JP6994265B2 - Automotive and automotive programs - Google Patents

Description

The present invention relates to automobiles and automotive programs.

Conventionally, for the purpose of preventing theft of a vehicle, authentication reference information such as biometric information of a person who plans to use the vehicle is registered and stored in advance, and the stored authentication reference information and the vehicle's Authentication is performed based on whether or not the two match by comparing with the authentication information of the user who is going to use the service, and the authentication result is used to control the opening and closing of the vehicle door and the start of the vehicle. Devices and methods for such methods have been proposed (see, for example, Patent Document 1 and Patent Document 2 below).

In this case, when it is assumed that the car will be used by multiple people in the family or by multiple employees of the company, authentication of the biometric information of all the people who plan to use the car The reference information is registered in advance so that all of the plurality of planned users can share the vehicle.

Japanese Unexamined Patent Publication No. 2010-208554 Japanese Unexamined Patent Publication No. 2011-025903

As mentioned above, when multiple scheduled users can use the car, it is unclear whether other planned users want to use the car, so it is confusing whether or not they can start using it. You may end up doing it.

In addition, even though you plan to use it, you may not be able to use it because other registrants who plan to use it will be ahead of you.

In view of the above problems, the present invention can smoothly coordinate with the person who intends to use (ride) next even if there are a plurality of registrants who plan to use the vehicle, and improve safety in terms of security. The purpose is to provide a car that can be planned.

In order to solve the above problems, the invention of claim 1 is
As a means of urging the passenger to enter the re-boarding schedule with whether or not to allow the use of others other than the passenger.
A storage means for storing the information on the re-ride schedule input in response to the prompt by the prompting means in the first storage unit, and
Whether or not to permit the user to use the own vehicle based on the information of the re-ride schedule stored in the first storage unit when the user who intends to use the own vehicle is detected. As a means of judging whether or not
Provide a vehicle characterized by being equipped with.

In the automobile of the invention of claim 1 of the above-described configuration, the urging means is urged to the occupant to input a re-ride schedule with whether or not to permit the use of a person other than the occupant. Then, the information on the re-ride schedule input in response to the prompting is stored in the first storage unit.

Then, when a user who intends to use the own vehicle is detected, the user is permitted to use the own vehicle based on the information of the re-ride schedule stored in the first storage unit by a judgment means. It is judged whether or not to do it.

As described above, according to the automobile of the invention of claim 1, the input of the information of the re-boarding schedule by the passenger who is scheduled to get off is accepted and stored together with the information of whether or not the use of another vehicle is permitted. Therefore, by using this stored schedule information, it is possible to smoothly coordinate with the person who will use (ride) next time.

According to the automobile according to the present invention, it is possible to smoothly coordinate with the person who intends to use (ride) the next time by using the stored scheduled information.

It is a figure for demonstrating the communication system including the embodiment of the automobile by this invention. It is a block diagram which shows the hardware composition example of the example of the self-driving car which is the embodiment of the automobile by this invention. It is a figure which shows a part of the flowchart for demonstrating the processing operation example at the time of getting off of a user in the self-driving car of the example of FIG. It is a figure which shows a part of the flowchart for demonstrating the processing operation example at the time of getting off of a user in the self-driving car of the example of FIG. It is a figure for demonstrating an example of the input screen of the schedule of re-boarding in the self-driving car of the example of FIG. It is a figure for demonstrating the example of the behavior list after getting off in the self-driving car of the example of FIG. It is a figure which shows a part of the flowchart for demonstrating the processing operation example corresponding to the call of the user in the self-driving car of the example of FIG. It is a figure which shows a part of the flowchart for demonstrating the processing operation example corresponding to the call of the user in the self-driving car of the example of FIG. It is a figure which shows a part of the flowchart for demonstrating the processing operation example corresponding to the call of the user in the self-driving car of the example of FIG. It is a figure which shows the flowchart for demonstrating the control operation example which moves corresponding to the call of the user in the self-driving car of the example of FIG. It is a figure which shows a part of the flowchart for demonstrating the processing operation example at the time of a user getting on the self-driving car of the example of FIG. It is a figure which shows a part of the flowchart for demonstrating the processing operation example at the time of a user getting on the self-driving car of the example of FIG. It is a figure which shows a part of the flowchart for demonstrating the processing operation example at the time of a user getting on the self-driving car of the example of FIG. It is a figure for demonstrating an example of the re-ride schedule in embodiment of the automobile by this invention. It is a figure for demonstrating an example of the re-ride schedule in embodiment of the automobile by this invention.

The embodiment described below is an example in which the automobile is a so-called private automobile and is configured as an autonomous driving vehicle. Then, in this embodiment, the self-driving car 1 which is the embodiment of the automobile of the present invention can be used as shown in FIG.

First, this usage embodiment will be described, and an outline of the operation of the autonomous driving vehicle 1 of the embodiment will be described. The autonomous driving vehicle 1 of the embodiment shown below is assumed to be shared by a plurality of users, for example, shared by family members, relatives, and friends. The shared user registers in advance for the autonomous driving vehicle 1 as a registrant who plans to use the vehicle. The self-driving car 1 stores the registered information of the planned use registrant in the storage unit in association with the identification information consisting of the registrant number and the like. In this case, as the information of the registrant to be used, biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, telephone number or e-mail address are stored. ..

In this embodiment, the self-driving car 1 is also used as authentication reference information of the planned use registrant, which will be described later, by using the stored information of the planned use registrant alone or in combination of two or more. be. That is, as the authentication reference information of the registrant who plans to use it, biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, telephone number or e-mail address, etc. are used independently. Or, a plurality of them can be used in combination.

The face image of the planned use registrant can be taken by the camera provided in the automatic driving vehicle 1, and other biometric information of the planned use registrant is stored in the memory of the automatic driving vehicle 1 in advance. It can be used. In addition, other information can be used as entered by the registrant who plans to use the service. Further, the biometric information including the facial image and other information stored in the cloud can be used via the communication network 3 described later. Further, the face image of the planned use registrant can be taken by the camera of the mobile phone terminal owned by the user, and other biometric information and other information of the planned use registrant can be carried in advance. It is also possible to use what is stored in the memory of the telephone terminal.

In the example of FIG. 1, a user 2A who is a member of a family, for example, who is stored as a registered user in the self-driving car 1 uses the self-driving car 1 (for example, drives) and returns to his / her home 4 automatically. Get off from driving car 1 and enter home 4. In this case, the user 2A plans to re-board the self-driving car 1 after getting off the self-driving car 1 while getting on the self-driving car 1 or when getting off from the self-driving car 1, if necessary. In addition to inputting the information of, the behavior after getting off the automatic driving vehicle 1 after getting off is set.

As the information on the re-boarding schedule, the user 2A has a schedule to prohibit another person's boarding and secure his / her re-boarding, or has a plan to re-board himself / herself, as described later. If there is a request for boarding of another scheduled use registrant, if you allow it, you can enter a schedule to allow the use of the other scheduled use registrant, or there is no plan to re-board (end of use) Enter the schedule such as. Further, the user 2A instructs the user 2A to move to the parking lot 5 slightly away from the home 4, for example, as a behavior after getting off.

The self-driving car 1 receives the input information on the re-ride schedule, and inputs the information on the re-ride schedule to the input person (hereinafter referred to as a schedule input person; user 2A in FIG. 1) for identification information. (It becomes information for authentication reference as described later) and is stored in the storage unit in association with the connection information for wireless communication with the scheduled input person. The self-driving car 1 validates the stored information on the re-boarding schedule after confirming the disembarkation of the schedule input person.

In this case, as the identification information of the schedule input person and the connection information for wireless communication with the schedule input person, when the schedule input person is a usage schedule registrant like the user 2A. Is extracted from the stored information of the planned use registrant and used. As the connection information for wireless communication with the schedule input person, the telephone number or e-mail address of the mobile phone terminal possessed by the schedule input person is used. Further, when the schedule input person is not the usage schedule registrant stored in the automatic driving vehicle 1, the automatic driving vehicle 1 may take a face image of the schedule input person, or give a name or password from the schedule input person. Etc. are acquired and used as identification information, and connection information such as a mobile phone number and an email address is acquired and stored in association with the input scheduled information.

That is, as the authentication reference information of the person who entered the information scheduled to be re-boarded, biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, telephone number or mail Addresses and the like can be used alone or in combination of two or more.

Further, in this embodiment, the autonomous driving vehicle 1 has a function of moving by autonomous driving by unmanned driving. The self-driving car 1 moves to the parking lot 5 in the example of FIG. 1 by autonomous driving by unmanned driving according to the instruction of the behavior after getting off set by the user 2A.

The self-driving car 1 of this embodiment has a function of performing communication through a communication network 3 including a mobile phone network and the Internet. Then, when the self-driving car 1 receives a call through the mobile phone network of the communication network 3, it authenticates the user (caller in FIG. 1) 2B who has made the call, and when the authentication is possible, the self-driving car 1 authenticates. Move to the place specified by the user 2B who made the call.

In this embodiment, the user of the mobile phone terminal installs the application program for calling the self-driving car 1 in advance on the mobile phone terminal that calls the self-driving car 1. Then, when the user calls the self-driving car 1 using the application program for calling the mobile phone terminal, the user automatically makes a call to the wireless communication unit of the self-driving car 1 at that time. In addition, as the position information of the place where the self-driving car 1 is called and waits, in this embodiment, a call request to which the information of the current position of the mobile phone terminal is added is sent to the self-driving car 1. When the caller can be authenticated, the self-driving car 1 moves toward the place indicated by this position information.

In this case, as the authentication for the caller, in the automatic driving vehicle 1 of this embodiment, first, the first call is made as to whether or not the caller is a planned use registrant registered in the automatic driving vehicle 1. Person authentication is performed using the stored information of the planned use registrant as authentication reference information, and if the person is not the planned use registrant, the call is rejected in this embodiment.

Then, when it is determined that the caller is the registered user as a result of the first caller authentication, the autonomous driving vehicle 1 determines whether or not the information on the valid re-ride schedule is stored. , When the schedule information is not stored, the call by the scheduled use registrant is accepted and the user moves to the location indicated by the location information included in the call request.

In addition, as a result of the first caller authentication, when it is determined that the caller is a registered user, and it is determined that the information on the valid re-ride schedule is stored, the automatic operation is performed. The second caller authentication for the caller is performed using the authentication reference information for the input person (scheduled input person) of the information of the schedule for re-boarding stored in the storage unit of the vehicle 1.

Then, when it is determined in the second caller authentication that the caller is the schedule input person, the automatic driving vehicle 1 accepts the call by the schedule input person who is the caller and is included in the call request. Move to the location indicated by the information.

Further, when it is determined in the second caller authentication that the caller is not the schedule input person, the autonomous driving vehicle 1 can be used by a person other than the schedule input person by referring to the stored schedule information. Judge sex. Then, when the schedule information denies the availability of a person other than the schedule input person, the automatic driving vehicle 1 refuses the call by the caller.

In addition, when it is determined in the second caller authentication that the caller is not the schedule input person, the schedule information may be used by a user other than the schedule input person with the permission of the schedule input person. If it indicates that there is, the automatic driving vehicle 1 asks the schedule input person as the permission certifier whether or not to allow the call of other usage schedule registrants, and responds to the inquiry. Based on this, caller authentication (third caller authentication) is performed.

That is, in the third caller authentication, the autonomous driving vehicle 1 connects a communication path with the schedule input person by using the connection information of the schedule input person, and permits the call of other scheduled use registrants. Ask the schedule input person whether or not to do so. In response to this inquiry, the schedule input person answers the call permission when allowing the call of other planned use registrants, and the call disapproval answer when rejecting the call of other planned use registrants. do. In this case, in this embodiment, the information about the other scheduled use registrants is not sent to the re-boarding schedule input person, but the biometric information such as the face image of the other scheduled use registrants and the name are not sent. Information that can recognize who the other scheduled use registrants are may be sent to the re-boarding schedule input person as reference information for deciding whether or not to call.

In this third caller authentication, the autonomous driving vehicle 1 receives an answer to an inquiry from the schedule input person through the communication path, and determines whether or not to call the caller based on the received answer. .. That is, when the answer of the call permission is received from the schedule input person, the automatic driving vehicle 1 responds to the call of another use schedule registrant. Further, when the call disapproval reply is received from the schedule input person, the autonomous driving vehicle 1 rejects the call of another scheduled use registrant. Then, the self-driving car 1 can authenticate the caller by the third caller authentication, and when responding to the request of the caller, the self-driving car 1 autonomously moves to the designated standby place.

It should be noted that the call may be rejected without authenticating the caller for the call operation by the caller during use such as while the autonomous driving vehicle 1 is running. In this case, the autonomous vehicle 1 may notify the caller of a voice message or a text message such as "Currently in use and cannot answer the call."

The authentication information in the first caller authentication and the second caller authentication described above includes biometric information such as a caller's face image, voice, fingerprint, vein, and iris, name, address, date of birth, ID, and so on. Use passwords, phone numbers, email addresses, etc. alone or in combination. The caller sends this authentication information from the mobile phone terminal to the autonomous driving vehicle 1 through the mobile phone network.

The caller's face image can be taken by the camera provided in the mobile phone terminal, and the caller's voice can be picked up by the microphone provided in the mobile phone terminal. Further, as the other biometric information of the caller, those stored in the memory of the mobile phone terminal in advance can be used. Further, as other information, the information input by the caller to the mobile phone terminal can be used. In addition, biometric information including facial images and other information stored in the cloud can be used via the communication network 3.

In the first caller authentication and the second caller authentication, the authentication reference information to be compared and referred to with the authentication information acquired from the above caller is stored in the storage unit of the automatic driving vehicle 1. You can use the information of the registered users. In the example described below, as an example of the caller's authentication information and the authentication reference information for the first caller authentication and the second caller authentication, the telephone number of the caller's mobile phone terminal is used. .. When the input of the information on the schedule for re-boarding is accepted, the telephone number of the mobile phone terminal of the schedule input person who is the authentication permitter for the second caller authentication is stored in association with the schedule information. ..

Next, in the automatic driving vehicle 1 of this embodiment, at the standby place designated by the call, the user who intends to newly start the use is authenticated about the user at the time of boarding (passenger user authentication). This is performed so that only the user who can be authenticated can use the self-driving car 1, that is, drive the self-driving car 1. As shown in the example of FIG. 1, the standby place is not only when the user moves once and then moves in response to the call by the caller, but also stops or parks at that position without moving at the time of the previous disembarkation. Including the case.

In this case, as for the authentication of the user at the time of boarding, in the automatic driving vehicle 1 of this embodiment, first, the user who is going to get on the vehicle is a planned use registrant registered in the automatic driving vehicle 1. The first passenger authentication of whether or not is performed by using the stored information of the planned use registrant as the authentication reference information, and if the user is not the planned use registrant, in this embodiment, the own vehicle (automatic driving) is performed. Refuse the use of the car 1 itself) and prohibit it.

Then, as a result of the first boarding user authentication, when it is determined that the user who is going to board the vehicle is a registered user, the self-driving car 1 stores information on the valid re-boarding schedule. If the schedule information is not stored, the registrant who plans to use the vehicle is allowed to use the vehicle.

In addition, as a result of the first boarding user authentication, when it is determined that the user who is going to board is a registered user, it is determined that the information on the valid re-boarding schedule is stored. At that time, the second boarding user authentication for the user who is going to board is used by using the authentication reference information for the schedule input person of the information of the re-boarding schedule stored in the storage unit of the automatic driving vehicle 1. I do.

Then, when it is determined in the second boarding user authentication that the user who is going to board is the schedule input person, the autonomous driving vehicle 1 permits the schedule input person to use the own vehicle.

Further, in the second passenger authentication, when it is determined that the user who is going to board is not the schedule input person, the autonomous driving vehicle 1 refers to the stored schedule information and is not the schedule input person. Judge the availability of a person. Then, when the schedule information denies the availability of a person other than the schedule input person, the self-driving car 1 refuses to use the own vehicle by the user who is going to get on the vehicle and prohibits it. To.

In addition, when it is determined by the second boarding user authentication that the user who is going to board is not the schedule input person, the schedule information can be obtained by a user other than the schedule input person with the permission of the schedule input person. If it indicates that there is a possibility of use, the automatic driving vehicle 1 inquires of the schedule input person as a permit certifier whether or not to permit the use of other use schedule registrants. Based on the answer to the inquiry, the third passenger authentication is performed for the user who is going to board.

That is, in the third passenger authentication, the self-driving car 1 connects a communication path with the schedule input person by using the connection information of the schedule input person, and the own vehicle of another planned use registrant. Ask the schedule input person whether or not to allow the use of. In response to this inquiry, the schedule input person responds with permission to use when allowing the use of other scheduled users, and responds with disapproval when refusing to use other scheduled users. do. In this case, in this embodiment, the information about the other scheduled use registrants is not sent to the re-boarding schedule input person, but the biometric information such as the face image of the other scheduled use registrants and the name are not sent. Information that can recognize who the other scheduled use registrants are may be sent to the re-boarding schedule input person as reference information for deciding whether or not to use the vehicle.

In this third passenger authentication, the self-driving car 1 receives an answer to an inquiry from a schedule input person through a communication path, and the self-driving car 1 is about a user who is going to board based on the received answer. Decide whether to use the car. That is, when the response of the usage permission is received from the schedule input person, the autonomous driving vehicle 1 permits the use of the own vehicle of another usage schedule registrant. Further, when the reply of the use prohibition is received from the schedule input person, the self-driving car 1 is made to refuse (prohibit) the use of the own vehicle of the other use schedule registrants.

As an example of the authentication information and the authentication reference information used for the first passenger authentication and the second passenger authentication, in this embodiment, the user's face image, voice, fingerprint, vein, and iris are used. The biometric information of the user such as is used. In the example described below, the face image of the registrant who is scheduled to be used is stored in the storage unit as the authentication reference information for the first passenger authentication. Further, as the authentication reference information for the second passenger authentication, the face image of the schedule input person is stored in the storage unit.

With reference to FIG. 1, the outline of the main operation of the autonomous driving vehicle 1 of this embodiment will be described. It is assumed that both the users 2A and 2B are registered as registrants scheduled to be used in the autonomous driving vehicle 1.

For example, in the example of FIG. 1, the user 2A himself who got off after inputting the information of the schedule for re-boarding into the self-driving car 1 calls the self-driving car 1 with his / her mobile phone terminal at home 4. Suppose you call. Then, in the first caller authentication, the automatic driving vehicle 1 of this embodiment authenticates the user 2A as a registrant to be used, and further, in the second caller authentication, the telephone number of the user 2A is used. Since it matches the telephone number of the mobile phone terminal stored in association with the information on the schedule for re-boarding, the user 2A is authenticated as the schedule input person. Therefore, the self-driving car 1 heads from the parking lot 5 to the home 4 of the user 2A in response to the call of the user 2A.

Then, when the self-driving car 1 arrives at the home 4, the user 2A tries to get on the self-driving car 1. At this time, the self-driving car 1 captures and acquires a face image of the user 2A who is about to get on the vehicle, and is stored as the acquired face image and the scheduled user information in the first passenger authentication. Authenticate user 2A as a planned user registrant from the user 2A. Further, the self-driving car 1 is a user from the acquired face image of the user 2A and the face image of the user 2A stored in association with the information of the re-ride schedule in the second passenger authentication. Authenticate 2A as the scheduled re-boarding person. Therefore, the self-driving car 1 permits the user 2A to use the own vehicle, assuming that the first passenger authentication and the second passenger user authentication can be performed.

Next, in the example of FIG. 1, another user 2B, who is not the user 2A who got off after inputting the information of the schedule for re-boarding into the autonomous driving vehicle 1, automatically drives at his / her home 4 with his / her mobile phone terminal. A case will be described in which a call is made to the car 1 to get on the self-driving car 1 and use it.

In this case, the automatic driving vehicle 1 can authenticate the user 2B as a scheduled user registrant in the first caller authentication, but in the second caller authentication, the telephone number of the user 2B. Is inconsistent with the telephone number of the mobile phone terminal of the user 2A who is the schedule input person, so it is determined that the authentication could not be performed.

Therefore, the self-driving car 1 determines the availability of a person other than the schedule input person by referring to the stored schedule information. Then, when the schedule information indicates that there is a possibility of use by a user other than the schedule input person with the permission of the schedule input person, the user 2A who is the schedule input person as the permission certifier is notified. On the other hand, an inquiry is made as to whether or not to allow the call of other scheduled use registrants, and a third caller authentication (with a plan to re-board) is performed based on the answer to the inquiry.

When the user 2A as the permission certifier replies the call permission, the autonomous driving vehicle 1 accepts the call of the user 2B and is the standby place designated by the user 2B. In the example of FIG. 1, the user Since 2B is a family member of user 2A, he heads to user 2A's home 4.

Then, when the self-driving car 1 arrives at the home 4, the user 2B tries to get on the self-driving car 1. Then, the self-driving car 1 authenticates that it is a registered user in the first passenger authentication, but is stored together with the information on the re-ride schedule in the second passenger authentication. Since the face image of the person 2A and the face image taken by the user 2B who has boarded the vehicle do not match, it is determined that the authentication could not be performed in the second passenger authentication.

At this time, the self-driving car 1 determines the availability of a person other than the schedule input person by referring to the stored schedule information in the same manner as at the time of caller authentication, and there is a possibility of use. When it is determined, the third passenger authentication is performed.

That is, when the self-driving car 1 indicates that the schedule information may be used by a user other than the schedule input person with the permission of the schedule input person, the schedule input person as a permission certifier The user 2A is inquired about whether or not to allow the use of other scheduled users, and the third passenger authentication is performed based on the answer to the inquiry.

In this third passenger authentication, the autonomous driving vehicle 1 connects a communication path with the user 2A by using the connection information of the user 2A who is the schedule input person, and registers another usage schedule. Ask user 2A, who is the schedule input person, whether or not to allow the user to use the user. When the user 2A responds to this inquiry with the boarding permission, the self-driving car 1 receives the answer and determines that the third boarding user authentication for the user 2B has been completed. Allow the use of user 2B. Further, when the user 2A replies that the boarding is not permitted, the self-driving car 1 receives the reply, determines that the third boarding user authentication for the user 2B could not be performed, and uses the self-driving car 1. Refuse (prohibit) the use of person 2B.

As described above, according to the self-driving car 1 of the embodiment, the user who is on board can input and store the information of the re-ride schedule in the self-driving car 1, and the information of the schedule is used. You can give priority to your own re-ride, and in some cases, allow other users to use it. Therefore, coordination with the person who intends to use (ride) next can be smoothly performed, and safety can be improved in terms of security.

[Hardware configuration example of autonomous vehicle 1]
An example of the hardware configuration of the autonomous driving vehicle 1 that realizes the above processing will be described below.

FIG. 2 is a block diagram showing a hardware configuration example of the electronic control circuit unit 10 of the autonomous driving vehicle 1 of this embodiment. The self-driving car 1 of this embodiment is an example in the case of an electric vehicle. However, the battery is not shown in FIG.

Further, the automatic driving vehicle 1 of this embodiment has an automatic driving mode and a manual driving mode. The manual driving mode is a mode in which the driver can drive according to the accelerator pedal operation, the brake pedal operation, the shift lever operation, and the steering operation (steering wheel operation), as in the case of a normal vehicle that is not an autonomous vehicle. Further, in the automatic driving mode, even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever, or the steering operation, the self-driving car 1 itself automatically (autonomously) avoids obstacles and goes on the path. This is the driving mode to change.

The driver of the self-driving car 1 can switch the self-driving car 1 running in the manual driving mode to the self-driving mode by a predetermined operation through, for example, the touch panel 112 described later, and while driving in the self-driving mode. , When the driver operates the accelerator pedal, brake pedal, shift lever or steering, it is configured to automatically return to the manual operation mode.

As shown in FIG. 2, the electronic control circuit unit 10 has a wireless communication unit 102, a motor drive control unit 103, and a steering drive control unit for a control unit 101 configured by mounting a computer through a system bus 100. 104, manual / automatic operation mode switching control unit 105, radar group 106, camera group 107, sensor group 108, surrounding moving object grasping unit 109, current position detection unit 110, display unit 111, touch panel 112, car navigation (hereinafter, car navigation) (Abbreviated as) Function unit 113, planned use registrant information reception unit 114, planned use registrant information storage unit 115, caller authentication unit 116, boarding user authentication unit 117, re-boarding schedule information reception unit 118, schedule input information Each of the storage unit 119, the behavior processing unit 120 after disembarkation, the behavior storage unit 121 after disembarkation, and the voice input / output unit 122 are connected.

A motor drive unit 131 is connected to the motor drive control unit 103. A steering drive unit 132 is connected to the steering drive control unit 104. A manual operation operation detection unit 133 is connected to the manual / automatic operation mode switching control unit 105. Further, a car navigation database 134 is connected to the car navigation function unit 113. Further, a microphone 135 and a speaker 136 are connected to the audio input / output unit 122.

In this embodiment, the wireless communication unit 102 has a function of performing communication such as telephone communication and e-mail communication through a mobile phone network. The control unit 101 performs a function of processing when a call request is received from the caller and a communication path with the authorized certifier (scheduled input person) through the wireless communication unit 102, and performs a third method. It is provided with a processing function for performing caller authentication and third passenger authentication as a software processing function.

Under the control of the control unit 101, the motor drive control unit 103 controls the supply of the drive signal to the motor drive unit 131 of the automatic driving vehicle 1 composed of the electric vehicle of this embodiment, and the automatic driving vehicle 1 To control the start of running, running speed control (including brake control and accelerator control), running stop, etc.

The steering drive control unit 104 controls the supply of the drive control signal to the steering drive unit 132 of the autonomous driving vehicle 1 of this embodiment under the control of the control unit 101 to control the course change of the autonomous driving vehicle 1. To do.

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

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

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

The radar group 106 is for measuring the distance to a person or an object existing around the vehicle of the autonomous driving vehicle 1, and includes a laser radar, a millimeter wave radar, and the like. Laser radars are embedded, for example near the ceiling and bumpers, and millimeter-wave radars are installed, for example, at the front and rear of the vehicle. It may have both a laser radar and a millimeter wave radar, or it may have only one. Further, other radars such as microwave radar may be used. In addition, sonar (not shown) can be used for purposes similar to radar.

The camera group 107 includes one or more cameras that photograph the inside of the self-driving car 1, and one or more cameras that photograph the surroundings outside the vehicle such as the front, side, and rear of the self-driving car 1. .. The camera that shoots the inside of the car is attached to the rear-view mirror (rear-view mirror, room mirror) installed between the driver's seat and the passenger seat, the upper part of the front window, etc., and the person (driver) sitting in the driver's seat. In addition to cameras that capture actions, it also includes cameras for capturing the actions of passengers (passengers) sitting in the passenger seat and rear-view seats. Further, the cameras that photograph the surroundings of the automatic driving vehicle 1 are attached to, for example, the left side and the right side of the rearview mirror, and two cameras (stereo cameras) that mainly photograph the left front and the right front of the automatic driving vehicle 1 and the like. , For example, a camera attached to a door mirror or a fender mirror of the automatic driving vehicle 1 to photograph the left and right sides, a camera for photographing the rear of the automatic driving vehicle 1, and the like.

The sensor group 108 includes an open / close detection sensor that detects the opening / closing of a door or an opening / closing of a window, a sensor for detecting the wearing of a seat belt, a seating sensor that detects that a passenger is seated in a seat such as a driver's seat or a passenger seat, and the like. In addition, it consists of a motion sensor (infrared sensor) that detects a person near the outside of the vehicle and various sensors for acquiring information that assists automatic driving. Various sensors for acquiring auxiliary information for automatic driving include, for example, a vibration sensor for detecting the vibration of a vehicle or a tire, a rotation speed sensor for detecting the rotation speed of a tire, and a rotation speed sensor for detecting an orientation. It includes geomagnetic sensors, acceleration sensors for detecting acceleration, gyro sensors (gyroscopes) for detecting angles and angular velocities, and the like. Further, in this embodiment, the sensor group 108 also includes a sensor for detecting the lighting of a right turn signal, a left turn signal (direction indicator), and a hazard lamp (emergency flashing light).

The surrounding moving object grasping unit 109 uses the captured images of the radar group 106, the sensor group 108, and the camera group 107 to grasp the moving objects (including a person) around the own vehicle. The surrounding moving object grasping unit 109 grasps surrounding obstacles and moving objects by performing processing based on, for example, Bayesian theory.

The current position detection unit 110 receives radio waves from GPS satellites and detects the current position of the own vehicle. Since the current position detection unit 110 has poor accuracy of the position detected by the radio wave from the GPS satellite, not only the information of the current position detected by the reception of the radio wave from the GPS satellite but also the information of the current position included in the sensor group 108 1 to 1. By using multiple sensors, captured images of radar group 106 and camera group 107 (combined with navigation function), and performing processing based on, for example, Bayesian theory, it is necessary to detect and confirm the current position with higher accuracy. I have to.

In the autonomous driving mode, the autonomous driving vehicle 1 has the position information acquired by receiving radio waves from the radar group 106, the camera group 107, the sensor group 108, and the GPS satellite in the current position detection unit 110 and the surrounding moving body grasping unit 109 in the automatic operation mode. Various information such as, that is, information corresponding to information obtained from human eyes and ears is processed by Bayesian theory, and based on this, the control unit 101 performs intellectual information such as changing the course of the own vehicle and avoiding obstacles. Processing (artificial intelligence) and control (artificial intelligence) are performed to generate automatic driving operation information.

The display unit 111 includes, for example, an LCD (Liquid Crystal Display). The touch panel 112 is arranged by superimposing a touch sensor capable of touch input by a finger on the display screen of the display unit 111 made of an LCD. On the display screen of the display unit 111, a display image including software buttons (including a button for inputting characters on the keyboard) is displayed based on the control of the control unit 101. Then, when the touch panel 112 detects a touch by a finger on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101. In response to this, the control unit 101 is configured to execute the control process corresponding to the software button.

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

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

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 information on the separation direction and the distance, and also informs the own vehicle. When the current position of the vehicle is on the route to the destination, the control unit 101 is notified of the change instruction information of the route direction along the route in front of the intersection or the branch point on the route as the vehicle moves. To do. The control unit 101 instructs the own vehicle on the route based on the information notified from the car navigation function unit 113, the current position confirmation result of the current position detection unit 110, and the grasp result of the surrounding moving body grasping unit 109. The motor drive unit 131 is controlled through the motor drive control unit 103, and automatic driving operation information for controlling the steering drive unit 132 is generated through the steering drive control unit 104 so as to move along the route as set. .. Therefore, the self-driving car 1 can move to the destination even when the passenger is unmanned by the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode.

The planned use registrant information reception unit 114 receives registration information such as family members who are planning to use the automatic driving vehicle 1 of this embodiment as information of the planned use registrant, and the accepted use schedule registrant. Information is stored in the information storage unit 115 of the registrant who is scheduled to use.

That is, in the automatic driving vehicle 1 of this embodiment, when the user selects the item of "registration of planned use registrant" from the processing menu displayed on the display screen of the display unit 111, for example, the registrant of the planned use The information reception unit 114 is activated, and the registration mode is set for the information of the registrant who is scheduled to use the service. However, the registration mode of the planned use registrant is enabled only when the authentication is obtained by the ID and password set in advance by the owner of the autonomous driving vehicle 1, for example.

Then, the usage schedule registrant information storage unit 115 receives the information of the usage schedule registrant input by the input operation of the user through the touch panel 112, and stores it in the usage schedule registrant information storage unit 115.

As mentioned above, the information of the registrants to be used includes biometric information such as face image, voice, fingerprint, vein, and iris, name, address, date of birth, ID, password, and telephone number (telephone number of mobile phone terminal). ) Or e-mail address etc. are memorized. The face image of the registrant who is scheduled to be used is photographed and stored by a predetermined camera in the camera group 107.

In this embodiment, the face image of the planned use registrant among the registered information of the planned use registrant stored in the planned use registrant information storage unit 115 is the first and second passenger authentication. It is used as authentication reference information for. Further, the telephone number of the mobile phone terminal among the registration information of the planned use registrant stored in the planned use registrant information storage unit 115 is used as the authentication reference information for the first and second caller authentication. At the same time, it is used as connection information for connecting the authentication authorized person and the communication path at the time of the third passenger authentication and the third caller authentication.

The caller authentication unit 116 performs the first caller authentication, the second caller authentication, and the third caller authentication described above. In this embodiment, as the authentication reference information in the first caller authentication, the telephone number of the mobile phone terminal, which is the connection information of the planned use registrant stored in the planned use registrant information storage unit 115, is used. .. Further, as the authentication reference information in the second caller authentication, the telephone number of the mobile phone terminal, which is the connection information of the scheduled input person stored in the scheduled input information storage unit 119, which will be described later, is used. Then, as the connection information of the authentication authorized person in the third caller authentication, the telephone number of the mobile phone terminal, which is the connection information of the scheduled input person stored in the scheduled input information storage unit 119, which will be described later, is used. Of course, the connection information of the authentication authorized person in the first caller authentication, the second caller authentication, and the third caller authentication is not limited to the telephone number of the mobile phone terminal, but may be an e-mail address or the like.

The passenger user authentication unit 117 performs the above-mentioned first passenger user authentication, second passenger user authentication, and third passenger user authentication. In this embodiment, the face image of the planned use registrant stored in the planned use registrant information storage unit 115 is used as the authentication reference information in the first passenger authentication. Further, as the authentication reference information in the second passenger authentication, the face image of the scheduled input person stored in the scheduled input information storage unit 119, which will be described later, is used. As the connection information of the authentication authorized person in the third passenger authentication, the telephone number of the mobile phone terminal, which is the connection information of the scheduled input person stored in the scheduled input information storage unit 119, which will be described later, is used.

In this embodiment, the re-boarding schedule information reception unit 118 determines whether or not the passenger on board is a usage schedule registrant stored in the usage schedule registrant information storage unit 115, and plans to use the vehicle. If it is determined that the passenger is a registrant, when the passenger stops driving the motor drive unit 131 of the autonomous driving vehicle 1 and tries to get off, a list of a list of plans for re-boarding for the passenger. And prompts you to select and enter information about your re-boarding schedule.

In this embodiment, the determination as to whether or not the passenger is a planned use registrant stored in the planned use registrant information storage unit 115 is determined by the use schedule stored in the planned use registrant information storage unit 115. The re-boarding schedule information reception unit 118 determines from the collation result between the face image of the registrant and the face image of the passenger taken by the camera in the camera group 107. When the re-boarding schedule information reception unit 118 determines that the passenger is not a registered user, the re-boarding schedule information reception unit 118 does not perform a process of prompting the input of the re-boarding schedule information. Then, when the re-boarding schedule information reception unit 118 determines that the passenger is the planned use registrant, the passenger recognizes which of the planned use registrants the passenger is. Will be done.

Then, the re-boarding schedule information reception unit 118 receives the information on the re-boarding schedule selected and input by the passenger who is one of the scheduled use registrants, and the information of the passenger who input the schedule (the schedule input person's information). Information) and stored in the schedule input information storage unit 119.

As the information of the schedule input person, in this embodiment, the authentication reference information for the second caller authentication, the authentication reference information for the second passenger user authentication, and the third caller It is used as the connection information of the prospective input person who is the authorized certifier at the time of authentication and the third passenger user authentication.

In this embodiment, the authentication reference information for the second caller authentication is the telephone number of the mobile phone terminal of the schedule input person, and the authentication reference information for the second passenger authentication is the schedule input. It is the information of the face image of the person, and the connection information of the schedule input person who is the authorized certifier at the time of the third caller authentication and the third passenger user authentication is the telephone number of the mobile phone terminal of the schedule input person. .. Therefore, in this embodiment, the information of the schedule input person stored in association with the input schedule information includes the information of the face image of the schedule input person and the telephone number of the mobile phone terminal possessed by the schedule input person. Will be done.

Then, as for the information of the schedule input person, the information of the usage schedule registrant recognized by the re-boarding schedule information reception unit 118 as described above is extracted from the usage schedule registrant information storage unit 115, and the schedule input information is stored. It is stored in the unit 119 in association with the scheduled information.

In this embodiment, the re-boarding schedule information reception unit 118 inputs information on the re-boarding schedule at the time of disembarkation only when there are a plurality of usage schedule registrants stored in the usage schedule registrant information storage unit 115. To encourage. This is because when there is only one scheduled user registrant, there is usually no use by other scheduled user registrants, so it is complicated for the passenger to inquire about the re-boarding schedule each time the passenger gets off. This is to avoid becoming.

In addition, for example, by selecting the item of "input of re-ride schedule" from the processing menu displayed on the display screen of the display unit 111, regardless of whether or not there is one registrant who plans to use the service. The passenger may be configured to enter a re-boarding schedule. In that case, the passenger can also input information on the re-boarding schedule during boarding, not when disembarking. Further, in this embodiment, a list of information on the schedule for re-ride is presented and the selection input of the schedule is accepted from the list. However, the passenger directly inputs characters or voice to re-ride. Of course, it may be configured to accept the input of the schedule information of.

Then, in this embodiment, the re-boarding schedule information reception unit 118 makes the schedule information stored in the schedule input information storage unit 119 valid when it is confirmed that the passenger has disembarked from the own vehicle. The confirmation of the occupant's disembarkation detects, for example, that the occupant is no longer in the vehicle from images taken by one or more cameras that capture the inside of the vehicle, and also detects the opening and closing of the door sensor in the sensor group 108. Do it by.

In this embodiment, the post-disembarkation behavior processing unit 120 receives the setting of the post-disembarkation behavior to be performed by the autonomous driving vehicle 1 by the passenger, and stores the received setting information in a storage unit (not shown). In this embodiment, the post-disembarkation behavior storage unit 121 registers and stores the post-disembarkation behavior scheduled by the user in advance. The post-disembarkation behavior processing unit 120 presents to the user a list of post-disembarkation behavior stored in the post-disembarkation behavior storage unit 121, and information on the post-disembarkation behavior selected and set by the passenger from the list. Accepts the settings of.

As an input method for setting the behavior after getting off, it is also possible to read out each behavior after getting off by voice. The control unit 101 is provided with a voice recognition function for that purpose. When the re-boarding schedule information receiving unit 118 described above accepts the input of the re-boarding schedule, it is configured to directly input the schedule instead of the list of schedule information as in this embodiment. Can also be configured to accept input of information on a re-ride schedule interactively by using the voice recognition function of the control unit 101.

Then, the post-disembarkation behavior processing unit 120 executes the behavior of the occupant's own vehicle after disembarkation based on the received post-disembarkation behavior. In this case, in the same manner as when the re-boarding schedule information reception unit 118 validates the input schedule information, the passenger gets off and confirms that there is no passenger in the own vehicle and accepts the information. Performs processing based on behavior after getting off. If the passenger does not set the behavior after getting off, the predetermined behavior after getting off may be automatically set and executed.

The voice input / output unit 122 takes in the sound picked up by the microphone 135 and sends it to the system bus 100 for the voice recognition processing function provided in the control unit 101, for example. Further, although not shown, the voice input / output unit 122 has a built-in memory for storing voice message data to be emitted to the outside, and converts the voice message data read from the memory into an analog voice signal. It has a built-in voice synthesizer and DA converter. Then, the voice input / output unit 122 supplies the voice message selected by the control of the control unit 101 to the speaker 136, and emits the sound to the outside as voice. As the voice message to be memorized, as described later, for example, a message prompting the user to enter the re-ride schedule such as "Please enter the re-ride schedule" or "Do you want to register the user schedule registrant?" Inquiry messages such as "Authentication", notification messages such as "Authentication could not be performed", and interactive messages for accepting behavior setting input after getting off are prepared.

Then, in the automatic driving vehicle 1 of the above-described embodiment, the authentication mode described above in the caller authentication unit 116 and the passenger user authentication unit 117 is turned on or off, and the re-boarding schedule information reception unit is used. It is configured so that the setting of whether to turn on or off the acceptance process in 118 can be performed through the touch panel 112. However, the on / off setting is possible only when the authentication is obtained by the ID and password set in advance by the owner of the autonomous driving vehicle 1, for example. The on / off setting of the authentication mode is the first caller authentication, the second caller authentication, the third caller authentication, the first passenger authentication, the second passenger authentication, and the second. Although it is possible to enable each of the passenger authentication of 3, in the embodiment described below, on / off of the authentication mode is the first caller authentication, the second caller authentication, and the third. It is set to be on and off for all of the caller authentication, the first passenger authentication, the second passenger authentication, and the third passenger authentication.

As described above, the electronic control circuit unit 10 of the autonomous driving vehicle 1 is configured, but among the processing blocks shown in FIG. 1, the motor drive control unit 103, the steering drive control unit 104, and the manual / automatic operation mode switching are performed. Control unit 105, surrounding moving object grasping unit 109, current position detection unit 110, car navigation function unit 113, usage schedule registrant information reception unit 114, caller authentication unit 116, passenger user authentication unit 117, re-ride schedule information reception unit Each processing function of 118, the behavior processing unit 120 after getting off the vehicle, and the voice input / output unit 122 can be realized as software processing performed by the control unit 101 by executing a program.

[Example of processing operation in the autonomous driving vehicle 1 of the embodiment]
Next, an outline of an example of the processing operation of the control unit 101 of the autonomous driving vehicle 1 when the passenger who was on the autonomous driving vehicle 1 tries to get off will be described.

In this embodiment, when the passenger who was in the autonomous vehicle 1 tries to get off, the autonomous vehicle 1 prompts the passenger to input a re-boarding schedule as necessary and gets off. Inquire whether to set the post-behavior. Then, as necessary, the passenger's schedule information is accepted, the passenger's post-disembarkation behavior setting input is accepted, and after the passenger's disembarkation, the received re-boarding schedule information and post-disembarkation behavior are received. Perform processing.

FIG. 3 is a flowchart for explaining an example of the flow of the processing operation executed by the control unit 101 of the electronic control circuit unit 10 of the autonomous driving vehicle 1 when the passenger gets off. The processing of each step in the flowchart of FIG. 3 is realized as software processing in which the control unit 101 executes each processing function of the re-boarding schedule information receiving unit 118 and the behavior processing unit 120 after disembarking. This will be explained as a case of doing so.

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

When it is determined in step S1 that the drive of the motor drive unit 131 has been stopped, it is generally expected that the occupant will disembark. Therefore, the control unit 101 re-boards before the occupant disembarks. Performs a process for determining whether to accept the input of the schedule information of. That is, when the control unit 101 refers to the usage schedule registrant information storage unit 115 and determines whether or not there is only one registered usage schedule registrant (step S3), and when it is determined that there is only one user, the control unit 101 determines. After step S11 in FIG. 4, the process proceeds to the processing routine for inputting the setting of the behavior after getting off, which will be described later.

Further, when it is determined in step S3 that there are a plurality of registered users scheduled to be used, the control unit 101 captures a face image of the passenger who is about to get off with one of the camera groups 107, and the control unit 101 captures the face image of the passenger who is about to get off. By comparing and referring to the face image and the face image of the planned use registrant stored in the planned use registrant information storage unit 115, it is determined whether or not the passenger who is about to get off is the planned use registrant. (Step S4).

When it is determined in step S4 that the occupant who is about to get off is not a registered user, the control unit 101 shifts to the processing routine for inputting the setting of the behavior after getting off, which will be described later, after step S11 in FIG. do.

Further, when it is determined in step S4 that the occupant who is about to get off is a registered user, the control unit 101 emits a message prompting the input of re-boarding from the speaker 136 as a voice message and a display unit. It is displayed on the display screen of 111, and further, in this embodiment, a list of selectable re-ride schedules is displayed on the display screen of the display unit 111 (step S5).

FIG. 5 shows an example of a list of re-ride schedules displayed on the display screen 111D of the display unit 111. In the list of schedules for re-boarding in FIG. 5, it is possible to select and input four types of schedules from schedule 1 to schedule 4.

Schedule 1 is scheduled to be selected when the passenger who is about to get off has a plan to re-board and wants to prohibit the use of other scheduled users. This schedule 1 is selected when the passenger who is about to get off wants to use the self-driving car 1 exclusively after getting off because of the requirement.

Schedule 2 has a plan to re-board by the passenger who is about to get off, but if there is a request for use by another plan registrant, it will be permitted after obtaining the approval of the plan input person. It is planned.

Schedule 3 has a plan to re-board by the passenger who is about to get off, but if there is a request for use by another plan registrant, it will be permitted without the approval of the plan input person. It is planned.

Schedule 4 is that there is no plan for re-boarding by the passenger who is about to get off, and the use will be terminated at the time of getting off the self-driving car 1.

The passenger who is about to get off inputs a check mark in any of the check boxes of Schedule 1 to Schedule 4, and operates the confirmation icon button 141 to confirm the selection input of the schedule information.

The re-boarding schedule is not limited to the case of selecting and inputting from the list of re-boarding schedules as described above, and the passenger may be able to input the schedule by voice input or character input.

The control unit 101 determines whether or not the selection input of the scheduled information by the passenger who is about to get off is accepted depending on whether or not the operation of the check mark and the confirmation icon button 141 is accepted (step S6), and determines that the acceptance is accepted. Occasionally, the information of the schedule selected and input (for example, the schedule number) is associated with the information of the schedule input person and stored in the schedule input information storage unit 119 (step S7). In this case, the control unit 101 uses the information of the planned use registrant recognized in step S4 (in this embodiment, the face image information and the telephone number of the mobile phone terminal) as the information of the schedule input person. It is extracted and acquired from the information storage unit 115. After this step S7, the process proceeds to the processing routine for setting and inputting the behavior after getting off, which will be described later, after step S11 in FIG.

In step S11 of FIG. 4, a message asking whether to set the behavior after getting off is displayed on the display screen of the display unit 111, and the sound is emitted as voice through the speaker 136.

The control unit 101 monitors and determines the response from the passenger to the inquiry in step S11 (step S12), and when it is determined that the passenger does not set the behavior after getting off, the control unit 101 determines that the behavior is not set after getting off. End the processing routine. In this case, at the position where the occupant gets off, the self-driving car 1 turns off the power while maintaining the power supply to the portion necessary for the processing during the stop while keeping the motor drive unit 131 stopped. Further, a predetermined behavior may be set in advance when the passenger does not set the behavior after getting off, and the behavior may be executed.

When it is determined in step S12 that the passenger has answered that the behavior after disembarkation is set, the control unit 101 displays the post-disembarkation behavior stored in the post-disembarkation behavior storage unit 119 as a list as shown in FIG. 6, for example. It is displayed on the display screen of the display unit 111 (step S13).

An example of the behavior after each disembarkation of the example of the list of FIG. 6 will be described.

"Move to the default parking lot" is to move the autonomous driving vehicle 1 to the pre-registered default parking lot after the passenger gets off, and the behavior after getting off by moving to the parking lot is It will be the end. Here, as the default parking lot, a plurality of parking lots can be registered, and "home parking lot", "company parking lot", "contract parking lot" and the like can be registered. Registration of a parking lot means to memorize the location information and the name (type) of the parking lot such as "home parking lot", "company parking lot", and "contract parking lot". When the passenger selects and sets this "move to the default parking lot" as the behavior after getting off, the passenger also selects and sets the name of the default parking lot. The default parking lot may be selected not only by the name but also by the place name such as the address.

In "wait until called at a nearby parking lot", the autonomous driving vehicle 1 searches for a parking lot near the passenger's disembarkation position, waits at that parking lot, and then the passenger automatically uses the mobile phone terminal to wait. When the telephone communication of the call is made through the wireless communication unit 102 of the driving vehicle 1, the automatic driving vehicle 1 returns to the place where the user got off in response to the call.

"Standby here" means that the self-driving car 1 stands by as it is at the place where the passenger gets off. Of course, if the place where the vehicle gets off is a parking prohibited place, the self-driving car 1 moves to a nearby parking place and stands by. In this case, the self-driving car 1 notifies the passenger of the fact that the vehicle has moved and the destination.

"Standby at point A" means that the self-driving car 1 waits at a place designated by the user and waits for the user to re-board. Point A is designated by the user when getting off. This point A may be set from the points registered in advance, for example, it may be specified on a map, it may be specified by inputting an address, or a identifiable building name may be specified. You may do it. It may also be two-dimensional coordinates of latitude and longitude (or three-dimensional coordinates including elevation). Further, if the point B can be specified by a telephone number, the telephone number may be input and specified.

Next, returning to the explanation of the flowchart of FIG. 4, the control unit 101 monitors the input operation of the passenger through the touch panel 112, and accepts the operation of selecting the behavior after getting off from the list displayed on the display screen. Wait (step S14). When it is determined in step S14 that the operation of selecting the behavior after disembarking from the list has been accepted, the control unit 101 performs a process for accepting the selected behavior after disembarking (step S15).

Next, when the control unit 101 determines whether or not the process for accepting the selected post-disembarkation behavior has been completed (step S16), and determines that the process for accepting the selected post-disembarkation behavior has been completed. , The selection information of the behavior after disembarkation selected by the passenger and the information accompanying the selection information are stored (step S17).

Next, the control unit 101 confirms that the occupant has disembarked by using a door sensor or the like, and determines whether or not the occupant is present (step S18). The presence or absence of a occupant is determined by a seating sensor composed of a weight sensor provided on the seat of the autonomous driving vehicle 1, a touch sensor that determines whether or not a person has touched the handle, and a camera group 107. It is determined from the image captured by the camera for photographing the passenger. Then, when the occupant is present, the occupant waits for the occupant to get off, and when it is determined in step S18 that the occupant has not disembarked, the control unit 101 stores the memorized after the selected disembarkation. The behavior is executed, and the schedule information stored in the schedule input information storage unit 119 is valid (step S19). In step S19, when the autonomous driving vehicle 1 travels and moves, the autonomous driving vehicle 1 autonomously travels in the automatic driving mode.

Next, in the automatic driving vehicle 1 of this embodiment, the authentication processing operation in the caller authentication unit 116 and the passenger user authentication unit 117 will be described below. In the following description, among the blocks shown in FIG. 2, the control unit 101 includes a motor drive control unit 103, a steering drive control unit 104, a manual / automatic operation mode switching control unit 105, and a surrounding moving body grasping unit 109. The case where each processing function of the current position detection unit 110, the car navigation function unit 113, the caller authentication unit 116, the passenger user authentication unit 117, and the voice input / output unit 122 is realized as software processing will be described.

<Call response processing>
7 and 8 and 9 are an example of the flow of the processing operation of the control unit 101 (including the processing content portion of the caller authentication unit 116) when the automatic driving vehicle 1 receives a call. It is a figure which shows the flowchart for demonstrating. In this embodiment, as described above, the call request for calling the autonomous driving vehicle 1 is made by invoking the application program from the mobile phone terminal in which the dedicated application program is installed in advance. In this case, the transmission signal from the mobile phone terminal to the autonomous driving vehicle 1 includes the call request and the information of the current position determined by the mobile phone terminal as the standby place.

The control unit 101 monitors the incoming call notification from the wireless communication unit 102, determines whether or not an incoming call has been detected (step S21), and if it determines that an incoming call has not been detected, performs other necessary processing. Perform (step S22), and then return the process to step S21.

When it is determined in step S21 that an incoming call has been detected, an automatic response is made (step S23), and the control unit 101 determines whether or not the incoming call is a call request (step S24), and determines that the incoming call is not a call request. Occasionally, the process proceeds to the corresponding processing routine for the incoming call (step S25).

When it is determined in step S24 that the incoming call is a call request, the control unit 101 authenticates the first caller. That is, in this example, the control unit 101 compares and refers to the telephone number of the mobile phone terminal of the planned use registrant stored in the planned use registrant information storage unit 115 and the telephone number of the other party who received the call (step S26). ), Determine whether they match (step S27), and perform the first caller authentication.

Then, in step S27, when it is determined that the telephone numbers do not match and the first caller authentication cannot be performed, the control unit 101 rejects the call and tells the caller that the call authentication cannot be performed. This process is terminated by sending a voice message such as "Reject the call." To disconnect the connected telephone path (step S28).

On the other hand, when the matching of the telephone numbers can be confirmed and the first caller authentication can be performed in step S27, the control unit 101 has schedule information about a valid re-ride in the schedule input information storage unit 119. Whether or not it is determined (step S29). When it is determined in step S29 that valid schedule information exists, the control unit 101 carries the schedule information stored in the schedule input information storage unit 119 as connection information of the schedule information input person (scheduled input person). The telephone number of the telephone terminal and the telephone number of the called party are compared and referred to (step S30), and it is determined whether or not they match (step S31), and the second caller authentication is performed.

Then, when the telephone numbers match and the second caller authentication can be performed in step S31, the process proceeds to step S41 in FIG. 8 and processing is performed according to the call after this step S41. Even when it is determined in step S29 that valid schedule information does not exist, the process proceeds to step S41 in FIG. 8 and processing is performed according to the call after this step S41.

In step S41, the caller is notified that the call will be answered. Then, the control unit 101 extracts and acquires the position information of the standby place sent from the caller (step S42). Next, the control unit 101 searches for a route to the standby location using the data of the car navigation database 134 by the function of the car navigation function unit 113, and predicts and calculates the time required to move to the standby location (). Step S43). Next, the control unit 101 transmits the predicted and calculated required time to the caller through the wireless communication unit 102 (step S44). Next, the control unit 101 disconnects the communication with the caller, activates the movement control routine to the standby location (step S45), and ends this processing routine.

Further, in step S31, when it is determined that the telephone numbers do not match and the second caller authentication cannot be performed, the control unit 101 performs the third caller authentication as follows. That is, the control unit 101 refers to the schedule information stored in the schedule input information storage unit 119 (step S51 in FIG. 9), and the stored schedule information can be used by anyone other than the schedule input person. It is determined whether or not the information is affirmative (step S52).

When the stored schedule information is, for example, schedule 1 in the example of FIG. 5, and the use of others is prohibited, in this step S52, the stored schedule information may be available to anyone other than the schedule input person. The control unit 101 rejects the call (step S53), assuming that the call is not affirmed. In this step S53, the control unit 101 sends a voice message such as "Call is rejected because the call authentication could not be performed" to the caller, and disconnects the connected communication path. After the processing of step S53 is completed, the control unit 101 ends this processing routine.

Further, if the stored schedule information is, for example, any of schedule 2, schedule 3, or schedule 4 in the example of FIG. 5, and the use of another person is not prohibited, the information is stored in step S52. It is determined that the information of the schedule is affirming the availability other than the schedule input person, and the control unit 101 determines whether or not the approval of the schedule input person is required to answer the call of the caller. (Step S54).

Then, when it is determined in step S54 that the stored schedule information is, for example, either schedule 3 or schedule 4 in the example of FIG. 5, and the approval of the schedule input person is not required, the control unit 101 determines. , Acquires the connection information of the schedule input person from the schedule input information storage unit 119, connects a communication path with the schedule input person, and notifies that the call of another schedule input registrant is accepted (step S55). ). After that, the control unit 101 advances the process to step S41 in FIG. 8, and performs the process according to the above-mentioned call after this step S41.

Further, when it is determined in step S54 that the stored schedule information is, for example, schedule 2 in the example of FIG. 5 and approval of the schedule input person is required, the control unit 101 connects the schedule input person. Information is acquired from the schedule input information storage unit 119, a communication path is connected to the schedule input person, and the schedule input person is inquired about whether or not another usage schedule registrant can be used (step S56). Then, the control unit 101 waits for the reception of a reply from the schedule input person regarding the availability of another usage schedule registrant (step S57), and when the control unit 101 determines that the response from the schedule input person is received, the response is received. It is determined whether or not the use of other scheduled users is permitted (step S58).

When it is determined in step S58 that the response from the schedule input person permits the use of another usage schedule registrant, the control unit 101 proceeds with the process to step S41 in FIG. Performs processing according to the above-mentioned call. Further, in step S58, when it is determined that the reply from the schedule input person does not permit the use of another usage schedule registrant, the control unit 101 proceeds to the process in step S53 and rejects the caller's call. And end this processing routine.

<Call movement control>
Next, an example of the call movement control routine activated in step S45 of FIG. 8 will be described with reference to FIG.

First, the control unit 101 sets the destination acquired in step S42 and indicated by the position information of the standby place as the destination, and executes the route search by the function of the car navigation function unit 113 with the departure point as the current position. Navigation (guidance) along the movement route (route) of the search result obtained as a result is started (step S61).

Then, the control unit 101 determines whether or not the vehicle has arrived at the destination while confirming the current position during movement (step S62), and when it is determined that the vehicle has not arrived at the destination, the control unit 101 reaches the predicted standby location. It is determined whether or not there is a significant delay of, for example, 10 minutes or more with respect to the time required for the movement (step S63), and if there is no significant delay, the process is returned to step S62, and the process is returned to step S62 and thereafter. Repeat the process of. When it is determined in step S63 that a large delay has occurred, the required time is recalculated, a communication path is regenerated with the caller, and the calculation result is notified to the caller (step S64). ). Then, the control unit 101 returns the process to step S62, and repeats the process after this step S62.

When it is determined in step S62 that the vehicle has arrived at the destination (standby location), the control unit 101 stops at the standby location and activates the call / boarding control routine (step S65). Then, the control unit 101 ends this call movement control routine.

<Ride user control>
Next, an example of a passenger control processing routine (including the processing content portion of the passenger user authentication unit 117) relating to a user (riding user) who intends to get on the autonomous driving vehicle 1 is shown in FIG. 11 and its continuation. This will be described with reference to FIGS. 12 and 13. This passenger control routine corresponds to the call ride control routine activated in step S45 described above in the case of the autonomous driving vehicle 1 that has moved to the designated meeting place by the call control routine described above. However, this passenger user routine is executed not only when the above-mentioned call control routine is executed, but also when the passenger tries to board the vehicle without making a call. ..

The control unit 101 monitors the detection of the user (riding user) who is going to get on the vehicle, and waits for the detection of the riding user (step S71). When the passenger is detected in step S71, the control unit 101 takes a face image of the passenger with a predetermined camera in the camera group 107 (step S72).

Next, the control unit 101 performs the first passenger user authentication. That is, in this example, the face image of the planned use registrant stored in the planned use registrant information storage unit 115 is compared and referred to with the face image of the passenger (step S73), and both face images are one. It is determined whether or not it is done (step S74).

When it is determined in step S74 that the face images do not match and the first user authentication could not be performed, the control unit 101 cannot drive the own vehicle (autonomous driving vehicle 1) because the authentication could not be performed. It is locked to the state so that it cannot be used (driving) by the passenger (step S81 in FIG. 12).

Then, the control unit 101 generates a voice message prompting the passenger to get off the vehicle, for example, by voice synthesis, and emits a sound through the speaker 136 to notify the passenger. (Step S82).

Next, the control unit 101 determines whether or not the disembarkation of the passenger has been confirmed (step S83), and when it is determined in this step S83 that the disembarkation of the passenger has not been confirmed, the control unit 101 determines. , Continue the process of step S83. When it is determined in step S83 that the disembarkation of the passenger has been confirmed, the vehicle is maintained in a locked state in which the vehicle cannot travel until the next registered user becomes the passenger (step S84). With the above, the control unit 101 ends the processing routine of the passenger.

Then, when it is determined in step S74 that the face images match and it is determined that the first passenger authentication has been performed, the control unit 101 determines that the schedule input information storage unit 119 is valid for re-boarding. Is present or not (step S75). When it is determined in step S75 that valid schedule information exists, the control unit 101 has a face image of the schedule information input person (scheduled input person) stored in the schedule input information storage unit 119 and a ride. The second passenger authentication is performed by comparing and referring to the user's face image (step S76), determining whether or not they match (step S77).

Then, in step S77, when the face images match and the second caller authentication can be performed, the passenger is allowed to use the own vehicle (step S78). In this case, in step S78, the passenger is notified that the use is permitted, and the scheduled information stored in the referenced schedule input information storage unit 119 is invalidated by erasing in this example. And. Of course, the scheduled information may not be deleted and may be saved with an invalid mark or the like.

Further, when the face image is determined to be inconsistent in step S77 and the second passenger user authentication cannot be performed, the control unit 101 performs the third passenger user authentication as follows. That is, the control unit 101 refers to the schedule information stored in the schedule input information storage unit 119 (step S91 in FIG. 13), and the stored schedule information can be used by anyone other than the schedule input person. It is determined whether or not the information is affirmative (step S92).

When the stored schedule information is, for example, schedule 1 in the example of FIG. 5, and the use of others is prohibited, in this step S92, the stored schedule information may be available to anyone other than the schedule input person. The control unit 101 shifts the process to step S81 in FIG. 12 and executes a process of refusing the use of the passengers after this step S81. In this case, in step S82, the control unit 101 sends a voice message such as "The boarding use authentication could not be performed, so the use is refused." Disconnect.

Further, if the stored schedule information is, for example, any of schedule 2, schedule 3, or schedule 4 in the example of FIG. 5, and the use of another person is not prohibited, the information is stored in step S92. It is determined that the information of the schedule is affirming the availability other than the schedule input person, and the control unit 101 needs to approve the schedule input person in order to respond to the usage request of the passenger. Determination (step S93).

Then, when it is determined in step S93 that the stored schedule information is, for example, either schedule 3 or schedule 4 in the example of FIG. 5, and the approval of the schedule input person is not required, the control unit 101 determines. , Acquires the connection information of the schedule input person from the schedule input information storage unit 119, connects a communication path with the schedule input person, and notifies that the vehicle is used by another scheduled user registrant. (Step S94). After that, the control unit 101 proceeds to the process in step S78 of FIG. 11 to allow the passengers to use the information, and the schedule input information storage unit 119 is stored in the schedule input information storage unit 119. Information is erased and invalidated, for example.

Further, when it is determined in step S93 that the stored schedule information is, for example, schedule 2 in the example of FIG. 5 and approval of the schedule input person is required, the control unit 101 connects the schedule input person. Information is acquired from the schedule input information storage unit 119, a communication path is connected to the schedule input person, and the schedule input person is inquired about whether or not another usage schedule registrant can be used (step S95). Then, the control unit 101 waits for the reception of a reply from the schedule input person regarding the availability of another usage schedule registrant (step S96), and when the control unit 101 determines that the response from the schedule input person is received, the response is received. It is determined whether or not the use of other scheduled users is permitted (step S97).

When it is determined in step S97 that the response from the schedule input person permits the use of another usage schedule registrant, the control unit 101 proceeds to the process in step S78 of FIG. 11 and is used by the passenger. Is enabled, and at the same time, the valid information on the re-ride schedule stored in the schedule input information storage unit 119 is deleted, for example, and invalidated. Further, when it is determined in step S97 that the reply from the schedule input person does not permit the use of another usage schedule registrant, the control unit 101 shifts the process to step S81 in FIG. 12, and this step S81. The process of refusing the use of subsequent passengers is executed. In this case, in step S82, the control unit 101 sends a voice message such as "The boarding use authentication could not be performed, so the use is refused." Disconnect.

[Effect of the above embodiment]
In the autonomous driving vehicle 1 of the embodiment described above, the user (caller) who intends to call the own vehicle is authenticated based on the information of the re-ride schedule input by the passenger, and at the same time, the user (caller) who intends to call the own vehicle is authenticated. Since the user who is going to board (the boarding user) is authenticated, the caller authentication and the boarding user authentication according to the convenience of the re-boarding of the schedule input person who entered the re-boarding schedule should be performed. Can be done.

Then, it has a remarkable effect that the coordination with the person who intends to use (ride) next can be smoothly performed and the safety can be improved in terms of security.

[Modified example of the above embodiment]
In the above-described embodiment, the case where the self-driving car 1 is a private car shared by family members and relatives has been described, but the self-driving car 1 is not limited to the private car and is shared by company employees. It may be a company car, a public car shared by members belonging to a local public body, or a car shared by other groups.

Further, in the above-described embodiment, in the caller authentication and the passenger authentication, if the information of the schedule that is valid is not stored, and when it is determined that the user is not the scheduled user registrant, the call or boarding is performed. Was banned. However, when it is determined that the caller and the user who intends to board the vehicle are not the registered users, is it okay to have a permit certifier such as the owner of the autonomous vehicle 1 permit the call or boarding? You may ask if you would like to, and allow the call or boarding based on the answer to the inquiry.

Further, in the above example, the automatic driving vehicle 1 is called when the caller or the passenger cannot be authenticated as the scheduled user in the first caller authentication or the first passenger authentication. And refused to use the boarding, so that the second caller authentication, the second boarding user authentication, the third caller authentication, and the second boarding user authentication were not performed. However, in the first caller authentication and the first passenger authentication, when the caller or the passenger cannot be authenticated as the scheduled user registrant, the owner of the automatic driving vehicle 1 or the schedule input person is notified. , Connect the communication path using the connection information, send information that can determine who the caller or the passenger is, such as the face image of the caller or the passenger, through the communication path, and permit or refuse the call or the use of the ride (not). It may be made to make a judgment of permission).

Further, whether or not the door of the own vehicle can be opened by a start possibility determining means for determining whether or not to start using the own vehicle for the automatic driving vehicle 1, for example, whether or not the door of the own vehicle can be opened by a key. Whether or not the drive unit of the own vehicle is activated by the key (or whether or not the drive unit of the own vehicle can be activated) can enable the start of use of the own vehicle. When it is determined by the passenger that the door of the vehicle has been opened by the key or the drive unit of the vehicle has been activated by the key, the vehicle is used by providing a means for determining whether or not the vehicle is used. Even when it is determined that the start of the operation is possible and it is not possible to authenticate that the passenger is a registered user in the first passenger authentication, the third passenger authentication is performed. You may want to do it. The key in this case is not limited to a mechanical key, but may be a card key or a wireless key that performs key authentication by collating key information wirelessly.

When the planned use registrant is registered in the automatic driving vehicle 1 and the key for the automatic driving vehicle 1 is configured to be possessed by all the registered planned use registrants, the first passenger is used. In the authentication, instead of performing authentication using biometric information such as the above-mentioned face image, whether or not the passenger has opened the door of his / her own vehicle using the key for the autonomous driving vehicle 1 or whether or not he / she has opened the door of his / her own vehicle. Authentication may be performed depending on whether or not the drive unit of the vehicle is activated. Of course, by authenticating the key itself possessed by the passenger, it can also be used for the first passenger authentication and the third passenger authentication.

Further, when the key of the registrant who plans to use the key is, for example, a key having a wireless communication function (including NFC (Near Field Communication)) and the key can be authenticated in advance by wireless communication, the door If the key is such that it can be opened and closed or the drive unit can be activated, the key authentication allows the key to be used before the door of the vehicle is actually opened. To determine whether it is possible to open the door of the own vehicle by, or whether it is possible to activate the drive unit of the own vehicle with the key before the drive unit of the own vehicle is actually activated. Can be done. Therefore, in the case of this type of key, the passenger can use the key to open the door of the vehicle or to activate the drive unit of the vehicle. It is possible to authenticate whether or not you are a registered user.

Further, in the above example, the user who can use the autonomous driving vehicle 1 is the planned use registrant stored in the planned use registrant information storage unit 115, so that the caller authentication and the boarding use authentication are performed respectively. In, the first caller authentication and the first passenger user authentication are performed. However, in the automobile according to the present invention, it is not essential to limit the users who can use the vehicle to the registered users. Therefore, in the automobile according to the present invention, the call authentication performs the second call authentication and the third caller authentication, and the passenger user authentication performs the second passenger user authentication and the third passenger user authentication. You can just do it.

In the example in which the user who can use the automatic driving vehicle 1 is not limited to the user scheduled to be used stored in the information storage unit 115, the schedule input person who has input the schedule for re-boarding. Information (authentication reference information such as a face image and connection information) is scheduled by the control unit 101 with a predetermined camera in the camera group 107 when the schedule input person inputs the information of the schedule for re-boarding. By capturing and acquiring the face image of the input person, or by prompting the schedule input person to input the connection information and acquiring the connection information input through the touch panel 112, the schedule input information storage unit 119 is scheduled. It is stored in association with the information of.

Then, in the third caller authentication and the third passenger authentication, the control unit 101 is unable to authenticate in the second caller authentication and the second passenger user authentication. Information that can be determined by the authorized person, such as a face image, can be obtained from the person to determine who the caller or the passenger is, and sent to the authorized person through the call path. By doing so, the authentication authorized person can determine who the caller or the passenger is from the received information, so that it becomes easy to determine whether or not to permit the call or the passenger. ..

In the above-described embodiment, the telephone number used as the authentication reference information in the caller authentication unit 116 is the telephone number of the mobile phone terminal, but the telephone number is not limited to the mobile phone terminal, and the fixed telephone telephone number or IP. Needless to say, it may be the telephone number of the telephone. You can also use an email address instead of a phone number. The e-mail address can be used not only on mobile phone terminals but also on PCs, tablets, watch-type terminals, eyeglass-type terminals, and the like. The same applies to the connection information for connecting the communication path with the schedule input person in the third caller authentication and the third passenger user authentication. In addition to telephone numbers and e-mail addresses, communication application software such as LINE (registered trademark) and IDs and nicknames used in SNS (social networking services) such as Facebook (registered trademark) can also be used.

In the above-described embodiment, the information on the current position is sent to the call request as the information on the standby location, but a location other than the current location may be specified as the standby location. In that case, the address or telephone number may be specified as the standby location information, such as "in front of the shop at the north exit of XX station on the XX line" or "the front entrance of the Ginza △△ department store". It may be specified. In that case, the self-driving car 1 searches for a standby place in the map information of the car navigation database 134 and detects the standby place, but if it cannot be detected, the self-driving car 1 Reference numeral 1 can be detected by accessing a map server or the like on the Internet through the wireless communication unit 102, searching for the information, and acquiring the result. In that case, the route search to the meeting place can be performed in cooperation with the map server, and the navigation can also be performed by using the service of the map server.

Further, although the automatic driving vehicle 1 in the above-described embodiment has an automatic driving mode and a manual driving mode, it may be configured only in the automatic driving mode. In this case, there is no manual operation mode, and therefore the manual / automatic operation mode switching control unit 105 and the manual operation operation detection unit 133 become unnecessary. Instead, an automatic operation control unit (not shown) that performs control processing for automatic operation is provided. In addition, in the automatic driving mode, the driver does not need to operate the accelerator pedal, brake pedal, shift lever, steering (steering wheel operation), etc., so the mechanism required for these operations is also unnecessary. Become.

Regarding the invention part related to the first user certification and the second user certification, the automobile is not limited to the autonomous driving vehicle, but the driving by the driver is indispensable, and the conventional automobile that does not have the automatic driving mode is also included. Can be applied. Of course, it is not limited to automobiles, but can be applied to all types of vehicles such as motorcycles, single-seater mobile objects, aircraft such as drones, motor boats, and ships such as ferries.

Further, since the above-mentioned autonomous driving vehicle can travel without a driver, the passenger is not limited to the driver, but may be a passenger seated in a passenger seat or a rear seat.

In the above-described embodiment, the self-driving car is an electric vehicle, but it may be another drive system such as a gasoline vehicle or a fuel cell vehicle. Further, the self-driving car may be able to travel not only by guidance by a car navigation system but also by guidance by an external radio wave from a traffic light, a signpost, or the like.

In the above-described embodiment, the planned use registrant information storage unit 115, the schedule input information storage unit 119, and the car navigation database 134 are installed in the own vehicle, but a part or all of these storage units are in the own vehicle. Instead, it can be installed on the cloud and used via the communication network 3. Further, a part or all of the authentication units such as the caller authentication unit 116 and the passenger user authentication unit 117 can be processed on the cloud via the communication network 3 instead of in the own vehicle.

Further, in the above-described embodiment, the first passenger authentication and the second passenger authentication use the face image of the passenger user, but the voice of the passenger user can also be used. When the passenger authentication is performed by the voice of the passenger, the voice of the passenger is picked up by the microphone 135 in the automatic driving vehicle 1, and the registered user is stored in the information storage unit 115. The passenger authentication unit 117 is configured to have a speaker voice recognition function, and the stored voice and the new user's voice picked up by the microphone 135 are stored. It is configured to perform passenger authentication by determining a match / mismatch.

Further, when the passenger authentication is performed by the fingerprint of the passenger, the automatic driving vehicle 1 is provided with a fingerprint reading device, and the fingerprint registrant information storage unit 115 is provided with the fingerprint of the registrant. Is stored, and the passenger authentication unit 117 is configured to have a fingerprint recognition function, and matches / disagrees between the stored fingerprint and the fingerprint of a new passenger obtained by the fingerprint reading device. By making a determination, passenger authentication is performed. Similar configuration changes make it possible to use veins, iris, and other biometric information.

Further, in the above-described embodiment, the information on the schedule for the next re-ride is input, but the information on the re-ride schedule is, for example, a schedule over a plurality of days such as during the day or two days. It may be information.

For example, as shown in FIG. 14, on a certain day, for example, when the time of disembarkation is 9:59, the schedule for re-boarding by the schedule input person is between 10:00 and 12:00 after disembarkation. , 12:00 to 15:00 and 15:00 to 20:00, and the schedule information for each time is from 10:00 as shown in FIG. Schedule 1 shown in FIG. 5 between 12:00, Schedule 2 shown in FIG. 5 between 12:00 and 15:00, Schedule 1 shown in FIG. 5 between 15:00 and 20:00, Suppose you enter the settings as follows. In the case of the example of FIG. 14, the schedule input person who has input the schedule information becomes the boarding user for each time in a plurality of schedules.

When the schedule information is such schedule information, the control unit 101 of the autonomous driving vehicle 1 manages the passage of time and performs caller authentication and / or passenger authentication based on a plurality of schedule information. To execute.

That is, in the control unit 101, the schedule information of the schedule 1 is valid from 10:00 to 12:00, and the information of the schedule 2 is valid from 12:00 to 15:00, and 15:00. The information of Schedule 1 is valid from to 20:00. Therefore, when there is a request for calling and boarding use between 10:00 and 12:00, the control unit 101 performs caller authentication and boarding user authentication based on the information of schedule 1 which is the schedule information. When the call is executed and there is a request for calling and boarding use between 12:00 and 15:00, the control unit 101 performs caller authentication and boarding user authentication based on the information of schedule 2 which is the schedule information. When there is a request for calling and boarding use between 15:00 and 20:00, the control unit 101 performs caller authentication and boarding user based on the information of schedule 1 which is the schedule information. Perform authentication. Then, the authentication authorized person in the third caller authentication and the third passenger user authentication based on the information of the schedule 2 is regarded as the schedule input person who has input the schedule information.

The schedule information may be presented by the self-driving car 1 side by presenting a schedule template so that necessary items can be input to the schedule template, or the schedule input person may directly input the schedule information. Further, it may be possible to input schedule information interactively with the autonomous driving vehicle 1. Further, the schedule information may be input by the mobile phone terminal possessed by the schedule input person and transmitted to the automatic driving vehicle 1.

The schedule in the example of FIG. 14 is a case where the schedule input person himself / herself becomes a re-ride passenger at each schedule, but as shown in FIG. 15, the schedule input person is a re-ride passenger at each schedule. Can be made different by setting a person other than yourself. In that case, the authentication reference information for the first and second call authentication and the authentication reference information for the first and second passenger authentication are not limited to the schedule input person, but each schedule. In this case, the telephone number of the mobile phone terminal of the re-ride person (planned rider) and biometric information such as a face image will be used.

Then, in the first and second caller authentication, it is authenticated whether or not the caller is either the schedule input person or the re-ride person (planned rider) at each schedule. To do so. In addition, the authentication permitter at the time of the third caller authentication and the third passenger user authentication can be either or both of the schedule input person and the re-boarder at each schedule. Is. Whether the caller's authentication target in the first and second caller authentication is the schedule input person or the re-ride person (planned rider) at each schedule, and the third caller. It is set by the schedule input person whether the authentication authorized person at the time of authentication and the third passenger authentication is the schedule input person or the re-ride person (planned rider) at each schedule. be able to.

Therefore, in the schedule input information storage unit 119 of the autonomous driving vehicle 1, in addition to the schedule information and the schedule input person's information, the information of the re-ride passenger each time is input and stored by the schedule input person. To. In this case, the information of the re-passenger at each schedule includes the authentication reference information (for example, a telephone number) for the first and second call authentication and the first and second passenger authentication. The authentication reference information (for example, a face image) and the connection information at the time of the third caller authentication and the third passenger user authentication are stored.

In this case, if all the set re-riders are scheduled use registrants, the re-rides stored in the planned use registrant information storage unit 115 in response to the selection instruction of the planned use registrant by the schedule input person. The passenger information is extracted and stored in the schedule input information storage unit 119. Further, if the re-ride passenger is not a registered user, the schedule input person directly inputs the above information of the re-ride passenger. In that case, the schedule input person may acquire the information of the re-ride passenger stored in the cloud and store it in the schedule input information storage unit 119.

Further, the above-described embodiment is information on the schedule for the next one re-ride, and is a case where the schedule input person himself / herself becomes the re-ride person. However, the schedule input person may specify a person other than himself / herself as the schedule information for the next one re-ride schedule. In that case, the scheduled information includes information on the re-ride (planned rider) (biological information such as a face image, authentication reference information including a telephone number, and a telephone number or email address as connection information). Is also included. Then, as in the case of the schedule shown in FIG. 15, if all the re-rides to be set are the scheduled use registrants, the scheduled use registrants according to the selection instruction of the scheduled use registrants by the schedule input person. The information of the re-ride passenger stored in the information storage unit 115 is extracted and stored in the schedule input information storage unit 119. The above information is entered directly.

Further, in the case of this example as well, in the first and second caller authentication, the caller is either the schedule input person or the re-ride person (planned rider) at the time of each schedule. Try to authenticate whether or not it exists. Further, the authentication permitter at the time of the third caller authentication and the third passenger user authentication can be either or both of the schedule input person and the boarding schedule person. Whether the caller's authentication target in the first and second caller authentication is the scheduled input person or the scheduled boarding person, and at the time of the third caller authentication and the third boarding user authentication. It is possible for the schedule input person to set whether the authentication authorized person is the schedule input person or the boarding schedule person.

1 ... Self-driving car, 3 ... Communication network, 10 ... Electronic control circuit unit, 101 ... Control unit, 102 ... Wireless communication unit, 107 ... Camera group, 111 ... Display unit, 112 ... Touch panel, 113 ... Car navigation function unit, 114 ... Scheduled use registrant information reception unit, 115 ... Scheduled use registrant information storage unit, 116 ... Caller authentication unit, 117 ... Ride user authentication unit, 118 ... Re-ride schedule information reception unit, 119 ... Schedule input information storage unit

Claims (48)

As a means of urging the passenger to enter the re-boarding schedule with whether or not to allow the use of others other than the passenger.
A storage means for storing the information on the re-ride schedule input in response to the prompt by the prompting means in the first storage unit, and
Whether or not to permit the user to use the own vehicle based on the information of the re-ride schedule stored in the first storage unit when the user who intends to use the own vehicle is detected. As a means of judging whether or not
A car characterized by being equipped with. The vehicle according to claim 1, wherein the urging means presents a list of re-ride schedules to the passengers and prompts them to select a re-ride schedule from the list. The vehicle according to claim 2, wherein the list includes "with / without scheduled re-ride" and / or "permit / prohibition of use by others" as options. The vehicle according to claim 3, wherein the selection of "permission to use by another person" includes a selection of "with / without approval of the passenger". The automobile according to claim 1, wherein the information on the schedule for re-boarding is accepted as voice input and / or character input in response to the prompting by the prompting means. The storage means stores the information on the re-ride schedule in the first storage unit together with the information on the passenger who has input the re-ride schedule.
The determination means means that the person who has input the re-ride schedule is the same person as the user who intends to use the own vehicle, or the re-ride is stored in the first storage unit. It is determined using the information of the passenger who entered the schedule, and when it is determined that the person is the same person, it is determined that the use of the own vehicle is permitted, and when it is determined that the person is not the same person, the schedule for re-boarding is scheduled. The vehicle according to any one of claims 1 to 5, wherein the vehicle is determined whether or not to allow the user who intends to use the vehicle to use the vehicle based on the information. Equipped with communication means
The storage means stores the information on the re-ride schedule in the first storage unit together with the information on the contact information of the passenger who has input the re-ride schedule.
The determination means means that the person who has input the re-ride schedule is the same person as the user who intends to use the own vehicle, or the re-ride is stored in the first storage unit. It is determined using the information of the passenger who entered the schedule, and although it is not the same person, the use of another person is permitted if the approval of the passenger is obtained based on the information of the schedule of the re-ride. When the determination is made, the contact information stored in the first storage unit is used to connect to the passenger who has entered the re-ride schedule through the communication means, and the passenger's approval is obtained. The automobile according to any one of claims 1 to 6, wherein the vehicle is to be used. The information of the passenger who has entered the re-ride schedule includes biometric information such as the face image, voice, fingerprint, vein, and iris of the passenger who has entered the re-ride schedule, name, address, date of birth, and so on. The vehicle according to claim 7, wherein the vehicle is an ID, a password, a telephone number, an e-mail address, or a combination of a plurality of them. A registration reception means that accepts the registration of a person who plans to use the vehicle as a planned use registrant and stores the information of the planned use registrant in the second storage unit.
A first determination means for determining whether or not the passenger is the planned use registrant based on the information of the planned use registrant stored in the second storage unit.
Equipped with
When the first determination means determines that the occupant is the planned use registrant, the urging means urges the occupant to input a re-ride schedule. The automobile according to any one of claims 1 to 8. A registration reception means that accepts the registration of a person who plans to use the vehicle as a planned use registrant and stores the information of the planned use registrant in the second storage unit.
After the passenger gets off, the second determination means for determining whether or not the user who intends to use the own vehicle is the planned use registrant based on the information of the planned use registrant.
Equipped with
The determination means is the information on the re-ride schedule stored in the first storage unit when the user is determined to be the usage schedule registrant by the second determination means. The vehicle according to any one of claims 1 to 9, wherein it is determined whether or not the user is permitted to use the vehicle based on the vehicle. A registration reception means that accepts the registration of a person who plans to use the vehicle as a planned use registrant and stores the information of the planned use registrant in the second storage unit.
After the passenger gets off, it is determined whether or not the user who intends to use the own vehicle is the planned use registrant based on the information or event related to the planned use registrant. And the means of discrimination
Equipped with
The determination means is the information on the re-ride schedule stored in the first storage unit when the user is determined to be the usage schedule registrant by the second determination means. The vehicle according to any one of claims 1 to 9, wherein it is determined whether or not the user is permitted to use the vehicle based on the vehicle. When the second discriminating means determines that the user is the scheduled user registrant, it is determined whether or not the information on the re-ride schedule is stored in the first storage unit. With a third discriminating means
The claim is characterized in that, when the third determination means determines that the information on the re-ride schedule is not stored, the determination means determines that the user is permitted to use his / her own vehicle. 10 or the vehicle according to claim 11. The information of the planned use registrant includes biometric information such as face image, voice, fingerprint, vein, and iris of the planned use registrant, name, address, date of birth, ID, password, telephone number, communication application software, and SNS. The vehicle according to any one of claims 9 to 12, wherein the ID, the nickname, the e-mail address, or a combination of a plurality of IDs, nicknames, and e-mail addresses used in (Social Networking Service) is used. Equipped with a means for determining whether or not to start using the own vehicle,
When it is determined by the start possibility determination means that the use of the own vehicle can be started, the user who intends to use the own vehicle in the second determination means is not the planned use registrant. Whether or not the determination means permits the user to use his / her own vehicle based on the information on the re-ride schedule stored in the first storage unit even when the determination is made. The automobile according to any one of claims 10 to 13, wherein the automobile is characterized in that. The start possibility determination means is to start using the own vehicle depending on whether or not the door of the own vehicle is opened by using the key or whether or not the drive unit of the own vehicle is activated by using the key. The vehicle according to claim 14, characterized in that it is determined to be possible. The vehicle according to claim 15, wherein the key includes a wireless key. The information related to the planned use registrant is associated with the planned use registrant and stored in the second storage unit when the registration of the planned use registrant is accepted. The automobile according to any one of claims 11 to 16, wherein the information is for authentication reference. The storage means is characterized in that it stores the authentication reference information of the usage schedule registrant stored in the second storage unit as the information of the person who has input the re-boarding schedule. Cars listed in. The authentication reference information includes biometric information such as face image, voice, fingerprint, vein, and iris, name, address, date of birth, ID, password, telephone number, communication application software, and ID used in SNS (Social Networking Service). The vehicle according to claim 17 or claim 18, wherein the vehicle is characterized by either a nickname or an e-mail address, or a combination of a plurality of the same. The event related to the planned use registrant is that the planned use registrant possesses the key for his / her own vehicle.
The second determination means is whether or not the door of the own vehicle is opened by using the key, whether or not the door of the own vehicle can be opened, or whether or not the door of the own vehicle can be opened, or whether or not the own vehicle is used by the key. Whether or not the user who intends to use the own vehicle is the said planned use registrant, depending on whether or not the drive unit of the vehicle is activated or whether or not the drive unit of the own vehicle can be activated. The automobile according to any one of claims 11 to 16, characterized in that The automobile according to claim 20, wherein the key includes a wireless key. Any of claims 10 to 21, wherein when the second determination means determines that the user who intends to board the vehicle is not the registered user, the use of the own vehicle is prohibited. Cars listed in. The automobile according to any one of claims 1 to 22, wherein the first storage unit is provided on a cloud connected via a communication network. The automobile according to any one of claims 9 to 23, wherein the second storage unit is provided on a cloud connected via a communication network. The vehicle according to any one of claims 1 to 24, wherein the information on the re-ride schedule includes information on the re-ride passenger. The vehicle according to claim 25, wherein the information of the re-ride passenger is stored in a cloud connected via a communication network. 25. Or the automobile according to claim 26. 13. Car. It is a car that automatically drives by autonomous driving,
As a means of urging the passenger to enter the re-boarding schedule with whether or not to allow the use of others other than the passenger.
A storage means for storing the information of the re-ride schedule input in response to the prompt by the prompting means in the first storage unit in association with the information of the passenger who input the re-ride schedule. ,
Communication means and
When a caller who intends to call the own vehicle receives a call request through the communication means, the information acquired from the caller and the re-ride schedule stored in the first storage unit are input. A first determination means for determining whether or not the caller is the passenger who has input the re-ride schedule based on the passenger information.
When it is determined by the first determination means that the caller is not the passenger who has input the re-ride schedule, the information on the re-ride schedule stored in the first storage unit is used. Based on the second determination means for determining whether or not to allow the caller to call the own vehicle,
A car characterized by being equipped with. The vehicle according to claim 29, wherein the urging means presents a list of re-ride schedules to the passengers and prompts them to select a re-ride schedule from the list. The vehicle according to claim 30, wherein the list includes "with / without scheduled re-ride" and / or "permit / prohibition of use by others" as options. The vehicle according to claim 31, wherein the selection of "permission to use by another person" includes a selection of "with / without approval of the passenger". The vehicle according to claim 29, wherein the information on the schedule for re-boarding is accepted as voice input and / or character input in response to the prompting by the prompting means. The storage means stores the information on the re-ride schedule in the first storage unit together with the information on the contact information of the passenger who has input the re-ride schedule.
When it is determined by the first determination means that the caller is not the passenger who has input the re-ride schedule, the information on the re-ride schedule is the boarding in which the re-ride schedule is input. A third means of determining whether or not the use of another person is permitted with the approval of the person, and
When the third determination means determines that the information on the re-ride schedule is permitted to be used by another person with the approval of the passenger who has entered the re-ride schedule. When the contact information stored in the first storage unit is used to connect to the passenger who has entered the re-ride schedule through the communication means and the passenger's approval is obtained. The vehicle according to any one of claims 29 to 33, wherein the caller is allowed to call. The vehicle according to claim 34, wherein information that can determine who the caller is is sent to the passenger through the communication means so that approval from the passenger is obtained. When the passenger is connected to the passenger who has input the re-ride schedule through the communication means and the call of the caller is permitted, the information of the re-ride schedule input by the approved passenger is used. The vehicle according to claim 34 or 35, which comprises erasing from the first storage unit or adding an invalid mark to the information of the re-ride schedule in the first storage unit. The storage means stores information on the schedule for re-boarding in the first storage unit, and stores the information on the schedule for re-boarding.
When it is determined by the first determination means that the caller is not the passenger who has input the re-ride schedule, the information on the re-ride schedule is the boarding in which the re-ride schedule is input. It is equipped with a fourth determination means for determining whether or not the use of another person is permitted without obtaining the approval of the person.
When it is determined by the fourth determination means that the information on the re-ride schedule is permitted to be used by another person without obtaining the approval of the passenger who entered the re-ride schedule. The caller is allowed to call without obtaining the approval of the passenger who has entered the re-ride schedule, and the information on the re-ride schedule input by the passenger is deleted from the first storage unit. The vehicle according to any one of claims 29 to 36, wherein the information of the re-ride schedule in the first storage unit is marked with an invalid mark. The vehicle according to claim 36 or 37, wherein the passenger who has entered the schedule for re-boarding is notified that the caller has been permitted to call. The vehicle according to any one of claims 29 to 38, wherein the call request includes information on a standby location. The automobile is an autonomous driving vehicle capable of autonomous driving.
The vehicle according to claim 39, wherein the vehicle moves autonomously to the standby location. The vehicle according to any one of claims 29 to 40, wherein when the caller receives a call request through the communication means and the vehicle is running, the call request is rejected. Any of claims 1 to 41, wherein the passenger inputs a plurality of re-ride schedules as information on the re-ride schedule and can store the schedule in the first storage unit. The self-driving car described in the crab. The person according to any one of claims 1 to 42, wherein the passenger can input schedule information of a plurality of re-boarding schedules having different times from each other as the re-boarding schedule information. automobile. It is an autonomous vehicle that can drive autonomously.
The vehicle according to any one of claims 1 to 43, wherein the passenger inputs information on the schedule for re-boarding and sets the behavior of the self-driving car after disembarking. The vehicle according to claim 44, wherein the setting of the behavior after disembarkation is made by selection from the list of behavior after disembarkation. The vehicle according to claim 44 or 45, wherein when the behavior after disembarkation is not set by the boarding, the predetermined behavior after disembarkation is executed. The computer that the car has
A means of encouraging passengers to enter their re-boarding schedule with whether or not to allow the use of others other than the passenger.
A storage means for storing the information of the re-ride schedule input in response to the prompt by the prompting means in the first storage unit.
Whether or not to permit the user to use the own vehicle based on the information of the re-ride schedule stored in the first storage unit when the user who intends to use the own vehicle is detected. Judgment means to judge whether
A program for automobiles to be executed as. A computer equipped with a vehicle that has communication means and automatically drives by autonomous driving,
A means of encouraging passengers to enter their re-boarding schedule with whether or not to allow the use of others other than the passenger.
A storage means for storing the information of the re-ride schedule input in response to the prompt by the prompting means in the first storage unit in association with the information of the passenger who input the re-ride schedule.
When a caller who intends to call the own vehicle receives a call request through the communication means, the information acquired from the caller and the re-ride schedule stored in the first storage unit are input. A first determination means for determining whether or not the caller is the passenger who has input the re-ride schedule based on the passenger information.
When it is determined by the first determination means that the caller is not the passenger who has input the re-ride schedule, the information on the re-ride schedule stored in the first storage unit is used. Second determination means for determining whether or not to allow the caller to call the own vehicle based on the above,
A program for automobiles to be executed as.

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