selected from those registered as default in the automatic driving vehicle 1 in advance by the automobile company or the like, or can be set and stored by the user. Moreover, what is stored in the cloud of the Internet can also be used.

  FIG. 3 shows an example of the after-departure behavior stored in the after-departure behavior storage unit 119 in this embodiment. An example of the behavior after getting off each vehicle will be described.

  "Move to default parking lot" is for the autonomous vehicle 1 to move to a preset parking lot that is registered in advance after the setter who is in the vehicle gets off, and gets off by moving to the parking lot. The back behavior ends. Here, as the default parking lot, a plurality of parking lots can be registered, such as "home parking lot", "company parking lot", and "contract parking lot". Registering a parking lot means storing its position information and the names (types) of parking lots such as "home parking lot", "company parking lot", and "contract parking lot". When the setter selects and sets the "moving to the default parking lot" as the behavior after getting off the vehicle, the name of the default parking lot is also selected and set.

  “Wait until calling at a nearby parking lot” means that the autonomous vehicle 1 searches for a parking lot near the setting-off position of the setter and waits at that parking lot, and then the setter automatically uses the mobile phone terminal. When the telephone communication of the call is performed through the wireless communication unit 102 of the driving vehicle 1, the automatic driving vehicle 1 returns to the place where the setter gets off in response to the call, and reuse of the setter (re-ride) ) Is assumed. In this case, in this embodiment, the setting person registers the authentication information at the time of calling and the authentication information for re-boarding when getting off the vehicle.

  The behavior control processing unit 120 of the self-driving vehicle 1 authenticates the caller using the registered authentication information at the time of call when the caller is made through the mobile phone terminal, and the authentication is OK. Only when there is, the movement control is performed to return to the place where the setter gets off, in response to the call. In this embodiment, as the authentication information at the time of calling, for example, the telephone number (subscriber number) of the mobile phone terminal of the caller is registered at the time of getting off, and when the call is received from the caller, the telephone number of the caller is received. Authentication is performed depending on whether or not is the registered telephone number.

  Then, the behavior control processing unit 120 of the self-driving vehicle 1 authenticates the re-passenger using the registered authentication information when detecting the re-ride of the setter, and when the authentication is OK. Only re-passengers are controlled to allow the use of their own vehicle. In this embodiment, as the authentication information at the time of re-riding, for example, the face image of the setter is registered at the time of getting off, and at the time of the re-riding of the setter, the rider who is registered by the face recognition by face image is used. Authentication is performed depending on whether the user is the (configurator).

  Note that the authentication information at the time of calling is not limited to the telephone number of the mobile phone terminal, but a password or ID is registered in advance, and the password or ID is used in the communication based on the incoming call from the caller. For example, the authentication may be performed by confirming a match between the two by sending a message such as A combination of the telephone number and the password or ID may be used as the authentication information at the time of calling.

  Further, the re-passenger authentication information may be not only a face image but biometric information such as voice (voice), fingerprint, vein, iris, etc. Furthermore, a password or ID may be used. Good. Also, a combination of them may be used as the authentication information. When the voice (voice) is used as the authentication information, either the voice recognition or the speaker recognition, or both of them are used for the authentication.

  “Stand-by here” means that the autonomous vehicle 1 stands by at the place where the setter gets off, and is supposed to be re-ridden by the setter. In this case, in this embodiment, the setting person registers the authentication information for re-ride when getting off the vehicle. The authentication information for this re-ride can be the same as that described in the above-mentioned “wait until called in a nearby parking lot”, and in this embodiment, a face image of the user (for example, driver) and To do.

  “Toward point A” means that the self-driving vehicle 1 moves toward a place designated by the user, and the case where the setter is supposed to re-ride the vehicle and the use by the setter is completed. There are cases. Point A is designated by the setter when getting off the vehicle. This point A may be set from the points registered in advance, for example, it may be designated on a map, by inputting an address, or by designating a identifiable building name. You can Alternatively, the coordinates may be two-dimensional coordinates of latitude and longitude (or three-dimensional coordinates including elevation). Furthermore, when the point A can be specified by a telephone number, the telephone number may be input and designated.

  The re-passenger in the case of "going to the point A" is a person other than the setter who got off the vehicle when the use by the setter is completed. Therefore, in this embodiment, a password or ID is set as authentication information for the re-riders other than the setter, and the password or ID is transmitted to the re-riders other than the setter by the setter. It

  “Go pick up when calling” means that after the setter gets off, the autonomous vehicle 1 can perform free movement until there is a call. When a telephone call for a call is made through the wireless communication unit 102 of the vehicle 1, the self-driving vehicle 1 picks up at a place designated by the setter in response to the call, so that the re-ride of the setter can be performed. This is the case. In this case, the information on the place to pick up is sent to the autonomous vehicle 1 in the telephone communication when the setter makes a telephone communication for calling the autonomous vehicle 1. For example, the information on the current position measured by the GPS included in the mobile phone terminal of the setter is sent from the mobile phone terminal of the setter to the self-driving vehicle 1 as the information on the place to pick up. Further, also in this case, the setting person registers the authentication information at the time of calling and the authentication information for re-riding when getting off the vehicle. With respect to the authentication information at the time of calling and the authentication information for re-boarding, the same processing as "wait until calling at a nearby parking lot" is performed.

  “Stand by at point B” means that the autonomous vehicle 1 waits at a place designated by the setter and waits for the setter to re-ride. The point B is designated by the setter when getting off the vehicle. This point B may be set from pre-registered points, or may be specified on a map, by inputting an address, or by specifying a identifiable building name, for example. You can Alternatively, it may be two-dimensional coordinates of latitude and longitude (or three-dimensional coordinates including elevation). Further, when the point B can be specified by the telephone number, the telephone number may be input and designated.

  Then, the authentication information when the setter re-rides in this case can be the same as the one described in the above-mentioned "wait until called at a nearby parking lot", and in this embodiment, the user (for example, The driver's face image.

"Return to the exit position after a predetermined time" means that the setter is supposed to return to the exit position (current position) (including staying without moving) after a predetermined time after the dismounter has performed a predetermined task. Later behavior. The setting person directly sets the “predetermined time” or inputs information for grasping the “predetermined time” when getting off the vehicle. That is, as a method of setting the “predetermined time” in this case,
(A) Setting a timer time for the timer circuit 121,
(B) Settings by voice input, for example, "just a little business", "toilet", "meal", "concert", "watching baseball", "watching soccer", "watching sumo wrestling", "2, 3 minutes", " About an hour "
(C) Selection from a list of predetermined errands displayed on the display unit 111 may be mentioned.

An example of how the control unit 101 of the autonomous vehicle 1 grasps the predetermined time from the input of information for grasping the predetermined time in (b) and (c) is shown below. In the case of (b), the text enclosed in "" is input by voice, and in the case of (c), the text enclosed in "" is selected from the list.
・ “Grand Sumo Tournament” In the case of this place, which is held 6 times a year, the event will end at approximately 18:00.
・ "Watching baseball" Approximately 3 hours from the start for professional baseball, and approximately 2 hours from the start for high school baseball. Time is added in the extra game. You can know the end time of the match if you obtain a broadcast relay from a predetermined site via the Internet.
・ "Soccer watching" 45 minutes in the first half 15 minutes in the half time 45 minutes in the second half Understand the predetermined time with a little loss time as a guide. Time is added in the extra game. You can know the end time of the match if you obtain a broadcast relay from a predetermined site via the Internet.
・ "Concert" The end time of the announcement by the organizer is a guide. When the user gets off the vehicle, the end time is input by the user, and the predetermined time is grasped by using the time as a guide.
・ "Movie watching" The end time is fixed. When the user gets off the vehicle, the end time is input by the user, and the predetermined time is grasped by using the time as a guide.
・ "Shopping center" Understand a predetermined time, for example, 2 hours, based on experience values and statistical values.
・ “Department store” Understand a predetermined time, for example, 2 hours, based on experience values and statistical values.
・ “Mass store (home appliances / computer)” The predetermined time is grasped as 1 hour based on the experience value and the statistical value.
・ "Bookstore" Based on experience values / statistical values, grasp the predetermined time as, for example, 30 minutes.
・ "Flower shop" Based on experience values and statistical values, grasp the predetermined time as 15 minutes, for example.
-"Small store" Grasping a predetermined time as 10 minutes based on experience values and statistical values.
-"Convenience store" Based on experience values and statistical values, the predetermined time is grasped as 10 minutes, for example.
・ "Post office" Depending on the waiting time, it will be understood as 10 minutes, for example.
・ “Bank” Depending on the waiting time, it will be 5 minutes for ATMs and 20 minutes for counters.
・ The end time of the "Juku" is fixed. At the time of getting off, the user inputs the end time, and the time is used as a guide to grasp a predetermined time, for example, 2 hours.
・ "Restaurant" For example, 30 minutes for lunch and 2 hours for dinner, and grasp the predetermined time.
・ “Café” For example, one hour, grasp a predetermined time.
・ "Fishing pond" For example, 2 hours, grasp the predetermined time.
・ "Shrines and Buddhist temples", such as the first shrine visit. For example, the predetermined time is grasped as one hour.
・ “Zoo / Aquarium” For example, 3 hours, and grasp the predetermined time.
・ There is a display such as "Vehicle entry prohibited area""Please refrain from the car from here." If you want to see the destination, get off the car and look. For example, the predetermined time is grasped as 5 minutes.

  The autonomous vehicle 1 may determine the time by determining the TPO (situation, congestion degree, etc.). In addition, the presence or absence of a parking space at the place where the user is dropped may be a condition for determining the predetermined time. Further, the predetermined time may be changeable according to the situation such as waiting time.

  In this example, the behavior after getting off the vehicle is "return to the alighting position after a predetermined time", but it may be "return to the alighting position at a predetermined time". In addition, you may prepare the behavior after getting off both.

  "Being at point C after a predetermined time" is also the behavior after getting off the vehicle on the premise that the setter will perform a predetermined job after getting off and then get on the vehicle again, and at the point where the person will get on again after the predetermined time. As a result, the vehicle moves to another point C which is not the exit position (current position). In the same way as "return to the exit position after a predetermined time", the setter directly sets the "predetermined time" at the time of getting off and inputs information for grasping the "predetermined time", Set point C. The point C may be set from pre-registered points, or may be specified on a map, by inputting an address, or by specifying a identifiable building name, for example. You may. Alternatively, it may be two-dimensional coordinates of latitude and longitude (or three-dimensional coordinates including elevation). Further, when the point C can be specified by the telephone number, the telephone number may be input and designated.

  When the point C is close to the dismounting position (current position), the method of setting the “predetermined time” and the method of grasping the predetermined time in the control unit 101 of the autonomous vehicle 1 are “return to the dismounting position after the predetermined time. Is the same as When the point C is away from the getting-off position (current position) (for example, 1 km or more), the travel time from the getting-off position (current position) to the point C greatly affects the predetermined time. Therefore, the predetermined time is insufficient only for the predetermined work, and it is necessary to add and grasp the time required for the movement. In order to calculate (estimate) the travel time, it is necessary to input at least information about the travel means and the travel distance or travel section by the travel means. Therefore, when the point C is away from the dismounting position (current position), it is preferable that the setter directly sets the "predetermined time" when dismounting.

  In this example as well, the behavior after getting off can be set to "be at point C at a predetermined time" instead of "being at point C after a predetermined time", as in "return to the getting-off position after a predetermined time". In addition, you may prepare the behavior after getting off both.

  “Release (end of use)” means that the setter ends the use of the autonomous driving vehicle 1 without setting the behavior after getting off the vehicle. By receiving the explicit instruction to end the use, the autonomous vehicle 1 can perform appropriate processing such as inquiring about the behavior of the own vehicle thereafter to a person who has the authority such as the owner or the administrator. Become.

[Example of registration processing operation of user and setting authority in automatic driving vehicle 1 of the embodiment]
Next, an outline of an example of the registration processing operation of the user and the setting authority of the control unit 101 of the autonomous vehicle 1 will be described with reference to the flowchart of FIG. The processing of each step of the flowchart of FIG. 4 is mainly executed by the control unit 101.

  For example, when the passenger of the autonomous vehicle 1 selects the item of “user registration” from the setting item menu displayed on the display unit 111, the control unit 101 performs the process of the flowchart of FIG. Start.

  The control unit 101 first determines whether or not the registered authority is already registered (step S301), and when it is determined that the registered authority is not already registered, a message requesting the registration of the registered authority is displayed on the display unit 111. The speaker 136 outputs the sound on the display screen, and the speaker 136 accepts the registration of the user (step S302). Then, this processing routine is once ended.

  When it is determined in step S301 that the registered authority has already been registered, the control unit 101 determines whether the registered authority is on board (step S303). The determination in step S303 is made by comparing the face image of the passenger photographed by the cameras of the camera group 107 with the face image of the registered authority stored in the user / setting authority information storage unit 115, This is performed depending on whether a matching face image has been detected.

  When it is determined in step S303 that the registered authority is not in the vehicle, the control unit 101 determines whether the registered authority information is stored in the registered authority information storage area 115A of the user / setting authority information storage unit 115. Using the communication destination information, a call is sent to the registered authority through the wireless communication unit 102, and a communication path is connected to the communication apparatus of the registered authority (step S304).

  Then, when it is determined in step S303 that the registration authority is on board, and after the connection of the communication path with the registration authority is completed in step S304, the control unit 101 uses the user who is trying to register. The registration authority is inquired as to whether or not the registration of the person is permitted (step S305). In this case, in step S305, if the registration authority cannot specify the user who is trying to register when performing through the communication path generated in step S304, the control unit 101 causes the generated communication to be performed. The information of the face image of the user who is going to register, which is taken by the cameras of the camera group 107, is sent to the registration authority through the road and inquires whether or not the registration of the user of the face image is permitted. Incidentally, since the registered authority who is on board is on board with the user who is trying to register, such processing is unnecessary, but in this example, let's register by taking a picture with the camera of the camera group 107. The face image of the user is displayed on the display screen of the display unit 111 so that the registered authority can confirm it.

  In response to this inquiry, the registration authority answers either "permit registration" or "do not permit registration" through the touch panel 112. Therefore, the control unit 101 determines the registration authority based on the response. Determines whether to permit registration (step S306). In this case, the control unit 101 uses the function of the registration authority authenticating unit 125 to perform authentication as to whether or not the passenger operating through the touch panel 112 is a registration authority. For this authentication, for example, of the cameras in the camera group 107, a camera capable of capturing an image of a passenger in a position (seat) that can be operated through the touch panel 112 is used to capture a face image of the passenger, The photographed face image is compared with the face image which is the authentication information of the registered authority stored in the registered authority information storage area 115A of the user / set authority information storage unit 115, and the comparison result is used. Can be executed.

  Then, in step S306, when the control unit 101 determines that the registration authority does not permit the registration, the user registration is not permitted, and therefore the display unit 111 displays that the use of the autonomous vehicle 1 is impossible. Notification is given by voice through the screen and the speaker 136 (step S307). Then, this processing routine ends.

  Further, when it is determined in step S306 that the registration authority permits the registration, the control unit 101 sets the authority for setting the behavior after getting off the vehicle for the user who is trying to register and the permission / non-permission for holding the registration information. And the permission / non-permission as the answer to the inquiry is accepted (step S308).

  Then, the control unit 101 receives the registration information about the user who is trying to register, and stores it in the user / setting authority information storage area 115B of the user / setting authority information storage unit 115 (step S309). .. In this case, in step S308, if the registration authority permits the setting authority of behavior after getting off the vehicle, “Yes” is recorded in the column of the setting authority of the user, and if not permitted, , “None” is recorded. If the registered authority permits the retention of registration information, "retention" is recorded in the column of the registration retention information of the user, and if not, "non-retention" is recorded. To be done.

  In the above example, the registered authority is registered in advance, and with the permission of the registered authority, the user can be registered, the setting authority can be registered, and all the registration as to whether or not to retain the registration can be performed. did. That is, in the above description, the registration of the setting authority and the registration itself of the user other than the record of the registration hold also require the permission of the registration authority, but without the permission of the registration authority, For example, if a user inputs a predetermined password or ID for user registration and the user can authenticate with the password or ID, information about the user other than setting authority and registered retention information can be registered. In this way, user registration may be enabled. That is, the user may be registered only by performing authentication with a password or an ID for user registration without obtaining permission from a registration authority.

  Further, the registration of the setting authority and the registration of whether or not the registration is held may be performed by allowing the user to input the password or ID for each registration and performing the authentication. In that case, the user who can enter the correct password and ID becomes a registration authority who permits setting of setting authority, and also a registration authority who permits registration of whether or not to retain the registration. Is equivalent. In that case, the password and ID for user registration, the password and ID for registration of the setting authority, and the password and ID for registration of whether or not to retain the registration are all the same or the same. Or may be different from each other.

[Example of processing operation when the user in the autonomous vehicle 1 according to the embodiment gets off]
Next, an outline of the processing operation of the control unit 101 of the user who has been in the autonomous vehicle 1, in this example, especially when the driver is about to get off, will be described.

  In this embodiment, when the user who has been in the autonomous vehicle 1, in this example, especially the driver tries to get off, the autonomous vehicle 1 tries to get off whether or not to set the behavior after getting off the vehicle. Contact the driver. In response to this inquiry, when the driver inputs the setting of the behavior after getting off the vehicle, the autonomous vehicle 1 accepts the setting input of the behavior after getting off the vehicle by the driver, and processes according to the behavior after getting off the driver's acceptance. I do.

  5 to 7 are flowcharts for explaining an example of the flow of processing operations performed by the control unit 101 of the electronic control circuit unit 10 of the autonomous vehicle 1 when the driver gets off the vehicle. In addition, in the processing of each step in the flowcharts of FIGS. 5 to 7, the control unit 101 executes the program for each processing function of the behavior setting receiving unit 118 after getting off the vehicle, the behavior control processing unit 120, and the setting authority authenticating unit 123. This will be described as a case where it is realized as a software process performed by doing so.

  The control unit 101 determines whether or not the occupant has stopped driving the motor drive unit 131 of the vehicle (step S1). When it is determined in step S1 that the driving of the motor drive unit 131 is not stopped, the control unit 101 continues the control required during traveling (step S2), and then returns to step S1.

  When it is determined in step S1 that the driving of the motor drive unit 131 has been stopped, it is generally expected that the passenger gets off the vehicle. Therefore, the control unit 101 inquires whether to set the behavior after getting off the vehicle. Message is displayed on the display unit 111, and is emitted as a voice through the speaker 136 (step S3).

  The control unit 101 monitors the response from the passenger to the inquiry in step S3, determines whether the passenger sets the behavior after getting off the vehicle (step S4), and replies that the passenger does not set the behavior after getting off the vehicle. If it is determined that this processing routine ends. In this case, the self-driving vehicle 1 is turned off at the position where the passenger gets off, while the motor drive unit 131 is stopped, while the power supply to the site required for the stopped process is maintained.

  It should be noted that the autonomous vehicle 1 may be set in advance with a predetermined behavior when the passenger does not set the behavior after getting off the vehicle, and the autonomous vehicle 1 may execute the predetermined behavior. Further, the autonomous vehicle 1 communicates through the wireless communication unit 102 to authorized persons, such as the owner and the administrator of the autonomous vehicle 1 stored in the permitter contact information storage unit 124, through the wireless communication unit 102. Alternatively, the passenger may be notified that he / she did not set the behavior after getting off the vehicle, and the permitter may be instructed to give the behavior after getting off the vehicle.

  When it is determined in step S4 that the passenger has answered that the behavior after the getting-off vehicle is set, the control unit 101 takes a face image of the person who wants to set the behavior after the getting-off vehicle by the camera of the camera group 107. Authentication information is acquired from the setter (step S5). Then, the control unit 101 reads the information of the face image as the authentication information of the setting authority stored in the user / setting authority information storage unit 115, and sets the behavior after getting off the vehicle acquired in step S5. It is determined whether or not the person who intends to set the behavior after getting off the vehicle is authenticated whether or not it matches the face image of the person (step S6).

  Next, as a result of the authentication in step S6, the control unit 101 determines whether or not the setting authority has been authenticated (step S7), and when it is determined that the authentication has failed, the permitter contact information storage The contact information of the permitter is read from the unit 124, a communication path is generated between the permitter and the face image of the person who wants to set the behavior after getting off the vehicle, which is acquired in step S5, is sent to the permitter, A permission approval request is made as to whether or not the setting of the behavior after getting off the vehicle may be permitted (step S8).

  When the permitter accepts the permission approval request, the permitter sends the autonomous vehicle 1 an approval result as to whether or not to approve the permission to set the behavior after getting off the vehicle. Therefore, the control unit 101 of the autonomous vehicle 1 determines the approval result from the authorized person received through the communication path, and determines whether the approval is OK (step S9).

  If it is determined in step S9 that the approval is not OK, the control unit 101 informs that the person who wants to set the behavior after getting off the vehicle does not have the setting authority, and thus the setting of the behavior after getting off the vehicle is prohibited. It is notified by displaying it on the display screen of the display unit 111 or emitting a voice message through the speaker 136 (step S10).

  After step S10, the control unit 101 determines whether or not there is another person who requests the setting of the behavior after getting off the vehicle (step S11 in FIG. 6), and if there is, returns the process to step S5. The processing from step S5 onward is repeated. When it is determined in step S11 that there is no other person requesting the setting of the behavior after getting off the vehicle, the control unit 101 ends this processing routine.

  When it is determined in step S7 that the setting authority has been authenticated, and when it is determined in step S9 that the permission to set the behavior after getting off the vehicle is approved, the control unit 101 determines that the behavior after getting off the vehicle is set. When it is determined that the vehicle has been permitted, the after-departure behavior stored in the after-departure behavior storage unit 119 is displayed on the display screen of the display unit 111 as a list as shown in FIG. 3 (step S12 in FIG. 7). It should be noted that the after-departure behavior stored in the after-departure behavior storage unit 119 is not limited to the display, and may be presented by voice guidance.

  Then, the control unit 101 then monitors the input operation of the setter via the touch panel 112 and waits for acceptance of the operation for selecting the behavior after getting off the vehicle from the list displayed on the display screen (step S13). When it is determined in step S13 that the operation of selecting the behavior after getting off the vehicle from the list has been accepted, the control unit 101 performs a process for accepting the selected behavior after getting off the vehicle (step S14). The reception processing of the selected after-get-off behavior in step S14 will be described in detail later.

  Next, the control unit 101 determines whether or not the process for accepting the selected after-exit behavior is completed (step S15), and when it is determined that the process for accepting the selected after-exit behavior is completed. The selection information of the behavior after getting off the vehicle selected by the setter and the information accompanying it are stored (step S16).

  Next, the control unit 101 determines whether or not the setter has exited the vehicle using a door sensor or the like (step S17), and after confirming the dismounter of the setter, executes the stored selected after-dismounting behavior ( Step S18). In step S18, when the autonomous vehicle 1 travels and moves, the autonomous vehicle 1 autonomously travels in the automatic driving mode.

  In addition, in the example of FIGS. 5 to 7 described above, when the setting authority is not authenticated, the setting is prohibited by not accepting the setting of the behavior after getting off the vehicle by the setter, or even if the setting is accepted. The setting is restricted by disabling it or allowing the setting person to set the behavior after getting off the vehicle when the permitter gives permission. However, the setting of the behavior after getting off the vehicle may be accepted, and the execution of the behavior after the getting off that the setting authority cannot be authenticated may be prohibited or restricted.

[Example of flow of acceptance processing after getting off]
Next, an example of the flow of the acceptance processing of the behavior after getting off the vehicle in step S14 will be described. 8 to 10 are flowcharts for explaining an example of the flow of the acceptance processing of the after-departure behavior, and in this example, the acceptance when each of the after-departure behavior of the list shown in FIG. 3 is selected. Description will be given assuming processing.

  The processing of the steps of FIGS. 8 to 10 will also be described as a case where the processing function of the after-get-off behavior setting reception unit 118 is realized as software processing performed by the control unit 101 executing a program. In addition, in this embodiment, the control unit 101 interacts with the setter in an interactive manner to receive the setting of the behavior after getting off the vehicle.

  First, the control unit 101 determines whether or not "move to default parking lot" has been selected by the setter (step S21), and when it is determined that "move to default parking lot" has been selected, the default setting Regarding the parking lot, a message prompting the setting person to select one of “home parking lot”, “company parking lot”, and “contract parking lot” is displayed on the display unit 111 (and a voice notification is given through the speaker 136). Then, the selection designation of the default parking lot from the setter is accepted (step S22). At this time, after step S22, the control unit 101 determines in step S15 of FIG. 7 that the reception is completed, and then in step S16, the selected behavior after disembarking “move to default parking lot”. And the selection designation of "home parking lot", "company parking lot", or "contract parking lot". As will be described later, the "private parking lot for a specific facility" may be added to the selection designation for the default parking lot.

  When it is determined in step S21 that "move to default parking lot" is not selected, the control unit 101 determines whether "standby until calling at nearby parking lot" is selected by the setter (step S23). When it is determined in step S23 that the user selects "wait until called in a nearby parking lot", the control unit 101 displays a message prompting the setter to input authentication information of the caller. Through (also may be notified by voice through the speaker 136), and the input of the caller authentication information from the setter is accepted (step S24). As described above, in this example, the telephone number of the caller's mobile phone terminal is input as the caller authentication information.

  Next, the control unit 101 acquires authentication information when the setter re-rides the vehicle (step S25). As described above, in this embodiment, the face image of the setter is captured by the camera that captures the driver's seat in the camera group 107, and the face image is acquired as the re-passenger authentication information. After this step S25, the control unit 101 determines in step S15 of FIG. 7 that the reception is completed, and in the next step S16, the selected behavior after getting off the vehicle is "wait until called in a nearby parking lot". The selection designation is stored in the storage unit of the behavior setting reception unit 118 after getting off the vehicle, the telephone number of the mobile phone terminal as the caller authentication information is stored in the caller authentication information storage unit 117, and the re-ride The "facer image of the setter" as the authentication information is stored in the user / set authority information storage unit 115.

  When it is determined in step S23 that "wait until called in nearby parking lot" is not selected, the control unit 101 determines whether "wait here" is selected by the user (step S26). .. When it is determined in step S26 that "standby here" has been selected by the setter, the control unit 101 determines whether or not the current position (dismounting position) is parking prohibited (step S27). Whether or not parking is prohibited is determined by recognizing whether or not there is a parking prohibition sign or sign from a captured image of a camera that captures the surroundings of the camera group 107. Note that the case where parking and stopping is prohibited is the same as the case where parking is prohibited, but in this embodiment, it is included in "parking prohibited".

  When it is determined in step S27 that parking is prohibited, the control unit 101 notifies the setting person that parking is prohibited at the current position, and displays a message prompting a setting request for other behavior after getting off the vehicle. Through (also may be notified by voice through the speaker 136) (step S28), and then the process returns to step S21 to wait for the resetter to reset the behavior after getting off the vehicle.

  When it is determined in step S27 that the current position is not parking prohibited, the control unit 101 acquires authentication information when the setter reenters the vehicle (step S29). The process in step S29 is similar to that in step S25 described above, and in this embodiment, the face image of the setter is acquired as the authentication information for the re-rider. Then, after step S29, the control unit 101 determines in step S15 in FIG. 7 that the acceptance is completed, and in the next step S16, selects the selected behavior after getting off the vehicle "wait here". The user's / set authority information storage unit 115 stores the “driver's face image” as the authentication information of the re-passenger while being stored in the storage unit of the behavior setting reception unit 118 after getting off the vehicle.

  Next, when it is determined in step S26 that "wait here" is not selected, the control unit 101 determines whether or not "toward the point A" is selected by the setter (step S31 in FIG. 9). ). In step S31, when it is determined that the user has selected “toward the point A”, the control unit 101 notifies the setter of a message prompting the setting input of the “point A” via the display unit 111 ( At the same time, a voice notification may be given through the speaker 136), and the setting of "point A" from the setter is accepted (step S32). At this time, in step S32, the control unit 101 displays a map centering on the current position on the display screen of the display unit 111 and accepts the setting of "point A" on the map. Alternatively, the input of the address of the “point A” by the setter may be accepted, or the facilities around the current location may be presented and the selection input may be accepted. Further, input of two-dimensional coordinates of latitude and longitude (or three-dimensional coordinates including elevation) may be accepted. Further, when the "point A" can be specified by the telephone number, the input of the telephone number may be accepted.

  After step S32, the control unit 101 obtains the authentication information when the setter at the point A re-enters the vehicle (step S33). The process in step S33 is similar to steps S25 and S29, and in this embodiment, the face image of the setter is acquired as the authentication information for the re-passenger. Then, in step S15 of FIG. 7, after the step S33, the control unit 101 determines that the acceptance is completed, and in the next step S16, selects and designates the selected behavior "going to the point A" after getting off the vehicle. And the setting information of the "point A" are stored in the storage unit of the behavior setting reception unit 118 after getting off the vehicle, and the "driver's face image" as the authentication information of the re-passenger is stored in the user / setting authority information storage unit. It is stored in 115.

  When it is determined in step S31 that "go to point A" is not selected, the control unit 101 determines whether "go to pick up when calling" is selected by the setter (step S34). .. In step S34, when it is determined that the setter has selected “go pick up when calling”, the control unit 101 displays a message prompting the setter to input authentication information of the caller through the display unit 111. The user is notified (and may be notified by voice through the speaker 136), and the input of the caller authentication information from the setter is accepted (step S35). In this example, the telephone number of the mobile phone terminal of the caller is input as the caller authentication information.

  Next, the control unit 101 acquires authentication information when the setter re-rides the vehicle (step S36). The processing in step S36 is similar to steps S25 and S29, and in this embodiment, the face image of the driver as the setter is acquired as the authentication information for the re-rider. After step S36, the control unit 101 determines in step S15 of FIG. 7 that the acceptance is completed, and in the next step S16, selects the selected behavior after getting off the vehicle "pick up when calling". The designation is stored in the storage unit of the behavior setting reception unit 118 after getting off the vehicle, and the telephone number of the mobile phone terminal as the caller authentication information is stored in the caller authentication information storage unit 117. The "facer image of the setter" as the authentication information is stored in the user / set authority information storage unit 115.

  When it is determined in step S34 that "go to pick up when calling" is not selected, the control unit 101 determines whether "standby at point B" is selected by the setter (step S37). .. When it is determined in step S37 that “standby at point B” is selected by the setter, the control unit 101 notifies the setter of a message prompting the setting input of “point B” through the display unit 111 ( At the same time, a voice notification may be given through the speaker 136), and the setting of "point B" from the setter is accepted (step S38). At this time, in step S38, the control unit 101 displays a map centering on the current position on the display screen of the display unit 111 and accepts the setting of "point B" on the map. Alternatively, the input of the address of the “point B” by the setter may be accepted, or the facilities around the current location may be presented and the selection input may be accepted. Further, input of two-dimensional coordinates of latitude and longitude (or three-dimensional coordinates including elevation) may be accepted. Further, when the "point B" can be specified by the telephone number, the input of the telephone number may be accepted.

  After step S38, the control unit 101 acquires the authentication information when the setter at the point B re-enters the vehicle (step S39). The process in step S39 is similar to steps S25 and S29, and in this embodiment, the face image of the setter is acquired as the authentication information for the re-passenger. Then, in step S15 of FIG. 7, after the step S39, the control unit 101 determines that the acceptance is completed, and in the next step S16, selects and designates the selected behavior after getting off the vehicle “waiting at the point B”. And the setting information of "Point B" is stored in the storage unit of the behavior setting reception unit 118 after getting off the vehicle, and the "face image of the setter" as the authentication information of the re-passenger is stored in the user / setting authority information storage unit. It is stored in 115.

  When it is determined in step S37 that "standby at point B" is not selected, the control unit 101 determines whether "return to the exit position after a predetermined time" is selected by the setter (see FIG. 10). Step S41). Then, in step S41, when it is determined that the “return to the dismount position after a predetermined time” has been selected by the setter, the control unit 101 provides the setter with information for calculating (estimating) the “predetermined time”. Message (including direct input of “predetermined time”) is notified through the display unit 111 (may also be notified by voice through the speaker 136), and voice input information from the setter as described above. Input of information (including direct input of “predetermined time”) for calculating “predetermined time” through the touch panel 112 is received (step S42).

  Next, the control unit 101 acquires authentication information when the setter re-rides the vehicle (step S43). The process in step S43 is similar to steps S25 and S29, and in this embodiment, the face image of the driver as the setting person is acquired as the authentication information for the re-passenger. After step S43, the control unit 101 determines in step S15 of FIG. 7 that the acceptance is completed, and in the next step S16, selects the selected after-exit behavior "return to the exit position after a predetermined time". The designation is stored in the storage unit of the behavior setting acceptance unit 118 after getting off the vehicle, and the “setter face image” as the authentication information of the re-passenger is stored in the user / set authority information storage unit 115.

  When it is determined in step S41 that "return to the exit position after a predetermined time" is not selected, the control unit 101 determines whether "there is the point C after a predetermined time" is selected by the setter ( Step S44). In step S44, when it is determined that the “presence at point C after a predetermined time” has been selected by the setter, the control unit 101 inputs information for calculating (estimating) the “predetermined time” to the setter. A message prompting (including direct input of “predetermined time”) is notified through the display unit 111 (may also be notified by voice through the speaker 136), and voice input information from the user or the touch panel as described above. Input of information (including direct input of "predetermined time") for calculating "predetermined time" through 112 is accepted (step S45). In step S45, it is preferable to directly input the "predetermined time" when the "point C" is away from the exit position (current position).

  Next, the control unit 101 notifies the configurator of a message that prompts the configurator to input the setting of “Point C” (may also be notified by voice through the speaker 136), and the configurator sends the message. The setting of "point C" is accepted (step S46). At this time, in step S46, the control unit 101 displays a map centering on the exit position (current position) on the display screen of the display unit 111, and accepts the setting of "point C" on the map. To do. Alternatively, the input of the address of the “point C” by the setter may be accepted, or the facilities around the current location may be presented and the selection input may be accepted. In addition, input of two-dimensional coordinates of latitude and longitude (or three-dimensional coordinates including elevation) may be accepted. Further, when the "point C" can be specified by the telephone number, the input of the telephone number may be accepted.

  Although illustration of steps in the flowchart is omitted, the control unit 101 receives the time required for the autonomous vehicle 1 to move from the alighting position (current position) to the “point C” at the time of accepting the setting of the “point C”. It is possible to judge whether or not “being at point C after a predetermined time” is temporally possible as the behavior after getting off the vehicle. In this case, when the control unit 101 receives the setting of the “point C”, the control unit 101 causes the car navigation function unit 113 to search for a route from the exit position (current position) to the “point C” using the route search function. , Determine the route. Next, the time required for the autonomous vehicle 1 to move from the dismounting position (current position) to the "point C" is estimated from the route and the traveling speed of the autonomous vehicle 1. Further, the estimated required travel time is compared with the input and set "predetermined time". If it is determined from the comparison result that the required travel time is longer, it becomes difficult to realize the behavior after getting off the vehicle that "you are at the point C after a predetermined time". A message prompting re-input of the "predetermined time" or "point C" is notified so that is shorter than the "predetermined time", and the re-input of the information is accepted. Of course, when the point C is close to the exit position (current position), there is almost no need for such re-input.

  Next, the control unit 101 acquires the authentication information when the setter at the point C re-enters the vehicle (step S47). The process in step S47 is the same as in step S25 and step S29, and in this embodiment, the face image of the setter is acquired as the authentication information for the re-passenger. After step S47, the control unit 101 determines in step S15 of FIG. 7 that the acceptance is completed, and in the next step S16, selects the selected behavior after getting off the vehicle "at the point C after a predetermined time". The setting information of the designation and "point C" is stored in the storage unit of the behavior setting reception unit 118 after getting off the vehicle, and the "face image of the setter" as the authentication information of the re-passenger is stored in the user / setting authority information. It is stored in the unit 115.

  When it is determined in step S44 that "being at point C after a predetermined time" is not selected, the control unit 101 determines whether the setter has performed an operation to cancel the behavior setting after getting off the vehicle (step S48). ). When it is determined in step S48 that the setter has not performed an operation to cancel the behavior setting after getting off the vehicle, the control unit 101 returns the processing to step S21 in FIG. 8 and repeats the processing from step S21. Alternatively, it is determined that the behavior after disembarkation desired by the setter is not in the stored contents of the behavior after disembarkation storage unit shown in FIG. 2, and a character input is prompted from the touch panel 112 or a voice input is performed through the microphone 135. You may be prompted.

  When it is determined in step S48 that the setter has performed an operation of canceling the behavior setting after getting off the vehicle, the control unit 101 ends this processing routine. In this case, it is determined that the driver does not set the behavior after getting off the vehicle, and the self-driving vehicle 1 supplies power to a portion required for the stopped process while the motor drive unit 131 is stopped at the position where the driver gets off the vehicle. The power may be turned off while maintaining. Further, a predetermined behavior in the case where the driver does not set the behavior after getting off the vehicle may be set in advance and executed.

[Example of Processing Operation after Dismounting of User of Automated Driving Vehicle 1 of Embodiment]
Next, an example of the processing operation of the setter after getting off the vehicle in step S18 of FIG. 7 will be described. 11 to 16 show the flow of the control processing operation of the behavior after disembarking, which is executed by the control unit 101 of the electronic control circuit unit 10 of the autonomous vehicle 1 when the setter dismounts and the passenger is absent. It is a flow chart for explaining an example. This example will also be described on the assumption of the processing corresponding to each of the settings after receiving each of the behaviors after getting off the vehicle in the list shown in FIG.

  Note that the processing of each step in the flowcharts of FIGS. 11 to 16 is such that the control unit 101 executes the program for the processing functions of the behavior control processing unit 120, the user authentication unit 114, and the caller authentication unit 116. It will be described as a case where it is realized as a software process performed in 1.

  The control unit 101 first confirms what the set behavior after getting off the vehicle is (step S51). Then, as a result of the confirmation, it is determined whether or not the set behavior after getting off the vehicle is "moving to a predetermined parking lot" (step S52). When it is determined in step S52 that the set behavior after getting off the vehicle is "moving to the default parking lot", the control unit 101 acquires information on the current position measured by the current position detection unit 110, The car navigation function unit 113 is caused to search for a route from the current position to the preset parking lot which is selectively set and stored (step S53). Then, the control unit 101 uses the route search result to control the car navigation function unit 113 to perform route guidance, and the automatic driving vehicle 1 is selectively set and stored in the automatic driving mode. It controls to move to a predetermined parking lot (step S54). Then, the control unit 101 terminates the behavior control process after getting off the vehicle when the vehicle is parked in the target parking lot.

  FIG. 17 shows an example of a situation in which this “movement to a predetermined parking lot” is set as the behavior after getting off the vehicle. In the example of FIG. 17, when the user 2 who gets in the autonomous driving vehicle 1 arrives at the entrance of the apartment 3 in which his / her home is located, the designated parking lot of the apartment is set as the default parking lot, and Specify "Movement" as the behavior after getting off, get off from the self-driving car 1, and return to home. The self-driving vehicle 1 receives the setting of the behavior after the user 2 gets off the vehicle. Then, after confirming that the user 2 is getting off, the self-driving vehicle 1 moves to the designated parking lot 4 of the designated condominium by the automatic driving mode and parks it as the set behavior after getting off the vehicle. When the parking is completed, the motor drive unit 131 is stopped, and the power supply is turned off while maintaining the power supply to the site required for the stopped process.

  As another example, when the user 2 rides in the autonomous vehicle 1 and arrives at the company entrance for work, the company parking lot is set as the default parking lot, and “moving to the default parking lot” is performed. Is set as the behavior after getting off, and it is assumed that the vehicle will get off from the autonomous driving vehicle 1 and enter the inside of the building of the company. In this case, the autonomous vehicle 1 accepts the setting of the behavior after the user 2 gets off the vehicle, and after confirming the user 2's getting off, moves to the parking lot of the designated company in the automatic driving mode. The parking operation is executed, and when the parking is completed, the motor drive unit 131 is stopped, and the power supply is turned off while maintaining the power supply to the site required for the stopped processing. The same operation is performed when the contract parking lot is designated as the default parking lot.

  Further, as another example, although not mentioned as an example of FIG. 3, when the user 2 gets in the self-driving vehicle 1 and arrives at an accommodation facility such as a hotel for accommodation, the accommodation facility It is assumed that the private parking lot is set as the default parking lot, the “movement to the default parking lot” is set as the behavior after getting off, and the self-driving vehicle 1 gets off and enters the accommodation facility. In this case, the autonomous driving vehicle 1 receives the setting of the behavior after the user 2 gets off the vehicle, and after confirming the user 2's getting off the vehicle, moves to the dedicated parking lot of the designated accommodation facility in the automatic driving mode. Then, the parking operation is performed, and when the parking is completed, the motor drive unit 131 is stopped, and the power supply is turned off while maintaining the power supply to the site required for the stopped processing. Even if it is not an accommodation facility but a leisure facility such as an amusement park or a zoo, or a commercial facility such as a shopping center or a department store, the user 2 of the self-driving car 1 designates the private parking lot of the facility as the default parking lot. However, the same operation may be performed. If there is a specific facility such as a hotel that is frequently used, the user 2 may register the dedicated parking lot as a default parking lot.

  Next, in step S52, when it is determined that the set behavior after exiting the vehicle is not "moving to the default parking lot", the control unit 101 determines that the set behavior after exiting the vehicle is "Until calling in a nearby parking lot". It is determined whether it is "standby" (step S55). When it is determined in step S55 that the set behavior after getting off the vehicle is “waiting for call in a nearby parking lot”, the control unit 101 controls the car navigation function unit 113 to set the current position to the center position. A neighborhood search is performed to detect a nearby parking lot (step S56).

  Next, the control unit 101 acquires the information on the current position measured by the current position detection unit 110, and indicates the route from the current position to the nearby parking lot detected in step S56 to the car navigation function unit 113. A route search function is used to search (step S57). Then, the control unit 101 uses the route search result to control the car navigation function unit 113 to perform route guidance, and in the automatic driving mode, the autonomous driving vehicle 1 is parked in the vicinity of the vehicle detected in step S56. It is controlled to move to the car park (step S58).

  Then, when the control unit 101 parks in the target parking lot, the motor driving unit 131 is stopped and put in a standby state, and the wireless communication unit 102 is monitored to determine whether a call (incoming call) is received. (Step S59). In this case, when the target parking lot is full, it is needless to say that another parking lot is searched around again and the parking lot is moved to the detected parking lot. It is needless to say that the waiting place does not have to be a parking lot, but may play an equivalent role as long as it can be parked.

  When it is determined in step S59 that the call is received, the control unit 101 determines the telephone number of the mobile telephone terminal stored in the caller authentication information storage unit 117 and the telephone number of the incoming mobile telephone terminal. Collation is performed to determine whether or not the caller authentication is OK (step S61 in FIG. 12).

  When it is determined in step S61 that the caller authentication is not OK, the control unit 101 sends a call NG voice message to the incoming call destination through the wireless communication unit 102 (step S62). Then, the control unit 101 returns the process to step S59 in FIG. When it is determined in step S61 that the caller's authentication is OK, the control unit 101 controls the car navigation function unit 113 to perform route guidance by reversing the route searched in step S57. Then, the automatic driving vehicle 1 is moved from the parking lot at the current position to the original dismounting position in the automatic driving mode (step S63).

  Then, the control unit 101 determines whether or not the user gets in the driver's seat, for example, a seat sensor including a door sensor or a weight sensor, a touch sensor for determining whether or not a person touches the steering wheel, and the camera group 107. It is determined by monitoring a captured image of a camera for capturing the driver in the driver's seat (step S64). When it is determined in step S64 that the user gets on the driver's seat, the control unit 101 determines that the face image as the re-passenger authentication information stored in the user / setting authority information storage unit 115 is used. , It is determined whether or not the authentication of the re-passenger is OK by comparing and referring to the face image obtained by photographing the riding driver with a camera, and determining whether the two match. (Step S65).

  When it is determined in step S65 that the re-passenger authentication is not OK, the control unit 101 causes the display screen of the display unit 111 to display a message prompting dismounting because the re-passenger authentication cannot be performed. Sound is emitted through the speaker 136 to prompt the re-passenger to get off (step S67). Then, the control unit 101 monitors the door sensor, the seating sensor, the touch sensor, the image captured by the camera, and the like to determine whether or not the passenger has exited (step S68). When it is determined that the passenger has not exited, the processing is performed. To step S67. In addition, when the control unit 101 determines in step S68 that the passenger dismounts, the control unit 101 returns the processing to step S64, and repeats the processing from step S64.

  If it is determined in step S65 that the re-passenger's authentication is not OK, the possibility of being a suspicious person is considered. Therefore, the control unit 101 does not simply prompt the re-passenger to exit the vehicle, as in step S67. Alternatively, the possibility of a suspicious person may be notified to the mobile phone terminal of the nearest getting-off person or the owner or manager of the self-driving vehicle 1 by phone or email. In the case of contact by mail, a face image for authenticating the re-passenger obtained by photographing with a camera may be attached. Of course, the driving operation of the self-driving car is impossible unless the latest getting-off person or the owner or manager of the self-driving car 1 permits. Furthermore, if it is determined that the possibility of a suspicious person is extremely high, you may call 110.

  When it is determined in step S65 that the re-passenger authentication is OK, the control unit 101 permits the re-riding of the boarded driver (step S66), and thereafter the driver (re-riding passenger). Then, the processing routine shifts to the operation control mode processing routine in accordance with the instruction.

  When it is determined in step S55 in FIG. 11 that the set behavior after disembarking is not "wait until called in a nearby parking lot", the control unit 101 sets the set behavior after disembarking is "wait here". It is determined whether or not (step S71 of FIG. 13). When it is determined in step S71 that the set behavior after getting off the vehicle is "standby here", the control unit 101 stops the motor drive unit 131 to put the autonomous vehicle 1 in a standby state and executes the processing. The process proceeds to step S64 in FIG. 12, the user's re-ride is monitored, and the processes after step S64 are repeated.

  When it is determined in step S71 that the set behavior after getting off the vehicle is not "wait here", it is determined whether the set behavior after getting off the vehicle is "toward the point A" (step S72). When it is determined in step S72 that the set behavior after getting off the vehicle is “toward the point A”, the control unit 101 acquires information on the current position measured by the current position detection unit 110, and the current position To the set and stored point A by the car navigation function unit 113 using the route search function (step S73). Then, the control unit 101 uses the route search result to control the car navigation function unit 113 to perform route guidance, and to control the automatic driving vehicle 1 to move to the point A in the automatic driving mode. Yes (step S74).

  After step S74, the control unit 101 advances the process to step S64 of FIG. 12, monitors the user's re-ride at the point A, and repeats the processes of step S64 and thereafter.

  Next, when it is determined in step S72 that the set behavior after getting off the vehicle is not "go to the point A", the control unit 101 sets the behavior after getting off the vehicle that is "pick up according to calling". It is determined whether or not (step S75). When it is determined in this step S75 that the set behavior after getting off the vehicle is "pick up when calling", the control unit 101 determines whether or not the current position is parking prohibited (step S76). Whether or not parking is prohibited is determined by recognizing whether or not there is a parking prohibition sign or sign from a captured image of a camera that captures the surroundings of the camera group 107.

  When it is determined in step S76 that parking is not prohibited, the control unit 101 makes the motor drive unit 131 stop and waits while making a call from the user at the current position (step S77). When it is determined in step S76 that parking is prohibited, the control unit 101 controls the car navigation function unit 113 to perform a peripheral search with the current position as the central position and search for a nearby parking available place. Yes (step S78).

  Then, as a result of the search in step S78, the control unit 101 determines whether or not there is a nearby parking available place (step S79), and when it is determined that there is a parking available place, the route to the parking available place is set in the car navigation function unit 113. The automatic driving vehicle 1 is moved in the automatic driving mode to the relevant parking available location while being searched, and guided along the route, and the motor driving unit 131 is operated while being in a state of accepting a call from the user. It stops and stands by (step S80).

  When it is determined in step S79 that a nearby parking available location is not found, the control unit 101 continues to move within the range of the surrounding area centering on the user's exit point and waits for a call from the user (step S79). S81).

  After step S77, step S80, or step S81, the control unit 101 monitors whether or not a call from the user is received, and waits for the call (step S91 in FIG. 14). When it is determined in step S91 that the call has been received, the control unit 101 determines whether or not the caller authentication is OK, as in step S61 (step S92).

  When it is determined in step S92 that the caller's authentication is not OK, the control unit 101 sends a call NG voice message to the called party through the wireless communication unit 102 (step S93). Then, the control unit 101 returns the process to step S91. When it is determined in step S92 that the caller authentication is OK, the control unit 101 generates a voice message by voice synthesis requesting the incoming call destination to send the position information of the place to pick up. Then, the position information of the place to pick up is sent from the other party in response to this (step S94).

  Then, the control unit 101 acquires the information of the current position measured by the current position detection unit 110, and indicates the route from the current position to the pick-up place acquired in step S94 to the car navigation function unit 113. A search is performed using the search function (step S95). Then, the control unit 101 controls the car navigation function unit 113 to perform route guidance using the route search result, and goes to the pick-up of the autonomous vehicle 1 in step S94 in the automatic driving mode. It is controlled to move to the place (step S96). After that, the control unit 101 advances the processing to step S64 of FIG. 12, monitors the user's re-ride, and repeats the processing of step S64 and thereafter.

  Next, when it is determined in step S75 of FIG. 13 that the set behavior after disembarkation is not “pick up when calling”, the control unit 101 determines that the set behavior after disembarkation is “standby at point B”. Is determined (step S101 in FIG. 15). When it is determined in step S101 that the set behavior after getting off the vehicle is "standby at the point B", the control unit 101 acquires information on the current position measured by the current position detection unit 110, and the current position To the point B that has been set and stored, the car navigation function unit 113 is caused to search using the route search function (step S102). Then, the control unit 101 uses the route search result to control the car navigation function unit 113 to perform route guidance, and to control the automatic driving vehicle 1 to move to the point B in the automatic driving mode. Yes (step S103). After step S103, the control unit 101 advances the process to step S64 of FIG. 12, monitors the user's re-ride, and repeats the processes of step S64 and subsequent steps.

  Next, when it is determined in step S101 that the set behavior after disembarkation is not "standby at point B", it is determined whether the set behavior after disembarkation is "return to the dismount position after a predetermined time". (Step S104). When it is determined in step S104 that the set behavior after getting off the vehicle is "return to the getting-off position after a predetermined time", the control unit 101 determines the predetermined behavior based on the stored information for measuring the predetermined time. The time is estimated (step S105).

  Next, the control unit 101 determines whether parking at the exit position (current position) is prohibited (step S106). Whether or not parking is prohibited is determined by recognizing whether or not there is a parking prohibition sign or sign from a captured image of a camera that captures the surroundings of the camera group 107. When it is determined in step S106 that the parking is not prohibited, the control unit 101 stops the motor drive unit 131 at the exit position (current position) and waits (step S107).

  Further, when it is determined in step S106 that the parking is prohibited, the control unit 101 continues the movement, such as orbiting the surrounding area of the exit position (current position), for the predetermined time period estimated in step S105. Alternatively, the car navigation function unit 113 is controlled to perform a peripheral search with the dismounting position (current position) as the central position, a nearby parking available place is searched, and the parking lot detected as a result of the search. And waits for the predetermined time estimated in step S105 (step S108). In addition, in this step S108, if the predetermined time is a predetermined threshold value, for example, 20 minutes or less, the movement is continued, and if the predetermined time is the threshold value or more, a parking place such as a parking lot is searched and the parking is possible. You may make it move to another place and wait.

  Then, after step S108, the control unit 101 monitors whether or not it is close to the predetermined time estimated in step S105 (step S109), and when it is determined that it is close to the predetermined time, the car navigation function unit The control unit 113 controls the route to return to the exit position (step S110). Then, after step S107 or step S110, the control unit 101 advances the processing to step S64, monitors the user's re-ride, and repeats the processing after step S64.

  FIG. 18 shows an example of a situation in which this “return to the exit position after a predetermined time” is set as the behavior after exiting the vehicle. The example of FIG. 18 is a situation in which the user 2 of the autonomous driving vehicle 1 urges to urinate or has a urge to drop in a toilet in a park or the like. In this case, the driver 2 sets the behavior after getting off the vehicle by voice-inputting, for example, “toilet” to the microphone 135 when getting off the vehicle, and gets off the autonomous driving vehicle 1. Then, the control unit 101 of the autonomous vehicle 1 recognizes the voice input “toilet” of the user 2 by voice, estimates the predetermined time to be 5 minutes in this example, and stands by at the location. Then, the user who returns the vehicle within the predetermined time or within a slightly longer time than the predetermined time is authenticated to permit the user to re-ride the vehicle. If a urge to urge not to urinate is urged, a voice message such as "toilet size" may be input by voice to estimate the predetermined time to be longer, for example, 10 minutes. When the user 2 is a woman, the predetermined time may be estimated to be longer than when the user 2 is a man.

  In addition, the example of FIG. 19 is a case where the user 2 of the autonomous driving vehicle 1 travels to the Kokugikan of Ryogoku with the autonomous driving vehicle 1 in order to watch a grand sumo match. At the time of getting off, the user 2 voice-inputs “watching a grand sumo game” into the microphone 135, sets the behavior after getting off, and gets off the self-driving vehicle 1. Then, the control unit 101 of the self-driving car 1 judges that the sumo wrestling place will end at 6:00 pm, estimates a predetermined time, and moves to, for example, the Kokugikan parking lot or an empty parking lot in the vicinity. It waits, and at 6 pm, the driver 2 is controlled to move to the entrance of the Kokugikan.

  Next, when it is determined in step S104 that the set behavior after getting off the vehicle is not "return to the getting off position after a predetermined time", the control unit 101 determines that the set behavior after getting off the vehicle is "at the point C after a predetermined time". Is determined (step S111 in FIG. 16). When it is determined in step S111 that the set behavior after exiting the vehicle is not "at the point C after a predetermined time", the control unit 101 shifts to another processing routine regarding the behavior after exiting the vehicle (step S112).

  When it is determined in step S111 that the set behavior after getting off the vehicle is “at the point C after a predetermined time”, the control unit 101 determines the predetermined time based on the stored information for measuring the predetermined time. Is estimated (step S113).

  Next, the control unit 101 obtains information on the current position measured by the current position detection unit 110, and a route from the current position to the set and stored point C is given to the car navigation function unit 113. A search is performed using the route search function (step S114). Then, the control unit 101 uses the route search result to control the car navigation function unit 113 to perform route guidance and to control the automatic driving vehicle 1 to move to the point C in the automatic driving mode. Yes (step S115).

  Next, the control unit 101 determines whether parking is prohibited at the point C (step S116). Whether or not parking is prohibited is determined by recognizing whether or not there is a parking prohibition sign or sign from a captured image of a camera that captures the surroundings of the camera group 107. When it is determined in step S116 that parking is not prohibited, the control unit 101 stops the motor drive unit 131 and waits while making a call from the user at the point C (step S117).

  Further, when it is determined in step S116 that the parking is prohibited, the control unit 101 moves in the same manner as in step S108, such as circling the area around the point C for the predetermined time estimated in step S113. Alternatively, the car navigation function unit 113 is controlled to perform a peripheral search with the point C as the center position to search for a nearby parking available place, and to the parking lot detected as a result of the search. It moves and waits for the predetermined time estimated in step S113 (step S118).

  Then, after step S118, the control unit 101 monitors whether or not it is close to the predetermined time estimated in step S113 (step S119), and when it is determined that it is close to the predetermined time, the car navigation function unit Control 113 to guide the route and move to point C (step S120). Then, after step S117 or step S120, the control unit 101 advances the processing to step S64 in FIG. 12, monitors the user's re-ride, and repeats the processing of step S64 and thereafter.

  The above examples all assume the case where the self-driving vehicle 1 is used for personal use or home use, but of course, it is also assumed that it is used for business use. FIG. 20 shows an example of a situation that is assumed to be the behavior after getting off the vehicle, which is assumed for business use. The self-driving vehicle 1A in the example of FIG. 20 is an example in the case of a delivery truck of a company that owns the factory A, not a personal or domestic passenger car.

  In the example of FIG. 20, the products manufactured in the factory A are loaded on the autonomous driving vehicle 1A and are transported to the center B. At the center B, some of the products loaded on the automatic driving vehicle 1 are unloaded, and then the automatic The driving vehicle 1 is moved from the center B to the center C, and at the center C, all the remaining products loaded on the autonomous driving vehicle 1 are unloaded. Then, when the unloading of all the products is completed at the center C, the autonomous vehicle 1 is returned to the factory A. The position information of the factory A, the center B, and the center C is assumed to be registered and stored in advance in the autonomous vehicle 1A.

  In the example of FIG. 20, the unloading workers 2A and 2B board the autonomous driving vehicle 1A composed of a delivery truck to move. In this case, the workers 2A and 2B are registered and stored in the user / setting authority information storage unit 115 as the users and the setting authority. Then, either one of the workers 2A and 2B inputs the setting of the behavior after getting off the vehicle when getting off the vehicle. In this embodiment, the self-driving vehicle 1A is always moved in the self-driving mode, as in the above example.

  For example, the self-driving vehicle 1A first rides the workers 2A and 2B who have authenticated the user, and moves from the garage (not shown) to the factory A. When arriving at the factory A, either of the workers 2A and 2B receives the authentication of the setting authority by the control unit 101 of the self-driving vehicle 1 and then, as the behavior after getting off the vehicle, "wait at the current position until there is a movement instruction. If there is a movement instruction, move to center B ”is selected and set. Then, the workers 2A and 2B load the products on the self-driving vehicle 1A and board again. Then, the self-driving vehicle 1A performs user authentication on both the workers 2A and 2B, and if it is determined that the authentication is OK, the autonomous vehicle 1A moves from one of the workers 2A and 2B based on the set behavior after getting off the vehicle. When the instruction is waited and it is determined that the movement instruction is given, the factory A goes to the center B in the automatic operation mode.

  When the autonomous driving vehicle 1A arrives at the center B, one of the workers 2A and 2B, after being authenticated by the setting authority by the control unit 101 of the autonomous driving vehicle 1, as behavior after getting off the vehicle, "there is a movement instruction. Until the current position, and if there is a movement instruction, move to center C ”is selected and set. Then, the workers 2A and 2B remove from the automatic driving vehicle 1A some of the products loaded in the automatic driving vehicle 1A that should be delivered to the center B. Then, the workers 2A and 2B re-ride the self-driving vehicle 1A. Then, the self-driving vehicle 1A performs user authentication on both the workers 2A and 2B, and if it is determined that the authentication is OK, based on the set behavior after getting off the vehicle, the autonomous driving vehicle 1A instructs to move either of the workers 2A and 2B. In accordance with the above, the vehicle moves from the center B to the center C in the automatic driving mode.

  When the autonomous driving vehicle 1A arrives at the center C, one of the workers 2A and 2B, after being authenticated by the setting authority by the control unit 101 of the autonomous driving vehicle 1, as the behavior after getting off the vehicle, "there is a movement instruction. "Wait at the current position until when there is a move instruction, return to factory A". Then, the workers 2A and 2B remove all the remaining commodities loaded in the autonomous vehicle 1A from the autonomous vehicle 1A. Then, the workers 2A and 2B re-ride the self-driving vehicle 1A. Then, the self-driving vehicle 1A performs user authentication on both the workers 2A and 2B, and if it is determined that the authentication is OK, based on the set behavior after getting off the vehicle, the autonomous driving vehicle 1A instructs to move either of the workers 2A and 2B. Move to Factory A according to.

  In this example, the number of workers is two, but the number of workers may be one or three or more. Further, in the above example, the setting authority is assigned to all of the plurality of workers, but it may be assigned to only a specific one of the plurality of workers or only a plurality of specific workers. However, it goes without saying that all workers are registered as users. In addition, in the center B or the center C, some or all of the workers may be replaced. Of course, the number of factories and centers is not limited to this example, and there may be a plurality of delivery trucks.

  In the example of FIG. 20, since only the operator having the setting authority can set the behavior after getting off the vehicle, it is avoided that another operator who does not have the setting authority uses the autonomous vehicle 1A without permission. It is convenient and convenient.

[Second Embodiment]
In the above-described first embodiment, it is assumed that only one of the users who sets the behavior after getting off the vehicle even when there are a plurality of setting authorities among the users who are in the autonomous vehicle. .. However, when there are a plurality of set authority persons who are in the self-driving vehicle, the behavior after getting off the vehicle that the self-driving vehicle wants to have may not be common to the plurality of persons. In addition, the place where the driverless vehicle exits may be the same or different for a plurality of people in the vehicle.

  The second embodiment is a case where such a request can be answered. FIG. 21 is a block diagram showing a configuration example of the electronic control circuit unit 10A of the autonomous driving vehicle 1A of the second embodiment, and the same portions as those of the automatic driving vehicle 1 of the first embodiment have the same reference numerals. Is attached.

  The self-driving vehicle 1A of the second embodiment includes an occupant management control processing unit 126 and a dismounting behavior adjusting unit 127 in addition to the configuration of each unit of the self-driving vehicle 1 of the first embodiment described above. Prepare The passenger management control processing unit 126 starts the use of the self-driving vehicle 1A (the previous use ends and a new use starts), and then the use ends (all of the set behavior after getting off the vehicle is executed). The passengers will be managed until they do so. In addition, the after-dismounting behavior adjusting unit 127 receives the after-dismounting behavior setting accepting unit 118A, and when there are a plurality of after-dismounting behaviors stored in the storage unit included in the after-dismounting behavior setting accepting unit 118A, Adjust the order of execution of the behaviors after getting off the vehicle.

  Then, the after-dismounting behavior setting reception unit 118A can receive the setting of the after-dismounting behavior by a plurality of setting authorities, and the received plurality of after-dismounting behaviors correspond to the identification information of each setting authority. The other configuration is the same as that of the behavior setting acceptance unit 118A after exiting from the vehicle according to the first embodiment, except that it is attached and stored.

  Further, the behavior control processing unit 120A sequentially executes the plurality of after-dismounting behaviors stored in the after-dismounting behavior setting receiving section 118A, and only the point that the setting of the after-dismounting behavior after the execution is deleted is different, Other configurations are similar to those of the behavior control processing unit 120A in the first embodiment. The behavior control processing unit 120 </ b> A may store the execution completion for the setting of the behavior after getting off the vehicle, which has been completed, instead of deleting it. The other configurations of the autonomous vehicle 1A of the second embodiment are similar to those of the autonomous vehicle 1 of the first embodiment.

  In the second embodiment as well, among the processing blocks shown in FIG. 21, the motor drive control unit 103, the steering drive control unit 104, the manual / automatic operation mode switching control unit 105, and the surrounding moving body grasping unit 109. , Current position detection unit 110, car navigation function unit 113, user authentication unit 114, caller authentication unit 116, behavior setting reception unit 118A after exiting, behavior control processing unit 120A, voice input / output unit 122, setting authority authentication unit 123. The processing functions of the passenger control control processing unit 126 and the behavior adjustment unit 127 after getting off the vehicle can be realized as software processing performed by the control unit 101 executing a program.

[Example of processing operation of the autonomous vehicle 1A of the second embodiment]
22 to 25 are flowcharts for explaining an example of the flow of processing operations executed by the control unit 101 of the electronic control circuit unit 10A of the autonomous vehicle 1A according to the second embodiment. Note that the processing of each step in the flowcharts of FIGS. 22 to 25 is performed after the exiting behavior setting reception unit 118A, the behavior control processing unit 120A, the setting authority authentication unit 123, the passenger management control processing unit 126, and the exiting behavior adjustment. Each processing function of the unit 127 will be described as a case where the control unit 101 is realized as a software process performed by executing a program.

  22 and 23 are flowcharts for explaining an example of the processing operation of the passenger management control processing unit 126 of the automatic driving vehicle 1A according to the second embodiment. The case where the control unit 101 realizes the software process by executing the program will be described.

  First, the control unit 101 determines whether or not the use of its own autonomous vehicle 1A has started (step S201). In step S201, as described above, the control unit 101 determines that all of the set behavior after getting off the vehicle has been executed, and after it is determined that the previous use of the autonomous driving vehicle 1A has ended, a new use is made. Detects whether it has started.

  When it is determined in step S201 that the use of the self-driving vehicle 1A has started, the control unit 101 recognizes and stores the number of people in the vehicle (step S202). Next, the control unit 101 waits for an alighting person (step S203), confirms that there is an alighting person, and recognizes and stores the number of people in the vehicle (step S204). Next, the control unit 101 executes the processing operation at the time of getting off the vehicle, and receives the setting of the behavior after getting off the vehicle (step S205). The processing operation at the time of getting off the vehicle in the second embodiment will be described in more detail.

  Next, the control unit 101 refers to the storage unit of the behavior setting reception unit 118A after getting off the vehicle (step S206), determines whether or not there is an unexecuted behavior after getting off the vehicle (Step S207), and after the unexecution after getting off the vehicle. When it is determined that there is no behavior, this processing routine ends.

  When it is determined in step S207 that there is an unexecuted after-exit behavior, the control unit 101 adjusts the after-exit behavior stored in the storage unit of the after-exit behavior setting reception unit 118A as described below. Then, they are executed according to the determined execution order (step S208). Next, the control unit 101 waits for the end of execution of the after-get-off behavior process (step S209), and after confirming the end of execution of the after-get-off behavior process, from the after-get-off behavior storage unit 115A The behavior setting is deleted (step S211 in FIG. 23). The processing of steps S208 and S209 is executed by the behavior control processing unit 120A, and the processing of step S208 is the same as the processing shown in FIGS. 11 to 16 described above.

  Next, the control unit 101 determines whether or not there is a new passenger along with the behavior after getting off the vehicle (step S212). When it is determined in step S212 that there is a new passenger, the control unit 101 recognizes and stores the number of people in the vehicle (step S213). After step S213, when it is determined in step S212 that there is no new passenger, the control unit 101 determines whether or not there is a new passenger with the behavior after getting off the vehicle (step S212). S214).

  Then, when it is determined in step S214 that there is an alighting person, the control unit 101 returns the processing to step S204 in FIG. 22, and repeats the processing of step S204 and thereafter. When it is determined in step S214 that there is no passenger getting off, the control unit 101 returns the processing to step S207 in FIG. 22, and repeats the processing from step S207.

  In steps S202 and S204, when the number of passengers in the vehicle is recognized as 0 (when it is recognized that there is no passenger), the autonomous vehicle 1 is in the automatic driving mode only, and the manual / automatic driving mode switching control unit 105 manually In the operation mode, switching to the automatic operation mode is prohibited, and switching to the manual operation mode is prohibited. In the automatic operation mode, the automatic operation mode is maintained and switching to the manual operation mode is prohibited. That is, the autonomous vehicle 1 is in a fully automatic driving mode (automatic driving mode in which the driver is not involved). If the traveling area of the self-driving vehicle 1 is an area where the self-driving is prohibited, the self-driving vehicle 1 does not travel and stops at that location.

  Next, the dismounting process operation in step S205 will be described with reference to the flowcharts of FIGS.

  The control unit 101 first displays a message inquiring whether or not to set the behavior after getting off the vehicle on the display unit 111, and outputs the sound as a voice through the speaker 136 (step S221).

  Next, the control unit 101 monitors the answer from the passenger in response to the inquiry in step S221 and determines whether or not the passenger sets the behavior after getting off the vehicle (step S222), and the passenger does not set the behavior after getting off the vehicle. If it is determined that the answer is, this processing routine ends. In this case, the self-driving vehicle 1A turns off the power at a position where the passenger gets off, while keeping the motor drive unit 131 stopped and maintaining the power supply to the site required for the process during the stop.

  It should be noted that the automatic driving vehicle 1A may be set in advance with a predetermined behavior when the passenger does not set the behavior after getting off the vehicle, and the automatic driving vehicle 1A may execute the predetermined behavior. The autonomous vehicle 1A communicates with the authorized person, such as the owner or the administrator of the autonomous vehicle 1A stored in the permitter contact information storage unit 124, through the wireless communication unit 102. Alternatively, the passenger may be notified that he / she did not set the behavior after getting off the vehicle, and the permitter may be instructed to give the behavior after getting off the vehicle.

  When it is determined in step S222 that the passenger has answered that the behavior after the dismounting is set, the control unit 101 captures the face image of the person who intends to set the behavior after the dismounting by the camera of the camera group 107. Authentication information is acquired from the setter (step S223). Then, the control unit 101 reads out the information of the face image as the authentication information of the setting authority stored in the user / setting authority information storage unit 115, and sets the behavior after getting off the vehicle acquired in step S223. It is determined whether or not the person who intends to set the behavior after getting off the vehicle is authenticated whether or not it matches the face image of the person (step S224).

  Next, the control unit 101 determines whether or not the setting authority has been authenticated as a result of the authentication in step S224 (step S225), and when it is determined that the authentication has not been obtained, the permitter contact information storage The contact information of the permitter is read from the unit 124, a communication path is generated between the permitter and the face image of the person who wants to set the behavior after getting off the vehicle, which is acquired in step S5, is sent to the permitter, A permission approval request is made as to whether or not the setting of the behavior after getting off the vehicle may be permitted (step S226).

  When the permitter accepts the permission approval request, the permitter sends an approval result as to whether or not to approve the permission for setting the behavior after getting off the vehicle, to the self-driving vehicle 1A. Therefore, the control unit 101 of the autonomous driving vehicle 1A determines the approval result from the authorized person received through the communication path, and determines whether the approval is OK (step S227).

  When it is determined in step S225 that the setting authority has been authenticated, and when it is determined in step S227 that the permission to set the behavior after exiting the vehicle is approved, the control unit 101 determines the behavior storage section 119A after exiting the vehicle. The behavior after getting off the vehicle stored in the display is displayed on the display screen of the display unit 111 as a list as shown in FIG. 3 (step S231 in FIG. 25).

  Then, the control unit 101 then monitors the input operation of the setter through the touch panel 112 and waits for the acceptance operation of the after-departure behavior selection operation from the list displayed on the display screen (step S232). When it is determined in step S232 that the operation for selecting the behavior after getting off the vehicle from the list is received, the control unit 101 performs a process for receiving the selected behavior after getting off the vehicle (step S233). The reception processing of the selected after-exit behavior in step S233 is the same as the above-described description in step S14 (FIGS. 8 to 10).

  Next, the control unit 101 determines whether or not the process for accepting the selected after-exit behavior is completed (step S234), and when it is determined that the process for accepting the selected after-exit behavior is completed. The selection information of the behavior after getting off the vehicle selected by the setter and the information accompanying it are stored (step S235).

  When it is determined in step S227 that the approval is not OK, the control unit 101 prohibits the setting of the behavior after getting off the vehicle because the person who wants to set the behavior after getting off the vehicle does not have the setting authority. Is displayed on the display screen of the display unit 111 or a voice message is emitted through the speaker 136 to notify the user (step S228).

  After step S235 and after step S228, the control unit 101 displays a message on the display screen of the display unit 111 inquiring whether or not there is another person who requests setting of behavior after getting off the vehicle. At the same time, the sound is emitted through the speaker 136 (step S236). Then, the control unit 101 determines whether or not there is a person requesting the setting of the behavior after getting off the vehicle (step S237), and if there is, returns the processing to step S223 in FIG. 24, and the processing after this step S223 is performed. repeat.

  When it is determined in step S237 that there is no other person requesting the setting of the behavior after getting off the vehicle, the control unit 101 stores a plurality of behaviors after getting off the vehicle in the storage unit of the behavior setting receiving unit 118A after getting off the vehicle. If it is determined that a plurality of behaviors after getting off the vehicle are stored (step S238), the execution schedule of the behaviors after getting off the vehicle is adjusted (step S239). When it is determined in step S238 that a plurality of after-dismounting behaviors are not stored in the storage unit of the after-dismounting behavior setting receiving unit 118A, and after step S239, the control unit 101 ends this processing routine. ..

  An example of the method of adjusting the execution schedules of the plurality of behaviors after getting off the vehicle in step S239 will be described.

<First example>
The setting authority stored in the user / setting authority information storage unit 115 is given a priority of setting authority in advance and stored in the user / setting authority information storage unit 115. Then, when the execution schedule is adjusted in step S239, the priority order of the setting authority stored in the user / setting authority information storage unit 115 is referred to to determine the execution order of the set behavior after getting off the vehicle. To set.

<Second example>
Each of the after-departure behaviors stored in the after-departure behavior storage unit 119 is given a prioritized priority in time. Then, when the execution schedule is adjusted in step S239, each of the after-departure behavior stored in the after-departure behavior storage unit 119 is set in advance with reference to the temporal priorities. Make sure to set the execution order of the behavior after getting off.

<Third example>
When the after-dismounting behavior setting reception unit 118A receives the setting after the dismounting behavior, time information requesting execution thereof is set. When adjusting the execution schedule in step S239, referring to the time information of the setting items of the after-dismounting behavior stored in the storage unit of the after-dismounting behavior setting receiving unit 118A, the execution of the set after-dismounting behavior is performed. Try to set the order.

<Fourth example>
When the execution schedule is adjusted in step S239, the setting authority who is in the board is requested to make the adjustment, and the priority order thereof is determined. In this case, the adjustment may be requested to all of the plurality of passengers, or, for example, a person with a higher priority of the setting authority may make the adjustment. If an adjustment result by a setting authority having a higher priority is not obtained, the setting authority having a second priority is requested to make an adjustment.

  In the second embodiment as well, similar to the after-departure behavior setting reception unit 118 of the first embodiment, the after-departure behavior setting reception unit 118A changes or corrects or cancels the set after-departure behavior. Can be configured to be accepted. However, in the case of the second embodiment, when the set change or correction of the behavior after getting off the vehicle or the cancellation is accepted, the behavior adjustment unit 127 after getting off the vehicle, based on the change or the correction or the cancellation, Try to adjust the execution order for multiple behaviors after getting off the vehicle.

[Effect of Embodiment]
As described above, according to the self-driving vehicle of the above-described embodiment, the user who is in the self-driving vehicle automatically and flexibly operates according to his / her behavior mode and behavior purpose after getting off the vehicle. It is very convenient because it can give instructions to the driving car. For example, when a user rides in an autonomous vehicle and returns home, by setting the behavior of the autonomous vehicle after getting off, it is possible to move to a parking lot away from home in the automatic driving mode. Easy to do.

  Further, according to the above-described embodiment, even when the user re-rides the self-driving vehicle, the user can move the self-driving vehicle to a desired place other than the drop-off place by setting the behavior after getting off the vehicle. Therefore, there is an advantage that it is possible to re-ride the vehicle at an appropriate position according to the behavior of the user.

  In addition, since the self-driving vehicle of the above-described embodiment can authenticate the re-passenger using the pre-stored re-passenger authentication information when the user re-rides the vehicle, It is possible to prevent the situation in which the person gets into an autonomous driving vehicle and is used.

  Further, according to the self-driving vehicle of the above-described embodiment, the user can call by using the communication means. Therefore, the user can re-ride the self-driving car from the arbitrary place by calling the self-driving car by designating an arbitrary place other than the getting-off place, which is very convenient. Moreover, since the caller is authenticated, it is possible to prevent a situation in which the unauthorized vehicle is called and used by an unauthorized person.

  Further, as described above, the self-driving vehicle of the present invention has an advantage that it can be used not only as a personal or household passenger vehicle but also as a commercial vehicle such as a truck.

  Further, according to the self-driving vehicle of this embodiment, only the setting authority having the authority to set the behavior of the self-driving vehicle after getting off can set the behavior of the self-driving vehicle after getting off. Since the setting authority can give an instruction to the self-driving car flexibly according to his / her behavior mode and purpose after getting off the vehicle, the setting authority can also give the person other than the setting authority. Does not set the behavior of the self-driving vehicle after getting off, there is a remarkable effect that the problem that the self-driving vehicle behaves unexpectedly and becomes uncontrollable does not occur.

[Other Embodiments or Modifications]
In the above embodiment, the wireless communication unit is described as a case of using a mobile phone network, but the wireless communication unit is not limited to this and may be another communication system such as Wi-Fi (Wireless Fidelity (registered trademark)).

  In the above-described embodiment, the face information of the previously getting off passenger, the password, and the ID are set as the authentication information of the re-passenger, but the user uses the face image as the authentication information of the re-passenger. Alternatively, whether to use a password or ID may be selectively set. Also, regarding the authentication information of the caller, the user may be allowed to selectively set what to use when getting off the vehicle.

  In addition, in the above-mentioned embodiment, although the case where the driver gets off from the autonomous driving vehicle 1 has been described, from the state in which the driver is present but the driver is not present and the autonomous driving vehicle 1 autonomously travels, The same processing operation can be performed when a passenger other than the driver gets off the vehicle, and in that case, the setting of the behavior after getting off is performed by the passengers other than the driver, and the re-passenger is also the passenger.

  The example of the caller authentication information stored in the storage unit for caller authentication is not limited to the above-mentioned telephone number, but biometric information such as the face image of the caller, name, address, date of birth. , ID, password, mail address, etc. can be used alone or in combination. The caller sends this authentication information to the autonomous vehicle 1 from the mobile phone terminal through the mobile phone network. The face image of the caller can be one captured by the camera of the mobile phone terminal, and the other biometric information of the caller can be one stored in advance in the memory of the mobile phone terminal. As the other information, the information input by the caller can be used, or the information stored in the cloud can be used.

  Further, the example of the user authentication information stored in the storage unit for the user authentication is not limited to the face image of the user as in the above example, and for example, the user's fingerprint, voice ( Other biometric information of the user such as voice), veins, and iris can also be used. As the user authentication information, in addition to the user's biometric information, a name, an address, a date of birth, an ID, a password, a telephone number and / or an email address, etc. may be used alone or in combination. It may be used. Note that the key of the self-driving vehicle 1 can be used for user authentication. In this case, the fact that the user possesses the key of the self-driving vehicle 1 is himself / herself authenticated.

  The self-driving car of the present invention can also be used as a rental car. A user is a rental car company that provides a rental car service, and when he / she rents a self-driving car, he / she is stored in the user / setting authority information storage unit and registered as a driver (user) and setting authority. In this case, the registration authority is the manager of the rental car company. Then, depending on the purpose, it is possible to drive via one or a plurality of destinations (destinations). When getting off at each of the destinations, the user can "wait here", "wait at the opposite side of the lake (tour around the lake)", "wait at the exit of the promenade" (walk on the promenade) when getting off at each destination. Select and enter the behavior after disembarking from the screen, such as "Stay overnight at hotel parking lot (stay at hotel)" "Stand at company parking lot (meeting at XX company)" or interact by voice Or type. These behaviors after disembarking can also be prepared by the rental car company according to uses such as sightseeing and business.

  When the user finishes using the rented car, the user dismounts and inputs "return" to the behavior setting acceptance means after dismounting to the self-driving car as the rented car. In addition, the self-driving car as a rent-a-car is equipped with a button dedicated to the return and a return display is provided on the touch panel so that the user can easily input the “return” and enhance the convenience. be able to. When the self-driving car as a rent-a-car receives "return", it searches the parking lot of the nearest car-rental company as a place for return and autonomously moves (automatically drives) unmanned. Alternatively, the self-driving car as a rental car moves unmanned autonomously (automatic driving) to a predetermined place for return. The rent-a-car fee is calculated at the end of use or after the end of travel, and is settled by the user's credit card or the like. Further, advance payment may be made for hourly rental, one-day rental, multiple-day rental, and the like. After returning, the user authentication data will be reset and you will not be allowed to board again. Of course, the user loses the setting authority because the fact that the user is the setting authority is deleted from the user / setting authority information storage unit.

  Generally, a rental car cannot be returned unless you go to a rental car company near the airport or train station.However, if the rental car of this invention is a self-driving car, you can drop it off at any time convenient for the user. It is convenient for For example, when the departure time of a train or an airplane is approaching, you can get off at the entrance (rotary) of a station or an airport, jump on a train, or check in an airplane without going to a rental car company. If the behavior after returning from the rented car is "return", the rented car will autonomously drive (automatically drive) unmanned and return to a return place such as a parking lot of a predetermined car rental company.

  In addition, in the rental car of the self-driving car of the present invention, a road for exclusive use of autonomous driving (autonomous driving) and a dedicated lane are maintained around the station and the airport, and if there is a place for return within the maintenance area, the user can After getting off the car for return, the car can move to the place for return very smoothly by unmanned autonomous driving (automatic operation), and the return can be completed easily.

  The present invention can also be applied to car sharing. By registering a member who jointly uses the self-driving car as a user of the self-driving car, the user can use the self-driving car freely because user authentication and caller authentication are OK. Even if the member does not own the vehicle, the member is registered as the setting authority by being stored in the user / setting authority information storage section at the time of use, and the behavior after disembarking according to the purpose of use Since it can be set flexibly, it can be handled like a car you own, which is very useful. When the use is finished, the fact that the user is a setting authority is erased from the user / setting authority information storage unit, and the user loses the setting authority. In the case of car sharing, the registration authority is an administrator of the car sharing company or an administrator decided between joint users.

  Further, the present invention can also be applied to taxis and hire vehicles provided by taxi companies and hire service companies that are autonomous and autonomous (autonomous). The taxi or the hire can be registered as a setting authority when the user gets on the vehicle, and can input the behavior after getting off to the behavior setting receiving means after getting off when getting off. The user can get off the bus according to his / her schedule, which is very convenient. When terminating the use of the taxi or the hire, the passenger dismounts and inputs "termination" or simply "termination" into the behavior setting acceptance means after dismounting. It should be noted that the taxi or hire is provided with a dedicated button for termination, or a termination display is provided on the touch panel in an easy-to-understand manner so that the user can easily enter "(use) termination" and improve convenience. Can be increased. When the relevant taxi or hire accepts “(Use) end”, it searches the nearest parking lot of its own taxi company or hire service company as the place at the end of use and autonomously moves (automatically drives) and moves. To do. Alternatively, the taxi or the hire moves unmanned and autonomously (automatically driving) to a place where the next passenger (user) waiting in advance is waiting. In addition, the taxi searches the nearest taxi boarding place, and the hire car searches the nearest hire boarding place as the place at the end of use, and moves autonomously (automatically) to move to the next You may wait for a passenger (user) to board. The usage fee can be settled with a credit card or electronic money. After the use is completed, the user authentication data will be reset and re-riding will not be permitted. Of course, the user loses the setting authority because the fact that the user is the setting authority is deleted from the user / setting authority information storage unit. In this case, the registration authority is an administrator of a taxi company or a hire service company.

  The autonomous vehicle taxi and hire of the present invention can autonomously drive in areas around facilities such as the Olympic and soccer FIFA World Cup competition venues and athletes' villages, as well as in large-scale facilities such as amusement parks. (Automatic driving) If dedicated roads and lanes are maintained, passengers (users) can be freely unloaded within the maintenance area, and after use, unattended autonomy up to the taxi or hire boarding point in the maintenance area. It can move extremely smoothly by running (automatic driving) and efficiently wait for the next passenger.

  Furthermore, in the above-described embodiment, the autonomous vehicle is an electric vehicle, but other systems such as a gasoline vehicle, a diesel vehicle, a hybrid vehicle, and a fuel cell vehicle may be used. The automobile of the present invention is not limited to a normal automobile, but includes a motorcycle, a motorcycle, and the like.

  Further, the self-driving vehicle may not only be guided by a car navigation system but also be capable of traveling by guidance by an external radio wave from a traffic signal, a sign post or the like.

  Moreover, although the automatic driving vehicle in the above-described embodiment has the automatic driving mode and the manual driving mode and is configured to be switched, it may be configured to have only the automatic driving mode. In this case, since there is no manual operation mode, the manual / automatic operation mode switching control unit 105 and the manual operation detection unit 133 are unnecessary. Instead, an automatic driving control unit (not shown) that performs control processing for automatic driving is provided. In addition, in the automatic driving mode, the driver does not need to operate the accelerator pedal, brake pedal, shift lever, steering wheel (steering wheel), etc., so the mechanism necessary for these operations is also unnecessary. Become. In the case of only the automatic driving mode, the user (passenger) can perform all the operations necessary for the automatic driving by, for example, button operation, touch panel operation, voice operation, and the like. It should be noted that in the case of an autonomous vehicle having only the automatic driving mode, there is no driver, and there is no distinction between the driver and passengers other than the driver, so all are passengers.

  Furthermore, the self-driving vehicle of the present invention is not limited to automobiles, and can be applied to large vehicles, one-seater vehicles, helicopters, aircrafts, ships such as motor boats and ferries, and other vehicles in general. Of course, it may be a flying car or an amphibious car.

  In the above-described embodiment, the permitter or the registration authority is the owner or the administrator of the self-driving vehicle, but the self-driving vehicle may play the roles of the permission person or the registration authority. In this case, the artificial intelligence installed in the self-driving vehicle actually plays that role.

1, 1A ... Self-driving vehicle, 2 ... User, 10 and 10A ... Electronic control circuit section, 107 ... Camera group, 108 ... Sensor group, 110 ... Current position detection section, 111 ... Display section, 112 ... Touch panel, 113 ... Car navigation function section, 114 ... User authentication section, 115 ... User authentication information storage section, 116 ... Caller authentication section, 117 ... Caller authentication information storage section, 118, 118A ... Behavior setting acceptance section after exiting, 119 Behavior behavior storage section after getting off, 120, 120A ... Behavior control processing section, 121 ... Timer circuit, 122 ... Voice input / output section, 135 ... Microphone, 136 ... Speaker

Claims (29)

An automatic driving vehicle that is managed by an administrator and provided for use by a plurality of users and that has an automatic driving mode for autonomous driving,
Prior to using the self-driving car of the user, based on the registration permission by the administrator who is a registration authority, or based on the registration process by the administrator who is the registration authority, the information of the user, Storage means for storing in the setting authority information storage unit as information of the setting authority having authority to set the behavior of the self-driving vehicle after getting off the vehicle,
When the passenger of the autonomous vehicle sets the behavior after getting off the vehicle, the boarding is performed based on the information acquired from the passenger and the setting authority information stored in the setting authority information storage unit. Setting authority determining means for determining whether a person is the setting authority,
When the setting authority determining unit determines that the passenger is the setting authority, the setting of the behavior after getting off the vehicle by the passenger is accepted, or the behavior after being set by the passenger is set. Control means for controlling to execute,
Self-driving car equipped with. A self-driving vehicle that is provided for shared use by a plurality of users who are registered as members and has an autonomous driving mode for autonomous driving,
The setting authority having the authority to set the behavior of the self-driving vehicle after dismounting, based on the registration permission by the registration authority or the registration processing by the registration authority, the information of the user who is registered as the member. Storage means for storing in the setting authority information storage unit as the information of the person,
When the passenger of the autonomous vehicle sets the behavior after getting off the vehicle, the boarding is performed based on the information acquired from the passenger and the setting authority information stored in the setting authority information storage unit. Setting authority determining means for determining whether a person is the setting authority,
When the setting authority determining unit determines that the passenger is the setting authority, the setting of the behavior after getting off the vehicle by the passenger is accepted, or the behavior after being set by the passenger is set. Control means for controlling to execute,
Self-driving car equipped with. The information of the user stored in the setting authority information storage unit is used as information as to whether a person who intends to get on the autonomous vehicle has the authority to use the autonomous vehicle. ,
From the information obtained from the person who intends to get on the autonomous vehicle and the information on the setting authority stored in the setting authority information storage unit, the person trying to get on the automatic driving vehicle is The automatic driving vehicle according to claim 1 or 2, wherein it is determined whether or not the user has the right to use the driving vehicle. The control means limits the setting of the behavior after getting off the vehicle by the passenger when the setting authority determining means determines that the passenger is not the setting authority. The self-driving vehicle according to claim 3. The control means prohibits the setting of the behavior after getting off the vehicle by the passenger when the setting authority determining means determines that the passenger is not the setting authority. The self-driving vehicle according to claim 3. The self-driving car is a rental car provided by a rental car company,
The setting authority information is stored in the setting authority information storage unit based on registration permission by the rental car company that is the registration authority, or based on a registration process.
The behavior after the dismounting, which is set by the passenger, includes returning the self-driving vehicle. The self-driving vehicle according to any one of claims 1 to 5, wherein: The automatic driving vehicle according to claim 6, wherein the information of the rental user as the setting authority is erased from the setting authority information storage unit when the use of the rental user is finished. .. The autonomous driving vehicle according to claim 6 or 7, wherein unmanned autonomous driving is performed until the next rental user gets on the vehicle after the rental is completed. The self-driving car is a self-driving car provided by a taxi company or a hire service company,
The information of the setting authority is the information of the taxi user or the hire user based on the registration permission by the administrator of the taxi company or the hire service company who is the registration authority, or based on the registration process. It is stored in the authority information storage section,
The automatic driving vehicle according to any one of claims 1 to 3 to 5, wherein the behavior after the dismounting that is set by the boarding includes the end of the use of the autonomous driving vehicle. When the use of the taxi user or the hire user ends, the information of the taxi user or the hire user as the setting authority is erased from the setting authority information storage unit. The self-driving vehicle according to claim 9. 10. The unmanned autonomous driving is performed until the next taxi user or the hire user gets on after the use of the taxi user or the hire user is finished. Item 10. The self-driving vehicle according to item 10. The self-driving car is a self-driving car provided for car sharing,
The information of the setting authority is the information of the joint user who has become a member of the car sharing, registered by the administrator of the management company of the car sharing which is the registration authority or the administrator determined between the joint users. The self-driving vehicle according to any one of claims 2 to 5, which is stored in the setting authority information storage unit based on permission or based on a registration process. The self-driving vehicle according to claim 12, wherein the information of the joint user who is no longer a member is deleted from the setting authority storage unit. When there are a plurality of passengers, it is possible to accept the setting of the plurality of behaviors after getting off the vehicle, and the setting authority information storage unit stores information of the plurality of setting authorities in order of priority. Is given and remembered,
When the setting authority determination unit determines that the plurality of passengers are the setting authority, the control unit executes the after-dismounting behavior based on the priority order. The self-driving vehicle according to any one of claims 1 to 13. When there are a plurality of passengers, it is possible to accept the setting of the behavior after getting off the vehicle,
When the setting authority determining unit determines that the plurality of passengers are the setting authorities, an adjustment for adjusting execution of each of the behaviors after getting off the vehicle set by the plurality of setting authorities. Equipped with means,
The control unit executes the post-departure behavior set by the plurality of setting authority based on the adjustment by the adjusting unit. Self-driving car. The self-driving vehicle according to claim 15, wherein the adjusting means requests the setting authority to make an adjustment, and receives the adjustment result based on the request to perform the adjustment. The self-driving vehicle according to claim 16, wherein the adjusting means requests another setting authority to perform the adjustment when the adjustment result from the setting authority requesting the adjustment is not obtained. .. The self-driving vehicle according to claim 15, wherein the adjusting unit performs the adjustment in consideration of scheduled execution times of the plurality of after-behind behaviors set by the plurality of setting authorities. It is equipped with a passenger control control means for managing the end of the execution of the behavior after getting off the vehicle, while managing the passengers
The adjusting means adjusts the setting of the plurality of after-exit behaviors except for the after-exit behavior where the execution of the after-exit behavior has been completed by the passenger management control means. The autonomous vehicle according to any one of claims 15 to 18. In addition to a behavior storage unit that stores one or more kinds of behaviors after getting off the vehicle,
20. A behavior setting acceptance unit for accepting a selection designation of the behavior after getting off the vehicle, which is stored in the behavior storage unit, by the setting authority discriminated by the discrimination unit. The self-driving car described in any one of. A display screen that displays a message and / or a speaker that acoustically reproduces the message are provided, and a message storage unit that stores the message used when accepting the setting of the behavior after getting off the vehicle is provided.
21. The behavior setting receiving means receives the setting of the behavior after the exit by the driver or the passenger in an interactive manner by using a message stored in the message storage unit. The self-driving car described in. A communication destination storage unit that stores a contact by communication with the setting authority who has set the behavior after getting off the vehicle,
Communication means for performing the communication,
Equipped with
The control means is
In response to the behavior accepted by the behavior setting acceptance means, when starting the movement of the self-driving vehicle, the setting authority that sets the behavior after exiting the vehicle stored in the communication destination storage unit. 22. The self-driving vehicle according to claim 20 or 21, wherein the person is contacted by the communication means. The automatic driving vehicle according to claim 22,
The control means starts the movement of the self-driving vehicle when contacting the driver or the occupant by the communication means and obtaining the permission of the driver or the occupant. Self-driving car. Equipped with means for monitoring the number of passengers and manual / automatic operation mode switching means,
The automatic driving vehicle according to any one of claims 1 to 23, wherein switching from the automatic driving mode to the manual driving mode is prohibited when the number of passengers in the vehicle is zero. Equipped with means for monitoring the number of passengers and manual / automatic operation mode switching means,
The automatic driving vehicle according to any one of claims 1 to 23, wherein when the number of passengers in the vehicle is 0 and the vehicle is in a manual driving mode, the automatic driving mode is switched to the automatic driving mode. Corresponding to the setting of the behavior after getting off the vehicle accepted by the control means, information of the set authority having been set is stored,
The control means accepts a change, a correction, or a cancellation of the accepted behavior after getting off the vehicle by making a confirmation based on the stored information of the setting authority. The self-driving vehicle according to claim 25. 27. A means for adjusting an execution order of the post-departure behavior based on the received change, correction, or cancellation of the post-departure behavior, the method according to claim 1. Self-driving car. A computer equipped with an automatic driving mode that is managed by an administrator and is used by a plurality of users and that has an autonomous driving mode for autonomous driving and that has a setting authority information storage unit,
Prior to using the self-driving car of the user, based on the registration permission by the administrator who is a registration authority, or based on the registration process by the administrator who is the registration authority, the information of the user, Storage means for storing in the setting authority information storage unit as information of the setting authority having authority to set the behavior of the self-driving vehicle after getting off the vehicle,
When the passenger of the autonomous vehicle sets the behavior after getting off the vehicle, the boarding is performed based on the information acquired from the passenger and the setting authority information stored in the setting authority information storage unit. Setting authority determining means for determining whether or not the person is the setting authority,
When the setting authority determining unit determines that the passenger is the setting authority, the setting of the behavior after getting off the vehicle by the passenger is accepted, or the behavior after being set by the passenger is set. Control means for controlling to execute,
Program for self-driving cars to function as. A computer provided in an automatic driving vehicle that is provided for shared use by a plurality of users who are registered as members and has an automatic driving mode for autonomous driving and a setting authority information storage unit,
The setting authority having the authority to set the behavior of the self-driving vehicle after dismounting, based on the registration permission by the registration authority or the registration processing by the registration authority, the information of the user who is registered as the member. Storage means for storing in the setting authority information storage section as information of the person,
When the passenger of the autonomous vehicle sets the behavior after getting off the vehicle, the boarding is performed based on the information acquired from the passenger and the setting authority information stored in the setting authority information storage unit. Setting authority determining means for determining whether or not the person is the setting authority,
When the setting authority determining unit determines that the passenger is the setting authority, the setting of the behavior after getting off the vehicle by the passenger is accepted, or the behavior after being set by the passenger is set. Control means for controlling to execute,
Program for self-driving cars to function as.

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