JP2015098218A - Automatic drive vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic drive vehicle which can prevent a traffic accident due to the use of a portable device during the driving of a driver beforehand.SOLUTION: An automatic drive vehicle includes a manual driving mode and an automatic driving mode, and is provided with start detection means, mode switching means, and completion detection means. The start detection means detects an event which gets to a trigger of utilization start of a function of a portable device by a driver during a travelling state in the manual driving mode. The mode switching means performs the switching to the automatic driving mode when the event which gets to a trigger of the utilization start is detected by the start detection means. Until the event of utilization completion of the function of the portable device by the driver is detected by the completion detecting means, the automatic driving mode is maintained.

Description

  The present invention relates to an autonomous driving vehicle capable of autonomous traveling.

  It is dangerous for a driver (driver) who is driving a car to make a call using a mobile phone terminal or to make an e-mail communication. Not to act is stipulated as a driver's compliance, and penalties are also stipulated. The same applies to a case where a driver who is driving a car uses a portable terminal such as a game machine or a notebook personal computer that pays attention to the display screen, not limited to a mobile phone terminal.

  From such a background, the invention of a mobile terminal such as a mobile phone terminal whose use is restricted in a car or the invention of a communication system that restricts the use of a mobile device by a driver in a car has been provided. (See, for example, Patent Document 1 (Japanese Patent Laid-Open No. 10-322440) and Patent Document 2 (Japanese Patent Laid-Open No. 2007-258888)).

Japanese Patent Laid-Open No. 10-322440 JP 2007-2558988 A

  However, functions that are restricted from being used in automobiles are not included in all mobile terminals such as mobile phone terminals, and a system that includes such functions is also standard in automobiles. Absent. In addition, the mobile phone terminal or system having the use restriction function as described above is expensive, and is an unnecessary function for a person who does not have a driving license.

  For this reason, at present, mobile devices without restrictions on use as described above are often brought into automobiles, and in order to ensure strict compliance with the above road traffic laws, I have no choice but to expect.

  However, if there is an incoming call to the mobile phone terminal while driving, there is a case where the incoming call is worrisome and the user wants to respond. This is especially true if you are waiting for an emergency call. In that case, if the vehicle is traveling on a general road, the driver can answer the incoming call after stopping the car on the shoulder, but if the vehicle is traveling on the expressway, the driver will stop on the shoulder On the contrary, it is dangerous.

  An object of the present invention is to solve the above problems and prevent a traffic accident based on the use of a portable device while the driver is driving.

In order to solve the above problems, the invention of claim 1
In an autonomous vehicle equipped with a manual operation mode and an automatic operation mode,
Start detection means for detecting an event that triggers the start of use of the function of the mobile device by the driver in the traveling state in the manual operation mode;
Mode switching means for switching to the automatic operation mode when an event that triggers the start of use is detected by the start detection means;
A self-driving vehicle is provided.

  According to the self-driving vehicle of the invention of the first aspect having the above-described configuration, the event that triggers the start of the use of the function of the portable device by the driver is detected by the start detection means while traveling in the manual operation mode. Then, the operation mode is switched to the automatic operation mode by the mode switching means.

  In this automatic driving mode, even if there is no driver's operation, the automatic driving vehicle performs safe automatic driving while avoiding obstacles according to surrounding conditions.

  Therefore, even if the driver moves to start using the functions of the portable device, the car is running in the automatic driving mode at that time, so it is safe and traffic accidents etc. Can be prevented.

  Here, examples of the function of the portable device include a telephone call function, an e-mail transmission / reception function, and a communication function of a communication service through the Internet such as Twitter (registered trademark). In addition, when the mobile device is a game machine, the game function, and when the mobile device is a notebook computer, there are functions and applications installed in the notebook computer.

  As an example of detection of an event that triggers the start of use in the start detection means, detection of an incoming call notification (reception notification) (ringing tone, incoming melody, vibration) based on an incoming call, incoming e-mail (reception), etc. Is mentioned.

  Therefore, according to the first aspect of the present invention, for example, when there is an incoming call while traveling in the manual operation mode, the automatic operation mode is automatically switched, so that a call based on the incoming call can be performed with peace of mind. It becomes like this.

  According to the apparatus of the present invention, when an event that triggers the start of the use of the function of the portable device by the driver is detected by the start detection unit while traveling in the manual operation mode, the mode switching unit detects the operation mode. Can be switched to automatic driving mode, so even if the driver actually starts to use the functions of the mobile device, the car is in a state of safe automatic driving, preventing traffic accidents etc. There is a remarkable effect that it can.

It is a block diagram which shows the structural example of the electronic control circuit part of 1st Embodiment of the automatic driving vehicle by this invention. It is a figure used in order to demonstrate the example of processing operation of a 1st embodiment of the self-driving car by this invention. It is a figure which shows the flowchart for demonstrating the processing operation example of the electronic control circuit part of 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating the processing operation example of the electronic control circuit part of 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating the other example of the processing operation example of the electronic control circuit part of 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating the modification of the processing operation example of the electronic control circuit part of 1st Embodiment of the automatic driving vehicle by this invention. It is a block diagram which shows the structural example of the electronic control circuit part of 2nd Embodiment of the autonomous driving vehicle by this invention. It is a figure used in order to demonstrate the example of processing operation of a 2nd embodiment of the self-driving car by this invention. It is a figure which shows the flowchart for demonstrating the processing operation example of the electronic control circuit part of 2nd Embodiment of the autonomous vehicle by this invention. It is a block diagram which shows the structural example of the electronic control circuit part of 3rd Embodiment of the autonomous driving vehicle by this invention.

[First Embodiment]
FIG. 1 is a block diagram illustrating a hardware configuration example of the electronic control circuit unit 10 of the autonomous vehicle 1 according to the first embodiment. In addition, the automatic driving vehicle 1 of this embodiment is an example in the case of an electric vehicle. However, the battery is not shown in FIG.

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

  During normal times, 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 a predetermined operation through the touch panel, for example, and is running in the automatic driving mode. In addition, when the driver performs an accelerator pedal operation, a brake pedal operation, a shift lever operation, or a steering operation, the driver automatically returns to the manual operation mode. However, as will be described later, when the automatic driving vehicle 1 of this embodiment is forcibly switched from the manual operation mode to the automatic operation mode, the manual operation mode described above must be satisfied after satisfying a predetermined condition described later. Even if an operation to return to is performed, the operation is invalidated, and control is performed so as to maintain traveling in the automatic operation mode.

  As shown in FIG. 1, the electronic control circuit unit 10 has a motor drive control unit 102, a steering drive control unit 103, a manual / automatic operation through a system bus 100, with respect to a control unit 101 configured with a computer. Driving mode switching control unit 104, manual driving operation detecting unit 105, radar 106, camera group 107, various sensor group 108, surrounding moving body grasping unit 109, current position detecting unit 110, display unit 111, touch panel 112, car navigation (hereinafter referred to as “car navigation”) The function unit 113, the driver action analysis detection unit 114, the forced automatic operation mode switching determination unit 115, the incoming call notification detection unit 116, the clock unit 117, and the voice output unit 118 are connected to each other.

  A motor drive unit 121 is connected to the motor drive control unit 102. A steering drive unit 122 is connected to the steering drive control unit 103. A car navigation database 123 is connected to the car navigation function unit 113. The incoming call notification detection unit 116 is connected to a microphone 124, and the audio output unit 118 is connected to a speaker 125.

  Under the control of the control unit 101, the motor drive control unit 102 controls the supply of a drive signal to the motor drive unit 121 of the automatic driving vehicle 1 configured by the electric vehicle of this embodiment. The start of travel, the travel speed control, the travel stop, etc. are controlled.

  Under the control of the control unit 101, the steering drive control unit 103 controls the supply of a drive control signal to the steering drive unit 122 of the autonomous driving vehicle 1 of this embodiment to control the course change of the autonomous driving vehicle 1. To do.

  The manual / automatic operation mode switching control unit 104 selects one of the operation mode of the automatic operation vehicle 1 as a manual operation mode, an automatic operation mode, or a forced automatic operation mode described later in accordance with a selection operation input through the touch panel 112. Control to switch between.

  The manual driving operation detection unit 105 receives operation information of an accelerator pedal operation, a brake pedal operation, a shift lever operation, and a steering operation by a driver, and supplies the manual driving operation information to the manual / automatic driving mode switching control unit 104. To do.

  The manual / automatic driving mode switching control unit 104 supplies the manual driving operation information from the manual driving operation detecting unit 105 to the motor driving control unit 102 and the steering driving control unit 103 when the automatic driving vehicle 1 is in the manual driving mode. Then, the motor drive unit 121 and the steering drive unit 122 are controlled according to the driver's pedal operation, shift lever operation, and steering operation.

  Further, the manual / automatic driving mode switching control unit 104, when the autonomous driving vehicle 1 is in the automatic driving mode (including the forced automatic driving mode), as described later, the radar 106, the camera group 107, the various sensor groups 108, The automatic driving operation information generated by the control unit 101 based on the output of the surrounding moving body grasping unit 109 is supplied to the motor drive control unit 102 and the steering drive control unit 103, and the motor drive unit 121 and the steering drive unit 122 are supplied. The driving is controlled by the automatic driving operation information. In the automatic driving mode (including the forced automatic driving mode), the car navigation function unit 113 searches for a route from the current position with respect to the destination (destination) set by the driver or the like. It is controlled to travel along.

  In this embodiment, the manual / automatic operation mode switching control unit 104 receives a determination result in the forced automatic operation mode switching determination unit 115 described later, contrary to the driver's intention—that is, driving by the driver. Contrary to the mode selection setting-the manual operation mode is forcibly automatically switched to the automatic operation mode.

  In order to distinguish from the normal automatic operation mode selected and set by the user through the touch panel 112 or the like, this automatic operation mode after the forced switching is particularly referred to as a forced automatic operation mode in this specification.

  In normal automatic driving mode that is not forced automatic driving mode, if the driver performs accelerator pedal operation, brake pedal operation, shift lever operation, or steering operation while driving in automatic driving mode, the detection information of the manual driving operation is displayed. Based on this, the manual / automatic operation mode switching control unit 104 performs mode switching control so that the operation mode of the autonomous vehicle 1 is automatically returned to the manual operation mode.

  However, when the driving mode of the automatic driving vehicle 1 is the forced automatic driving mode, the manual / automatic driving mode switching control unit 104 is not limited even if the driver performs an accelerator pedal operation, a brake pedal operation, a shift lever operation, or a steering operation. The manual driving operation information is invalidated and the forced automatic driving mode is maintained.

  The radar 106 is for measuring a distance from an object existing around the vehicle of the autonomous driving vehicle 1 and includes a laser radar, a millimeter wave radar, or the like. The laser radar is embedded, for example, near the ceiling or the bumper, and the millimeter wave radar is provided, for example, at the front and rear of the vehicle. Both laser radar and millimeter wave radar may be provided, or only one of them may be provided.

  The camera group 107 includes one to a plurality of cameras for photographing the inside of the autonomous driving vehicle 1 and one to a plurality of cameras for photographing the periphery of the autonomous driving vehicle 1 outside the vehicle. For example, a camera that captures the interior of a vehicle is attached to the rear-view mirror (rear-view mirror, rear-view mirror) installed between the driver's seat and front passenger seat, the upper part of the front window, etc. In addition to a camera for photographing the work, a camera for photographing the work of the passenger sitting in the passenger seat and the rear seat is included. Cameras that photograph the periphery of the autonomous vehicle 1 are attached to the left and right sides of the rearview mirror, for example, and two cameras (stereo cameras) that primarily photograph the left front and right front of the autonomous vehicle 1 The camera includes a camera that is attached to, for example, a door mirror or a fender mirror of the autonomous driving vehicle 1 and photographs the left and right sides, a camera that captures the rear of the autonomous driving vehicle 1, and the like.

  The various sensor groups 108 include an open / close detection sensor for detecting opening / closing of a door and opening / closing of a window, a sensor for detecting seat belt wear, and a seating sensor for detecting that a passenger is seated in a seat such as a driver's seat or a passenger seat. In addition to the above, it is composed of various sensors for acquiring information to assist automatic driving. As various sensors for acquiring information to assist automatic driving, for example, a vibration sensor for detecting vibration of a vehicle or a tire, a rotation speed sensor for detecting the rotation speed of a tire, or a direction for detecting a direction A geomagnetic sensor, an acceleration sensor for detecting acceleration, a gyro sensor (gyroscope) for detecting angle and angular velocity, and the like are included.

  The surrounding moving body grasping unit 109 grasps the moving body around the own vehicle using the radar 106 and the captured image of the 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 current position detection unit 110 has poor accuracy of the position detected by the radio wave from the GPS satellite, the current position detection unit 110 includes not only the current position information detected by the reception of the GPS radio wave but also one to a plurality of sensors included in the various sensor groups 108. In addition to using the sensor, the radar 106, and the captured image of the camera group 107, the current position is detected and confirmed by performing processing based on, for example, Bayesian theory.

  In the automatic driving mode, the automatic driving vehicle 1 uses the radar 106, the camera group 107, the various sensor groups 108, and various kinds of position information acquired by receiving GPS radio waves in the current position detecting unit 110 and the surrounding moving body grasping unit 109. Information, that is, information corresponding to information obtained from the human eyes and ears is processed by Bayesian theory, and based on this, the control unit 101 performs intelligent information processing (artificial information such as changing the course of the vehicle and avoiding obstacles). Intelligent) and control (artificial intelligence) to generate automatic driving operation information.

  The display unit 111 is composed of, for example, an LCD (Liquid Crystal Display). The touch panel 112 is arranged by superimposing a touch sensor capable of touch input with a finger on the display screen of the display unit 111 formed 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 based on the control of the control unit 101. When the touch panel 112 detects a touch by a finger on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101. Receiving this, the control unit 101 is configured to execute control processing corresponding to the software button.

  The car navigation function unit 113 is a function unit for guiding the automatic driving vehicle 1 to assist in moving to a designated destination based on a map stored in the car navigation database 123 and route guidance data. It is. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing in the manual operation mode and the automatic operation mode.

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

  On the other hand, in the automatic driving mode, the car navigation function unit 113 notifies the control unit 101 of information on the direction and distance of the vehicle when the current position of the vehicle is away from the route to the destination. When the current position of the vehicle is on the route to the destination, the control unit 101 is notified of the change direction information along the route before the intersection or branching point on the route as the vehicle moves. To do. 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. The motor drive unit 121 is controlled through the motor drive control unit 102 and the automatic drive operation information for controlling the steering drive unit 122 through the steering drive control unit 103 is generated so as to move along the route as described. . Therefore, by the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode, the automatic driving vehicle 1 can move to the destination even when the passenger is unattended.

  The driver action analysis detection unit 114 analyzes captured image information from a camera that captures a driver in the camera group 107, and in this example, in particular, takes a mobile device, in this example, a mobile phone terminal. Detect whether or not you have done the work. Then, the detection result of the driver's work is supplied to the forced automatic operation mode switching determination unit 115.

  In this embodiment, the forced automatic driving mode switching determination unit 115 receives an incoming call notification from the incoming call notification detection unit 116 that is notified by the mobile phone terminal (mobile phone terminal 2 in FIG. 1) brought into the vehicle of the automatic driving vehicle 1. And whether or not to switch the automatic driving vehicle 1 to the forced automatic driving mode is determined from the detection output of the driver and the detection result of the driver's action from the driver action analysis detecting unit 114, and the forced automatic driving mode is canceled. Whether to decide whether or not.

  The microphone 124 connected to the incoming call notification detection unit 116 is for picking up sound (sound or vibration) in the vehicle. The incoming call notification detection unit 116 detects an incoming call notification notified by the mobile phone terminal 2 from the audio signal picked up by the microphone 124, for example, a ring tone, an incoming melody, vibration of vibration, etc., and the detection result is sent to the control unit 101. Notice.

  The clock unit 117 provides time information of year / month / day / hour / minute / second and also serves as a timer for measuring time.

  Although not shown, the voice output unit 118 has a built-in memory for storing voice message data to be emitted to the outside, and a voice synthesizer that converts voice message data read from the memory into an analog voice signal. And a D-A converter. Then, the voice output unit 118 supplies the voice message selected by the control of the control unit 101 to the speaker 125 so as to be emitted to the outside as a voice. Note that the voice message to be stored is, for example, an operation mode switching notification message such as “Switched to automatic operation mode” or “Switched to manual operation mode”, as described later, and automatic operation mode. A notification message that prompts destination setting when switching is prepared.

  As described above, the electronic control circuit unit 10 of the automatic driving vehicle 1 is configured. Of the blocks shown in FIG. 1, the motor drive control unit 102, the steering drive control unit 103, and the manual / automatic operation mode switching control. Unit 104, surrounding moving body grasping unit 109, current position detecting unit 110, car navigation function unit 113, driver operation analysis detecting unit 114, forced automatic driving mode switching determining unit 115, incoming call notification detecting unit 116, voice output unit 118, Each processing function can be realized by the control unit 101 as software processing.

[Example of operation mode switching processing operation in the autonomous vehicle 1 of the first embodiment]
In the self-driving vehicle 1 including the electronic control circuit unit 10 as described above, when the driver uses a portable device brought into the vehicle while traveling in the manual operation mode, the driver is forcibly forced. Switch from manual operation mode to forced automatic operation mode automatically.

  Several examples of the situation where the manual operation mode is switched to the forced automatic operation mode and the processing operation in the electronic control circuit unit 10 of the automatic operation vehicle of this embodiment at that time will be described below.

<First example: when the mobile device is a mobile phone terminal and there is an incoming call notification>
FIG. 2A shows that the driver 3 brings the mobile phone terminal 2 (for example, a mobile phone or a smartphone) into the vehicle of the automatic driver 1 and places it on the dashboard 4, for example, in the manual operation mode. The situation where the autonomous vehicle 1 is driven is shown. In FIG. 2A, reference numeral 5 denotes a steering wheel, and 107a is installed on the side of the rearview mirror 6 in the upper part of the front window in order to photograph the driver's work in the camera group 107. Shows the camera.

  In this state shown in FIG. 2A, when an incoming call (including a videophone call) is received by the cellular phone terminal 2, in this example, the ringtone is emitted and the driver 3 is notified of the incoming call. . Then, in this example, the automatic driving vehicle 1 immediately switches from the manual operation mode to the forced automatic operation mode, and the driver is notified of this. Therefore, as shown in FIG. 2 (B), the driver 3 can safely take the cellular phone terminal 2 on the dashboard 4 and release both hands from the steering wheel 5 to answer the incoming call. Then you can make a call.

  Next, an example of the flow of processing operations in the electronic control circuit unit 10 at this time will be described. FIG. 3 is a flowchart for explaining an example of the flow of processing operations when an incoming call notification is made from the mobile phone terminal 2 in the electronic control circuit unit 10 of the autonomous driving vehicle 1 of this embodiment. In the following description, the processing in each step in the flowchart of FIG. 3 is performed by the control unit 101, the motor drive control unit 102, the steering drive control unit 103, the manual / automatic operation mode switching control unit 104, the surrounding moving body. The processing functions of the grasping unit 109, the current position detection unit 110, the car navigation function unit 113, the driver action analysis detection unit 114, the forced automatic operation mode switching determination unit 115, the incoming call notification detection unit 116, and the voice output unit 118 are software. A case where the processing is realized will be described. The same applies to the description of flowcharts for explaining other examples below.

  First, the control unit 101 monitors audio information collected by the microphone 124 and determines whether or not an incoming notification from the mobile phone terminal 2 has been detected (step S1). In this case, the incoming notification from the mobile phone terminal 2 is detected by detecting the ringtone, incoming melody, incoming vibration (vibration), etc., as described above. The ring tone and the incoming melody are registered in advance in the electronic control circuit unit 10, and the voice data registered by the function unit of the incoming call notification detection unit 116 of the control unit 101 and the voice data collected by the microphone 124 are recorded. It can be performed by detecting coincidence. Similarly, incoming vibration (vibration) can be registered and detected by detecting coincidence in the same manner.

  When it is determined in this step S1 that no incoming call notification has been detected, the control unit 101 performs other processing (step S2), and returns to step S1 after executing the processing.

  When it is determined in step S1 that an incoming call notification has been detected, the control unit 101 determines whether or not the operation mode of the automatic driving vehicle 1 is the manual operation mode (step S3). If it is determined in step S3 that the operation mode is not the manual operation mode but the automatic operation mode, it is possible to make a call safely in response to the incoming call, so the control unit 101 proceeds to step S1. return.

  When it is determined in step S3 that the operation mode is the manual operation mode, the control unit 101 switches the operation mode to the forced automatic operation mode and emits a message to that effect through the speaker 125, for example, to the driver. Notification is made (step S4).

  Next, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether the driver picks up the mobile phone terminal 2 and makes an action to respond to the incoming call. (Step S5).

  When it is determined in step S5 that the driver does not respond to the incoming call, the control unit 101 determines whether or not the incoming call notification from the mobile phone terminal 2 has disappeared (step S6). If it is determined that is not lost, the process returns to step S5.

  When it is determined in step S6 that the incoming call notification has disappeared, the control unit 101 switches from the forced automatic operation mode to the normal automatic operation mode (step S7), and manually operates the accelerator pedal, the brake pedal, the shift lever, the steering, and the like. Is detected (step S8), and when the manual operation is detected in step S8, the automatic operation mode is switched to the manual operation mode, and a message to that effect is emitted through the speaker 125 to notify the driver. (Step S9). After step S9, the control unit 101 returns the process to step S1, and repeats the processes after step S1.

  When it is determined in step S5 that the driver has responded to an incoming call, the control unit 101 executes a car navigation function start process, sets a destination (destination), and starts the car navigation function. (Step S10). Details of the start processing of the car navigation function in step S10 will be described later.

  Next, the control unit 101 performs control so that the forced automatic operation mode is maintained even when the manual operation operation is detected (step S11). Then, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and the driver ends the call using the mobile phone terminal 2, so that the mobile phone terminal 2 is located somewhere. In step S12, it is determined whether or not manual operation is possible by placing the hand on the steering wheel.

  The determination process in step S12 is an example of an end detection unit that detects an event of the end of use of the function of the portable device by the driver. In the determination in step S12, in addition to the determination that the driver places his hand on the steering wheel, the driver uses the mobile phone terminal 2 to terminate the call and place the mobile phone terminal 2 somewhere. It may be one that is discriminated.

  If it is determined in step S12 that the manual operation is not possible, step S12 is continuously executed to wait for manual operation. When it is determined in step S12 that the manual operation is possible, the control unit 101 shifts the process to step S7, executes the processes after step S7, and returns to the manual operation mode.

  Next, an example of the flow of the car navigation function start process in step S10 in the flowchart of FIG. 3 will be described with reference to FIG.

  The control unit 101 displays a destination (destination) setting screen in the automatic operation mode on the display screen of the display unit 111, and emits a voice message that prompts the destination setting from the speaker 125 (step S21). . At this time, when the destination in the automatic operation mode is set in advance on the display screen of the display unit 111, an inquiry message to that effect and whether or not the destination is acceptable is displayed. Is input through the touch panel 112. When the destination is not set in advance, the driver designates the destination on the map displayed on the display screen through the touch panel 112 or inputs the destination location name to display the destination. Set up.

  The control unit 101 waits for the destination to be set (step S22), and if it is determined that the destination has been set, the route candidate from the current position to the set destination is displayed on the display screen. (Step S23). Next, the control unit 101 monitors the operation input of the touch panel 112, and determines whether or not the selection of the route to be used is completed from the route candidates to the destination displayed on the display screen (step S24). . When it is determined in step S24 that the selection of the route to be used has been completed, the control unit 101 starts navigation for route guidance in the automatic operation mode (step S25).

  As described above, according to this embodiment, as shown in FIG. 2, when the driver 3 gets into the automatic driving vehicle 1 with the mobile phone terminal 2 and operates in the manual driving mode. When the mobile phone terminal 2 receives an incoming call, the automatic driving vehicle 1 is automatically switched from the manual driving mode to the forced automatic driving mode, and the automatic driving vehicle 1 travels safely in the forced automatic driving mode. It becomes a state. Therefore, the driver can feel free to release the hand from the steering wheel 5, pick up the mobile phone terminal 2, perform an incoming call response operation, and make a call.

  In the above-described embodiment, the driver returns to the manual driving mode by detecting a manual driving operation when the incoming call notification is completed without performing an operation to respond to the incoming call notification. Therefore, the driver can easily return to the manual operation mode by performing a manual operation when not making a call for an incoming call.

  Further, in the above-described embodiment, when the mode is switched to the forced automatic operation mode, a screen prompting the destination setting in the car navigation function is automatically displayed, the destination setting is accepted, and the car navigation function is started. Therefore, even if the driver makes a call in response to the incoming call of the mobile phone terminal 2, the autonomous driving vehicle 1 moves reliably to the destination desired by the driver.

<Second example: When the mobile device is a mobile phone terminal and makes a call>
As shown in FIG. 2A, the driver 3 brings the mobile phone terminal 2 into the vehicle of the automatic driver 1 and places it on the dashboard 4, for example. Even when the driver 3 tries to make a call (call) using the mobile phone terminal 2 from the situation of driving the vehicle 1, the automatic driving vehicle 1 of this embodiment can safely make a call based on the call. It is configured to be able to.

  That is, in this embodiment, as shown in FIG. 2 (B), the driver 3 picks up the mobile phone terminal 2 on the dashboard 4 and releases both hands from the steering wheel 5 to make a call. When an operation is to be performed, the photographed image information of the driver 3 by the camera 107a is analyzed to detect such an operation, and based on the detection result, the autonomous driving vehicle 1 is forced from the manual operation mode. The mode is switched to the driving mode, and the driver 3 is notified accordingly. Therefore, as shown in FIG. 2 (B), the driver 3 feels safe and picks up the mobile phone terminal 2 on the dashboard 4 and releases both hands from the steering wheel 5 to make a call (call). You can make a call by operating.

  A flow of an example of processing operation in the electronic control circuit unit 10 at this time will be described with reference to a flowchart of FIG.

  First, the control unit 101 determines whether or not the operation mode of the autonomous vehicle 1 is the manual operation mode (step S31). When it is determined in step S31 that the operation mode is not the manual operation mode but the automatic operation mode, the process proceeds to a processing routine in the automatic operation mode (step S32).

  When it is determined in step S31 that the operation mode is the manual operation mode, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and the driver 3 sends (calls). It is determined whether or not an operation for picking up the mobile phone terminal 2 has been performed (step S33).

  When it is determined in step S33 that the driver 3 has not taken the cellular phone terminal 2, the control unit 101 performs other processing (step S34). Is returned to step S33.

  If it is determined in step S33 that the driver 3 has taken the cellular phone terminal 2, the control unit 101 switches the operation mode to the forced automatic operation mode and releases a message to that effect through the speaker 125, for example. Sound and notify the driver 3 (step S35).

  Next, the control unit 101 executes a car navigation function start process, sets a destination (destination), and starts the car navigation function (step S36). The start process of the car navigation function in step S36 is the same as the process described with reference to FIG.

  Next, the control unit 101 performs control so that the forced automatic operation mode is maintained even when the manual operation operation is detected (step S37). Then, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and the driver 3 ends the call using the mobile phone terminal 2, so that the mobile phone terminal 2 It is determined whether or not a manual operation is possible by placing the hand on the steering wheel 5 (step S38). If it is determined in step S38 that the manual operation is not possible, step S38 is continuously executed to wait for manual operation.

  When it is determined in step S38 that the manual operation is possible, the control unit 101 switches from the forced automatic operation mode to the normal automatic operation mode (step S39), and the accelerator pedal, brake pedal, shift lever, steering Waiting for detection of a manual driving operation such as (step S40), and when detecting the manual driving operation in step S40, the automatic driving mode is switched to the manual driving mode, and a message to that effect is emitted through the speaker 125, for example. The driver 3 is notified (step S41). After step S41, the control unit 101 returns the process to step S33, and repeats the processes after step S33.

  As described above, according to this embodiment, when the driver 3 gets into the automatic driving vehicle 1 with the mobile phone terminal 2 and operates in the manual operation mode, the mobile phone terminal 2 is used. When it is necessary to make a call (call), the driver 3 automatically takes the cellular phone terminal 2 to make a call (call). The automatic operation vehicle 1 is switched from the manual operation mode to the forced automatic operation mode, and the automatic operation vehicle 1 is in the forced automatic operation mode and is in a state of traveling safely in accordance with traffic regulations regarding handling of portable devices in the vehicle. Therefore, the driver 3 can make a call with peace of mind by releasing his hand from the steering wheel 5 and picking up the mobile phone terminal 2 to perform a calling (calling) operation.

  In the first embodiment, the vibration at the time of incoming call is detected by the microphone. However, the vibration is not limited to the microphone, and may be detected by a vibration sensor or a pressure sensor.

<Modification of First Embodiment>
<Modification of the first example>
In the first example described above, when an incoming notification of a mobile phone terminal is detected, it is assumed that the driver responds to the incoming call, and the driver can safely perform an operation of picking up the mobile phone terminal. In consideration of this, the operation mode of the autonomous vehicle 1 is immediately switched to the forced automatic operation mode. That is, in the first example, the incoming call notification is an event that triggers the start of use of the function of the mobile device, and the forced automatic operation mode is switched by detecting this.

  Therefore, even when the driver does not respond to the incoming call, the forced automatic operation mode is temporarily entered, and the driver's manual driving operation is invalidated until the incoming call notification disappears. For this reason, although it is rare, the driver performs manual driving operations such as accelerator pedal operation, brake pedal operation, steering operation, etc. in order to turn left or right or change diagonal lines while receiving notifications of mobile phone terminals. However, these manual driving operations are invalidated, which may be dangerous.

  In the modified example of the first example described below, in addition to the incoming call notification, in the following example, an event that triggers the start of the use of the function of the mobile device that the driver picked up the mobile device. By doing so, the above problem is avoided.

  FIG. 6 is an example of a flowchart for explaining the flow of processing operations in the modification of the first example.

  That is, in the example of FIG. 6, first, the control unit 101 monitors the voice information collected by the microphone 124 in the same manner as in the first example described above, and notifies the incoming call from the mobile phone terminal 2. Is detected (step S51).

  If it is determined in step S51 that no incoming call notification has been detected, the control unit 101 executes other processing (step S52), and returns to step S51 after executing the processing.

  When it is determined in step S51 that the incoming call notification has been detected, the control unit 101 determines whether or not the operation mode of the automatic driving vehicle 1 is the manual operation mode (step S53). When it is determined in step S53 that the operation mode is not the manual operation mode but the automatic operation mode, the control unit 101 proceeds to step S51 because a call can be safely made in response to an incoming call. return.

  When it is determined in step S53 that the operation mode is the manual operation mode, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and the driver uses the mobile phone terminal 2 to operate the mobile phone terminal 2. In step S54, it is determined whether the mobile phone terminal 2 is picked up in order to respond to the incoming call.

  When it is determined in step S54 that the driver does not take the cellular phone terminal 2 to respond to the incoming call, the control unit 101 determines whether the incoming notification from the cellular phone terminal 2 has disappeared. If it is determined that the incoming notification has not disappeared (NO in step S55), the process returns to step S54. When it is determined in step S55 that the incoming call notification has disappeared, the control unit 101 returns the process to step S51.

  In step S54, when it is determined that the driver has taken the action of picking up the mobile phone terminal 2 in order to respond to the incoming call, the control unit 101 switches the operation mode to the forced automatic operation mode, and notifies that effect. The message is emitted through, for example, the speaker 125 and notified to the driver (step S56).

  Next, the control unit 101 executes the start process of the car navigation function described with reference to FIG. 4, sets the destination (destination), and starts the car navigation function (step S57). Next, the control unit 101 performs control so that the forced automatic operation mode is maintained even when the manual operation operation is detected (step S58).

  Then, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and the driver ends the call using the mobile phone terminal 2, so that the mobile phone terminal 2 is located somewhere. In step S59, it is determined whether or not manual operation is possible by placing the hand on the steering wheel. If it is determined in step S59 that the manual operation is not possible, step S59 is continuously executed to wait for manual operation.

  When it is determined in step S59 that the manual operation is possible, the control unit 101 switches from the forced automatic operation mode to the normal automatic operation mode (step S60), and the accelerator pedal, brake pedal, shift lever, steering Waiting for detection of a manual driving operation such as (step S61), and when detecting the manual driving operation in step S61, the automatic driving mode is switched to the manual driving mode, and a message to that effect is emitted through the speaker 125, for example. The driver is notified (step S62). After step S62, the control unit 101 returns the process to step S51 and repeats the processes after step S51.

  As described above, according to the modification of the first example, after not only detecting the incoming call notification, but also confirming the driver's action of picking up the mobile phone terminal to respond to the incoming call, Since the mode is switched to the forced automatic driving mode, the driver's manual driving operation is not invalidated even during the incoming call notification. Therefore, if the driver performs a manual driving operation for turning right or left or changing the oblique line while the incoming notification of the mobile phone terminal is being made, it is effective. And after the driver performs the necessary manual driving operation, if he takes the mobile phone terminal to answer the incoming call, the driving mode can be switched to the forced automatic driving mode, so the incoming call answering operation can be performed with peace of mind. You can make a call.

<Other modifications of the first example>
In the first example and the modification described above, the mobile device is a mobile phone terminal, and the function is an incoming call for telephone communication. However, the present invention is not limited to incoming calls, but can also be applied to incoming (received) e-mails (including short mail and message receiving functions) included in a mobile phone terminal. Furthermore, other communication functions provided in mobile devices such as mobile phone terminals, such as Internet telephones, miniblogs such as Twitter (registered trademark), instant messengers such as LINE, SNS (Social Networking Service), electronic The present invention can also be applied to the reception (reception) of information by a communication service via the Internet such as a bulletin board. Further, the mobile device is not limited to the mobile phone terminal. For e-mail and other communication services, the autonomous vehicle 1 detects a reception notification corresponding to the incoming notification.

<Modification of the second example>
In the above-described second example, the case has been described in which the mobile device is a mobile phone terminal and the function is outgoing (call) of telephone communication. However, the present invention is not limited to the transmission (calling) of telephone communication, but can also be applied to the transmission (transmission) of an electronic mail (including a short mail transmission function) provided in the mobile phone terminal. Furthermore, other communication functions provided in mobile devices such as mobile phone terminals, such as Internet telephones, mini-blogs (microblogs) such as Twitter (registered trademark), instant messengers such as LINE, SNSs, electronic bulletin boards, etc. The present invention can also be applied to the case of transmission (transmission) of information by a communication service through the Internet. In addition, in the case of e-mail and message communication, not only incoming (received) and outgoing (transmitted), but also the creation of e-mails that may distract attention and cause dangerous driving, such as watching or thinking about the display screen The present invention can also be applied during an input operation such as time or message creation. Of course, the present invention can also be applied during a browsing operation such as a mail check or a message check. Furthermore, the mobile device is not limited to a mobile phone terminal.

  Further, in the case of this second example, the portable device does not have a communication function, but has a display screen that may be watched by the driver for input operation or viewing. It may be a book (electronic book reader, viewer), a video player such as a DVD (Digital Versatile Disc) player or a memory player, a portable TV, and the like. The portable device may be a tablet having a display screen, a PDA (Personal Digital Assistant), a notebook computer, or the like. Even in such a case, the action taken by the driver in the portable device serves as a trigger for starting the use of the functions of the portable device, and therefore the processing flow shown in FIG. 6 can be applied as it is.

[Second Embodiment]
In the first embodiment described above, the mobile phone terminal 2 as an example of the mobile device is not electrically connected to the electronic control circuit unit 10 of the autonomous driving vehicle 1, and the function of the mobile phone terminal 2 is The mobile phone terminal 2 is executed by being performed on the mobile phone terminal 2 by the user (driver).

  The automatic driving vehicle 1A according to the second embodiment includes a mobile phone interface unit that electrically connects the electronic control circuit unit 10A to the mobile phone terminal 2 brought into the vehicle. Then, the telephone communication function of the mobile phone terminal 2 is realized by a display function on the display screen of the display unit 111 of the electronic control circuit unit 10A and an operation reception function through the touch panel 112.

  FIG. 7 is a block diagram illustrating a configuration example of the electronic control circuit unit 10A of the autonomous driving vehicle 1A according to the second embodiment, and the electronic control circuit unit 10 of the autonomous driving vehicle 1 according to the first embodiment described above. The same parts are denoted by the same reference numerals, and detailed description thereof is omitted.

  As is clear by comparing FIG. 1 and FIG. 7, the electronic control circuit unit 10A of the autonomous vehicle 1A of the second embodiment is an incoming notification detection unit of the electronic control circuit unit 10 of the first embodiment. 116 is not provided. Instead, the mobile phone interface unit 116A is provided. Further, the electronic control circuit unit 10A does not include the audio output unit 118 of the electronic control circuit unit 10 of the first embodiment, but includes an audio interface unit 118A instead. Other configurations of the electronic control circuit unit 10A of the autonomous driving vehicle 1A of the second embodiment are the same as those of the electronic control circuit unit 10 of the first embodiment.

  As shown in FIG. 8A, the dashboard 4 of the autonomous driving vehicle 1A according to the second embodiment is provided with a storage pocket 116Ap for storing the mobile phone terminal 2 at a predetermined part that can be reached by the driver. It has been. The driver can fix the mobile phone terminal 2 brought into the vehicle by inserting it into the storage pocket 116Ap.

  In this example, the electrical connection between the mobile phone terminal 2 and the mobile phone interface unit 116A of the electronic control circuit unit 10A is, for example, a wireless connection according to a short-range wireless standard such as Bluetooth (registered trademark). Note that, instead of wireless connection, a USB (Universal Serial Bus) terminal provided in the mobile phone terminal 2 and a USB terminal provided in the mobile phone interface unit 116A are connected using a USB cable, so that the mobile phone terminal 2 is electronically controlled. Of course, the circuit portion 10A may be electrically connected.

  Then, the electronic control circuit unit 10A according to the second embodiment receives a control signal from the mobile phone terminal 2 by the mobile phone interface unit 116A and the control unit 101, and performs processing at the time of incoming call or transmission (transmission). It is configured to be able to perform processing at the time of (call).

  That is, the electronic control circuit unit 10A has a function of an incoming call detection circuit that receives a control signal from the mobile phone terminal 2 and detects an incoming call. Based on the incoming call detection result, as shown in FIG. It has a function of displaying an incoming call on the display screen 111D of the display unit 111 (incoming call notification) or notifying the incoming call by supplying a ringing tone to the speaker 125A through the voice interface unit 118A and emitting the sound.

  Then, as shown in FIG. 8B, the control unit 101 displays a software button 112a for answering the incoming call and a software button 112b for ending the call on the incoming notification display screen 111D. When a user (driver or the like) touches these buttons 112a and 112b, the operation is detected through the touch panel 112, and processing corresponding to the operated button 112a or 112b is performed.

  When the user (driver or the like) operates the incoming call response button 112a, the control unit 101 generates a call path with the other party who has received the call through the mobile phone terminal 2, and is connected to the voice interface unit 118A. The microphone 124A is used as a transmitter, and a hands-free call using the speaker 125A connected to the voice interface unit 118A as a receiver can be performed. Further, when the user (driver or the like) operates the end button 112b, the control unit 101 controls the mobile phone terminal 2 so as to disconnect the call path and finish the conversation.

  In addition, as shown in FIG. 8C, in a standby state that is not an incoming call notification state, the control unit 101 displays a call screen (calling) software button 112c on the display screen 111D or a predetermined number via the Internet. A software button 112d for accessing the site is displayed. When a user (such as a driver) touches these buttons 112c and 112d, the operation is detected on the touch panel 112 and notified to the control unit 101. Upon receiving this notification, the control unit 101 performs processing according to the operated button 112c or 112d.

  When the user (driver or the like) operates the call (call) button 112c, the control unit 101 displays a call screen on the display screen 111D, accepts designation of the other party by the user, The telephone terminal 2 is controlled to make a call (call) to a designated destination. Then, it is configured to generate a communication path with the other party whose response has been confirmed by the other party and to perform a hands-free call using the microphone 124A connected to the audio interface unit 118A and the speaker 125A.

  Further, when a user (driver or the like) operates the end button 112c, the control unit 101 can access a predetermined site on the Internet through the mobile phone terminal 2 and receive a service of that site. The display screen 111D is controlled to display a browser screen.

  In this second embodiment, since a mobile phone call can be made hands-free, it is permitted under the Road Traffic Law, but the driver's attention is slightly distracted during a call, When calling (sending), sending or sending e-mail, or accessing the Internet, it is necessary to operate through the touch panel 112 while looking at the display screen 111D. Therefore, the manual operation mode is switched to the forced automatic operation mode. , Trying to increase safety.

  In the second embodiment, the detection of an event that triggers the start of use of the function of the portable device by the driver is performed by using the software buttons 112a to 112d displayed on the display screen 111D of the display unit 111. Is touched or not. In other words, in the second embodiment, the control unit 101 analyzes the captured image information of the camera 107a, so that the driver touches the software buttons 112a to 112d displayed on the display screen 111D. It is determined whether or not any of the software buttons 112a to 112d is actually touched through the touch panel 112. Then, the control unit 101 determines that the driver has touched the software buttons 112a to 112d and the like displayed on the display screen 111D, and that any of the software buttons 112a to 112d has actually been touched. When this happens, the manual operation mode is automatically switched to the forced automatic operation mode.

  It should be noted that the detection of an event that triggers the start of use of the function of the portable device by the driver is not detected only by the touch operation of any one of the software buttons 112a to 112d, but also the operation of the driver is detected. This is because, for example, even if a passenger in the passenger seat operates the buttons and uses the function of the mobile phone terminal 2, it is considered that the manual operation of the driver is not so much affected. .

[Example of operation mode switching processing operation in the autonomous vehicle 1A of the second embodiment]
An example of the flow of processing operations in the electronic control circuit unit 10A of the autonomous driving vehicle 1A of the second embodiment will be described with reference to the flowchart of FIG.

  First, the control unit 101 determines whether or not the operation mode of the autonomous vehicle 1 is the manual operation mode (step S71). When it is determined in step S71 that the operation mode is not the manual operation mode but the automatic operation mode, the process proceeds to a processing routine in the automatic operation mode (step S72).

  When it is determined in step S71 that the operation mode is the manual operation mode, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and the driver sends (calls). It is determined whether or not an operation for touching the software button 112c or 112d is performed in order to perform the operation, and whether or not a touch operation of the software button 112c or 112d is detected through the touch panel 112 (step S73). ).

  In step S73, the driver touches the software button 112c or 112d to make a call (call), and either the software button 112c or 112d performs a touch operation through the touch panel 112. When it is detected, the control unit 101 switches the operation mode to the forced automatic operation mode, emits a message to that effect through, for example, the speaker 125A, and notifies the driver (step S74).

  Next, the control unit 101 executes a car navigation function start process, sets a destination (destination), and starts the car navigation function (step S75). The start process of the car navigation function in step S75 is the same as the process described with reference to FIG.

  Next, the control unit 101 performs control so that the forced automatic operation mode is maintained even when the manual operation operation is detected (step S76). Then, the control unit 101 detects that the driver has performed an operation to terminate the function (call, e-mail, Internet connection, etc.) transmitted on the display screen 111D through the touch panel 112, and the captured image of the camera 107a. Information is monitored and the captured image information is analyzed, and the driver performs such an end operation, and then performs an operation of placing a hand on the steering wheel to determine whether or not the vehicle is ready for manual driving. (Step S77). If it is determined in step S77 that the manual operation is not possible, step S77 is continuously executed to wait for manual operation.

  When it is determined in step S77 that the manual operation is possible, the control unit 101 switches from the forced automatic operation mode to the normal automatic operation mode (step S78), and the accelerator pedal, brake pedal, shift lever, steering Waiting for detection of a manual driving operation such as (step S79), and when detecting the manual driving operation in step S79, the automatic driving mode is switched to the manual driving mode, and a message to that effect is emitted through the speaker 125A, for example. The driver is notified (step S80). After step S80, the control unit 101 returns the process to step S73, and repeats the processes after step S73.

  In step S73, it is confirmed that the driver has not touched the software button 112c or 112d to make a call (call) or that either the software button 112c or 112d has been touched. If it is determined that no incoming call has been detected, the control unit 101 determines whether an incoming call has been detected (step S81). If it is determined that no incoming call has been detected, the process returns to step S73.

  When it is determined in step S81 that an incoming call has been detected, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and allows the driver to respond to the incoming call. It is determined whether or not the wear button 112a is touched and whether or not the touch operation of the software button 112a is detected through the touch panel 112 (step S82).

  When it is determined in this step S82 that the driver has made an action to touch the software button 112a in order to make an incoming call response and the touch operation of the software button 112a is detected through the touch panel 112, the control unit In step 101, the process proceeds to step S74, and the processes in and after step S74 are repeated.

  In step S82, it is determined that the driver has not made an action to touch the software button 112a for answering an incoming call or has not detected a touch operation of the software button 112a through the touch panel 112. When it does, the control part 101 returns a process to step S73, and repeats the process after this step S73.

  As described above, according to this embodiment, when driving in the manual operation mode, when the driver makes an action for a call, e-mail, transmission to an Internet site, When an action is taken to respond to an incoming mail or e-mail, the automatic driving vehicle 1A is automatically switched from the manual driving mode to the forced automatic driving mode, and the automatic driving vehicle 1A is switched to the forced automatic driving mode. Then, it will be in the state which drive | works safely. Therefore, the driver can feel free to take his hands off the steering wheel and receive various services through the Internet by paying attention to the call, receiving and sending operations of e-mails, and also on the display screen. Is possible.

[Modification of Second Embodiment]
In the second embodiment, the detection of the event that triggers the start of use of the function of the portable device by the driver is not limited to the detection of the operation of the software buttons 112a to 112d on the display screen 111D by the driver. Alternatively, it may be detected whether the driver's hand is away from the steering wheel. For example, when the driver operates the software buttons 112a to 112d on the display screen 111D and releases both hands from the steering wheel, the driver switches to the forced automatic operation mode and operates the software buttons 112a to 112d. When the driver does not release at least one hand from the steering wheel, the manual operation mode may be maintained so as not to switch to the forced automatic operation mode.

[Third Embodiment]
In the third embodiment, the electronic control circuit unit itself of the autonomous driving vehicle has a function of a mobile phone terminal. That is, the automatic driving vehicle 1B of the third embodiment is a case where the electronic control circuit unit 10B has the function of a mobile phone as its own function.

  FIG. 10 is a block diagram showing a configuration example of the electronic control circuit unit 10B of the automatic driving vehicle 1B of the third embodiment, and the electronic control circuit unit 10 of the automatic driving vehicle 1 of the first embodiment described above. The same parts are denoted by the same reference numerals, and detailed description thereof is omitted.

  As is clear by comparing FIG. 1 and FIG. 10, the electronic control circuit unit 10B of the autonomous vehicle 1B of the third embodiment is an incoming notification detection unit of the electronic control circuit unit 10 of the first embodiment. 116 is not provided, and a mobile phone function unit 116B is provided instead. A microphone 124B and a speaker 125B for a hands-free call are connected to the mobile phone function unit 116B. Other configurations of the electronic control circuit unit 10B of the autonomous vehicle 1B of the third embodiment are the same as those of the electronic control circuit unit 10 of the first embodiment.

  The mobile phone function unit 116 </ b> B has the functions of the mobile phone terminal 2. This third embodiment operates exactly the same as the second embodiment described above, except that the function of the mobile phone terminal 2 is provided in the electronic control circuit unit 10B. An effect can be obtained.

  Moreover, the modification of 3rd Embodiment can be comprised similarly to the modification of 2nd Embodiment, and the same effect can be obtained.

  The mobile phone may be a car phone.

[Other Embodiments or Modifications]
In the above-described embodiment, after switching from the forced automatic operation mode to the normal automatic operation mode, the manual operation mode is switched. However, when the use of the function of the portable device by the driver is completed, the forced automatic operation mode is set. Therefore, it may be configured to directly switch to the manual operation mode.

  The present invention can be applied to not only ordinary cars and light cars but also trucks, buses, taxis, tractors, dump trucks, excavators, forklifts, single-person cars, motorcycles, and the like.

  Moreover, although the automatic driving vehicle of the above-described embodiment is an electric vehicle, the present invention can be applied to a gasoline vehicle, a hybrid vehicle, and other driving vehicles.

  DESCRIPTION OF SYMBOLS 1,1A, 1B ... Auto-driving car, 10, 10A, 10B ... Electronic control circuit part, 104 ... Manual / automatic driving mode switching control part, 107 ... Camera group, 111 ... Display part, 112 ... Touch panel, 113 ... Car navigation function 114, driver action analysis detection unit, 115 ... forced automatic operation mode switching determination unit, 116 ... incoming call notification detection unit

Claims (11)

In an autonomous vehicle equipped with a manual operation mode and an automatic operation mode,
Start detection means for detecting an event that triggers the start of use of the function of the mobile device by the driver in the traveling state in the manual operation mode;
Mode switching means for switching to the automatic operation mode when an event that triggers the start of use is detected by the start detection means;
An autonomous driving vehicle characterized by comprising: An end detection means for detecting an event of the end of use of the function of the mobile device by the driver;
The automatic driving vehicle is characterized in that the automatic driving mode is maintained at least until the end of use event is detected by the end detecting means. The self-driving vehicle according to claim 1 or 2, wherein the function of the portable device is provided as a function of the own vehicle. The autonomous driving vehicle according to claim 1 or 2, further comprising an interface unit for connecting the portable device to an electronic circuit of the own vehicle. The detection of the event that triggers the start of use is the detection of an incoming call, an incoming e-mail or an incoming e-mail, or an incoming or received e-mail of an Internet communication service. The automatic driving vehicle according to any one of claims 1 to 4, further comprising means for detecting a notification. The detection of the event that triggers the start of use is the detection of an incoming call, an incoming e-mail or an incoming e-mail, or an incoming or received e-mail of an Internet communication service, wherein the start detecting means is an incoming call provided as a function of the own vehicle. The automatic driving vehicle according to claim 3 or 4, comprising detection means or reception detection means. A camera for photographing the driver's work;
The detection of the event that triggers the start of use is based on the detection of an incoming call, an incoming e-mail or an incoming e-mail, or an incoming or received e-mail of an Internet communication service, and an analysis result of a captured image taken by the camera, The automatic driving vehicle according to any one of claims 1 to 4, wherein both detection and detection of an action for response to the detected incoming call or reception by a driver are performed. A camera for photographing the driver's work;
The detection of the event that triggers the start of use is for transmitting or transmitting wireless communication such as telephone, e-mail, or Internet communication service by the driver based on the analysis result of the captured image captured by the camera. The self-driving vehicle according to any one of claims 1 to 4, wherein A camera for photographing the driver's work;
The detection of the event that triggers the start of use is an operation for performing an input operation, a browsing operation, or a viewing operation of the portable device by the driver based on an analysis result of a captured image captured by the camera. The automatic driving vehicle according to any one of claims 1 to 4, wherein: Comprising an operation input receiving means for receiving a driver's operation input;
The detection of the event that triggers the start of use is accepted by the operation input accepting means, and is a response to an incoming call received or transmitted by a wireless communication transmission or transmission operation such as a telephone, e-mail, or Internet communication service. The automatic driving vehicle according to claim 3 or 4, wherein the operation is detected. In the automatic driving vehicle according to claim 5,
With a camera that captures the driver's work,
Whether or not an action for the driver to respond to the detected incoming call or reception is made before the incoming call notification or the reception notification is completed based on the analysis result of the captured image taken by the camera Discriminating means for discriminating;
When the determination means detects that no action has been taken to respond to the detected incoming call or reception by the driver until the incoming call notification or the incoming notification ends, the incoming call notification or An automatic driving vehicle comprising: means for switching the automatic driving mode to the manual driving mode based on a switching operation to the manual driving mode by the driver after the reception notification is completed.

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