JP2023156336A - Autonomous vehicle and program for the same - Google Patents

Abstract

To provide an autonomous vehicle exhibiting power even for arresting or capturing a criminal.SOLUTION: This autonomous vehicle comprises: theft detection means of detecting a theft state of an own vehicle and/or reception means of receiving a notification of the theft state of the own vehicle; locking means of locking a door and/or a window of the own vehicle to be inhibited from opening/closing when the theft detection means detects the theft state or when the reception means receives the notification of the theft state; an external imaging unit that photographs the outside of the own vehicle; image recognition means of image-recognizing policeman's identification photographed by the external imaging unit; and releasing means of releasing opening/closing locked state of the door and/or the window inhibited from opening/closing by the locking means.SELECTED DRAWING: Figure 1

Description

The present invention relates to a self-driving vehicle and a program for a self-driving vehicle.

Various anti-theft systems and anti-theft devices have been proposed that can prevent theft of automobiles. For example, Patent Document 1 (Japanese Unexamined Patent Publication No. 2013-147202) and Patent Document 2 (Japanese Patent Application Laid-open No. 2013-126197) state that if authentication cannot be performed using a passcode etc., driving the car is disabled. It is disclosed that the theft of an automobile vehicle is prevented by doing so. Additionally, Patent Document 3 (Japanese Unexamined Patent Publication No. 2002-225677) and Patent Document 4 (Japanese Unexamined Patent Publication No. 2011-116145) disclose methods to prevent vehicle theft by preventing criminals from getting into the driver's seat. Disclosure is made to prevent this.

Furthermore, in the case of vehicle theft, an invention that records an image of the culprit or the voice of the culprit in order to help identify the culprit has been proposed, for example, in Patent Document 5 (Japanese Patent Application Laid-Open No. 2001-322533) and Patent Document 6 (Japanese Unexamined Patent Publication No. 2000-305136).

Japanese Patent Application Publication No. 2013-147202 Japanese Patent Application Publication No. 2013-126197 Japanese Patent Application Publication No. 2002-225677 Japanese Patent Application Publication No. 2011-116145 Japanese Patent Application Publication No. 2001-322533 Japanese Patent Application Publication No. 2000-305136

Conventional anti-theft devices and anti-theft systems prevent vehicle theft by controlling the vehicle so that it cannot run or preventing thieves from getting into the vehicle. The emphasis is on preventing theft. However, if a thief learns the password or disables or destroys the mechanism that prevents the vehicle from driving, theft of the vehicle is unavoidable.

In addition, the inventions of Patent Document 5 and Patent Document 6 are capable of elucidating the culprit or using the captured image of the culprit and the culprit's voice as evidence that the captured culprit is a vehicle thief. It is not a technology that would be useful in arresting or arresting criminals. Conventionally, there has been no proposal for an anti-theft system or an anti-theft device for an automobile that is intended to arrest or apprehend criminals.

As described above, conventionally, there have been no effective measures against car theft, including arresting the culprit and arresting the culprit.

By the way, recently, self-driving cars have appeared that can automatically travel while avoiding obstacles without the driver operating the accelerator, brakes, or steering wheel. Effective anti-theft measures are also required for self-driving cars, but as described above, no effective anti-theft measures have conventionally existed.

The purpose of this invention is to provide a self-driving vehicle that is effective in preventing vehicle theft and apprehending criminals by taking advantage of the characteristics of self-driving.

In order to solve the above problem, the invention of claim 1:
a theft detection means for detecting that the own vehicle is in a stolen state; and/or a receiving means for receiving a notification that the own vehicle is in a stolen state;
When the theft detecting means detects the theft, or when the receiving means receives a notification of the theft, the door and/or window of the vehicle is locked so that it cannot be opened or closed. a locking means for
an external imaging unit that photographs the outside of the vehicle;
image recognition means for image recognition of a police notebook photographed by the external imaging unit;
a release means for releasing the locked state of opening and closing of doors and/or windows that have been made unopenable by the locking means when the police notebook is image-recognized and confirmed by the image recognition means;
To provide a self-driving car characterized by being equipped with.

According to the self-driving vehicle of the invention of claim 1 having the above-described configuration, when the theft detection means detects that the vehicle is in a theft state, or when the receiving means receives a notification that the vehicle is in a theft state, Lock the doors and/or windows of your vehicle so that they cannot be opened or closed. When the police notebook is confirmed by image recognition using the image recognition means, the door and/or window that has been made unopenable by the locking means is unlocked.

Therefore, in the case of theft, the self-driving car according to the present invention can move with the suspected thief locked inside the car and head to the destination at the time of the theft, such as a police station. The locked state of doors and/or windows that have been made impossible to open/close by the locking means is released when the police notebook presented by the police officer is confirmed, making it difficult for the police officer to arrest the suspected thief. This makes it possible to use the system to detect and apprehend criminals.

According to this invention, by taking advantage of the feature of automatic driving, it is possible to provide a self-driving car that is effective in arresting criminals and apprehending criminals.

FIG. 1 is a block diagram showing an example of the hardware configuration of an embodiment of an automatic driving vehicle according to the present invention. FIG. 2 is a diagram used to explain a part of the hardware configuration example of FIG. 1. FIG. FIG. 2 is a diagram showing a part of a flowchart for explaining an example of the flow of processing operations of an embodiment of an automatic driving vehicle according to the present invention. FIG. 2 is a diagram showing a part of a flowchart for explaining an example of the flow of processing operations of an embodiment of an automatic driving vehicle according to the present invention. FIG. 2 is a diagram showing a part of a flowchart for explaining an example of the flow of processing operations of an embodiment of an automatic driving vehicle according to the present invention. FIG. 2 is a diagram showing a part of a flowchart for explaining an example of the flow of processing operations of an embodiment of an automatic driving vehicle according to the present invention. 1 is an image diagram of an embodiment of an anti-theft system for an automatic driving vehicle according to the present invention. 1 is a diagram illustrating a schematic configuration example of an embodiment of an anti-theft system for an automatic driving vehicle according to the present invention; FIG. FIG. 2 is a sequence diagram for explaining an example of processing operations in the anti-theft system for an automatic driving vehicle according to the present invention.

[First embodiment]
A first embodiment of the present invention is a case where anti-theft processing control is performed only in an automatic driving vehicle. FIG. 1 is a block diagram showing an example of the hardware configuration of an electronic control circuit section 10 of an automatic driving vehicle 1 according to the first embodiment. Note that the self-driving vehicle 1 of this embodiment is an example of an electric vehicle. However, the battery is not shown in FIG. 1.

Moreover, the automatic driving vehicle 1 of this embodiment is provided with an automatic driving mode and a manual driving mode. The manual driving mode is a mode in which the vehicle can travel according to the driver's accelerator operation, brake operation, shift lever operation, and steering operation (steering wheel operation), similar to a normal automobile that is not an automatic driving vehicle. In addition, the autonomous driving mode is a driving mode in which the autonomous vehicle 1 automatically changes course while avoiding obstacles without the driver operating the accelerator, brakes, shift lever, or steering wheel. be.

Under normal circumstances, the driver of an autonomous vehicle can switch a self-driving vehicle that is running in manual driving mode to automatic driving mode, for example, by performing a predetermined operation on the touch panel, and can switch the automatic driving vehicle that is running in manual driving mode to automatic driving mode. The vehicle is configured to automatically return to manual driving mode when the driver operates the accelerator, brake, shift lever, or steering wheel. However, as will be described later, the self-driving vehicle 1 of this embodiment is configured to be controlled so that it can only travel in the self-driving mode when it detects that its own vehicle is stolen.

As shown in FIG. 1, the electronic control circuit unit 10 connects a control unit 101 equipped with a microcomputer to a wireless communication processing unit 102, a radar 103, various sensor groups 104, Camera group 105, GPS (Global Positioning System) receiving unit 106, current location confirmation unit 107, surrounding moving object recognition unit 108, audio output unit 109, motor drive control unit 110, steering drive control unit 111, touch panel display unit 112, car A navigation (hereinafter abbreviated as car navigation) function section 113, a door lock control section 114, a passenger authentication section 115, a theft detection processing section 116, and a manual/automatic driving mode switching control section 117 are connected to each other.

A speaker 121 is connected to the audio output section 109. A motor drive section 122 is connected to the motor drive control section 110 . A steering drive section 123 is connected to the steering drive control section 111 .

Further, a car navigation database 124 is connected to the car navigation function section 113. A door lock drive mechanism section 125 is connected to the door lock control section 114 . A passenger authentication information memory 126 is connected to the passenger authentication section 115 . A theft destination memory 127 is connected to the theft detection processing section 116 . A manual driving operation detection unit 128 is connected to the manual/automatic driving mode switching control unit 117 .

In this example, the wireless communication processing unit 102 uses the police agency (there are different police organizations, security organizations, and security organizations depending on the country) to which the self-driving vehicle 1 of the first embodiment is transferred at the time of theft. In Japan, there are police stations, police boxes, and police stations; in the United States, there are state police, county police, city/town/village police, county sheriff's bureaus, and sheriff's offices (hereinafter collectively referred to as police stations, etc.), or , is a functional unit for contacting other predetermined locations. In this embodiment, the owner of the self-driving car 1 treats his/her own vehicle as a mobile phone terminal and signs a contract with a mobile phone company, assuming that the mobile phone network will be used to contact the destination. A subscriber telephone number of a mobile phone is assigned to the automatic driving vehicle 1, and the wireless communication processing unit 102 performs communication using the subscriber telephone number as the calling party telephone number.

Furthermore, the wireless communication processing unit 102 includes a telephone number memory in which subscriber telephone numbers (mobile telephone numbers) of mobile telephone terminals capable of wireless communication with the self-driving vehicle are registered. The wireless communication processing unit 102 has a function of automatically calling the mobile phone terminal having the stored mobile phone number and executing predetermined processing as described below, in cooperation with the control unit 101. ing.

The radar 103 is used to measure the distance to vehicles, pedestrians, obstacles, etc. that exist around the self-driving car, and consists of laser radar, millimeter wave radar, etc. Laser radars are embedded, for example, in the ceiling or near the bumper, and millimeter wave radars are installed, for example, at the front and rear of the vehicle. It may be equipped with both a laser radar and a millimeter wave radar, or only one. Other radars such as quasi-millimeter wave radar may also be used.

The various sensor group 104 includes an opening/closing detection sensor that detects opening/closing of a door or a window, a sensor for detecting the 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. In addition to the above, it consists of various sensors to obtain information to assist automatic driving. Various sensors for acquiring information to assist autonomous driving include, for example, vibration sensors for detecting vibrations of vehicles and tires, rotation speed sensors for detecting tire rotation speed, and sensors for detecting direction. These include a geomagnetic sensor, an acceleration sensor for detecting acceleration, and a gyro sensor (gyroscope) for detecting angle and angular velocity. Note that the various sensor group 104 also includes a sound sensor (microphone) that picks up the voices of passengers in the own vehicle and the sounds around the self-driving vehicle.

The camera group 105 includes one or more cameras that take pictures of the interior of the self-driving car 1 and one or more cameras that take pictures of the surroundings of the self-driving car 1. Cameras that take pictures of the inside of a car include, for example, cameras that are attached to the rearview mirror (rearview mirror, room mirror) installed between the driver's seat and the passenger seat, and that take a facial image of the person sitting in the driver's seat. It includes a camera that takes facial images of passengers sitting in the front passenger seat or the back seat. Furthermore, the cameras that take pictures of the surroundings of the self-driving car 1 are two cameras (stereo cameras) that are attached to the left and right sides of the rearview mirror, and mainly take pictures of the left front and right front of the self-driving car 1, for example. In addition, for example, cameras are attached to the door mirrors or fender mirrors of the self-driving vehicle 1 to photograph the left and right sides and rear, and cameras are mounted around the rear license plate or tail lamp to photograph the rear of the self-driving vehicle 1. It also includes a camera, an omnidirectional camera (360 degree camera) mounted on the roof that takes wide-angle shots of the surrounding area, and a fisheye camera.

The GPS receiving unit 106 receives radio waves from GPS satellites, detects the current position of the own vehicle, and supplies information on the detected current position to the current location confirmation unit 107.

Since the accuracy of the position detected by radio waves from GPS satellites is low, the current location confirmation unit 107 uses not only the information of the current position detected by the GPS reception unit 106 but also the information of one or more of the various sensors 104. The current position is detected and confirmed with higher accuracy by using images captured by the sensor, the radar 103, the camera group 105, and the like, and by performing processing based on Bayesian theory, for example.

The surrounding moving object understanding unit 108 uses images captured by the radar 103 and the camera group 105 to understand moving objects around the own vehicle. The surrounding moving object understanding unit 108 also performs processing based on Bayesian theory to understand surrounding obstacles and moving objects.

In the current location confirmation unit 107 and surrounding moving object understanding unit 108, the self-driving car 1 uses various information acquired by the radar 103, various sensor groups 104, camera group 105, and GPS reception unit 106, that is, from human eyes and ears. The information corresponding to the information is processed using Bayesian theory, etc., and based on this, the control unit 101 performs intelligent information processing (artificial intelligence) and control (artificial intelligence) such as changing the course of the own vehicle and avoiding obstacles. .

Although not shown, the audio output unit 109 includes a built-in memory that stores audio message data to be outputted to the outside, and is a speech synthesizer that converts the audio message data read from the memory into an analog audio signal. It also has a built-in D-A converter. Then, the audio output unit 109 supplies the audio message selected under the control of the control unit 101 to the speaker 121 so that it is output as audio to the outside. As will be described later, the voice messages to be memorized include "Theft suspect is being transported", "Theft suspect is in the vehicle", or "Theft suspect is in the vehicle" when a suspected thief (suspected thief, criminal theft) is in the vehicle. Please call 110.'' etc.

The motor drive control unit 110 controls the supply of a drive signal to the motor drive unit 122 of the automatic driving vehicle 1 constituted by the electric vehicle of this embodiment under the control of the control unit 101. The system controls the start of running, acceleration/deceleration of running speed, stopping of running, etc.

The steering drive control unit 111 controls the supply of a drive control signal to the steering drive unit 123 of the automatic driving vehicle 1 of this embodiment under the control of the control unit 101, and controls the course change of the automatic driving vehicle 1. I will try to do it.

The display unit 112 with a touch panel is a display panel made of, for example, an LCD (Liquid Crystal Display), and a touch panel that allows touch input using a finger is superimposed on the display panel. A display image including software buttons (including a button for inputting characters on a keyboard) is displayed on the display screen of the LCD under the control of the control unit 101. When the touch panel of the touch panel display unit 112 detects a touch by a finger on a software button displayed on the display screen, the touch panel transmits the touch to the control unit 101. Upon receiving this, the control unit 101 is configured to execute control processing corresponding to the software button.

The car navigation function unit 113 is a function unit that provides guidance to assist the self-driving car 1 in moving to a designated destination based on the map and route guidance data stored in the car navigation database 124. It is. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing in manual driving mode and automatic driving mode.

That is, in the manual driving mode, the car navigation function unit 113 displays the vehicle confirmed by the current location confirmation unit 107 on a map that explicitly displays the route to the destination on the display screen of the touch panel display unit 112. Displays an image with the vehicle position superimposed, moves the vehicle position (current position) on the map as the vehicle moves, and points where route guidance is required, such as intersections and junctions on the route. to provide voice guidance.

On the other hand, in the automatic driving mode, when the current position of the own vehicle is far from the route to the destination, the car navigation function unit 113 notifies the control unit 101 of the direction and distance of the distance, and also When the current position of the vehicle is on the route to the destination, as the vehicle moves, the controller 101 is notified of direction change instruction information along the route before an intersection, branch point, etc. on the route. I'll do what I do. Based on the information notified from the car navigation function section 113, the confirmation results of the current location confirmation section 107, and the grasp results of the surrounding moving object grasp section 108, the control section 101 causes the own vehicle to move along the route as instructed. The motor drive control section 110 controls the motor drive section 122 so that the vehicle moves along the following path, and the steering drive control section 111 controls the steering drive section 123. Therefore, by providing 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 travel to the destination even when no passenger is present.

In this embodiment, the car navigation function section 113 has a function (surrounding search function) of searching for facilities and equipment corresponding to a specified keyword around the current location. This surrounding search data is also stored in the car navigation database 124. Note that the surrounding search data is not stored in the car navigation database 124, but the car navigation function section 113 sends a surrounding search request including keywords and current location information over the Internet via the wireless communication processing section 102. The search site may be sent to a search site, and search results in the vicinity of the current location may be obtained from the search site.

The door lock control unit 114 controls the door lock drive mechanism unit 125 connected thereto, and controls the locked state of opening and closing of all doors for passengers of the automatic driving vehicle 1. That is, when the automatic driving vehicle 1 is in motion, the door lock control unit 114 uses the door lock drive mechanism unit 125 to place the door in a closed lock state so that the door does not open. In a normal state where the automatic driving vehicle 1 is not in a stolen state, when the automatic driving vehicle 1 is stopped and receives a door unlocking operation input from a predetermined button operation or a wireless key, the door lock control unit 114 enters the door closed/locked state. is released, allowing the door to be opened and closed by a door opening/closing operation unit (not shown).

In this embodiment, as will be described later, when the door lock control section 114 detects that the own vehicle is stolen, the door lock control section 114 receives a control instruction from the control section 101 and controls the door lock drive mechanism section 125. , even when the vehicle is stopped, the vehicle's doors are automatically closed and locked, and the vehicle's doors are locked so that they cannot be opened or closed, and even if the vehicle receives a predetermined button operation or door unlock operation input from a wireless key, etc. , the door is configured not to release the closed lock state. The door closed/locked state in the theft state can be confirmed, for example, by capturing an image of a police notebook presented by a police officer with a camera, or checking the state of the door closed/locked by the owner of the self-driving car 1 through the wireless communication processing unit 102, as described later. The lock is configured to be unlocked only when predetermined special conditions are met, such as when an unlock instruction including a predetermined password is received through a telephone terminal.

Although not shown, a window lock control section and a window lock drive mechanism section are further provided, and under the control of the control section 101, locking and unlocking of the window is controlled in the same manner as the door. That is, when it is detected that the own vehicle is stolen, the control unit 101 sets the window closed and locked state, and locks the window of the own vehicle so that it cannot be opened or closed.

The passenger authentication unit 115 performs authentication processing of a passenger who is permitted to drive the automatic driving vehicle 1 of this embodiment. In the automatic driving vehicle 1 of this embodiment, a facial image, which is biometric information of the passenger, is used as authentication information of the passenger who can drive. That is, the facial image of the passenger who is permitted to drive the automatic driving vehicle 1 is registered in advance and stored in the passenger authentication information memory 126. In this case, only when it is confirmed that the authentication information determined by the owner of the automatic driving car 1, such as ID and password, has been input through the touch panel of the touch panel display unit 112, the automatic driving car 1 To permit registration of a facial image of a passenger who is permitted to drive. Therefore, the passenger authentication information memory 126 stores a facial image of the owner of the automatic driving vehicle 1, and also stores a facial image of a passenger whose driving is permitted by the owner of the automatic driving vehicle 1.

Note that the number of passengers permitted to drive by the owner of the automatic driving vehicle 1 may be one or more, including the owner himself/herself. Furthermore, one or more facial images may be registered in advance for each passenger who is permitted to drive. In the case of a plurality of facial images, for example, facial images with different facial expressions, different facial angles, and different dates and times can be registered. Furthermore, if the user sometimes wears glasses, sunglasses, or a hat, it is preferable to register facial images both with and without wearing glasses. By registering multiple facial images, it is possible to reduce the probability that the owner will not be erroneously authenticated (probability of authentication failure). On the other hand, in the case of only one registration, a face image with a specific expression (for example, a smile) or a specific angle (for example, straight ahead) may be registered. Thereby, the probability of mistakenly authenticating a person other than the owner as the owner (probability of false authentication) can be reduced. Of course, it is also possible to register multiple facial images with specific expressions or specific angles to reduce both the probability of authentication failure and the probability of false authentication. In this embodiment, a plurality of facial images are registered and stored in advance.

Note that the ID and password registered by the owner of the automatic driving vehicle 1 are also stored in the passenger authentication information memory 126.

The passenger authentication unit 115 acquires a facial image of a passenger who has boarded the automatic driving vehicle 1 from the camera group 105, compares it with the facial image stored in the passenger authentication information memory 126, and identifies the passenger's face. When it is determined that the facial image matches any of the facial images stored in the passenger authentication information memory 126, the driver of the automatic driving vehicle 1 is permitted to drive.

Then, when the passenger's facial image does not match any of the facial images stored in the passenger authentication information memory 126, the passenger authentication unit 115 provides the ID and password of the owner of the automatic driving vehicle 1. After confirming the input of the ID and password, it is determined that the passenger is newly registered to be permitted to drive the automatic driving vehicle 1, and the facial image of the passenger is stored in the passenger authentication information memory 126. Add to memory. That is, in this embodiment, when registering a passenger who is newly permitted to drive the automatic driving vehicle 1, the authentication information set by the owner of the automatic driving vehicle 1 and registered in the passenger authentication information memory 126 is registered. It is necessary to input information (in this example, ID and password), and if this authentication information cannot be confirmed, registration of a new passenger who is permitted to drive the automatic driving vehicle 1 is not possible.

Then, the passenger authentication unit 115 determines that the facial image of the passenger does not match any of the facial images stored in the passenger authentication information memory 126, and the authentication information of the owner of the automatic driving vehicle 1 For example, if the ID and password are not input, the theft detection processing unit 116 is notified of the authentication result indicating that the authentication was not successful.

Further, in this embodiment, the passenger authentication unit 115 stores the facial image of the passenger who could not be authenticated as a thief suspect in an area of the passenger authentication information memory 126 that is separate from the authentication information. Try to remember it. This facial image of the thief suspect can be read out and used as material for identifying the culprit if the suspect is a thief.

When the theft detection processing unit 116 receives an authentication result indicating that the passenger cannot be authenticated from the passenger authentication unit 115, the theft detection processing unit 116 detects that the own vehicle is stolen and notifies the control unit 101.

When the control unit 101 detects the notification that the own vehicle is stolen, the control unit 101 controls the door lock drive mechanism unit 125 through the door lock control unit 114 to place the door in the closed and locked state. With this door closed and locked, the thief suspect is trapped inside the automatic driving vehicle 1. Note that when the suspected thief is wearing a seatbelt in the seat, control may be performed so that the seatbelt is also locked so that it cannot be removed. A thief suspect may be restrained by providing a mechanism that can automatically bind or secure the legs and torso from under the seat or from the backrest.

Further, when the control unit 101 detects a notification that the own vehicle is stolen, it controls the manual/automatic driving mode switching control unit 117 so that the suspected thief who is the passenger can operate the accelerator, brake, etc. Controls the system so that it does not switch to manual driving mode even if the shift lever or steering wheel is operated. Additionally, input operations such as specifying or changing the destination in automatic driving mode are also disabled. In addition, in the automatic driving mode, the manual/automatic driving mode switching control unit 117 behaves as if it had accepted input operations such as specifying or changing the destination by the driver, and informs the suspected thief, who is the passenger, of the police. Transport to a police station or other destination may be carried out without being noticed.

The manual driving operation detection unit 128 is an operation detection unit that detects an accelerator operation, a brake operation, a shift lever operation, and a steering operation by a passenger (driver). The manual/automatic driving mode switching control unit 117 detects the accelerator operation, brake operation, and shift by the driver in the manual driving operation detection unit 128 in the automatic driving mode, as described above, when the own vehicle is not stolen. When the system receives a detection notification of lever operation or steering operation, the system switches from automatic driving mode to manual driving mode.

On the other hand, when the manual/autonomous driving mode switching control unit 117 receives a detection notification that the own vehicle is stolen from the theft detection processing unit 116, the manual/autonomous driving mode switching control unit 117 forcibly switches the automatic driving car 1 to the automatic driving mode. At the same time, the manual driving operation detection unit 128 disables the detection notification of the driver's accelerator operation, brake operation, shift lever operation, and steering operation, so that the automatic driving mode is continuously maintained.

Then, the theft detection processing unit 116 refers to the theft destination memory 127 to determine the destination in the automatic driving mode at the time of theft. In this embodiment, the destination in the event of theft is registered and stored in the destination in the event of theft memory 127, with priority determined in advance by the owner of the automatic driving vehicle 1. The theft detection processing unit 116 searches the theft destinations stored in the theft destination memory 127 in order of priority, and determines a destination that can be reached within a predetermined time (for example, within one hour) from the current location. Do it like this.

The reason for determining a destination that can be reached within a predetermined amount of time from the current location is because if the destination is too far away, there is a high risk of trouble occurring if a thief is in the vehicle. This is to minimize the risk of such trouble occurring. It also takes into account that if the destination is too far away, the electric vehicle's battery may run low (or, in the case of a gasoline-powered vehicle, the vehicle may run out of gasoline). In this case, the predetermined time is set to be shorter than the time that can be traveled with the current remaining battery level (or remaining gasoline level). For example, if the remaining battery level is equivalent to 40 minutes, the predetermined time is set to 30 minutes.

Note that instead of a destination that can be reached within a predetermined time, a location within a predetermined distance range (for example, within 10 km) from the current location may be determined as the destination.

The above-mentioned time setting within a predetermined time and distance setting within a predetermined distance range from the current location are set when the self-driving car 1 is shipped from the manufacturer or sold at a dealer, but the owner of the self-driving car 1 Alternatively, a passenger permitted by the owner to drive the vehicle may be able to change the set time and distance.

If a destination that can be reached within a predetermined time (or within a predetermined distance range) is not stored in the theft destination memory 127, the theft detection processing unit 116 causes the car navigation function unit 113 to search for nearby police stations, etc. The police station, etc. found as a result of the search is determined as the destination in the event of theft. After determining the destination in the event of theft, the theft detection processing unit 116 automatically moves the vehicle to the determined destination in the event of theft.

Note that if the nearby search does not find a police station that can be reached within a predetermined time (or within a predetermined distance range), the driver will notify the emergency contact information and wait without moving his/her vehicle. Examples of the emergency contact information include a telephone number for emergency notification to a police agency, an e-mail address for emergency notification, and the like.

The emergency telephone number for the police agency is the telephone number used to notify the local police agency in the event of a crime such as theft, and differs depending on the country. For example, in Japan, China, Indonesia, etc., the number is 110, in the United States, Canada, etc., the number is 911, and in the Netherlands, Sweden, etc., the number is 112. Calling these emergency telephone numbers for police agencies to make a report will hereinafter be collectively referred to as a 110 call.

In addition, if the battery of the electric vehicle is low (or low on gasoline if it is a gasoline vehicle) when theft is detected, the vehicle will be searched for a new destination to avoid running out of battery (running out of gasoline) while traveling. Alternatively, you may immediately call 110 and wait without moving your vehicle.

FIG. 2 shows an example of the contents of the theft destination memory 127. As shown in FIG. 2, the registration information of the destination at the time of theft includes the priority, the attribute of the destination at the time of theft, the address of the destination at the time of theft, and the contact phone number of the destination at the time of theft. It is entered by an administrator or the like and stored. Further, the contact e-mail address of the destination at the time of the theft may be stored.

The attribute of the destination in the event of theft may be selected from pre-selected options, such as ``the police station near my home,'' ``the police station near my office,'' or ``the nearest police station, etc.'' , may be entered directly. The address is input by the owner, manager, etc. of the automatic driving vehicle 1, but depending on the attributes of the destination at the time of theft, it may not be possible to input the address, so it is an optional item. For example, if the attribute of the destination in the event of theft is "the nearest police station, etc.", the address will differ depending on the current location of the automatic driving vehicle 1, so the address will not be input. The same applies to contact phone numbers.

Furthermore, when the address of the destination in the event of theft is input, the location information in latitude and longitude corresponding to the address is obtained from the car navigation database 124 or via the Internet, and is stored in the destination in the event of theft memory 127. I'll try to keep it that way. This location information is used when calculating the destination at the time of theft, the distance from the current location, or the arrival time from the current location.

Note that, as a result of a nearby search, it may be possible to obtain the address, location information, and even contact telephone number and e-mail address of "the nearest police station, etc.".

When the theft detection processing unit 116 determines the destination at the time of theft as described above, if the contact telephone number can be obtained before or after the start of automatic driving, the theft detection processing unit 116 acquires the telephone number. Use this to call the destination at the time of the theft. Then, the theft detection processing unit 116 generates a message that includes information such as the vehicle type, body color, license plate number, that the vehicle is stolen, and how many minutes later it is expected to arrive at the location. Then, the message is converted into synthesized speech using speech synthesis and sent to the contact. The time "how many minutes later" in the message "how many minutes later do you plan to arrive at the location" is obtained from the theft detection processing section 116 by requesting the car navigation function section 113. The car navigation function unit 113 can calculate the estimated time of arrival at the destination at the time of theft based on the route and distance from the current location of the own vehicle to the destination at the time of the theft. The theft detection processing unit 116 obtains the calculated time from the car navigation function unit 113 and generates the message.

As described above, the theft detection processing section 116 is equipped with a message generating means and a voice synthesizing means in order to realize the function of generating a message to be sent to the destination in the event of theft and transmitting it as a transmitted voice. The message generation means is to store in the built-in memory, for example, ``A thief is on board and is moving towards you. This car is a white sedan, and the car's license plate number is Shinagawa ○○○○. ( ) minutes. Store the data of a text message such as "We are scheduled to arrive there later.", insert the time obtained from the car navigation function unit 113 into the blank field ( ) of "( ) minutes later", and send it to the destination at the time of the theft. Complete your message. Then, the theft detection processing unit 116 converts the completed text message into a synthesized voice using a voice synthesizing means, and sends the synthesized voice as the transmitted voice to the destination at the time of the theft.

In this way, if it is possible to contact the destination, such as a police station, in advance by telephone, a police officer or the like will be waiting when the stolen self-driving car 1 arrives. It can be expected that the perpetrator will be easily arrested and secured.

Further, the theft detection processing unit 116 calls 110 when the destination cannot be contacted at the time of the theft. In this case, the message generation means of the theft detection processing unit 116 generates a message saying, ``This is a self-driving car in which the thief is riding.The current location is near ( ) and is moving towards ( ). , it is a white sedan, and the car's license plate number is Shinagawa A○○○○.'', and then enter it in the blank field ( ) of ``Near ( )'' and confirm it with the current location confirmation unit 107. Based on the current location, insert the name of the current location obtained by the car navigation function unit 113, insert the determined destination at the time of theft in the blank field ( ) of "Moving towards ( )", and call 110. Complete the message to include. Then, the theft detection processing unit 116 converts the completed text message into synthesized speech using the speech synthesis means, and sends the 110 call message as the transmitted speech. Note that the message may include the latitude/longitude position information acquired by the GPS receiving unit 106.

If you call 110, it is possible that a police car may follow your moving vehicle. Therefore, in this embodiment, when the theft detection processing unit 116 detects (determines) that a police car is following the own vehicle after making a 110 call, the theft detection processing unit 116 pulls the own vehicle to the shoulder of the road and stops. Do it like this. In this case, the tracking of the own vehicle by the police car is detected by capturing the image taken by the camera of the camera group 105 and the sound of the police car's siren by the microphone which is the sound sensor of the various sensor group 104. do. The theft detection processing unit 116 also uses a microphone to pick up the call from the police car, “Shinagawa A○○○○ white sedan, stop.” The vehicle may be controlled to stop on the shoulder of the road or the like.

Note that the description of this embodiment applies not only to police cars but also to police vehicles in general. For example, the police vehicle that pursues your vehicle may be a police car, a motorcycle, or both a police car and a motorcycle, but in this embodiment, for simplicity, it will be described as a police car.

The theft detection processing unit 116 includes voice recognition means for recognizing the siren of a police car and recognizing a voice call from a police car. If the voice recognition means is equipped with a language understanding function, it can follow voice instructions from the police car. For example, if you follow the call from a police car to ``turn left at the intersection and stop,'' stop on the shoulder of the road after turning left at the intersection, then follow the call to ``enter into the parking lot on the left in front of you and stop.'' You can enter and park. Of course, the same response can be applied not only to police cars that call 110, but also to police cars that are on patrol.

As mentioned above, when the control unit 101 arrives at a police station or the like, or when it detects that a police car is being chased and stops on the shoulder of the road, the control unit 101 uses a camera to photograph a police notebook presented by a police officer, for example, and performs image recognition. By confirming the police notebook, the door close lock state is released and the door can be opened and closed by the police officer.

Furthermore, even when the owner of the self-driving car 1 sends a door closing/unlocking instruction including a predetermined password to the self-driving car 1 through a mobile phone terminal, the control unit 101 of the self-driving car 1 can automatically process the password. The system is configured to release the door closed lock state after confirming the following.

Note that the theft detection processing unit 116 does not call 110 only when the destination at the time of the theft cannot be contacted, but also when the destination at the time of the theft is not a police station etc. You may also make a 110 call. Further, even if the destination at the time of the theft is a police station or the like and it is possible to contact the police station, a 110 number call may be made in order to ensure the arrest or capture of the culprit.

Note that in the event of the theft, the telephone call to the destination and the 110 call are made in a state where the voice of the call cannot be heard by the passenger. This makes it possible to contact the police station, etc., without the thief suspect sitting in the driver's seat noticing.

As described above, the electronic control circuit section 10 of the self-driving vehicle 1 is configured, and among the blocks shown in FIG. Each processing function of the control unit 110, steering drive control unit 111, car navigation function unit 113, door lock control unit 114, passenger authentication unit 115, theft detection processing unit 116, and manual/automatic driving mode switching control unit 117 is controlled. The unit 101 can be realized as software processing.

[Example of flow of processing operations in self-driving car 1]

[Example of flow of theft detection in self-driving car 1]
3 and 4 are flowcharts for explaining an example of the flow of detecting theft in the automatic driving vehicle 1 configured as described above. Note that in the following description, the processing at each step in the flowcharts of FIGS. , steering drive control section 111, car navigation function section 113, door lock control section 114, passenger authentication section 115, theft detection processing section 116, and manual/automatic driving mode switching control section 117, each processing function is realized as software processing. This will be explained assuming that it is.

When the automatic driving vehicle 1 is powered on, the process starts from the start shown in FIG. 3. First, the control unit 101 determines whether or not a passenger is seated in the driver's seat of the own vehicle by monitoring the output of the driver's seat seating sensor in the various sensor group 104 (step S1), and If it is determined that the passenger is not seated, other processing is executed (step S2), and then the processing returns to step S1. Note that whether or not a passenger is seated in the driver's seat can be determined by monitoring the output of the driver's seat seating sensor, as well as by monitoring the output of the driver's seat seating sensor. This can be determined by monitoring the captured images.

In step S1, when it is determined that a passenger is seated in the driver's seat, the control unit 101 acquires captured image information from a camera of the camera group 105 that photographs the passenger in the driver's seat, and A facial image of the passenger is extracted from the captured image information and temporarily stored in a buffer memory (not shown) (step S3).

Next, the control unit 101 compares the facial image of the passenger temporarily stored in the buffer memory with the facial image stored in the passenger authentication information memory 126, and selects a matching facial image for passenger authentication. Based on whether the information is stored in the information memory 126, it is determined whether the passenger is a registered person (step S4). When it is determined in this step S4 that the passenger is a registered person, the control unit 101 allows the registered person to drive (including automatic driving), and shifts to a processing routine for normal driving of the automatic driving vehicle 1. (Step S9).

Further, when it is determined in step S4 that the passenger is not a registered person, a message "You are not registered as a driver" is displayed on the display screen of the touch panel display unit 112, and a non-registered person is Waits for input of authentication information for registration (step S5).

Then, the control unit 101 determines whether or not input of authentication information consisting of an ID and password has been received (step S6), and when determining that it has been received, the control unit 101 stores the received ID and password in the information memory 126 for passenger authentication. The ID and password set by the above-mentioned owner are compared, and it is determined whether or not the authentication is OK based on whether they match (step S7).

When it is determined in step S7 that the authentication is OK, the control unit 101 stores the facial image of the passenger temporarily stored in step S3 in the passenger authentication information memory 126, and registers the passenger. (Step S8). Next, the control unit 101 proceeds to step S9, permits driving (including automatic driving) by the registrant, and shifts to a processing routine for normal driving.

When determining in step S6 that the input of authentication information consisting of an ID and password is not accepted, the control unit 101 displays the message "You are not registered as a driver" on the display screen, for example. After that, it is determined whether a predetermined time period or more, for example, two minutes or more has elapsed (step S11 in FIG. 4).

If it is determined in this step S11 that the predetermined time or more has not elapsed, the control unit 101 determines that, for example, the operator has not operated the cancel button displayed on the display screen of the touch panel display unit 112 (cancel operation). It is determined whether or not the cancel button has been operated (step S12), and when it is determined that the cancel button has not been operated, the process returns to step S6.

Further, when it is determined in step S12 that the cancel button has been operated, the control unit 101 turns off the power of the automatic driving vehicle 1, and puts the automatic driving vehicle 1 into a state in which driving is disabled (step S13). Then, the control unit 101 ends this processing routine.

Note that even when the cancel button is operated, the face image of the passenger temporarily stored in step S3 is stored in the passenger authentication information memory 126 as the face image of the person who failed to register. The owner of the automatic driving vehicle 1 may be notified that the image is stored in the passenger authentication information memory 126. In that case, the owner of the automatic driving vehicle 1 can read the facial image of the person whose registration failed from the passenger authentication information memory 126 and identify the suspected thief. That is, if the facial image of the person who failed to register is a facial image of a person unknown to the owner of the automatic driving vehicle 1, the person can be reported to a police station or the like as a suspected thief.

Note that it is undesirable to turn off the power of the automatic driving vehicle 1 and stop the vehicle because it increases the risk of the suspected thief escaping, so the operation of the cancel button may be disabled.

If it is determined in step S11 that the predetermined time or more has elapsed, the control unit 101 determines that the passenger is a suspected thief and that the vehicle is stolen, and closes and locks the door. The detection of accelerator operation, brake operation, shift lever operation, and steering operation by the manual driving operation detection unit 128 is disabled, and control is performed so that only automatic driving can be performed (step S14). Then, the control unit 101 proceeds to a movement processing routine in the event of theft (step S15).

Further, when it is determined in step S7 in FIG. 3 that the authentication is not OK, the control unit 101 determines whether or not the authentication is not OK but NG for a predetermined time, for example, the third time (FIG. In step S16), when it is determined that the predetermined number of times has not been reached, a message prompting the user to re-enter the authentication information is displayed on the display screen of the touch panel display unit 112 (step S17), and the process returns to step S6 in FIG. and wait for authentication information to be entered.

When it is determined in step S16 that the authentication is not OK but NG for the predetermined time, the control unit 101 advances the process to step S14, and determines that the vehicle is stolen. , the door is closed and locked, and the detection of accelerator operation, brake operation, shift lever operation, and steering operation by the manual driving operation detection unit 128 is disabled, and control is performed so that only automatic driving can be performed. Then, the control unit 101 advances the process to step S15, and transitions to the movement processing routine in the event of theft.

[Example of flow of movement process in case of theft in self-driving car 1]
An example of the flow of the movement process in the event of theft in step S15 in FIG. 4 will be described with reference to the flowcharts in FIGS. 5 and 6. Note that the processing in each step in the flowcharts of FIGS. 5 and 6 is also performed by the control unit 101, the current location confirmation unit 107, the surrounding moving object recognition unit 108, the audio output unit 109, the motor drive control unit 110, and the steering drive control unit 111. , the car navigation function section 113, the door lock control section 114, the passenger authentication section 115, the theft detection processing section 116, and the manual/automatic driving mode switching control section 117. do.

The control unit 101 first specifies the theft destination with the first priority for the information stored in the theft destination memory 127 (step S21). Next, the control unit 101 determines whether the information on the theft destination with the nth priority is stored in the theft destination memory 127 (step S22).

When it is determined in this step S22 that the data of the theft destination with the nth priority is stored, the control unit 101 determines that the data of the theft destination with the nth priority is registered with only the attribute and the address. (and the positional information of latitude and longitude) is determined whether or not it is not stored (step S23).

If it is determined in this step S23 that only the attribute is registered for the n-th priority destination at the time of theft, and the address (and location information in terms of latitude and longitude) is not stored, the control unit 101 An attribute, such as a police station, is found by searching around the current location, and the address and location information of latitude and longitude are obtained (step S24). Note that when the search target is a police station or the like, various police agencies, for example, in the case of Japan, any one of a police station, a police box, or a police station is detected.

Please note that small police agencies (in Japan, police boxes and police stations) may be absent from police patrols, so we will give priority to larger police agencies (in Japan, police stations). may be detected. If information on small police agencies that do not have a full-time police officer, or have only one or two police officers and are likely to be absent, could be stored in a database or obtained from a designated site on the Internet, it would be possible to It is also possible to lower the priority of small police agencies.

Then, the control unit 101 calculates the arrival time from the current location to the theft destination with the nth priority from the location information of the address and the location information of the current location of the own vehicle (step S25).

Further, when it is determined in step S23 that the destination at the time of theft with the nth priority is stored not only the attribute but also the address (and location information in terms of latitude and longitude), the control unit 101 also performs the processing. Proceeding to step S25, the arrival time from the current location to the destination at the time of theft with the nth priority is calculated from the location information of the address and the location information of the current location of the own vehicle.

After this step S25, the control unit 101 determines whether or not the destination can be reached from the current location within a predetermined time based on the arrival time determined in step S25 (step S26). ).

In this step S26, when it is determined that the destination cannot be reached from the current location within a predetermined time period, the control unit 101 sets n=n+1 and selects the theft with the next priority from the theft destination memory 127. The current destination is specified to be read (step S27), and then the process returns to step S22, and the processes from step S22 onwards are repeated.

If it is determined in this step S26 that the destination can be reached from the current location within a predetermined time, the control unit 101 selects the destination at the time of theft read from the destination at the time of theft memory 127 or the destination at the time of theft read from the destination at the time of theft memory 127, or Automatic driving is started using the destination at the time of theft found as a result of the surrounding search as the destination (step S28).

Further, when it is determined in step S22 that the data of the theft destination with the nth priority is not stored, that is, the theft destination memory 127 does not store an appropriate theft destination for the current location. When it has been determined, the control unit 101 searches for the nearest police station, etc. through a surrounding search, sets the search result police station, etc. as the destination, and starts automatic driving (step S29).

After step S28 or step S29, the control unit 101 determines whether the contact information of the set destination, in this example the telephone number, is known (step S31 in FIG. 6), and determines whether the contact information of the set destination is known (step S31 in FIG. 6). When it is determined that this is the case, a telephone call is made to the destination (step S32). Then, the control unit 101 determines whether or not the destination has responded to the call (step S33), and when determining that the destination has responded to the call, the control unit 101 determines whether or not the destination has responded to the call. Information about the own vehicle such as characteristics, information about the current location, destination, and estimated time of arrival at the destination are communicated by telephone using synthesized voice (step S34).

Then, the control unit 101 continues automatic operation and moves to the set destination (step S35). Then, the control unit 101 determines whether or not the vehicle has arrived at the destination (step S36), and when determining that the vehicle has not arrived, returns the process to step S35 and repeats the process from step S35 onward. When it is determined that the vehicle has arrived at the destination, it stops the vehicle and sends a voice message from the speaker 121 indicating that the suspected thief is in the vehicle, such as "Theft suspect is being transported" or "Theft suspect is in the vehicle." A sound is emitted (step S37). Alternatively, the notification may be made by sounding a horn or flashing a light to alert people outside.

If the destination is a police station, etc., a police officer approaches the self-driving car 1 and, for example, reads the police notebook with a camera, opens the door, and arrests or arrests the suspected thief in the car. can be secured.

When it is determined in step S31 that the contact information of the set travel destination, in this example the telephone number, is not known, or in step S33, the call is answered if the destination is absent or busy. If it is determined not to do so, the control unit 101 makes a 110 call (step S38), and provides information about the own vehicle such as the number and characteristics of the own vehicle, information about the current position, the destination, and the estimated time of arrival at the destination. etc., using a synthesized voice (step S39).

Then, the control unit 101 determines whether or not the police car is following the vehicle (step S40), and when determining that the vehicle is being chased, the control unit 101 automatically pulls to the shoulder of the road and stops (step S41). Note that in step S41, if the voice call from the police car can be voice recognized, the vehicle can stop at an appropriate roadside, parking lot, etc. in accordance with the voice instruction.

Further, when it is determined in step S40 that a police car is not following the vehicle, the vehicle automatically moves to the set destination (step S42). Then, the control unit 101 determines whether or not the vehicle has arrived at the destination (step S43), and when determining that the vehicle has not arrived, returns the process to step S40 and repeats the process from step S40. When it is determined that the vehicle has arrived at the destination, the process proceeds to step S37, where the vehicle is stopped and the thief suspect is in the vehicle, for example, "theft suspect is being transported" or "theft suspect is in the vehicle." A voice message is emitted from a speaker 121.

[Effects of the first embodiment]
As explained above, when the self-driving car 1 of the above-described embodiment detects that the self-driving car is stolen, the self-driving car 1 automatically drives the self-driving car to move to a destination such as a police station. The vehicle can be moved to a police station, etc., with the suspected thief still in the vehicle. Therefore, it is possible to prevent theft of self-driving cars, and it is also effective in arresting criminals and apprehending criminals.

When the self-driving car 1 of the above-described embodiment detects that the vehicle is stolen, the doors and windows are closed and locked to trap the criminal inside the vehicle. It is possible to reliably transport the person to a police station, etc.

In addition, when the self-driving car 1 of the above-described embodiment detects that the vehicle is stolen, manual driving by the suspected thief is prohibited, and the driver cannot specify the destination in the self-driving mode. Changes to the vehicle are disabled, and the driver can only travel to a predetermined destination, such as a police station, in automatic driving mode, making it possible to reliably transport the criminal to the police station, etc.

Furthermore, since self-driving cars are not stationary but are driving at high speeds, it is also possible to prevent suspected thieves from breaking windows and jumping out to escape.

[Modification of the first embodiment]
Note that in the first embodiment described above, a self-driving car that has both an automatic driving mode and a manual driving mode is explained as an example, but even if it is a self-driving car that does not have a manual driving mode, This invention can be configured. In this case, the automatic operation mode is always used, so there is no switching between the manual operation mode and the automatic operation mode. Therefore, in the above description, there is no need for control for switching from manual operation mode to automatic operation mode or control for switching from automatic operation mode to manual operation mode. Of course, an automatic driving vehicle without manual driving is not equipped with the manual/automatic driving mode switching control section 117 or the manual driving operation detection section 128. Further, there is no need for an accelerator pedal, a brake pedal, a shift lever, a steering wheel, etc. that are necessary for manual driving. However, in order to ensure safety, a brake pedal (a brake button, a touch panel input corresponding to the brake, or a voice input may be used) may be provided so that only the brake operation can be performed manually.

In addition, in the first embodiment described above, the set destination is contacted after starting to move by automatic driving, but before starting to move by automatic driving, the set destination is contacted. You may also do so.

Further, although the communication to the destination is made by telephone, it may also be made by facsimile, e-mail, or communication application such as LINE.

In addition, in the first embodiment described above, when the automatic driving car 1 arrives at the destination, a voice message is emitted while the suspected thief is in the car, but even while the automatic driving car 1 is moving, A voice message indicating that a suspected thief is in the vehicle or "please call 110" may be emitted to the outside.

In addition, as shown in FIG. 7, a display 130 made of an LCD (Liquid Crystal Display) is provided on the door of the automatic driving vehicle 1, for example, to detect the theft and notify the thief suspect 131 of the automatic driving vehicle. 1, the display 130 displays a text message such as ``Theft offender in progress'', ``Theft offender in progress'', or ``Please call 110''. Good too. Note that the display 130 may be provided on the side window, windshield, or rear glass, or an LED (Light Emitting Diode) may be provided instead of the LCD to notify the outside of the theft state. good. Furthermore, an audio message may be emitted to the outside in conjunction with the display of a text message.

In the first embodiment described above, the self-driving car 1 determines whether or not the vehicle is stolen based on whether or not the passenger, particularly the person in the driver's seat, is a registered user. However, the determination of whether or not the vehicle is stolen is not limited to this case.

For example, the theft detection processing unit 116 detects a predetermined value based on the outputs of the vibration sensor, acceleration sensor, etc. in the various sensor group 104 and the current location confirmation result of the current location confirmation unit 107, even though the own vehicle is not being driven. When it is detected that the vehicle has moved by a certain distance, it may be determined that the vehicle is stolen. Further, when abnormal sensor data such as large vibration data or acceleration data that does not appear when the vehicle is stopped or normally driven is detected, it may be determined that the vehicle is stolen. This is based on the assumption that the self-driving vehicle 1 is stolen using heavy equipment such as a crane truck or a tow truck, without being put into operation.

In addition, in the first embodiment described above, when the passenger is not a registered person, the authentication information is checked, but when the passenger is not a registered person, it is immediately determined that the passenger is a suspected thief. Then, it may be detected that the own vehicle is stolen.

In addition, if the passenger is wearing a balaclava, etc., and it is difficult to authenticate the facial image, it is determined that the passenger may be a thief suspect, and the driver is carefully identified, focusing on the eyes etc. You can also encourage passengers to take off their balaclavas and expose their faces. Alternatively, it may be possible to immediately determine that the passenger is a thief suspect and to detect that the own vehicle is stolen.

Note that the destination at the time of the theft may also be the location where the vehicle was parked before the theft. In that case, the self-driving car will return to the location where it was parked before the theft with the suspected thief still in the vehicle, so to avoid any danger or trouble there, call 110 at the same time as the vehicle is transported. It's okay. Furthermore, when the current location of the self-driving vehicle is the location where it was parked before the theft, the vehicle may be placed in the closed and locked state and the vehicle may be contacted by calling 110 without moving.

Note that in the first embodiment described above, the notification from the self-driving car 1 to the owner of the self-driving car 1 about the theft was not described. The vehicle 1 will notify the owner of the vehicle 1 of the theft by telephone or e-mail, such as "We are currently transporting the vehicle to the ○△ police station." Of course, this is a good thing. In addition, if theft is detected but it is difficult to move, the system will contact the owner's mobile phone or other communication device with a message such as "My car has been stolen. However, I am currently unable to move from here." You may also include

Further, in the first embodiment described above, the automatic driving vehicle 1 contacts the destination by telephone or the like, but there may be cases where the automatic driving vehicle 1 does not contact the destination. In this case, the self-driving car 1 may contact a communication terminal such as a mobile phone terminal of the owner of the vehicle, and the owner may contact the destination or the 110 number.

[Second embodiment]
The first embodiment described above is a case where anti-theft processing control is performed only by the self-driving car 1, but even when the self-driving car 1 determines that there is an abnormality, in reality, the self-driving car 1 For example, an acquaintance of the owner may be attempting to drive the vehicle. In that case, the determination of whether the automatic driving vehicle 1 has been stolen can be made more reliably through the intervention of the owner. Furthermore, there are many cases where the owner of the self-driving car 1 recognizes that the self-driving car 1 that was parked at a predetermined location is missing and detects theft. For example, if the self-driving car 1 that was parked in the parking lot of a service area disappears while the owner of the self-driving car 1 is eating, or if the self-driving car 1 that was parked in the parking lot of a shopping center disappears. This is a case where the car 1 disappears while the owner of the self-driving car 1 is shopping. The second embodiment assumes such a case.

FIG. 8 is a diagram for explaining an overview of the anti-theft system for an automatic driving vehicle according to the second embodiment. That is, the second embodiment is a system configuration consisting of an autonomous vehicle 2 and a communication terminal capable of wireless communication, such as a high-performance mobile phone terminal 4 called a smartphone, owned by an owner 3 of the autonomous vehicle 2. becomes. In this second embodiment, the self-driving vehicle 2 and the mobile phone terminal 4 are able to communicate wirelessly with each other through a communication network consisting of a mobile phone network and the Internet. The telephone number and e-mail address of the mobile phone terminal 4 of the owner 3 are registered in advance in the automatic driving vehicle 2 as a destination for reporting abnormalities and the like. An application program for supporting theft prevention for the self-driving vehicle 2 is downloaded from a predetermined site for the self-driving vehicle 2 and stored in advance in the mobile phone terminal 4. Note that although the mobile phone terminal 4 is used in this embodiment, a fixed telephone terminal or a personal computer may also be used. Further, in case the owner 3 cannot be contacted, the phone numbers of mobile phone terminals and e-mail addresses of the owner 3's family members may be registered as backup contact information.

The self-driving vehicle 2 of this embodiment has substantially the same configuration as the self-driving vehicle 1 of the first embodiment shown in FIG. This embodiment is different from the first embodiment. Furthermore, the configuration of the wireless communication processing unit 102 is different from the first embodiment.

The wireless communication processing unit 102 of the self-driving car 2 of the second embodiment uses a telephone in which the subscriber phone number (mobile phone number) of the mobile phone terminal 4 that can communicate wirelessly with the self-driving car 2 is registered. Equipped with number memory. The wireless communication processing unit 102, in cooperation with the control unit 101, has a function of automatically calling the mobile phone terminal 4 of the stored mobile phone number and providing a notification as described below, and a function of storing the mobile phone number. It has a function of automatically answering an incoming call from a mobile phone terminal 4 having a mobile phone number listed in the list, and executing a predetermined process as described below.

In this second embodiment, the owner 3 notifies the self-driving car 2 through the mobile phone terminal 4 that the self-driving car 2 is stolen, and the self-driving car 2 recognizes that the self-driving car 2 is stolen. Do it like this.

In addition, in the example of the second embodiment below, the method of setting the destination is also different from the first embodiment, and the owner 3 sends a notification to the self-driving car 2 through the mobile phone terminal 4 instructing the destination. By sending the information, the automatic driving vehicle 2 can recognize the destination at the time of theft.

As described above, there are two ways (the first example and the second example) in which the owner 3 notifies the automatic driving car 2 that the automatic driving car 2 is stolen. That is, in the first example, as shown in FIG. 8, the mobile phone terminal 4 of the owner 3 receives an abnormality detection notification from the self-driving car 2, the owner 3 checks the details of the abnormality, and detects the abnormality. As a result of the check, a notification indicating whether the vehicle is stolen or not (hereinafter referred to as theft notification) is sent from the mobile phone terminal 4 to the automatic driving vehicle 2. The second example is a case where the owner 3 detects that the self-driving car 2 is missing and notifies the self-driving car 2 of the theft status without receiving an abnormality notification from the self-driving car 2. be. In the case of the second example, the notification is not a theft notification, but a theft notification, that is, a theft notification.

In the example of FIG. 8, the owner 3 specifies a police station, etc. 5 as the destination in the event of theft, and the self-driving car 2 automatically moves to the designated police station, etc. 5. It shows. This second embodiment is also similar to the first embodiment in that it is impossible to switch to the door closed lock state, window closed lock state, and manual operation mode when moving in the event of theft. Processing operations are performed almost the same as in the first embodiment.

FIG. 9 shows the electronic control circuit section of the self-driving car 2 (hereinafter referred to as self-driving car 2 for simplicity) in the anti-theft system for the self-driving car of the second embodiment, and the mobile phone of the owner 3. A sequence diagram of an example of interaction with the telephone terminal 4 is shown. The example shown in FIG. 9 corresponds to the first example in which the owner 3 notifies the self-driving car 2 that the self-driving car 2 has been stolen.

That is, first, the self-driving vehicle 2 detects whether or not an abnormality has occurred in the own vehicle. The abnormality detection means can be realized, for example, with a substantially similar configuration to the theft detection means of the first embodiment (see FIG. 1). In this case, the passenger authentication unit 115 acquires a facial image of a passenger who has boarded the automatic driving vehicle 2 from the camera group 105, and combines the acquired facial image with the face stored in the passenger authentication information memory 126. Compare and refer to the image to determine whether or not they match. When the passenger's facial image does not match any of the facial images stored in the passenger authentication information memory 126, the passenger authentication section 115 returns an abnormal authentication result indicating that the passenger could not be authenticated. A detection processing unit (not shown) is notified. Based on this notification, the abnormality detection processing section detects that the own vehicle is in an abnormal state. Note that such abnormality detection processing by comparing face images may be performed at any time, but it is preferably performed when it is determined that a passenger is seated in the driver's seat, as in the case of the theft detection means.

In the case of theft detection, it is preferable to tighten the judgment accuracy of the authentication result and make a definitive judgment as to whether or not the authentication was successful, but in the case of anomaly detection, it is preferable to judge whether or not a matching face image exists. Even if it cannot be determined, if there is even the slightest doubt, it is preferable to detect it as an abnormality.

In the second embodiment, unlike the first embodiment, even if the abnormality detection is an unreliable or uncertain judgment, the final determination of theft can be left to the owner, so the theft detection It is possible to prevent leakage and at the same time prevent erroneous determination of theft. Therefore, if a matching face image does not exist and the passenger cannot be authenticated, as in the first embodiment, the passenger is requested to enter an ID and password and the authentication is confirmed again. Even if there is no operation, no particular problem will occur.

Note that the abnormality that can be detected by the abnormality detection means is not limited to this example. For example, it may detect that it is difficult to authenticate the passenger, detect a suspicious situation such as the passenger wearing a balaclava, or detect that the vehicle has traveled more than a predetermined distance even though it is not being driven. Or, if abnormal sensor data that does not appear when the vehicle is stopped or when the vehicle is normally running is detected, these can be detected as abnormalities in the vehicle.

When the abnormality detection processing unit detects an abnormality in the own vehicle, it transmits a notification of the abnormality to the mobile phone terminal 4 of the owner 3 as a registered partner. This abnormality report is accompanied by a report on the current state of the automatic driving vehicle 2. The current report information of the self-driving car 2 includes a face image of the passenger if it detects a passenger who is not a registered user, and even if the self-driving car 2 is not being driven, If it is detected that the vehicle has moved more than that, image information of the surroundings of the vehicle is included. Further, current position information such as the latitude and longitude of the own vehicle may be included.

Incidentally, the abnormality may be reported by telephone, and the current state of the automatic driving vehicle 2 may be reported by e-mail with an image attached. As an abnormality report, if the passenger is suspicious, a synthesized voice will be sent to notify that fact, and if the passenger is moving in a suspicious manner, a synthesized voice will be sent to that effect.

The mobile phone terminal 4 that receives the report of the abnormality and the current state of the automatic driving vehicle 2 displays the facial image of the passenger or the image of the surroundings of the automatic driving vehicle 2 on its display screen. A software button is displayed on the display screen to allow the owner 3 to input the confirmation result as to whether or not the vehicle has been stolen.

The owner 3 looks at the displayed image on the display screen of the mobile phone terminal 4, checks whether there is any theft, and inputs the check result through a software button on the display screen of the mobile phone terminal 4. That is, if the face image on the display screen is that of an unknown person, it is determined that there is a theft. In addition, if the surrounding images are images of the self-driving car 2 hanging in the air, being towed by a tow truck, or being placed on a trailer, there is a risk of theft. It is determined that the state is The mobile phone terminal 4 notifies the automatic driving vehicle 2 of the result of checking whether the owner 3 has stolen the vehicle.

The self-driving car 2 that has received the check result of the owner 3's theft or not analyzes the received check result and determines whether the check result indicates theft or not. do. As a result of the determination, if it is determined that the vehicle is not in a stolen state, the automatic driving vehicle 2 remains in the same state without performing any processing at the time of theft.

In addition, if the self-driving car 2 determines that the vehicle has been stolen as a result of the check results, it closes and locks the doors and windows and prohibits the passenger from driving manually (prohibits switching to manual driving mode). ). Then, the self-driving car 2 sends a request to the mobile phone terminal 4 to instruct the mobile phone terminal 4 about the destination in the event of theft.

Based on the instruction input by the owner 3, the mobile phone terminal 4 sends an instruction notification of a destination such as a police station to the automatic driving vehicle 2. In this case, the mobile phone terminal 4 has a destination candidate memory with the same data content as the stolen destination memory 127 of the self-driving car 2, and automatically transfers information on the destination selected from the destination candidate memory. Send to driver car 2. In this case, the information on the destination to be sent may be only the identification information, and the automatic driving vehicle 2 reads out the destination specified by the identification information from the destination memory 127 in case of theft and specifies the destination.

Note that the destination instruction notification is not limited to this method, and text information such as "□□ Police Station", "△△ Police Box", "Nearest Police Station, etc." may be notified as is. The self-driving car 2 can recognize characters and understand the destination as a result of the recognition.

After sending the destination instruction notification, the mobile phone terminal 4 automatically calls 110. The report information to be sent to the police station, etc. when making this 110 call may be communicated directly by the owner 3 through a phone call to the police station, etc., or as in the case of the first embodiment, the owner 3 may transmit the report information to the police station, etc. The report message may be stored in the telephone terminal 4, converted into a synthesized voice, and sent to a police station or the like. In this example, the 110 call includes a message requesting that the police station etc. contact the mobile phone terminal 4 by phone when the self-driving car 2 arrives at the destination. Also includes phone number.

The self-driving vehicle 2 that has received the destination instruction notification automatically moves toward the designated destination.

When the self-driving vehicle 2 arrives at the destination, it notifies the mobile phone terminal 4 of this fact. This notification may be made by synthesized voice over the telephone or by e-mail. Alternatively, the notification may be made via a communication application such as LINE.

If the destination is a police station, etc., in response to the request for arrival notification included in the 110 call, the police station, etc. will contact you by phone to inform you of the arrival of the self-driving car 2. 3 notifies the user through the mobile phone terminal 4 that the door closed lock state of the automatic driving vehicle 2 is to be released. Thereafter, the owner 3 sends a door close/unlock instruction to the automatic driving vehicle 2 through the mobile phone terminal 4. Therefore, upon receiving this door close lock release instruction, the automatic driving vehicle 2 releases the door close lock state. Therefore, the police officer can open and close the door of the self-driving car 2 from the outside, and can arrest or secure the suspected thief inside the vehicle.

[Effects of the second embodiment]
It goes without saying that the second embodiment having the above-described configuration and operation can also provide the same effects as the first embodiment. According to this second embodiment, by having the owner confirm the theft state of the self-driving car 2, the theft state can be detected more reliably, and it is possible to detect the theft only by the self-driving car 2. Misjudgment when determining the state can be reduced.

Furthermore, according to the second embodiment, the owner can detect the stolen state of the self-driving car 2 and notify the self-driving car 2, so the self-driving car 2 itself can detect the stolen state of the self-driving car 2. Even if it cannot be detected, vehicle theft can be prevented.

[Modification of second embodiment]
In the second embodiment described above, similarly to the first embodiment described above, a self-driving car that has both an automatic driving mode and a manual driving mode is explained as an example. This invention can be implemented even in a self-driving car that does not have a self-driving car.

In the second embodiment described above, the owner of the self-driving car 2 sets the destination by notifying the self-driving car 2 through the mobile phone terminal, but in the second embodiment Alternatively, the automatic driving vehicle 2 itself may set the destination in the event of theft in the same manner as in the first embodiment.

Furthermore, in the second embodiment described above, the owner 3 of the self-driving car 2 confirmed and notified the stolen state of the self-driving car 2; This may be done by the management company. For example, if many self-driving cars are computer-managed and operated at a center such as a transportation company, delivery company, bus company, taxi company, etc., the center will send a message to the self-driving car 2 that is identified as stolen. You can notify theft and move destination. The destination is not limited to a police station, etc., but may also be set to the company's head office, head office, branch office, or branch office. If the destination is set as the company's head office, head office, branch office, or branch office, call 110 to request a police officer to come to the head office, head office, branch office, or branch office to inspect the scene and arrest or secure the perpetrator.

Furthermore, when police officers discover a self-driving vehicle that should be detained, such as a self-driving vehicle occupied by a criminal who is on the run or is on the run, or a self-driving vehicle that has been reported stolen, police officers can use information such as the license plate etc. Identify contact information such as a phone number to contact the self-driving car, contact the self-driving car using the contact information (e.g. phone number), establish communication with the self-driving car, and communicate with the self-driving car. In addition, notification of the detection of the state of theft and notification of the destination such as a predetermined point (a place where police vehicles such as police cars and motorcycles can rush) or a predetermined police station may be provided. In this way, the self-driving car will move to the notified destination with the doors and windows closed and locked to prevent the criminal inside the vehicle from escaping, so the self-driving car will wait at the notified predetermined location. A police officer who has been in a self-driving car can arrest or detain a criminal in a self-driving car.

[Other embodiments or modifications]
In the above-described embodiment, if a suspected thief breaks a window and escapes from a moving car while being transported by the self-driving car 1 or the self-driving car 2, this is detected by the camera group 105. The self-driving car will then call 110 with image information such as the face of the suspected thief and the location information of the point where the suspected thief fled, and the self-driving car will stop at that spot or on a nearby roadside. You can also do this.

Furthermore, if there are no police officers at the destination police station, etc., the self-driving car 1 or the self-driving car 2 may further search for another nearby police station. Of course, the user may wait at the destination police station or the like without moving.

Furthermore, in the above-described embodiment, the theft or abnormal state is detected based on detecting a suspicious passenger, suspicious movement of the own vehicle, or abnormal sensor data. If it is detected that the self-driving vehicle 1 or the self-driving vehicle 2 is traveling on a suspicious route that is not a route normally used by a person, it is detected that the vehicle is suspected of theft or that the vehicle is traveling abnormally. In the case of the second embodiment, the owner may be notified of the abnormality.

Further, in the above-described embodiment, the theft detection means and the abnormality detection means detect the theft state of the self-driving car 1 and the abnormal state of the self-driving car 2 based on face authentication (comparison results of face images). However, detection of a theft state or an abnormal state is not limited to this. For example, biometric authentication such as voice print authentication, fingerprint authentication, iris authentication, vein pattern authentication, etc. is performed on the driver of self-driving car 1 or self-driving car 2, and based on the authentication results, theft or abnormal conditions are detected. You may also do so. Authentication is not limited to biometric authentication, and may also be a confirmation operation of name, address, date of birth, ID, password, phone number of a mobile phone terminal, e-mail address, etc. Furthermore, these various types of authentication may be combined to further strengthen the authentication of the driver of the self-driving vehicle 1 or the self-driving vehicle 2, and based on the authentication results, theft or abnormal state may be detected. .

Further, in the above embodiment, the theft detection means, the abnormality detection means, various authentications, etc. were performed by the self-driving car 1 or the self-driving car 2, or the owner 3, but the self-driving car 1 or the self-driving car 2 It is also possible to provide a function to connect to the Internet so that the process can be performed in the cloud.

In the above-described embodiment, when the self-driving car 1 or the self-driving car 2 determines that the own vehicle is stolen, it enters the automatic driving mode, and even if the passenger tries to switch to manual driving, the automatic lock is disabled. It is controlled so that it does not switch to manual operation mode. However, assuming that the automatic driving mode is accidentally locked when the passenger is not the thief, the owner or other passenger who is not the thief can perform a predetermined operation to automatically drive the vehicle. The lock state of the mode may be released to enable switching to the manual operation mode. In this case, the predetermined operations to cancel automatic driving mode include biometric authentication such as fingerprint authentication of the owner, PIN number, password, voice recognition (a secret word may also be recognized), and speaker recognition. , facial recognition, gesture recognition, etc., or a combination of these can also be used.

Further, in the above-described embodiment, in an automatic driving vehicle without a manual driving mode, input operations such as specifying or changing a destination by a passenger are disabled. However, assuming that the input operation is disabled by mistake when the passenger is not the thief, the owner or other passenger who is not the thief can perform a predetermined operation to control the input operation. It may also be possible to cancel the invalid state.

When a rental car company uses this invention, the facial image of the driver who uses the rental car is registered as a temporary owner at the time of departure. Drivers who use rental cars are recognized as legitimate users through facial recognition while they are using the rental car. If the rental car is used by someone other than the driver, theft will be detected because facial recognition will not be performed. When the rental car is returned, the driver's registered facial image will be deleted and the driver's ownership status will be lost. If theft is detected in this rental car, the driver who is the temporary owner will be contacted, and the rental car company will also be contacted. Furthermore, drivers using rental cars can register not only facial images but also biometric information such as fingerprints, iris, vein patterns, and voice prints, and use that biometric information for biometric authentication. When returning the rental car, the registered driver's biometric information is deleted. Furthermore, it is also possible to issue a temporary ID card and password to the driver who uses the rental car, and have the driver return the ID card and password when the rental car is returned. Moreover, these can also be used in combination. Furthermore, the present invention can also be applied to car sharing, in which a specific car is used jointly by a plurality of members, in the same way as in the case of rental cars.

Note that the present invention can be applied not only to vehicle theft of self-driving cars, but also to car break-ins. In this case, even if the passenger is not seated in the driver's seat, when an intruder is discovered using an in-vehicle camera, the intruder's facial image captured by the in-vehicle camera is combined with the registered facial image. compare. If the intruder's face image is not registered, the system detects that the vehicle has been broken into (the vehicle is stolen), closes and locks the doors and windows, and automatically transports the vehicle to a police station or other destination.

Furthermore, this invention can be applied to the arrest of criminals whose facial images are available, such as wanted criminals. The self-driving car cooperates with the cloud, that is, obtains the facial image of a criminal such as a wanted criminal from a predetermined site on the Internet, and the facial image of the criminal matches the facial image of the passenger of the self-driving car. In such a case, it is assumed that the situation of theft has been detected, the doors and windows are automatically closed and locked, and the vehicle can be transported to a police station or the like. In this case, even if the passenger is the owner of the self-driving car or a registered passenger who has been given permission by the owner to drive, the registration will be invalidated and forcibly transferred to a police station, etc. I can do it.

In addition, in the case of a criminal whose fingerprint is available instead of a facial image, the same response can be taken by fingerprint authentication. If this embodiment is applied by a rental car company in cooperation with the police, when a wanted criminal uses a rental car, the rental car will identify the wanted criminal and transport him to a designated police station, etc. This has the effect of increasing the possibility of arresting and apprehending criminals in the area.

In addition, a facial image of the driver of a self-driving car while the vehicle is in motion is photographed by a camera of a surveillance camera system installed on the road, such as an automatic speed enforcement device, and the photographed facial image is prepared in advance. When the facial image of the criminal in question matches that of the criminal, it can be assumed that the vehicle has been stolen, and the self-driving car can be notified of this fact. The self-driving car that receives this notification of the theft will lock its doors and windows closed, and will be forced to automatically drive to a destination such as a police station. In this case, in order for the surveillance camera system to obtain the contact information (notification destination) of the self-driving car based on the license plate number, for example from an Internet site, there is an automatic It is a good idea to register the driver's license number and contact information (notification destination).

By doing the above, it is possible to increase the possibility of arresting or arresting criminals whose facial images and fingerprints are known, such as wanted criminals.

In the above embodiment, when it is detected that the vehicle is stolen, the vehicle is transferred to a predetermined police station or the nearest police station, but the police station has jurisdiction over the vehicle. If so, the person may be transferred to the police station with jurisdiction. Furthermore, instead of a police station or the like, a transfer area exclusively for stolen cars may be provided and the stolen cars may be transferred there.

In addition, if a self-driving car belonging to a company that manages and operates many self-driving cars, such as a transportation company, delivery company, bus company, taxi company, or rental car company, is detected to be stolen, The vehicle may be transferred to a transfer area set up by the company exclusively for stolen vehicles.

Furthermore, by using the GPS installed in self-driving cars, it is possible to identify the country or municipality in which the car is driving. Once you know the country or local government, you can obtain information on the various police agencies that correspond to the specified country or local government, as well as emergency phone numbers that differ depending on the country or local government, allowing you to perform processing specific to that country or local government.

This invention applies not only to regular cars and light cars, but also to trucks, buses, taxis, tractors, dump trucks, bulldozers, shovel cars, forklifts, crane trucks, tow trucks, single-person cars, motorcycles, electric bicycles, and electric cars. It can also be applied to assist bicycles. Furthermore, it is also applicable to ships, aircraft, helicopters, etc.

Furthermore, although the self-driving vehicle in the above embodiment is an electric vehicle, the present invention is also applicable to gasoline vehicles, hybrid vehicles, fuel cell vehicles, and vehicles with other drive systems.

DESCRIPTION OF SYMBOLS 1, 2... Self-driving car, 10... Electronic control circuit section, 104... Various sensor groups, 105... Camera group, 106... GPS receiving section, 107... Current location confirmation section, 112... Display section with touch panel, 113... Car navigation function section , 114... Door lock control section, 115... Passenger authentication section, 116... Theft detection processing section, 117... Manual/automatic driving mode switching control section

Claims (48)

a theft detection means for detecting that the own vehicle is in a stolen state; and/or a receiving means for receiving a notification that the own vehicle is in a stolen state;
When the theft detecting means detects the theft, or when the receiving means receives a notification of the theft, the door and/or window of the vehicle is locked so that it cannot be opened or closed. a locking means for
an external imaging unit that photographs the outside of the vehicle;
image recognition means for image recognition of a police notebook photographed by the external imaging unit;
a release means for releasing the locked state of opening and closing of doors and/or windows that have been made unopenable by the locking means when the police notebook is image-recognized and confirmed by the image recognition means;
A self-driving car characterized by being equipped with. Equipped with automatic driving mode,
A police agency determines a destination in the event of theft in the automatic driving mode when the theft detection means detects the theft or when the receiving means receives a notification of the theft. a means for determining a destination in the event of theft;
A car navigation means having a function of providing guidance to assist in traveling to a specified destination in the automatic driving mode;
Equipped with
The self-driving vehicle according to claim 1, wherein the self-driving vehicle moves in the self-driving mode using the car navigation means to a police agency designated as the destination in the event of theft determined by the destination in the event of theft. . Current position detection means for detecting the current position of the own vehicle;
comprising a search means for searching the vicinity of the current position detected by the current position detection means,
The self-driving vehicle according to claim 2, wherein the theft destination determination means determines the nearest police agency searched by the search means as the theft destination. If the contact information of the determined destination in the event of theft is obtainable, the contact information of the destination in the event of theft is used to inform the destination in the event of theft that the vehicle is in a stolen state, and that the vehicle is in a stolen state. The automatic driving vehicle according to claim 2 or 3, further comprising a notification means for notifying the information for recognizing the information through wireless communication means. Equipped with a function to calculate time information regarding the estimated time of arrival at the destination at the time of the theft,
The self-driving vehicle according to claim 4, wherein the information notified to the destination at the time of the theft by the notification means includes time information regarding a scheduled arrival time at the destination at the time of the theft. When the receiving means receives the notification of the theft, the receiving means also receives information on the destination at the time of the theft;
The self-driving vehicle according to any one of claims 2 to 5, wherein the theft destination determining means determines the received theft destination as the theft destination. When the theft detecting means detects the theft, or when the receiving means receives a notification of the theft, the destination is specified in the car navigation means or Claims 2 to 4 further include means for controlling the car navigation means so as to behave as if the input operation for designating or changing the destination has been accepted, although the input operation for changing the destination is invalidated. The self-driving car according to any of 6. Equipped with a confirmation means for confirming a police officer at the police agency at the time of the theft,
Claims 2 to 7, characterized in that when the police officer cannot be confirmed by the confirmation means upon arrival at the police agency, another nearby police agency is searched for. Self-driving car described in any of the above. Equipped with a confirmation means for confirming a police officer at the police agency at the time of the theft,
Any one of claims 2 to 8, characterized in that when the police officer cannot be confirmed by the confirmation means upon arrival at the police agency, the officer waits without moving. Self-driving car described in. If the theft detection means detects the theft, or if the receiving means receives a notification of the theft, call 110 and wait without moving the vehicle. The automatic driving vehicle according to claim 1, characterized in that: If the theft detection means detects the theft, or if the receiving means receives a notification of the theft, call 110 to have a police officer come to your destination. The self-driving vehicle according to claim 1, wherein the self-driving vehicle provides a notification. Equipped with a passenger imaging unit that photographs the occupants of the own vehicle,
When the theft detection means detects the theft, or when the receiving means receives the notification that the theft occurs, and the suspected thief flees from the vehicle, the The automatic driving vehicle according to any one of claims 1 to 11, wherein image information of the thief suspect photographed by a passenger imaging unit is sent to a police agency. Equipped with location information acquisition means,
The self-driving vehicle according to any one of claims 1 to 12, wherein information on the location where the suspected thief escaped is sent to a police agency. Equipped with manual operation mode and automatic operation mode,
If the vehicle is in the manual driving mode when the theft detection means detects the theft or the receiving means receives a notification of the theft, The automatic driving vehicle according to any one of claims 1 to 13, characterized in that the automatic driving mode is switched to the automatic driving mode. The automatic driving vehicle according to claim 14, wherein when switching from the manual driving mode to the automatic driving mode, switching to the manual driving mode is disabled or disabled. Equipped with manual operation mode and automatic operation mode,
If the vehicle is in the automatic driving mode when the theft detection means detects the theft or the receiving means receives a notification of the theft, The automatic driving vehicle according to any one of claims 1 to 15, characterized in that switching to the manual driving mode is disabled or disabled. The theft detection means includes a biometric information acquisition unit,
A claim characterized in that it is detected that the own vehicle is in a stolen state based on a comparison result between biometric information of a person registered in advance and biometric information newly acquired by the biometric information acquisition unit. The automatic driving vehicle according to any one of claims 1 to 16. The biological information acquisition unit is an imaging unit,
The theft detection means detects that the vehicle is stolen based on a comparison result between a face image of a person registered in advance and a face image of the person newly captured by the imaging unit. The automatic driving vehicle according to claim 17, characterized by: The self-driving vehicle according to claim 18, characterized in that, if the person newly imaged by the imaging unit is wearing a balaclava, the person is prompted to take off the balaclava. The biometric information of the person registered in advance is the biometric information of the criminal or suspect, including a wanted criminal, obtained from a predetermined site on the Internet, and the biometric information of the criminal or suspect and the biometric information obtained are 20. The self-driving vehicle according to claim 17, wherein the self-driving vehicle detects that the vehicle is stolen based on a comparison result with biometric information newly acquired by the automatic driving vehicle. Equipped with a passenger imaging unit that photographs the occupants of the own vehicle,
The theft detection means detects that the own vehicle is stolen when the passenger imaged by the passenger imaging unit is wearing a balaclava. The self-driving vehicle according to any of Item 16. The theft detection means includes detecting that the own vehicle has been stolen based on a notification from a surveillance camera system installed on the road,
The surveillance camera system detects that the vehicle photographed by the surveillance camera is stolen based on a comparison result between the facial image of the driver of the vehicle photographed by the surveillance camera and the facial image of a criminal or suspect including a wanted criminal. The automatic driving vehicle according to any one of claims 1 to 21, characterized in that the automatic driving vehicle transmits a notification indicating the state. 23. The theft detection means includes verification of ID information such as name, address, date of birth, ID, password, telephone number of a mobile phone terminal, and e-mail address. Self-driving car described in Crab. A claim characterized in that the theft detection means includes detecting that the own vehicle is in a stolen state by detecting that the own vehicle position has been moved without the own vehicle being driven. The self-driving vehicle according to any one of claims 1 to 23. The self-driving vehicle according to any one of claims 1 to 24, wherein the state of the own vehicle being stolen includes the vehicle being broken into. The automatic driving vehicle according to any one of claims 1 to 25, wherein the theft detection means is provided on a cloud connected through the Internet. an abnormality detection means for detecting whether or not an abnormality has occurred in the own vehicle;
Transmitting means for transmitting an abnormality report including current information at that time to a registered destination when the abnormality detection means detects that an abnormality has occurred in the own vehicle;
Equipped with
27. The receiving means receives the notification that the own vehicle is stolen from the registered partner who sent the abnormality report. Self-driving car described in Crab. The automatic driving system according to claim 27, wherein the current information included in the abnormality report includes image information of the passenger, image information of the surroundings of the own vehicle, and/or current position information of the own vehicle. car. The automatic driving vehicle according to claim 27 or 28, wherein the other party is an owner of the vehicle, a manager of the vehicle, or a management company of the vehicle. The abnormality detection means includes a biological information acquisition unit,
Claim 27 characterized in that the occurrence of an abnormality in the own vehicle is detected based on a comparison result between biometric information of a person registered in advance and biometric information newly acquired by the biometric information acquisition unit. - The automatic driving vehicle according to any one of claims 29 to 29. The biological information acquisition unit is an imaging unit,
The abnormality detection means detects that an abnormality has occurred in the own vehicle based on a comparison result between a face image of a person registered in advance and a face image of a person newly imaged by the imaging unit. The self-driving vehicle according to claim 30. The biometric information of the person registered in advance is the biometric information of the criminal or suspect, including a wanted criminal, obtained from a predetermined site on the Internet, and the biometric information of the criminal or suspect and the biometric information obtained are 32. The self-driving vehicle according to claim 30 or 31, wherein the self-driving vehicle detects that an abnormality has occurred in the self-driving vehicle based on a comparison result with biometric information newly acquired by the self-driving vehicle. Any one of claims 27 to 32, characterized in that the abnormality detection means includes verification of ID information such as a name, address, date of birth, ID, password, telephone number of a mobile phone terminal, and e-mail address. Self-driving car described in Crab. The abnormality detection means includes detecting that an abnormality has occurred in the own vehicle based on a notification from a surveillance camera system installed on the road,
The surveillance camera system notifies that an abnormality has occurred in the own vehicle based on the comparison result between the facial image of the driver of the vehicle captured by the surveillance camera and the facial image of the criminal or suspect, including a wanted criminal. The automatic driving vehicle according to any one of claims 27 to 33, characterized in that the automatic driving vehicle sends out. Claim characterized in that the abnormality detection means includes detecting that an abnormality has occurred in the own vehicle by detecting that the position of the own vehicle has been moved without the own vehicle being driven. The automatic driving vehicle according to any one of claims 27 to 34. The self-driving vehicle according to any one of claims 27 to 35, wherein the occurrence of an abnormality in the own vehicle includes vehicle damage. The automatic driving vehicle according to any one of claims 27 to 36, wherein the abnormality detection means is provided on a cloud connected through the Internet. Equipped with a notification means for notifying the state of the own vehicle in text, images and/or audio,
The notification means is configured to detect whether or not the own vehicle is in a stolen state based on the detection of the theft by the theft detection means or the receipt of a notification of the theft by the receiving means. Claims 1 to 3 are characterized in that the vehicle is notified that the vehicle is stolen, that a criminal or suspect including a wanted criminal is in the vehicle, and/or that the vehicle is requested to be reported to an emergency contact number. The self-driving vehicle according to any one of 37. The automatic driving vehicle according to any one of claims 1 to 38, wherein the destination at the time of theft is determined based on the remaining amount of battery, gasoline, and/or fuel of the automatic driving vehicle. Equipped with a means of reporting to emergency contact information,
Based on the fact that the theft detecting means detects the theft, or the receiving means receives a notification that the theft occurs, the reporting means transmits the emergency notification information. The automatic driving vehicle according to any one of claims 1 to 39, characterized in that the automatic driving vehicle is controlled to send a report to a contact point. Call detection means for detecting a voice call from a police vehicle to its own vehicle;
a voice recognition means for recognizing voice;
Equipped with
The automatic transmission system according to any one of claims 1 to 40, characterized in that when the voice call is detected, the voice is voice recognized, and the behavior of the own vehicle is determined based on the voice recognition result. Driving car. an authentication information storage means for storing authentication information including a user's face image in an authentication information storage unit;
an authentication means for authenticating a passenger using the authentication information of the user stored in the authentication information storage unit;
Equipped with
Claim 1, wherein the facial image of the passenger who could not be authenticated by the authentication means is stored as a thief suspect in an area of the authentication information storage section that is separate from the authentication information. - The automatic driving vehicle according to any one of claims 41 to 42. A self-driving car that can be used temporarily,
The self-driving vehicle according to any one of claims 1 to 42, wherein the self-driving vehicle that can be used temporarily is a rental car provided by a rental car company. 44. The vehicle according to claim 43, wherein when the theft detection means detects that the own vehicle is stolen, the temporary user and/or the rental car company are notified of the theft state. Self-driving car. Temporary user registration reception means for storing authentication information of the temporary user in an authentication information storage unit;
an authentication means for authenticating a user using the authentication information of the temporary user stored in the authentication information storage unit;
Equipped with
45. The automatic driving vehicle according to claim 43 or 44, wherein the user who cannot be authenticated by the authentication means is detected as the thief suspect. 46. The automatic driving vehicle according to claim 45, wherein when the temporary use ends, the authentication information of the user who has ended the temporary use is deleted from the authentication information storage section. A self-driving car that can be used temporarily,
The self-driving vehicle according to any one of claims 1 to 46, wherein the self-driving vehicle that can be used temporarily is a self-driving vehicle provided by a car sharing company. A computer included in a self-driving car that is equipped with an external imaging unit that photographs the outside of the vehicle,
a theft detection means for detecting that the own vehicle is in a stolen state; and/or a receiving means for receiving a notification that the own vehicle is in a stolen state;
When the theft detecting means detects the theft, or when the receiving means receives a notification of the theft, the door and/or window of the vehicle is locked so that it cannot be opened or closed. locking means to
image recognition means for image recognition of a police notebook photographed by the external imaging unit;
a release means for releasing the locked state of opening and closing of doors and/or windows that have been made unopenable by the locking means when the police notebook is image recognized and confirmed by the image recognition means;
A program for self-driving cars to function as a self-driving car.

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