JP7257066B2 - Automotive and automotive programs - Google Patents

Description

The present invention relates to automobiles and automobile programs.

Conventionally, for the purpose of preventing vehicle theft, authentication reference information such as biometric information of a person planning to use a vehicle is registered and stored in advance, and the stored authentication reference information and the vehicle are stored. Authentication is performed by comparing and referring to the authentication information of the user who intends to use it, and whether or not the two match, and based on the authentication result, the opening and closing of the vehicle door and the start of the vehicle are controlled. Devices and methods have been proposed for this purpose (for example, see Patent Document 1 and Patent Document 2 below).

In this case, if it is assumed that the car will be used by multiple family members or multiple employees of the company, authentication of biometric information of all people who plan to use the car Reference information is registered in advance so that all of the plurality of prospective registrants can share the car.

JP 2010-208554 A JP 2011-025903 A

As described above, when multiple prospective registrants can use a car, it is unclear whether other prospective registrants want to use it, so they are confused whether they can start using it. It may happen.

In addition, there are cases in which, although oneself is planning to use the service, another registrant who intends to use the service may take the lead and become unable to use the service.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle that can be smoothly coordinated with a person who intends to use (ride in) the vehicle next time.

In order to solve the above problems, the invention of claim 1 is
registration accepting means for accepting information on a person who plans to use the own vehicle as a planned use registrant and storing the information on the planned use registrant in a first storage unit;
re-boarding information storage means for storing re-boarding schedule information in a second storage unit;
a first discriminating means for discriminating whether or not a person who intends to ride is the planned use registrant by using the information of the planned use registrant in the first storage unit;
When the first discriminating means discriminates that the person who intends to ride is the person who is scheduled to use the vehicle, it is determined whether or not the information on the plan to board again is stored in the second storage unit. a second discriminating means for discriminating;
use permitting means for permitting the person who intends to board the vehicle to use the vehicle when the second determination means determines that the information about the re-boarding schedule is not stored;
To provide an automobile characterized by comprising:

In the automobile of the first aspect of the present invention having the above configuration, a person who plans to use the own vehicle is accepted as a prospective registrant by the registration accepting means, and information of the prospective registrant is stored in the first storage unit. be done.

The first discriminating means discriminates whether or not the person who is going to board the vehicle is the planned use registrant by using the information of the planned use registrant in the first storage unit.

The second discriminating means determines whether or not the information about the re-boarding schedule is stored in the second storage unit when the first discriminating means discriminates that the person who intends to ride is the person who is scheduled to use the vehicle. is determined.

The use permitting means permits the person who intends to get on the vehicle to use the own vehicle when the second determining means determines that the information about the re-boarding schedule is not stored.

As a result, it is possible to provide a vehicle that allows smooth coordination with the next person who is going to ride in the vehicle.

According to the automobile according to the present invention, using the stored schedule information, it is possible to smoothly coordinate with the person who will ride next.

1 is a diagram for explaining a communication system including an embodiment of an automobile according to the invention; FIG. 1 is a block diagram showing a hardware configuration example of an example of an automatic driving vehicle that is an embodiment of an automobile according to the present invention; FIG. FIG. 3 is a diagram showing part of a flowchart for explaining an example of a processing operation when a user gets off the automatic driving vehicle in the example of FIG. 2 ; FIG. 3 is a diagram showing part of a flowchart for explaining an example of a processing operation when a user gets off the automatic driving vehicle in the example of FIG. 2 ; FIG. 3 is a diagram for explaining an example of an input screen for re-boarding schedule in the automatic driving vehicle of the example of FIG. 2 ; FIG. 3 is a diagram for explaining an example of a behavior list after getting off in the automatic driving vehicle of the example of FIG. 2; FIG. 3 is a diagram showing part of a flowchart for explaining an example of a processing operation corresponding to a call by a user in the automatic driving vehicle of the example of FIG. 2; FIG. 3 is a diagram showing part of a flowchart for explaining an example of a processing operation corresponding to a call by a user in the automatic driving vehicle of the example of FIG. 2; FIG. 3 is a diagram showing part of a flowchart for explaining an example of a processing operation corresponding to a call by a user in the automatic driving vehicle of the example of FIG. 2; 3 is a diagram showing a flowchart for explaining an example of a control operation for moving in response to a user's call in the automatic driving vehicle of the example of FIG. 2; FIG. FIG. 3 is a diagram showing part of a flowchart for explaining an example of processing operations when a user gets in the automatic driving vehicle of the example of FIG. 2 ; FIG. 3 is a diagram showing part of a flowchart for explaining an example of processing operations when a user gets in the automatic driving vehicle of the example of FIG. 2 ; FIG. 3 is a diagram showing part of a flowchart for explaining an example of processing operations when a user gets in the automatic driving vehicle of the example of FIG. 2 ; FIG. 4 is a diagram for explaining an example of a re-boarding schedule in an embodiment of the automobile according to the present invention; FIG. 4 is a diagram for explaining an example of a re-boarding schedule in an embodiment of the automobile according to the present invention;

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

First, this form of utilization will be described, and an outline of the operation of the automatic driving vehicle 1 of the embodiment will be described. The automatic driving vehicle 1 of the embodiment shown below is assumed to be shared by a plurality of users, for example, shared among family members, relatives, and friends. A shared user registers in advance with the automatic driving vehicle 1 as a scheduled use registrant. The automatic driving vehicle 1 associates the information of the registered planned use registrant with the identification information such as the registrant number and stores it in the storage unit. In this case, as the information of the prospective registrant, 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 stored. .

In this embodiment, the self-driving vehicle 1 uses the stored information of prospective registrants singly or in combination as information for reference to authentication of prospective registrants, which will be described later. be. That is, as the information for authentication reference of the prospective registrant, biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, telephone number or e-mail address, etc. or in combination.

The facial image of the prospective registrant can be taken by the camera provided in the automatic driving vehicle 1, and the other biometric information of the prospective registrant is stored in the memory of the automatic driving vehicle 1 in advance. can be used. In addition, other information input by the prospective registrant can be used. Biometric information including face images and other information can also be stored in the cloud and used via the communication network 3, which will be described later. Furthermore, the facial image of the prospective registrant may be taken with a camera provided in the mobile phone terminal owned by the prospective registrant. 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 the family, for example, who is stored in the automatic driving vehicle 1 as a planned use registrant, uses (for example, drives) the automatic driving vehicle 1, returns to the home 4, and automatically Get off the driving car 1 and enter the house 4. In this case, the user 2A, while getting into the automatic driving vehicle 1, or when getting off the automatic driving vehicle 1, asks the automatic driving vehicle 1 if necessary. , and set the post-getting behavior that the automatic driving vehicle 1 should do after getting off.

The user 2A, as described later, inputs a schedule to prevent others from boarding and secures his/her own re-boarding, or his/her own re-boarding schedule, as information on the re-boarding schedule. If there is a request for boarding by another prospective registrant, if you allow it, enter the schedule so that the other prospective registrant can use it, or do not plan to ride again (end of use) Enter schedules such as Moreover, the user 2A instructs to move to the parking lot 5 which is a little away from the home 4, for example, as a behavior after getting off.

The automatic driving vehicle 1 receives the input re-boarding schedule information, and identifies the person who entered the re-boarding schedule information (hereinafter referred to as the schedule input person, user 2A in FIG. 1). (to be authentication reference information as will be described later) and connection information for wireless communication with the planned input person are stored in the storage unit in association with each other. The automatic driving vehicle 1 validates the stored re-boarding schedule information after confirming that the person entering the schedule has gotten off the vehicle.

In this case, as the identification information of the scheduled input person and the connection information for wireless communication with the scheduled input person, if the scheduled input person is a planned use registrant like user 2A, is extracted from the stored information of prospective registrants and used. As the connection information for wireless communication with the person entering the schedule, the telephone number and e-mail address of the mobile phone terminal owned by the person entering the schedule are used. In addition, when the schedule input person is not the scheduled use registrant stored in the automatic driving vehicle 1, the automatic driving vehicle 1 captures the face image of the schedule input person, or receives the name and password from the schedule input person. etc. are acquired as identification information, and connection information such as mobile phone numbers and e-mail addresses are acquired and stored in association with the input schedule information.

That is, the authentication reference information of the person who entered the information of the scheduled re-boarding includes biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, telephone number or e-mail. An address or the like can be used singly or in combination.

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

The automatic driving vehicle 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 there is a call through the mobile phone network of the communication network 3, the automatic driving vehicle 1 authenticates the user (caller in FIG. 1) 2B who has made the call. It moves to the place instructed by the calling user 2B.

In this embodiment, an application program for calling the automatic driving vehicle 1 is installed in advance by the user of the mobile telephone terminal for calling the automatic driving vehicle 1 . Then, when the user performs a call operation for the automatic driving vehicle 1 using the calling application program of the mobile phone terminal, a call is automatically made to the wireless communication unit of the automatic driving vehicle 1, and at that time Second, in this embodiment, a call request is sent to the automatic driving vehicle 1 to which the information on the current position of the mobile phone terminal is added as the location information of the place where the automatic driving vehicle 1 is called and waits. When the caller is authenticated, the automatic driving vehicle 1 moves toward the location indicated by the position information.

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

As a result of the first caller authentication, when it is determined that the caller is a registrant, the automatic driving vehicle 1 determines whether valid re-boarding schedule information is stored. , when the schedule information is not stored, it accepts a call from the prospective registrant and moves to the place indicated by the position information included in the call request.

In addition, when it is determined that the caller is a scheduled use registrant as a result of the first caller authentication, when it is determined that valid re-boarding schedule information is stored, automatic driving is performed. A second caller authentication is performed for the caller by using the authentication reference information for the person who entered the information about the re-boarding information (scheduled input person) stored in the storage unit of the car 1 .

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

Further, when it is determined in the second caller authentication that the caller is not the scheduled input person, the automatic driving vehicle 1 refers to the stored schedule information to determine whether the caller can be used by a person other than the scheduled input person. determine gender. Then, when the schedule information denies the availability of a person other than the person who entered the schedule, the automatic driving vehicle 1 rejects the call by the caller.

In addition, when it is determined in the second caller authentication that the caller is not the scheduled input person, the schedule information may be used by a user other than the scheduled input person if the scheduled input person has permission. If it indicates that there is, the automatic driving vehicle 1 asks the schedule input person as the permission authenticator whether or not to permit calling other scheduled use registrants, and responds to the inquiry Authentication of the caller (third caller authentication) is performed based on this.

That is, in the third caller authentication, the automatic driving vehicle 1 uses the connection information of the scheduled input person to connect the communication path with the scheduled input person, and permits calling of other scheduled use registrants. Inquires to the person entering the schedule whether or not to do so. In response to this inquiry, the person who entered the schedule answers the call permission when permitting the call of the other planned use registrant, and the reply of the call disapproval when rejecting the call of the other planned use registrant. do. In this case, in this embodiment, information about other planned use registrants is not sent to the person who plans to board again, but biometric information such as facial images and names of other planned use registrants is It is also possible to send information that enables the other scheduled use registrants to be recognized as reference information for determining whether or not to call the re-boarding planned input person.

In this third caller authentication, the automatic driving vehicle 1 receives an answer to an inquiry from the person entering the schedule through the communication channel, and determines whether or not to call the caller based on the received answer. . That is, when receiving a call permission reply from the person who entered the schedule, the automatic driving vehicle 1 responds to the call of another scheduled use registrant. Further, when receiving a response not to permit the call from the person entering the schedule, the automatic driving vehicle 1 refuses to call other scheduled use registrants. Then, when the caller can be authenticated by the third caller authentication and responds to the caller's request, the automatic driving vehicle 1 moves to the designated waiting place by autonomous driving.

In addition, regarding the call operation by the caller while the automatic driving vehicle 1 is being used such as running, the call may be rejected without authenticating the caller. In this case, the automatic driving vehicle 1 may notify the caller of a voice message or text message such as "Currently in use and unable to answer the call."

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

The facial image of the caller can be taken by a camera provided in the mobile phone terminal, and the voice of the caller can be picked up by a microphone provided in the mobile phone terminal, Furthermore, other biometric information of the caller can be stored in advance in the memory of the mobile phone terminal. Other information can be input by the caller into the mobile phone terminal. Biometric information including facial images and other information can also be used via the communication network 3 after being stored in the cloud.

In the first caller authentication and the second caller authentication, the authentication reference information to be compared with the authentication information obtained from the caller is stored in the storage unit of the automatic driving vehicle 1. Information on prospective registrants who are present can be used. In the example described below, the phone number of the caller's mobile phone terminal is used as an example of caller authentication information and authentication reference information for the first caller authentication and the second caller authentication. . 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 when the input of the schedule information for re-boarding is received. .

Next, the automatic driving vehicle 1 of this embodiment authenticates the user (riding user authentication) at the waiting place specified by the call when the user who is about to start using it newly gets on the vehicle. is performed, and only the authenticated user is allowed to use the automatic driving vehicle 1, that is, to allow the automatic driving vehicle 1 to run. It should be noted that, as in the example of FIG. 1, the waiting location is not limited to the case where the vehicle moves once after moving in response to a call by the caller, but also when the vehicle stopped or parked at that location without moving at the time of getting off the previous time. This includes the case where

In this case, as for the authentication of the user when boarding the automatic driving vehicle 1 of this embodiment, first, the user who is going to get on the automatic driving vehicle 1 is a planned use registrant registered in the automatic driving vehicle 1. First boarding user authentication of whether or not is performed using the information of the planned use registrant stored as authentication reference information, and if it is not the planned use registrant, in this embodiment (Car 1 itself) is refused and prohibited.

Then, as a result of the first boarding user authentication, when it is determined that the user who is going to board is a registrant, the automatic driving vehicle 1 stores valid re-boarding schedule information. When the scheduled information is not stored, the use of the own vehicle by the planned use registrant is permitted.

In addition, when it is determined that the user who is going to board is a registrant who intends to board as a result of the first boarding user authentication, it is determined that valid re-boarding schedule information is stored. When this happens, the second boarding user authentication for the user who is going to board using the authentication reference information for the scheduled input person of the re-boarding schedule information 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 automatic driving vehicle 1 permits the schedule input person to use the own vehicle.

In addition, in the second boarding user authentication, when it is determined that the user who is going to board is not the scheduled input person, the automatic driving vehicle 1 refers to the stored schedule information and determine the availability of Then, when the schedule information denies the possibility of use by a person other than the person who entered the schedule, the automatic driving vehicle 1 refuses and prohibits the use of the vehicle by the user who is about to board the vehicle. to

In addition, in the case where it is determined in the second boarding user authentication that the user who is going to board is not the scheduled input person, the schedule information can be used by a user other than the scheduled input person if the schedule input person has permission. If it indicates that there is a possibility of use, the automatic driving vehicle 1 asks the planned input person as the permission authenticator whether or not to permit the use of other planned use registrants, Based on the answer to the inquiry, the third boarding user authentication is performed for the user who is going to board the vehicle.

That is, in the third boarding user authentication, the automatic driving vehicle 1 uses the connection information of the planned input person to connect the communication path with the planned input person, and the other scheduled use registrant's own vehicle Inquires to the person entering the schedule whether or not to allow the use of . In response to this inquiry, the person who entered the schedule will reply with permission of use if the other planned users are to be permitted to use the service, and will not be permitted to use it if they refuse to be used by the other planned users. do. In this case, in this embodiment, information about other planned use registrants is not sent to the person who plans to board again, but biometric information such as facial images and names of other planned use registrants is It is also possible to send information that enables the person who plans to re-board the vehicle to recognize who the other planned use registrants are as reference information for deciding whether or not to use the vehicle.

In this third authentication of the boarding user, the automatic driving vehicle 1 receives a response to an inquiry from the person entering the schedule through the communication channel, and based on the received response, identifies the user who is going to board the vehicle. Decide whether to use the car. In other words, when receiving a reply of use permission from the person who entered the schedule, the automatic driving vehicle 1 permits other scheduled use registrants to use their own vehicle. In addition, when receiving a response not to permit use from the person entering the schedule, the automatic driving vehicle 1 refuses (prohibits) use of the own vehicle by other scheduled use registrants.

Examples of the authentication information and the authentication reference information used for the first passenger authentication and the second passenger authentication are the user's face image, voice, fingerprint, vein, iris, etc. in this embodiment. The user's biometric information such as is used. In the example described below, the face image of the prospective registrant is stored in the storage unit as authentication reference information for the first boarding user authentication. In addition, the facial image of the planned input person is stored in the storage unit as the authentication reference information for the second authentication of the boarding user.

With reference to FIG. 1, an outline of main operations of the automatic driving vehicle 1 of this embodiment will be described. It is assumed that the users 2A and 2B are both registered in the automatic driving vehicle 1 as planned users.

For example, in the example of FIG. 1, the user 2A himself who got off the automatic driving car 1 after inputting the information of the plan to re-board the automatic driving car 1 makes a call to the automatic driving car 1 with his mobile phone terminal at home 4. Suppose I put it on. Then, the automatic driving vehicle 1 of this embodiment authenticates the user 2A as a prospective registrant in the first caller authentication, and furthermore, in the second caller authentication, the telephone number of the user 2A is Since it matches the telephone number of the mobile phone terminal stored in association with the information about the re-boarding schedule, the user 2A is authenticated as the schedule input person. Therefore, the self-driving car 1 goes 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 into the self-driving car 1.例文帳に追加At this time, the automatic driving vehicle 1 captures and acquires the face image of the user 2A who is about to get in, and in the first boarding user authentication, the acquired face image and the planned use registrant information are stored. The user 2A is authenticated as a prospective registrant from the user 2A. Furthermore, in the second boarding user authentication, the automatic driving vehicle 1 recognizes the user 2A from the acquired face image of the user 2A and the face image of the user 2A stored in association with the information on the schedule for re-boarding. 2A is authenticated as a re-boarding schedule input person. Therefore, the automatic driving vehicle 1 permits the user 2A to use the own vehicle on the assumption that the first passenger authentication and the second passenger authentication have been completed.

Next, in the example of FIG. 1, another user 2B, who is not the user 2A who got off the automatic driving vehicle 1 after inputting the information of the plan to re-board, automatically drives at 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 and use the automatic driving car 1 .

In this case, the automatic driving vehicle 1 can authenticate the user 2B as the intended registrant in the first caller authentication, but in the second caller authentication, the telephone number of the user 2B does not match the phone number of the mobile phone terminal of user 2A, who is the person who entered the schedule, so it is determined that authentication has failed.

Therefore, the automatic driving vehicle 1 refers to the stored schedule information and determines the availability of a person other than the schedule input person. Then, when the schedule information indicates that there is a possibility of use by a user other than the scheduled input person with the permission of the scheduled input person, the user 2A, who is the scheduled input person as the authorized authenticator, On the other hand, an inquiry is made as to whether or not to allow calling of other planned use registrants, and third caller authentication (with plans to board again) is performed based on the answer to the inquiry.

When the user 2A as a permission authenticator answers the call permission, the automatic driving vehicle 1 accepts the call of the user 2B and waits at the waiting place specified by the user 2B. Since 2B is a family member of user 2A, he goes to home 4 of user 2A.

Then, when the self-driving car 1 arrives at the home 4, the user 2B tries to get into the self-driving car 1.例文帳に追加Then, in the first authentication of the boarding user, the automatic driving vehicle 1 authenticates that he/she is the scheduled use registrant, but in the second authentication of the boarding user, the stored use together with the information of the plan to ride again is confirmed. Since the face image of the person 2A does not match the photographed face image of the user 2B who got on board, it is determined that the second boarding user authentication failed.

At this time, the automatic driving vehicle 1 refers to the stored schedule information in the same manner as when authenticating the caller, and determines the availability of a person other than the schedule input person. When it is determined, the third boarding user authentication is performed.

In other words, when the schedule information indicates that there is a possibility of being used by a user other than the scheduled input person if the scheduled input person has permission, the automatic driving vehicle 1 is the scheduled input person as the authorized authenticator. The user 2A is inquired as to whether or not the use of the other scheduled use registrants is permitted, and the third boarding user authentication is performed based on the answer to the inquiry.

In this third boarding user authentication, the automatic driving vehicle 1 uses the connection information of the user 2A who is the schedule input person to connect the communication path with the user 2A, The user 2A, who is the schedule input person, is inquired as to whether or not the use of the person is permitted. When the user 2A responds to this inquiry with permission to board, the automatic driving vehicle 1 receives the response and determines that the third boarding user authentication for the user 2B has been completed. The use of the user 2B is permitted. In addition, when the user 2A replies that boarding is not permitted, the self-driving vehicle 1 receives the reply and determines that the third boarding user authentication for the user 2B could not be performed. Deny (prohibit) the use of person 2B.

As described above, according to the automatic driving vehicle 1 of the embodiment, the user who is riding in the vehicle can input and store information on the schedule of re-boarding into the automatic driving vehicle 1, and according to the schedule information, Priority can be given to own re-boarding, and depending on the situation, other users can be permitted to board and use the vehicle. Therefore, it is possible to smoothly coordinate with the next person who intends to use (ride) the vehicle, and it is possible to improve safety in terms of security.

[Hardware configuration example of automatic driving vehicle 1]
A hardware configuration example of the automatic driving vehicle 1 that implements 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 automatic driving vehicle 1 of this embodiment. In addition, the automatic driving vehicle 1 of this embodiment is an example in the case of an electric vehicle. However, the illustration of the battery is omitted 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 vehicle can travel according to the driver's accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (steering wheel operation), like a normal non-automatic vehicle. In addition, in the automatic driving mode, the automatic driving vehicle 1 automatically (autonomously) avoids obstacles and navigates its way without the driver operating the accelerator pedal, the brake pedal, the shift lever, or the steering wheel. This is the driving mode to be changed.

The driver of the automatic driving vehicle 1 can switch the automatic driving vehicle 1 running in the manual driving mode to the automatic driving mode by performing a predetermined operation through the touch panel 112, which will be described later. When the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering wheel, the system automatically returns to the manual operation mode.

As shown in FIG. 2, the electronic control circuit unit 10 provides a wireless communication unit 102, a motor drive control unit 103, a steering drive control unit 102, a motor drive control unit 103, and a steering drive control unit through the system bus 100 with respect to the control unit 101 configured by mounting a computer. 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 referred to as car navigation ) 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 The storage unit 119, the behavior processing unit 120 after getting off the vehicle, the behavior storage unit 121 after getting off the vehicle, and the voice input/output unit 122 are connected to each other.

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 detection unit 133 is connected to the manual/automatic operation mode switching control unit 105 . A car navigation database 134 is connected to the car navigation function unit 113 . Furthermore, a microphone 135 and a speaker 136 are connected to the voice input/output unit 122 .

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

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

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

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

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

In addition, when the automatic driving vehicle 1 is in the automatic driving mode, the manual/automatic driving mode switching control unit 105 outputs the outputs of the radar group 106, the camera group 107, the sensor group 108, and the surrounding moving object grasping unit 109 as described later. Automatic driving operation information generated by the control unit 101 based on is supplied to the motor driving control unit 103 and the steering driving control unit 104, and the motor driving unit 131 and the steering driving unit 132 are driven and controlled by the automatic driving operation information 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 travel along the searched route. be.

The radar group 106 is for measuring the distance to people and objects existing around the vehicle of the automatic driving vehicle 1, and is composed of a laser radar, a millimeter wave radar, and the like. A laser radar is embedded, for example, in the ceiling or near a bumper, and a millimeter wave radar is provided, for example, in the front and rear parts of a vehicle. Both laser radar and millimeter wave radar may be provided, or only one of them may be provided. Other radars, such as microwave radar, may also be used. Additionally, sonar (not shown) can be used for purposes similar to radar.

The camera group 107 includes 1 to a plurality of cameras that capture the interior of the autonomous vehicle 1 and 1 to a plurality of cameras that capture the surroundings outside the vehicle, such as the front, side, and rear of the autonomous vehicle 1. . A camera that captures the interior of a vehicle is installed, for example, in the rearview mirror (rear view mirror, room mirror) installed between the driver's seat and the front passenger seat, or on the upper part of the front window. In addition to the camera that captures the behavior, it also includes a camera that captures the behavior of the passengers (passengers) sitting in the front passenger seat and the back seat. In addition, the cameras for capturing the surroundings of the automatic driving vehicle 1 are, for example, attached to the left and right sides of the rearview mirror, and two cameras (stereo cameras) that mainly capture the left front and right front of the automatic driving vehicle 1, , a camera attached to, for example, a door mirror or a fender mirror of the automatic driving vehicle 1 for photographing 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 and closing of doors and windows, a sensor that detects whether a seat belt is worn, a seating sensor that detects whether a passenger is seated in a seat such as a driver's seat or a passenger's seat, and the like. In addition, it consists of a human sensor (infrared sensor) that detects people in the vicinity outside the vehicle and various sensors that acquire information to assist automatic driving. Various sensors for acquiring information that assists autonomous driving include, for example, vibration sensors for detecting vehicle and tire vibrations, rotation speed sensors for detecting tire rotation speeds, and direction detection sensors. Geomagnetic sensors, acceleration sensors for detecting acceleration, gyro sensors (gyroscopes) for detecting angles and angular velocities, and the like are included. In this embodiment, the sensor group 108 also includes sensors for detecting lighting of the right winker, left winker (direction indicator), and hazard lamps (emergency flashing lights).

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

The current position detector 110 receives radio waves from GPS satellites and detects the current position of the vehicle. Since the accuracy of the position detected by the radio waves from the GPS satellites is poor, the current position detection unit 110 detects not only the current position information detected by the reception of the radio waves from the GPS satellites, but also the sensors 1 to 1 included in the sensor group . Multiple sensors, radar group 106, captured images of camera group 107 (with navigation function), etc. are also used, and by performing processing based on, for example, Bayesian theory, the current position can be detected and confirmed with higher accuracy. I have to.

In the automatic driving mode, the automatic driving vehicle 1 uses the current position detection unit 110 and the surrounding moving object grasping unit 109 to receive position information obtained by receiving radio waves from the radar group 106, the camera group 107, the sensor group 108, and the GPS satellites. Information corresponding to information obtained from human eyes and ears is processed by Bayesian theory, and based on this, the control unit 101 generates intelligent information such as changing the course of the own vehicle and avoiding obstacles. Perform processing (artificial intelligence) and control (artificial intelligence) to generate automated driving operation information.

The display unit 111 is, for example, an LCD (Liquid Crystal Display). The touch panel 112 is provided by superimposing a touch sensor capable of touch input with a finger on the display screen of the display unit 111 composed of an LCD. A display image including software buttons (including keyboard character input buttons) is displayed on the display screen of the display unit 111 under the control of the control unit 101 . When the touch panel 112 detects a finger touch on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101 . The control unit 101 receiving this is configured to execute control processing corresponding to the software button.

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

That is, in the manual operation mode, the car navigation function unit 113 displays a map, which is detected and confirmed by the current position detection unit 110, on the display screen of the display unit 111 and clearly displays the route to the destination. In addition to displaying an image superimposed on the position of the vehicle on the map, the position of the vehicle (current position) on the map is moved as the vehicle moves, and route guidance such as intersections and junctions on the route is displayed. Provide voice guidance where necessary. This is the same as the normal car navigation function.

On the other hand, in the automatic driving mode, when the current position of the vehicle is away from the route to the destination, the car navigation function unit 113 notifies the control unit 101 of information on the separation direction and distance, and is on the route to the destination, the control unit 101 is notified of direction change instruction information along the route before an intersection or a fork on the route as the vehicle moves. make sure to Based on the information notified from the car navigation function unit 113, the current position confirmation result of the current position detection unit 110, and the grasping result of the surrounding moving body grasping unit 109, the control unit 101 instructs the own vehicle on the route. It controls the motor drive unit 131 through the motor drive control unit 103 so as to move along the designated course, and generates automatic driving operation information for controlling the steering drive unit 132 through the steering drive control unit 104. . Therefore, the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode allows the automatic driving vehicle 1 to move to the destination even when no passengers are present.

The planned use registrant information reception unit 114 accepts registration information such as family members who are planning to use the automatic driving vehicle 1 of this embodiment as information on the planned use registrants, and the received planned use registrants is stored in the prospective registrant information storage unit 115 .

That is, in the automatic driving vehicle 1 of this embodiment, for example, when the user selects the item "registration of planned use registrant" from the processing menu displayed on the display screen of the display unit 111, the planned use registrant The information reception unit 114 is activated, and enters a registration mode for the information of the prospective registrant. However, the registration mode of the prospective registrant is possible only when the user is authenticated by the ID and password set in advance by the owner of the automatic driving vehicle 1, for example.

The planned use registrant information storage unit 115 receives the information on the planned use registrant input by the user's input operation through the touch panel 112 and stores it in the planned use registrant information storage unit 115 .

As described above, the information of the prospective registrant includes biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, telephone number (telephone number of mobile phone terminal). ) or e-mail address is stored. The face image of the prospective registrant is captured by a predetermined camera in the camera group 107 and stored.

In this embodiment, the face image of the planned use registrant among the information of the registered planned use registrants stored in the planned use registrant information storage unit 115 is used for the first and second boarding user authentication. It is considered as authentication reference information for Further, the telephone number of the mobile phone terminal in the registration information of the prospective registrant stored in the prospective registrant information storage unit 115 is used as authentication reference information for the first and second caller authentication. In addition, it is used as connection information for connecting the authentication permitter 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 prospective registrant stored in the prospective registrant information storage unit 115, is used. . As the authentication reference information in the second caller authentication, the phone 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 to be described later, is used. As the connection information of the authentication permitter 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 to be described later, is used. Of course, the connection information of the authorized person for the first caller authentication, the second caller authentication, and the third caller authentication is not limited to the phone number of the mobile phone terminal, and may be an e-mail address or the like.

The boarding user authentication unit 117 performs the above-described first boarding user authentication, second boarding user authentication, and third boarding user authentication. In this embodiment, the face image of the prospective registrant stored in the prospective registrant information storage unit 115 is used as authentication reference information in the first boarding user authentication. As authentication reference information in the second passenger authentication, a face image of a scheduled input person stored in a scheduled input information storage unit 119, which will be described later, is used. 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 to be described later, is used as the connection information of the authorized person in the third passenger authentication.

In this embodiment, the re-boarding schedule information receiving unit 118 determines whether or not the current passenger is a scheduled-to-use registrant stored in the scheduled-to-use registrant information storage unit 115 . When it is determined that the passenger is a registered person, when the passenger stops driving the motor drive unit 131 of the automatic driving vehicle 1 and tries to get off, a list of a list of plans for re-boarding for the passenger is presented, and the user is prompted to select and enter information about plans to board again.

In this embodiment, the determination of whether or not the passenger is the planned use registrant stored in the planned use registrant information storage unit 115 is based on the planned use information stored in the planned use registrant information storage unit 115. The re-boarding schedule information receiving unit 118 makes a decision based on the result of collation between the face image of the registrant and the face image of the passenger photographed by the camera in the camera group 107 . When the re-boarding schedule information receiving unit 118 determines that the passenger is not a registrant, the re-boarding schedule information receiving unit 118 does not perform the process of prompting the input of re-boarding schedule information. Then, when the re-boarding schedule information reception unit 118 determines that the passenger is a scheduled use registrant, it recognizes which of the scheduled use registrants the passenger is. will do.

Then, the re-boarding schedule information receiving unit 118 receives the information of the re-boarding schedule selected and input by the passenger who is one of the registrants who are planning to re-board, and the information of the passenger who has input the schedule (the information) and stored in the scheduled input information storage unit 119 .

In this embodiment, the expected input person information includes authentication reference information for second caller authentication, authentication reference information for second passenger authentication, third caller This is the connection information of the planned input person who is the permitted authenticator in the authentication and the third authentication of the boarding user.

In this embodiment, the authentication reference information for the second caller authentication is the phone number of the scheduled input person's mobile phone terminal, and the authentication reference information for the second passenger user authentication is the scheduled input. The connection information of the scheduled input person who is the permitted authenticated person in the third caller authentication and the third boarding user authentication is the telephone number of the scheduled input person's mobile phone terminal. . Therefore, in this embodiment, the information of the scheduled input person stored in association with the input schedule information includes information on the facial image of the scheduled input person and the phone number of the mobile phone terminal owned by the scheduled input person. be done.

The information of the scheduled input person is obtained by extracting the information of the scheduled registrant recognized as described above by the re-boarding schedule information receiving unit 118 from the scheduled use registrant information storage unit 115, and storing the scheduled input information. It is stored in the unit 119 in association with the schedule information.

In this embodiment, the re-boarding schedule information receiving unit 118 receives the information of the re-boarding schedule when getting off the vehicle only when the number of scheduled registrants stored in the scheduled registrant information storage unit 115 is plural. to encourage The reason for doing this is that when there is only one registrant to use the vehicle, there is usually no use by other registrants to use the vehicle. This is to avoid becoming

It should be noted that, for example, by selecting the item "input of re-boarding schedule" from the processing menu displayed on the display screen of the display unit 111, regardless of whether the intended registrant is one person or not, It may be configured such that the passenger inputs a schedule for re-boarding. In that case, the passenger can input the information about the plan to board again while getting on the vehicle, not when getting off the vehicle. Further, in this embodiment, a list of information on re-boarding schedules is presented, and selection input of a schedule is accepted from the list. Of course, it may be constructed so as to accept the input of the information of the schedule.

In this embodiment, the re-boarding schedule information reception part 118 validates the schedule information stored in the schedule input information storage part 119 when it is confirmed that the passenger gets off the vehicle. Confirmation of getting off of the passenger is performed by, for example, detecting that the passenger is no longer inside the vehicle from images captured by one or a plurality of cameras that capture the interior of the vehicle, and detecting opening/closing of a door sensor in the sensor group 108. by

In this embodiment, the behavior processing unit 120 after getting off the vehicle receives the setting of the behavior after getting off of the automatic driving vehicle 1 by the passenger, and stores the received setting information in a built-in storage unit (not shown). In this embodiment, the after-getting-off behavior storage unit 121 registers and stores in advance the behavior after getting off the vehicle that is planned by the user. The behavior processing unit 120 after getting off the vehicle presents the list of behaviors after getting off stored in the behavior storage unit 121 after getting off the vehicle to the user. accept the setting of

As an input method for setting the behavior after getting off the vehicle, it is also possible to read aloud each behavior after getting off the vehicle by voice. The control unit 101 has a speech recognition function for that purpose. When the re-boarding schedule information reception unit 118 described above receives an input of a re-boarding schedule, instead of a list of schedule information as in this embodiment, the schedule is directly input. can also be configured to use the voice recognition function of the control unit 101 to receive input of information on plans to board again in an interactive manner.

Then, the after-getting-off behavior processing unit 120 executes the behavior of the passenger after getting off the own vehicle based on the received after-getting-off behavior. In this case, in the same way as when the re-boarding schedule information receiving unit 118 validates the input schedule information, the passenger gets off the vehicle and confirms that there is no other passenger in the vehicle, and accepts the information. Execute processing based on behavior after getting off. If the passenger does not set the behavior after getting off the vehicle, a pre-stored predetermined behavior after getting off the vehicle may be automatically set and executed.

The voice input/output unit 122 captures voice 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. Although not shown, the voice input/output unit 122 incorporates a memory for storing voice message data to be emitted to the outside, and converts the voice message data read out from the memory into an analog voice signal. It has built-in speech synthesizer and DA converter. Then, the voice input/output unit 122 supplies the voice message selected under the control of the control unit 101 to the speaker 136 so as to emit the voice to the outside. As for the voice messages to be stored, as will be described later, for example, a message prompting the user to input a plan for re-boarding, such as "Please enter a plan for re-boarding", or a message such as "Do you want to register the intended registrant?" Inquiry messages such as, notification messages such as "authenticated" and "authentication failed", and interactive messages when accepting behavior setting input after getting off are prepared.

Then, in the automatic driving vehicle 1 of the above-described embodiment, whether the above-described authentication mode in the caller authentication unit 116 and the boarding user authentication unit 117 is turned on or off, and the re-boarding schedule information reception unit The configuration is such that the setting of whether to turn on or off the reception processing in 118 can be performed through the touch panel 112 . However, the ON/OFF setting is possible only when the ID and the password set in advance by the owner of the automatic driving vehicle 1 are authenticated, for example. The on/off setting of the authentication mode includes the first caller authentication, the second caller authentication, the third caller authentication, the first passenger authentication, the second passenger authentication, and the second authentication. However, in the embodiment described below, the authentication mode is turned on and off for the first caller authentication, the second caller authentication, and the third caller authentication. Caller authentication, first passenger authentication, second passenger authentication, and third passenger authentication are all set to ON/OFF.

As described above, the electronic control circuit unit 10 of the automatic driving vehicle 1 is configured. Among the processing blocks shown in FIG. Control unit 105, surrounding moving object grasping unit 109, current position detecting unit 110, car navigation function unit 113, planned use registrant information accepting unit 114, caller authenticating unit 116, boarding user authenticating unit 117, re-boarding schedule information accepting unit 118, the after-getting-off behavior processing unit 120, and the voice input/output unit 122 can be realized as software processing performed by the control unit 101 executing a program.

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

In this embodiment, when a passenger in the automatic driving vehicle 1 tries to get off, the automatic driving vehicle 1 prompts the passenger to input a plan to re-board as necessary, and Inquires whether to set after behavior. Then, if necessary, it accepts information on the schedule of the passenger, accepts the setting input of the behavior after getting off by the passenger, and responds to the received information on the schedule of re-boarding and the behavior after getting off after getting off the passenger. process.

FIG. 3 is a flowchart for explaining an example of the flow of processing operations executed by the control unit 101 of the electronic control circuit unit 10 of the automatic driving vehicle 1 when the passenger gets off. The processing of each step in the flowchart of FIG. 3 is realized as software processing performed by the control unit 101 executing a program for each processing function of the re-boarding schedule information reception unit 118 and the behavior processing unit 120 after leaving the vehicle. A description will be given assuming that the

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

When it is determined in step S1 that the driving of the motor drive unit 131 has been stopped, it is generally expected that the passenger will get off the vehicle. process for determining whether or not to accept the input of the schedule information. That is, the control unit 101 refers to the planned use registrant information storage unit 115 and determines whether or not the number of registered use planned registrants is one (step S3). After step S11 in FIG. 4, the processing routine for setting input of the behavior after getting off the vehicle, which will be described later, is performed.

Further, when it is determined in step S3 that there are a plurality of registered users to be registered, the control unit 101 shoots the face image of the passenger who is about to get off the vehicle with one of the cameras 107, and By comparing and referencing the face image with 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 about to get off the vehicle is the planned use registrant. (Step S4).

When it is determined in step S4 that the passenger who is about to get off the vehicle is not a person who is scheduled to use the vehicle, the control unit 101 proceeds to a processing routine for setting and inputting 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 passenger who is about to get off the vehicle is a registrant, the control unit 101 emits a voice message from the speaker 136 prompting the user to input re-boarding. Further, in this embodiment, a list of selectable re-boarding schedules is displayed on the display screen of the display unit 111 (step S5).

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

Schedule 1 is scheduled to be selected when the passenger who is about to get off plans to board again and wants to prohibit the use of other registered users. This schedule 1 is selected when a passenger who is going to get off wants to use the automatic driving vehicle 1 exclusively after getting off because of the necessity.

Schedule 2 has a content that although there is a plan to re-board the passenger who is going to get off, if there is a request for use by another scheduled user, it will be permitted after obtaining the approval of the person who entered the schedule. It is planned.

Schedule 3 is that the passenger who is going to get off plans to board again, but if there is a request for use by another scheduled user, the request is permitted without obtaining the approval of the person entering the schedule. It is planned.

Schedule 4 is a schedule in which there is no plan for the passenger who is about to get off to re-board the vehicle, and the use of the automatic driving vehicle 1 is tentatively terminated at the time of getting off the vehicle.

A passenger who is about to get off enters a check mark in one 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 schedule for re-boarding is not limited to the case of selecting and inputting from a list of re-boarding schedules as described above, and the passenger may input the schedule by voice input or text 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 the vehicle has been received, depending on whether or not the operation of the check mark and confirmation icon button 141 has been received (step S6), and has determined that it has been received. Sometimes, the selected and input schedule information (for example, schedule number) and the information of the schedule input person are associated with each other and stored in the schedule input information storage unit 119 (step S7). In this case, the control unit 101 converts the information of the planned input person into the information of the planned use registrant recognized in step S4 (in this embodiment, the information of the face image and the phone number of the mobile phone terminal). It is extracted and acquired from the information storage unit 115 . After step S7, the routine proceeds to a processing routine after step S11 in FIG. 4 for setting and inputting the behavior after getting off the vehicle, which will be described later.

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

The control unit 101 monitors and determines the response from the passenger to the inquiry in step S11 (step S12). End the processing routine. In this case, the automatic driving vehicle 1 stops the motor drive unit 131 at the position where the passenger got off, and turns off the power while maintaining the power supply to the necessary parts as processing during the stop. Also, a predetermined behavior may be set in advance and executed when the passenger does not set the behavior after getting off the vehicle.

When it is determined in step S12 that the passenger answers that they will set the behavior after getting off the vehicle, the control unit 101 stores the behavior after getting off stored in the behavior after getting off the vehicle storage unit 119 as a list such as that shown in FIG. It is displayed on the display screen of the display unit 111 (step S13).

An example of the behavior after getting off the vehicle in the example of the list in FIG. 6 will be described.

"Move to default parking lot" allows the automatic driving car 1 to move to a pre-registered default parking lot after the passenger gets off. It ends. Here, as the default parking lot, a plurality of parking lots can be registered, such as "home parking lot", "company parking lot", "contracted parking lot", and the like. Registration of a parking lot means storing the location information and the name (type) of the parking lot such as "home parking lot", "company parking lot", or "contracted parking lot". When the passenger selects and sets this "move to default parking lot" as the behavior after getting off the vehicle, he or she also selects and sets the name of the default parking lot. It should be noted that the predetermined parking lot may be selected not only by the name but also by the place name such as the address.

"Wait until called at a nearby parking lot" means that the automated driving vehicle 1 searches for a parking lot near the passenger's drop-off position and waits at that parking lot. When telephone communication for a 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.

"Wait here" means that the automatic driving vehicle 1 waits at the place where the passenger got off. Of course, if the place where the driver got off is a place where parking is prohibited, the automatic driving car 1 moves to a nearby place where parking is possible and waits. In this case, the automatic driving vehicle 1 notifies the passenger of the movement and the destination.

"Wait at point A" means that the self-driving car 1 waits at a place specified by the user and waits for the user to get on again. The point A is designated by the user when getting off. This point A may be set from among points that have been registered in advance, or may be specified on a map, by inputting an address, or by specifying an identifiable building name. can be Alternatively, two-dimensional coordinates of latitude and longitude (or three-dimensional coordinates by adding altitude) may be used. Furthermore, if the point B can be identified by a telephone number, it may be specified by inputting the telephone number.

Next, returning to the description 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 selection operation of behavior after getting off from the list displayed on the display screen. (step S14). When it is determined in step S14 that the selection operation of the behavior after getting off from the list has been received, the control unit 101 performs processing for receiving the selected behavior after getting off the vehicle (step S15).

Next, the control unit 101 determines whether or not the process for accepting the selected behavior after getting off the vehicle has been completed (step S16). , the selection information of the behavior after getting off selected by the passenger and the information accompanying it are stored (step S17).

Next, the control unit 101 confirms that the passenger has gotten off the vehicle by means of a door sensor or the like, and determines the presence or absence of the passenger (step S18). The presence or absence of this passenger can be detected by a seating sensor such as a weight sensor provided in the seat of the automatic driving vehicle 1, a touch sensor for determining whether or not a person touches the steering wheel, and a sensor in the camera group 107. It is determined from an image captured by a camera for photographing a passenger. When the passenger is present, the control unit 101 waits for the passenger to get off the vehicle, and when it is determined that the passenger has left the vehicle in step S18, the control unit 101 displays the stored selected after getting off vehicle. Along with executing the behavior, the scheduled information stored in the scheduled input information storage unit 119 is validated (step S19). In this step S19, when the self-driving vehicle 1 runs and moves, the self-driving vehicle 1 runs autonomously in the self-driving mode.

Next, in the automatic driving vehicle 1 of this embodiment, authentication processing operations in the caller authentication unit 116 and the passenger authentication unit 117 will be described below. In the following description, the control unit 101 includes, among the blocks shown in FIG. A case where the processing functions of the current position detection unit 110, the car navigation function unit 113, the caller authentication unit 116, the boarding user authentication unit 117, and the voice input/output unit 122 are realized as software processing will be described.

<Call handling process>
FIG. 7 and its continuation FIGS. 8 and 9 show an example of the flow of the processing operation of the control unit 101 (including the processing contents 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, a call request for calling the automatic driving vehicle 1 is made by activating the application program from a mobile phone terminal in which a dedicated application program is installed in advance. In this case, the signal sent from the mobile phone terminal to the automatic driving vehicle 1 includes information indicating a call request and current position information as a waiting location measured by the mobile phone terminal.

The control unit 101 monitors the incoming call notification from the wireless communication unit 102 to determine whether or not an incoming call has been detected (step S21), and when it is determined that an incoming call has not been detected, performs other necessary processing. (step S22), and then the process returns 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 it is not a call request. Sometimes, the process advances to a handling process routine for the incoming call (step S25).

When it is determined in step S24 that the incoming call is a call request, the control section 101 performs the first caller authentication. That is, in this example, the control unit 101 compares and refers to the telephone number of the mobile phone terminal of the prospective registrant stored in the prospective registrant information storage unit 115 with the telephone number of the called party (step S26). ), it is determined whether or not they match (step S27), and the first caller authentication is performed.

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, "Call authentication cannot be performed. Therefore, the call is rejected." is sent, the connected communication path is disconnected (step S28), and this processing routine ends.

On the other hand, in step S27, when it is possible to confirm that the telephone numbers match and the first caller authentication is successful, the control unit 101 determines that valid schedule information regarding re-boarding exists in the schedule input information storage unit 119. It is determined whether or not (step S29). In step S29, when it is determined that there is valid scheduled information, the control unit 101 stores the mobile terminal as the connection information of the input person (scheduled input person) of the scheduled information stored in the scheduled input information storage unit 119. The telephone number of the telephone terminal and the telephone number of the called party are compared (step S30) to determine whether they match (step S31) and perform the second caller authentication.

Then, in step S31, when the telephone numbers match and the second caller authentication is completed, the process proceeds to step S41 in FIG. Even when it is determined in step S29 that there is no valid scheduled information, the process proceeds to step S41 in FIG.

In step S41, the caller is notified that the call will be accepted. Then, the control unit 101 extracts and acquires the position information of the waiting place sent from the caller (step S42). Next, the control unit 101 uses the data of the car navigation database 134 to search for a route to the waiting place by the function of the car navigation function unit 113, and predicts and calculates the time required to move to the waiting place ( step S43). Next, the control unit 101 transmits the estimated required time to the caller through the wireless communication unit 102 (step S44). Next, the control unit 101 cuts off the communication with the caller, activates the movement control routine to the waiting place (step S45), and terminates this processing routine.

If it is determined in step S31 that the telephone numbers do not match and the second caller authentication cannot be performed, the control section 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 indicates the usability of a person other than the schedule input person. It is determined whether or not the information is affirmative (step S52).

If the stored schedule information is, for example, schedule 1 in the example of FIG. is not affirmed, the control unit 101 rejects the call (step S53). In this step S53, the control unit 101 sends a voice message such as "The call is rejected because the call authentication failed" to the caller, and disconnects the connected communication path. After completing the processing of step S53, the control unit 101 terminates this processing routine.

If the stored schedule information is, for example, one of schedule 2, schedule 3, and schedule 4 in the example of FIG. It is determined that the scheduled information confirms the availability of a person other than the person who entered the schedule, and the control unit 101 determines whether or not the approval of the person who entered the schedule is required to respond to the caller's call. (Step S54).

Then, in step S54, when it is determined that the stored schedule information is either schedule 3 or schedule 4 in the example of FIG. , acquires the connection information of the scheduled input person from the scheduled input information storage unit 119, connects the communication path with the scheduled input person, and notifies that the other scheduled use registrant will accept the call (step S55). ). After that, the control unit 101 advances the process to step S41 in FIG. 8, and performs the process corresponding to the above-described call after 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. Information is acquired from the scheduled input information storage unit 119, a communication path is connected with the scheduled input person, and an inquiry is made to the scheduled input person as to whether or not other scheduled use registrants can use the information (step S56). Then, the control unit 101 waits for reception of an answer from the scheduled input person regarding whether or not the use of another scheduled use registrant is permitted (step S57), and when it is determined that an answer has been received from the scheduled input person, the response is received. It is determined whether or not the use of other planned use registrants is permitted (step S58).

When it is determined in step S58 that the reply from the planned input person permits the use of other planned use registrants, the control unit 101 advances the process to step S41 in FIG. Perform processing according to the call described above. Further, when it is determined in step S58 that the answer from the planned input person does not permit the use of other planned use registrants, the control section 101 advances the process to step S53, and refuses to call the caller. to terminate this processing routine.

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

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

While confirming the current position during movement, the control unit 101 determines whether or not the destination has been reached (step S62). 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 movement (step S63). repeat the process. When it is determined in step S63 that there is a large delay, the required time is recalculated, the communication path with the caller is regenerated, and the result of the calculation is notified to the caller (step S64). ). Then, the control unit 101 returns the process to step S62, and repeats the process after step S62.

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

<Riding user control>
Next, an example of the user control processing routine (including the processing contents of the user authentication unit 117) regarding a user (riding user) who is going to get on the automatic driving vehicle 1 is shown in FIG. 11 and its continuation. A description will be given with reference to FIGS. 12 and 13. FIG. This boarding user control routine corresponds to the call boarding control routine that is started in the above-described step S45 in the case of the automatic driving vehicle 1 that has moved to the meeting place specified by the call control routine described above. However, this boarding user routine is executed not only when the above-mentioned call control routine is executed, but also when the boarding user tries to board without calling. .

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

Next, the control unit 101 performs first boarding 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 with the face image of the boarding user (step S73), and both face images are matched. It is determined whether or not they match (step S74).

When it is determined in step S74 that the face images do not match and the first user authentication cannot be performed, the control unit 101 disables the own vehicle (self-driving vehicle 1) due to the failure of authentication. The state is locked, and the use (driving) by the passenger concerned is prohibited (step S81 in FIG. 12).

Then, the control unit 101 generates a voice message to the effect that authentication has failed and prompts the user to get off the vehicle by, for example, voice synthesis, and emits sound through the speaker 136 to notify the user. (Step S82).

Next, the control unit 101 determines whether or not it has been confirmed that the user has gotten off the vehicle (step S83). , the process of step S83 is continued. When it is determined in this step S83 that the boarding user has got off the vehicle, the vehicle is kept in a state of being locked in a travel-impossible state until the next registered user becomes a boarding user (step S84). With this, the control unit 101 terminates this user processing routine.

Then, when it is determined in step S74 that the face images match and that the first boarding user authentication has been completed, the control unit 101 stores valid schedule information about re-boarding in the schedule input information storage unit 119. exists (step S75). When it is determined in step S75 that there is valid scheduled information, the control unit 101 stores the facial image of the person who entered the scheduled information (scheduled input person) stored in the scheduled input information storage unit 119 and the boarding information. The face image of the user is compared and referenced (step S76), and it is determined whether or not they match (step S77), and the second boarding user authentication is performed.

Then, in step S77, when the face images match and the second caller authentication is completed, the user is allowed to use the own vehicle (step S78). In this case, in step S78, the boarding user is notified that the use is permitted, and the scheduled information stored in the referenced scheduled input information storage unit 119 is erased in this example to make it invalid. and Of course, the scheduled information may be saved with an invalid mark or the like without being deleted.

Also, in step S77, when the face images are determined to be inconsistent and the second passenger authentication cannot be performed, the control section 101 performs the third passenger 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 indicates the usability of a person other than the schedule input person. It is determined whether or not the information is affirmative (step S92).

If the stored schedule information is, for example, schedule 1 in the example of FIG. 5, and use by others is prohibited, then in step S92, the stored schedule information is used for the availability of information other than the schedule input person. is not affirmed, the control unit 101 shifts the process to step S81 of FIG. 12, and executes the process of refusing use by the boarding user after step S81. In this case, in step S82, the control unit 101 sends a voice message to the passenger, such as "The boarding user cannot be authenticated, so the boarding user is refused." disconnect.

If the stored schedule information is, for example, one of schedule 2, schedule 3, and schedule 4 in the example of FIG. The control unit 101 decides that the information of the scheduled entry affirms the possibility of use by a person other than the scheduled input person, and the control unit 101 determines whether or not the approval of the scheduled input person is necessary in order to respond to the use request of the boarding user. It is determined (step S93).

Then, in step S93, when it is determined that the stored schedule information is either schedule 3 or schedule 4 in the example of FIG. , acquires the connection information of the scheduled input person from the scheduled input information storage unit 119, connects the communication path with the scheduled input person, and notifies that the own vehicle is available for use by other scheduled use registrants. (Step S94). After that, the control unit 101 advances the process to step S78 in FIG. Disable information, for example by erasing it.

Further, when it is determined in step S93 that the stored schedule information is, for example, schedule 2 in the example of FIG. Information is acquired from the scheduled input information storage unit 119, a communication path is connected with the scheduled input person, and an inquiry is made to the scheduled input person as to whether or not other scheduled use registrants can use the information (step S95). Then, the control unit 101 waits for reception of an answer from the scheduled input person regarding whether or not the use of another scheduled use registrant is permitted (step S96). It is determined whether or not the use of other scheduled use registrants is permitted (step S97).

In step S97, when it is determined that the answer from the planned input person permits the use of other planned use registrants, the control unit 101 advances the process to step S78 of FIG. is permitted, and the valid re-boarding schedule information stored in the schedule input information storage unit 119 is erased and invalidated. Further, when it is determined in step S97 that the answer from the planned input person does not permit the use of other planned use registrants, the control unit 101 shifts the processing to step S81 of FIG. Execute the process of refusing the use of subsequent boarding users. In this case, in step S82, the control unit 101 sends a voice message to the passenger, such as "The boarding user cannot be authenticated, so the boarding user is refused." disconnect.

[Effects of the above embodiment]
In the automatic driving vehicle 1 of the embodiment described above, the user (caller) who tries to call the own vehicle is authenticated based on the information on the re-boarding schedule input by the passenger, and Since the user who intends to get on the train (riding user) is authenticated, the caller authentication and the boarding user authentication according to the circumstances of the re-boarding of the person who entered the schedule of re-boarding are performed. can be done.

In addition, it is possible to smoothly coordinate with the next person who intends to use (ride) the vehicle, and it is possible to improve safety in terms of security.

[Modification of above embodiment]
In the above-described embodiment, the self-driving car 1 is a privately-owned car shared by family members and relatives. 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.

In addition, in the above-described embodiment, in the caller authentication and boarding user authentication, if the scheduled information to be valid is not stored, when it is determined that the person is not the person scheduled to be used, the calling and boarding user authentication is prohibited. However, when it is determined that the caller and the user who is going to get on board are not the planned use registrants, is it possible to allow the authorized person such as the owner of the automatic driving vehicle 1 to call and board the vehicle? It is also possible to inquire about the situation, and to permit calling or boarding based on the answer to the inquiry.

Further, in the above example, when the automatic driving vehicle 1 fails to authenticate that the caller or the boarding user is the planned use registrant in the first caller authentication or the first boarding user authentication, the automatic driving vehicle 1 calls The second caller authentication, the second boarding user authentication, the third caller authentication, and the second boarding user authentication are not performed. However, in the first caller authentication and the first boarding user authentication, if the caller or the boarding user cannot be authenticated as the planned use registrant, the owner of the automatic driving vehicle 1 or the planned input person , the connection information is used to connect the communication channel, and information that can be used to determine who the caller and boarding user, such as the face image of the caller or boarding user, is sent through the communication channel, and permission or refusal (not permitted) for calling or boarding permission) may be determined.

In addition, the automatic driving vehicle 1 is provided with a start permission/prohibition determination means for determining whether to start using the vehicle, for example, whether the door of the vehicle has been opened with a key (or whether the door of the vehicle can be opened). or not), or whether or not the drive unit of the own vehicle has been activated with the key (or whether or not the drive unit of the vehicle can be activated) can enable the start of use of the vehicle. means for determining whether or not the vehicle is used, and when it is determined that the user has opened the door of the vehicle with the key or the drive unit of the vehicle has been activated with the key, the vehicle can be used. is determined to be possible to start, and even if the first passenger user authentication fails to authenticate that the passenger is a planned registrant, the third passenger user authentication is performed. may be executed. The key in this case is not limited to a mechanical key, and may be a card key or a wireless key that performs key authentication by wirelessly collating key information.

In addition, when the planned use registrant is registered in the automatic driving vehicle 1 and the key for the automatic driving vehicle 1 is configured so that all the registered planned use registrants possess the key, the first boarding user In authentication, instead of performing authentication using biometric information such as the face image described above, whether or not the user has opened the door of the vehicle using the key for the automatic driving vehicle 1, Authentication may be performed depending on whether or not the drive unit of the vehicle is activated. Of course, by authenticating the key owned by the boarding user, it can be used for the first boarding user authentication and the third boarding user authentication.

Furthermore, when the key of the prospective registrant is a key equipped with a wireless communication function (including NFC (Near Field Communication)), for example, and the key is authenticated in advance by wireless communication, the door If the key is a key that can open and close the door of the vehicle or activate the drive unit, the key authentication allows the key to be used before the door of the vehicle is actually opened. Determining whether or not it is possible to open the door of the own vehicle by using the key, or whether or not it is possible to start the drive unit of the own vehicle with the key before the drive unit of the own vehicle is actually started. can be done. Therefore, in the case of this type of key, the user can determine whether or not the key can be used to open the door of the vehicle or whether or not the key can be used to start the drive unit of the vehicle. It is possible to perform authentication as to whether or not the user is a prospective registrant.

In the above example, the user who can use the automatic driving vehicle 1 is the planned use registrant stored in the planned use registrant information storage unit 115. , first caller authentication and first boarding user authentication are performed. However, in the automobile according to the present invention, it is not essential to limit the users who can use it to those who are scheduled to use it. Therefore, in the automobile according to the present invention, the call authentication includes the second call authentication and the third caller authentication, and the passenger authentication includes the second passenger user authentication and the third passenger user authentication. You can just let them do it.

In an example where the users who can use the automatic driving vehicle 1 are not limited to the planned use registrants stored in the planned use registrant information storage unit 115, the planned user who entered the plan to ride again information (authentication reference information such as a face image and connection information) is stored by the control unit 101 with a predetermined camera in the camera group 107 when the person entering the schedule inputs information on the schedule for re-boarding. The scheduled input information storage unit 119 acquires the scheduled input information by capturing and acquiring the face image of the input person, prompting the scheduled input person to input connection information, and acquiring the connection information input through the touch panel 112 . is stored in association with the information of

Then, in the third caller authentication and the third boarding user authentication, the control unit 101 determines whether the caller or boarding user who could not be authenticated in the second caller authentication or the second boarding user authentication Information, such as a face image, that allows an authorized person to determine who the caller or the passenger is, is acquired from the person and sent to the authorized person through a communication channel. In this way, the authentication permitter can determine who the caller and the boarding user are from the received information. .

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

In the above-described embodiment, information on the current location is sent to the call request as information on the waiting location, but a location other than the current location may be specified as the waiting location. In that case, the information of the waiting place may be an address or a phone number, or it may be "in front of the shop at the north exit of ○○ station on the XX line" or "the front entrance of the Ginza △△ department store". May be specified. In that case, the automatic driving vehicle 1 searches for the standby location in the map information of the car navigation database 134 and detects the standby location. 1 can be detected by accessing a map server or the like on the Internet through the wireless communication unit 102, performing a search, and acquiring the result. In that case, route search to the meeting place can be performed in cooperation with the map server, and navigation can also be performed using the service of the map server.

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

Regarding the invention part related to the first user authentication and the second user authentication, the automobile is not limited to the self-driving car, but the conventional car that requires the driver to drive and does not have the self-driving mode can be applied. Of course, the present invention is not limited to automobiles, and can be applied to vehicles in general, including motorcycles, single-seater vehicles, aircraft such as drones, motorboats, and ships such as ferries.

In addition, since the above-described automatic driving vehicle can run without a driver, the passenger is not limited to the driver, and may be a passenger sitting in a front passenger seat or a rear seat.

In the above-described embodiment, the self-driving vehicle is an electric vehicle, but it may be a gasoline vehicle, a fuel cell vehicle, or another drive system. Further, the self-driving car may be guided not only by a car navigation system but also by external radio waves from traffic lights, signposts, and the like.

In the above-described embodiment, the planned use registrant information storage unit 115, the planned input information storage unit 119, and the car navigation database 134 were installed in the vehicle. Instead, it can be installed on the cloud and used via the communication network 3. Further, part or all of the authentication units such as the caller authentication unit 116 and the boarding 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 face image of the boarding user is used for the first boarding user authentication and the second boarding user authentication, but it is also possible to use the voice of the boarding user. In the case of authenticating the boarding user by the voice of the boarding user, in the automatic driving vehicle 1, the voice of the boarding user is picked up by the microphone 135 and stored in the scheduled use registrant information storage unit 115. In addition, the user authentication unit 117 is configured to have a speaker voice recognition function, and the stored voice and the voice of the new user picked up by the microphone 135 are combined. By judging match/mismatch, boarding user authentication is performed.

In addition, in the case where the boarding user is authenticated by the fingerprint of the boarding user, the automatic driving vehicle 1 is provided with a fingerprint reader, and the planned use registrant information storage unit 115 stores the fingerprint of the planned use registrant. is stored, and the boarding user authentication unit 117 is configured to have a fingerprint recognition function, and checks whether the stored fingerprint matches or does not match the fingerprint of the new boarding user acquired by the fingerprint reading device. By judging, boarding user authentication is performed. The use of vein, iris, and other biometric information can be made possible by a similar configuration change.

Further, in the above-described embodiment, the information about the schedule for re-boarding once next time is input. It may be information.

For example, as shown in FIG. 14, in a certain day, if the time to get off the train is 9:59, the re-boarding schedule by the person entering the schedule is between 10:00 and 12:00 after getting off. , from 12:00 to 15:00 and from 15:00 to 20:00. Schedule 1 shown in FIG. 5 until 12:00, Schedule 2 shown in FIG. 5 from 12:00 to 15:00, Schedule 1 shown in FIG. Suppose that you have entered the settings as follows. In the case of the example of FIG. 14, the schedule input person who has input the schedule information will be the boarding user of each time in a plurality of schedules.

When the schedule information is such schedule information, the control unit 101 of the automatic driving vehicle 1 performs caller authentication and/or boarding user authentication based on a plurality of schedule information while managing the passage of time. to run.

That is, the control unit 101 validates the information of the schedule 1 from 10:00 to 12:00, validates the information of the schedule 2 from 12:00 to 15:00, and validates the information of the schedule 2 from 12:00 to 15:00. and 20:00, the information of Schedule 1 is valid. Therefore, when there is a request for calling and boarding 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. If there is a request for calling and boarding 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. is executed between 15:00 and 20:00, the control unit 101 authenticates the caller and the user perform authentication. Then, the authorized person for the third caller authentication and the third boarding user authentication based on the information of the schedule 2 is the person who entered the schedule information.

As for the schedule information, a template of the schedule may be presented from the automatic driving vehicle 1 side, and the required items may be entered in the template, or the person entering the schedule may directly enter the information. Furthermore, schedule information may be input interactively with the automatic driving vehicle 1 . Alternatively, schedule information may be input using a mobile phone terminal owned by a schedule input person, and the information may be transmitted to the automatic driving vehicle 1 .

In the example of the schedule in FIG. 14, the person entering the schedule is the re-boarding person for each schedule, but as shown in FIG. can also be made different by setting a person other than yourself. In that case, as the authentication reference information for the first and second call authentication and the authentication reference information for the first and second passenger authentication, not only the scheduled input person but also the scheduled Biometric information such as the telephone number of the mobile phone terminal of the re-boarding person (the person who is planning to board the vehicle) and the facial image at the time of re-boarding will be used.

Then, in the first and second caller authentications, it is authenticated whether the caller is either a person who entered the schedule or a re-boarding person (a scheduled boarding person) at the time of each schedule. make it In addition, the person authorized to be authenticated at the time of the third caller authentication and the third boarding user authentication can be either the person who entered the schedule or the re-boarding person at the time of each schedule, or both. is. Whether the caller to be authenticated in the first and second caller authentication is a scheduled input person or a re-boarding person (a person who plans to ride) at the time of each schedule, and the third caller It is set by the person entering the schedule whether the authorized person to be authenticated at the time of authentication and at the time of the third boarding user authentication is the person entering the schedule or the re-boarding person (person planning to ride) at the time of each schedule. be able to.

For this reason, in addition to the schedule information and the information of the person entering the schedule, the information of the re-boarding each time is input by the person entering the schedule and stored in the schedule input information storage unit 119 of the automatic driving vehicle 1. be. In this case, as the information of the re-riding person at the time of each schedule, the authentication reference information (for example, telephone number) for the first and second call authentication, and the first and second passenger authentication authentication reference information (for example, face image), and connection information for the third caller authentication and the third boarding user authentication are stored.

In this case, if all of the re-boarding passengers to be set are planned use registrants, the re-boarding persons stored in the planned use registrant information storage unit 115 will Passenger information is extracted and stored in the scheduled input information storage unit 119 . Also, if the re-boarding person is not a planned re-boarding person, the person entering the schedule directly inputs the above-mentioned information of the re-riding person. In this case, the person entering the schedule can obtain the information of the re-boarding person stored in the cloud and store it in the scheduled input information storage unit 119 .

Further, in the above-described embodiment, the information about the next one time re-boarding is scheduled, and the person who enters the schedule himself/herself becomes the re-riding person. However, the person who entered the schedule may designate a person other than himself/herself as the schedule information for the next one ride. In that case, the scheduled information includes the information of the re-boarding person (person planning to ride) (biological information such as facial images, authentication reference information including telephone number, and telephone number and e-mail address as connection information) is also included. Then, as in the case of the schedule shown in FIG. 15, if the set re-boarding passengers are all planned use registrants, the planned use registrants are selected according to the selection instruction of the planned use registrant by the schedule input person The information of the returning passenger stored in the information storage unit 115 is extracted and stored in the planned input information storage unit 119. If the returning passenger is not a planned use registrant, the planned inputting person above information is entered directly.

Also in the case of this example, in the first and second caller authentication, the caller is either the person who entered the schedule or the person who plans to ride again (the person who plans to ride). to verify whether or not there is Also, the person authorized to be authenticated at the time of the third caller authentication and the third boarding user authentication can be either the person entering the schedule or the person planning to board, or both. Whether the caller to be authenticated in the first and second caller authentications is the scheduled input person or the person who is going to board the vehicle, and at the time of the third caller authentication and the third boarding user authentication It is possible for the person entering the schedule to set whether the authorized person is the person entering the schedule or the person planning to board the vehicle.

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

Claims (34)

registration accepting means for accepting information on a person who plans to use the own vehicle as a planned use registrant and storing the information on the planned use registrant in a first storage unit;
re-boarding information storage means for storing re-boarding schedule information in a second storage unit;
a first discriminating means for discriminating whether or not a person who intends to ride is the planned use registrant by using the information of the planned use registrant in the first storage unit;
When the first discriminating means discriminates that the person who intends to ride is the person who is scheduled to use the vehicle, it is determined whether or not the information on the plan to board again is stored in the second storage unit. a second discriminating means for discriminating;
use permitting means for permitting the person who intends to board the vehicle to use the vehicle when the second determination means determines that the information about the re-boarding schedule is not stored;
An automobile characterized by comprising: The re-boarding information storage means receives the input of the re-boarding schedule information including information on permission or non-permission of use by a person other than the person who entered the re-boarding schedule information, and stores the information in the second storage unit. 2. A motor vehicle according to claim 1, characterized in that it stores a . The re-boarding information storage means stores the re-boarding schedule information in association with the information of the person who entered the re-boarding schedule information,
When the second determination means determines that the information on the re-boarding schedule exists, the usage permitting means determines that the person who entered the information on the re-boarding schedule has the information on the scheduled use by the first determination means. Permission or disapproval of use by a person other than the person who entered the re-boarding schedule information included in the re-boarding schedule information, unless the person is the same as the person who intends to board the vehicle and is determined to be a registrant. 3. The vehicle according to claim 1 or 2, wherein a decision is made as to whether or not the person who intends to ride in the vehicle is permitted to use the vehicle, based on the information on the vehicle. The re-boarding information storage means stores the re-boarding schedule information in association with the information of the person who entered the re-boarding schedule information,
When the second determination means determines that the information on the schedule of re-boarding is stored, the use permitting means determines that the person who entered the information on the schedule of re-boarding is determined by the first determination means. If the person who intends to get on the vehicle is the same person as the person who is determined to be the scheduled use registrant, the person who intends to get on is permitted to use the own vehicle. the car described in The re-boarding schedule information of the person inputting the re-boarding schedule information who is the same person as the person who is determined to be the registrant who is to be used by the first discriminating means, 5. The vehicle according to claim 4, wherein the data is erased from the second storage unit or added to the second storage unit to the effect that it is invalid. The re-boarding information storage means stores the re-boarding schedule information in association with the information of the person who entered the re-boarding schedule information,
When the second determination means determines that the information on the schedule of re-boarding is stored, the use permitting means determines that the person who entered the information on the schedule of re-boarding is determined by the first determination means. If the person who intends to ride is not the same as the person who intends to ride and is determined to be the registrant, the person who intends to ride is based on the information about the plan to board again stored in the re-boarding information storage means. 6. The automobile according to any one of claims 1 to 5, characterized in that it decides whether or not to permit the use of the own vehicle by another person. The re-boarding information storage means stores the re-boarding schedule information in association with the information of the person who entered the re-boarding schedule information,
The information on the schedule for re-boarding includes information to the effect that the use of the own vehicle will be terminated and will not be re-boarded,
In the usage permitting means, when the second determination means determines that the information on the schedule of re-boarding is stored, the person who entered the information on the schedule of re-boarding is determined by the first determination means. When it is determined that the person who intends to get on the vehicle is not the same as the person who is determined to be the registrant, the user tries to get on the vehicle based on the information to the effect that the person is not to board again, which is included in the information on the schedule of re-boarding. 7. The vehicle according to any one of claims 1 to 6, wherein the vehicle is permitted to be used by a person who intends to use the vehicle. The re-boarding information storage means stores the re-boarding schedule information in association with the information of the person who entered the re-boarding schedule information,
The re-boarding schedule information includes information as to whether use by a person other than the person who entered the re-boarding schedule information is permitted, and whether or not approval by the person who entered the re-boarding schedule information is required. ,
means of communication;
connection information storage means for storing connection information for performing communication by the communication means with a terminal possessed by the person who entered the information on the scheduled re-boarding;
with
In the usage permitting means, when the second determination means determines that the information on the schedule of re-boarding is stored, the person who entered the information on the schedule of re-boarding is determined by the first determination means. When it is determined that the person who intends to board the vehicle is not the same as the person who intends to ride and is determined to be the registrant, whether or not the information on the schedule of re-boarding requires approval of the person who entered the information on the schedule of re-boarding. is included, the connection information stored in the connection information storage means is used to generate and connect a communication path to the person who enters the scheduled information, and the person who enters the scheduled information and, based on the result of the inquiry, it is determined whether or not the person who intends to board the vehicle is permitted to use the vehicle. An automobile according to any one of claims 1 to 7. The information on the schedule of re-boarding referred to by the usage permitting means when determining whether or not to permit the use of the vehicle by the person who intends to board the vehicle is a person other than the person who entered the information on the schedule of re-boarding. In the case where the use of the other person is permitted and the approval of the person who entered the information on the re-boarding is not required, if the use permission means permits the person who intends to ride the vehicle to use the vehicle, 9. The automobile according to claim 8, wherein the referred information about the re-boarding schedule is erased from the second storage unit, or is added to the second storage unit to indicate that it is invalid. . For the person who entered the referred re-boarding schedule information to be erased from the second storage unit or to add an invalidity to the second storage unit, the person who entered the information is asked to make the vehicle available for use by another person. 10. The automobile according to claim 9, characterized by notifying that the vehicle is provided. The information on the schedule of re-boarding referred to by the usage permitting means when determining whether or not to permit the use of the vehicle by the person who intends to board the vehicle is a person other than the person who entered the information on the schedule of re-boarding. In a case where use by another person is permitted and the approval of the person who entered the information on the re-boarding is required, the use permitting means obtains the approval of the person who entered the information on the re-boarding, When the use of the vehicle by the person who intends to ride is permitted, the information on the scheduled re-boarding referred to above is erased from the second storage unit, or is invalidated in the second storage unit. 11. The motor vehicle according to any one of claims 8 to 10, further comprising: The use permitting means uses the information of the registrant who plans to use and the information of the person who entered the information of the re-boarding plan to determine whether the person who entered the information of the re-boarding plan is the first discriminating means. 12. The vehicle according to any one of claims 3 to 11, wherein it is determined whether or not the person is the same as the planned use registrant determined in . Comprising a start propriety determining means for determining propriety of starting use of the own vehicle,
When it is determined by the start propriety determination means that the use of the own vehicle is permitted, and when the first determination means determines that the person who intends to ride is not the person who is scheduled to use the vehicle. 13. The vehicle according to any one of claims 1 to 12, wherein said second determining means and said usage permitting means are executed even if the The means for deciding whether to start using the own vehicle determines whether or not the door of the own vehicle has been opened using the key, or whether or not the driving unit of the own vehicle has been started using the key. 14. A motor vehicle according to claim 13, characterized in that it determines: enabled. The information on the schedule for re-boarding is information on a sequential boarding schedule, and the information on the schedule for the next boarding after the current time is valid,
When the second determining means determines that the information on the schedule for re-boarding exists, the usage permitting means determines that the person who intends to ride is not the same person who has input the schedule information. Claims 1 to 14, characterized in that, when it is determined, it is determined whether or not the person who intends to get on the vehicle is permitted to use the own vehicle based on the valid schedule information. The automobile according to any one of The information on the schedule for re-boarding is information on a schedule for boarding a plurality of times in sequence, and it is possible that the person who is scheduled to board each time is different from the person who entered the information on the schedule, and validating the scheduled information for rides after that point in time;
When the second determination means determines that the information on the schedule for re-boarding is stored, the usage permitting means allows the person who intends to board the vehicle to replace the person who has input the information on the schedule. It is determined whether or not the person is scheduled to board each time, and if it is determined that the person who is going to board is not the scheduled boarding person, the boarding is performed based on the valid scheduled information. 16. The vehicle according to any one of claims 1 to 15, wherein it is determined whether or not a person who intends to use the vehicle is permitted to use the vehicle. The information on the schedule for re-boarding allows the person who plans to board the next time to be different from the person who entered the information on the schedule for re-boarding. stored in association with the authentication reference information of
When the second determination means determines that the information on the schedule for re-boarding is stored, the usage permitting means allows the person who intends to board the vehicle to replace the person who has input the information on the schedule. It is determined whether or not the person is scheduled to board each time, and if it is determined that the person who is going to board is not the scheduled boarding person, the boarding is performed based on the valid scheduled information. 17. The vehicle according to any one of claims 1 to 16, wherein it is determined whether or not a person who intends to use the vehicle is permitted to use the vehicle. wherein the information on the prospective use registrant is information for authentication reference of the prospective use registrant stored in association with the prospective use registrant at the time of acceptance of the prospective use registrant. The automobile according to any one of claims 1 to 17. The re-boarding information storage means stores the authentication reference information of the prospective registrant stored in the first storage unit as the information of the person who entered the re-boarding information. 19. A motor vehicle according to claim 18. The authentication reference information is biometric information such as face image, voice, fingerprint, vein, iris, etc., name, address, date of birth, ID, password, telephone number or email address, or a combination of a plurality of them. 20. A motor vehicle according to claim 18 or 19, characterized in that: the information on the prospective registrant includes an event associated with the prospective registrant;
The event associated with the prospective registrant is that the prospective registrant possesses a key for his/her own vehicle,
The first determination means determines whether the door of the vehicle has been opened using the key, or whether the door of the vehicle can be opened, or whether the door of the vehicle can be opened using the key. or whether or not the driving unit of the own vehicle can be activated to determine whether or not the person who intends to ride is the person who is scheduled to use the vehicle. The automobile according to any one of claims 1 to 20, characterized by: Use of the own vehicle is not permitted when the first determining means determines that the person who intends to ride is not the person who is scheduled to use the vehicle. A motor vehicle according to any one of the preceding paragraphs. 23. The automobile according to any one of claims 1 to 22, wherein the input of the information about the re-boarding schedule is a selection setting from one or a plurality of pre-registered schedules. A vehicle that performs automatic driving by autonomous driving,
registration receiving means for storing information of the planned use registrant as a planned use registrant, who is scheduled to use the own vehicle, in a first storage unit in association with authentication reference information for the planned use registrant; ,
a re-boarding information storage means for storing information on a re-boarding schedule in a second storage unit;
means of communication;
When a call request is received from a caller who wants to call the own vehicle through the communication means, authentication information of the caller is acquired, and the acquired authentication information and the acquired authentication information are stored in the first storage unit. a first determination means for determining whether or not the caller is the planned use registrant based on the authentication reference information that has been stored;
A second discriminating means for discriminating whether or not the information on the plan of re-boarding is stored in the second storage unit when the caller is discriminated by the first discriminating means as the scheduled registrant. and a means of determining
a call permitting means for permitting the caller to call the own vehicle when the second determination means determines that the second storage unit does not store the information on the schedule for re-boarding;
An automobile characterized by comprising: The re-boarding information storage means receives the input of the re-boarding schedule information including information on permission or non-permission of use by a person other than the person who entered the re-boarding schedule information, and stores the information in the second storage unit. 25. A motor vehicle according to claim 24, characterized in that: The re-boarding information storage means stores the re-boarding schedule information in association with the information of the person who entered the re-boarding schedule information,
The call permission means is the second determination means, and when the second storage unit stores the information on the schedule of re-boarding, the person who entered the information on the schedule of re-boarding is the second discriminating means. 26. The method according to claim 24 or 25, wherein if the caller identified as the planned use registrant by the identification means 1 is the same as the caller, the caller is permitted to call the own vehicle. car. The re-boarding information storage means stores the re-boarding schedule information in association with the information of the person who entered the re-boarding schedule information,
When the call permitting means determines that the second storage unit stores the information about the plan to re-board, the person who entered the information about the plan to re-board is If it is not the same person as the caller who is determined to be the registrant, the caller is permitted to call the own vehicle based on the re-boarding schedule information stored in the re-boarding information storage means. 27. The automobile according to any one of claims 24 to 26, characterized in that it determines whether or not to 3. A person who enters the information on the schedule of re-boarding can input a plurality of schedules of re-boarding as the information of the schedule of re-boarding, and can store them in the second storage unit. A motor vehicle according to any one of claims 1 to 27. A person who enters the re-boarding schedule information can input, as the re-boarding schedule information, a plurality of scheduled re-boarding schedule information at different times. 28. The automobile according to any one of 28. A vehicle that performs automatic driving by autonomous driving,
30. The automobile according to any one of claims 1 to 29, wherein a person who gets into the automobile sets behavior after getting off the automobile. 31. The vehicle according to claim 30, wherein the behavior after getting off the vehicle is set by selecting from a list of behaviors after getting off the vehicle. 32. The vehicle according to claim 30 or 31, wherein a predetermined behavior after getting off the vehicle is executed when the behavior after getting off the vehicle is not set. Computers in cars,
registration accepting means for accepting information on a person who plans to use the own vehicle as a planned use registrant and storing the information on the planned use registrant in a first storage unit;
re-boarding information storage means for storing re-boarding schedule information in a second storage unit;
a first determination means for determining whether or not a person who intends to ride is the planned use registrant by using the information of the planned use registrant in the first storage unit;
When the first discriminating means discriminates that the person who intends to ride is the person who is scheduled to use the vehicle, it is determined whether or not the information on the plan to board again is stored in the second storage unit. A second determining means for determining,
Usage permitting means for permitting the person who intends to ride the vehicle to use the vehicle when the second determining means determines that the information about the re-boarding schedule is not stored;
Automotive program to run as. A computer equipped with a communication means and installed in a vehicle that performs automatic driving by autonomous driving,
registration receiving means for storing information of the planned use registrant in association with authentication reference information about the planned use registrant in a first storage unit, with a person who plans to use the own vehicle as the planned use registrant;
re-boarding information storage means for storing re-boarding schedule information in a second storage unit;
When a call request is received from a caller who wants to call the own vehicle through the communication means, the authentication information of the caller is acquired, and the acquired authentication information and the authentication information are stored in the first storage unit. a first determination means for determining whether or not the caller is the planned use registrant based on the authentication reference information that is stored;
A second discriminating means for discriminating whether or not the information on the plan to board again is stored in the second storage unit when the caller is discriminated by the first discriminating means as the person who is scheduled to use the vehicle. means of determining
Call permitting means for permitting the caller to call the own vehicle when the second determination means determines that the second storage unit does not store the information on the schedule for re-boarding;
Automotive program to run as.

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