JP2016130091A - Automatic drive vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic drive vehicle having an automatic drive control device which easily and surely detects the existence of an occupant having a driving qualification, and can smoothly drive the vehicle.SOLUTION: An automatic drive vehicle 10 comprises: an automatic drive control device 12; an occupant detection device 96 which detects the existence of an occupant in a cabin; and an automatic drive switch 18 which indicates a start and finish of automatic drive control. The occupant detection device 96 has a driver's license card reader 16 which determines whether or not a driver's license exists in the cabin 10 when detecting a start indication of automatic drive, and the automatic drive control device 12 permits the execution of the automatic drive control of the vehicle 10 when the driver's license card reader 16 confirms the existence of the driver's license.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic driving vehicle including an automatic driving control device that controls automatic driving of the vehicle.

  2. Description of the Related Art Conventionally, an automatic operation control device that detects the state or operation of an occupant in a passenger compartment before starting the automatic operation of the vehicle and starts or prohibits execution of the automatic operation of the vehicle based on the detected state or operation of the occupant There is known an autonomous driving vehicle including

  For example, Patent Document 1 discloses that an occupant in a vehicle interior, such as whether or not an occupant in the vehicle compartment is holding the steering wheel and whether or not a foot is placed on an accelerator pedal or a brake pedal before the automatic driving of the vehicle is started. An automatic driving vehicle including an automatic driving control device that detects whether or not a vehicle is accessing a predetermined driving operation means is disclosed.

  When it is determined that an occupant in the passenger compartment is accessing a predetermined driving operation means, the automatic driving control device permits execution of automatic driving of the vehicle, and the occupant in the passenger compartment is assigned to the predetermined driving operation means. If it is determined that the vehicle has not been accessed, execution of automatic driving of the vehicle is prohibited, canceled or suppressed.

JP 2002-264826 A

  Incidentally, in general, driving a vehicle such as an automobile requires obtaining various driving licenses according to the type of vehicle to be driven.

  However, the automatic driving control device of Patent Literature 1 determines whether or not automatic driving can be performed based on whether or not the occupant is accessing a predetermined driving operation means, and whether the occupant has a driving license. No. (hereinafter referred to as “occupants with driving qualifications” for passengers with a driver's license and “occupants without driving qualifications” for passengers without a driver's license) There is room for.

  This is because an occupant who does not have driving qualification, for example, cannot cope with tire punctures or fuel supply, and there is a concern that smooth running of the vehicle may be hindered, such as causing traffic congestion.

  The present invention has been made in consideration of the above-described problems, and an automatic driving control apparatus capable of easily and surely detecting the presence of an occupant having a driving qualification to smoothly and automatically drive a vehicle. An object is to provide an autonomous driving vehicle.

  An automatic driving vehicle according to the present invention includes an automatic driving control device that automatically controls a vehicle, an occupant detection device that detects the presence of an occupant in a vehicle interior, and automatic driving start / end that instructs the start and end of automatic driving control. The occupant detection device detects whether or not a driver's license or equivalent to the driver's license exists in the vehicle when detecting an automatic driving start instruction by the automatic driving start / end indicator The automatic driving control device permits the execution of the automatic driving control of the vehicle when the determining device confirms the presence of a driving license or an equivalent of the driving license. Yes.

  According to the present invention, when the existence of a driver's license or a driver's license is confirmed in the vehicle, the execution of the automatic driving control of the vehicle is permitted. It can be confirmed simply and reliably, and the vehicle can be smoothly and automatically driven.

  In the above configuration, it is preferable that the determination unit periodically confirms the presence of a driver's license or a driver's license.

  According to such a configuration, it is possible to reliably confirm that an occupant having driving qualification exists in the passenger compartment during execution of the automatic driving control.

  In the above configuration, the determiner may be a card reader.

  According to such a configuration, it can be confirmed simply and reliably that there is an occupant having driving qualifications in the passenger compartment.

  In the above configuration, the determination device may be an ETC on-vehicle device.

  According to such a configuration, the user of the vehicle does not need to newly install a card reader for a driver's license, and the user's economic burden can be suppressed.

  In the above configuration, the determination device may confirm the presence of a driver's license or a driver's license when the vehicle enters the toll road.

  According to such a configuration, it is possible to more reliably confirm that an occupant having driving qualification exists in the vehicle interior during execution of automatic driving control.

  According to the present invention, when it is confirmed that a driver's license or a driver's license is present in the vehicle, execution of automatic driving control of the vehicle is permitted. For this reason, it can confirm simply and reliably that the passenger | crew who has driving qualification exists in a vehicle interior, and a vehicle can be drive | operated smoothly smoothly.

It is a block diagram which shows the structure of the automatic driving | operation control apparatus mounted in the automatic driving vehicle which concerns on 1st Embodiment of this invention. It is the interior figure which looked at the inside of a vehicle from the inside of a vehicle. It is a flowchart which shows the control procedure which permits execution of automatic operation control in 1st Embodiment of this invention. It is a flowchart which shows the control procedure which permits execution of automatic driving | operation control in 2nd Embodiment of this invention.

  Hereinafter, preferred embodiments of an autonomous driving vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

[Configuration of First Embodiment]
FIG. 1 is a block diagram showing a configuration of an automatic driving control device 12 mounted on an automatic driving vehicle 10 (hereinafter also referred to as “vehicle 10”) according to the first embodiment of the present invention.

  As shown in FIG. 1, the automatic operation control device 12 includes an electronic control device 14 (hereinafter referred to as “ECU (Electronic Control Unit) 14”), a driver's license card reader 16 (determination unit), and an automatic operation. Switch (automatic operation start / end indicator) 18, sensor group 20, ignition switch 22, navigation device (NAV) 24, wireless communication device 26, display device 28, speaker 30, automatic driving control unit 32, a manual operation control unit 34, an operation mode switching unit 36, a steering device 38, a drive device 40, and a braking device 42.

  The ECU 14 is a computer including a microcomputer, such as a CPU (Central Processing Unit), a ROM (including EEPROM) as a memory, a RAM (Random Access Memory), other A / D converters, D / A converters, etc. It has an input / output device, a timer as a time measuring unit, etc., and the CPU reads and executes a program recorded in the ROM so that various function realizing units (function realizing means), for example, a control unit, a calculation unit, and a process It functions as a part. More specifically, in the automatic driving control device 12, the ECU 14 functions as a calculation unit 46 including a driving license presence / absence determination unit 44, a storage unit 48, and the like.

  The driver's license card reader 16 is an IC (Integrated Circuit) type driver's license (hereinafter also simply referred to as “driver's license”) 52, which is stored in the IC chip of the driver's license (owner's license). IC card reader for reading a person's name, date of birth, family register, address, date of issue, expiry date, license number, etc.).

  When the driver's license 52 is inserted, the driver's license card reader 16 reads the license holder information of the inserted driver's license 52 and outputs it to the ECU 14. That is, the driver's license card reader 16 functions as a determiner that determines whether or not the driver's license 52 exists in the vehicle 10. Note that the license holder information read by the driver's license card reader 16 is output to the ECU 14 and is also stored as operation history information in the storage unit 48 or an external server.

  FIG. 2 is an interior view of the interior of the vehicle 10 as viewed from the rear of the vehicle. As shown in FIG. 2, the driver's license card reader 16 is disposed and fixed (attached) to the lower portion of the dashboard 56 and has two slots (insertion portions) into which cards are inserted. A driver's license 52 is inserted into one slot, and an ETC (Electronic Toll Collection) card 60 is inserted into the other slot. That is, in the present embodiment, the driver's license card reader 16 is integrated with the ETC vehicle-mounted device 58. In addition, it is preferable to provide a mechanism that makes it impossible to insert the driver's license 52 and the ETC card 60 into the two slots.

  The ETC vehicle-mounted device 58 is used for an electronic toll collection system (Electronic Toll Collection System) on a toll road, and reads ETC card information (card number, card contractor information, card issuer information, etc.) registered in the ETC card 60. . The ETC vehicle-mounted device 58 communicates with an ETC gate installed at the entrance / exit of a toll road or at an intermediate point thereof, and is used for automatic payment of tolls.

  The automatic operation switch 18 is a switch that instructs the start and end of automatic operation control. In the present embodiment, the switch is configured to switch between an automatic driving mode in which the driver automatically drives the vehicle 10 without operating the handle 62 and a manual driving mode in which the driver operates by operating the handle 62.

  As shown in FIG. 2, the automatic operation switch 18 is provided, for example, on the handle 62, and every time the driver presses the ECU 14, an operation mode switching request signal that is an automatic operation start instruction signal or an automatic operation end instruction signal. Is output.

The sensor group 20 includes, for example, a vehicle speed sensor, a steering angle sensor, a lateral acceleration sensor, and a yaw rate sensor. These are respectively the vehicle speed V [km / h] of the vehicle 10, the steering angle θst, the lateral acceleration Gl [m / s ² ] generated in the lateral direction (width direction), and the yaw rate Yr that is the rotational angular velocity about the vertical axis. It detects and outputs to ECU14. The sensor group 20 can include sensors other than those described above, for example, a camera, a radar, a wheel speed sensor, and a rotational speed sensor of a drive source (engine, travel motor, etc.).

  The navigation device 24 detects the current position of the vehicle 10 using GPS (Global Positioning System), and guides the route to the destination for the user (occupant). As shown in FIG. 2, the navigation device 24 includes a touch panel 80 as an input device and a display device. The destination is input via the touch panel 80. The navigation device 24 includes a storage device 82 that stores map information. The navigation device 24 detects or specifies the current position of the vehicle 10 based on the position information from the GPS satellite and the map information stored in the storage device 82.

  In FIG. 2, it is assumed that the navigation device 24 is arranged and fixed (mounted) on the front surface of the dashboard 56. However, the present invention is not limited to this, and a portable information terminal such as a smartphone may be used as the navigation device. . The map information may be stored in an external server and provided to the navigation device 24 as necessary.

  The wireless communication device 26 communicates with an external device 84 (for example, an optical beacon disposed on the side of a road, an external terminal or server disposed at a remote location) outside the vehicle 10 via a communication network 86. In FIG. 1, a type in which the wireless communication device 26 is attached to the vehicle 10 is assumed. However, the present invention is not limited to this, and a mobile information terminal such as a smartphone may be substituted for the wireless communication device 26.

  The display device 28 performs display related to automatic driving. As shown in FIG. 2, the display device 28 also serves as a touch panel 80 of the navigation device 24. Or you may comprise as a part of meter 90 of the instrument panel 88. FIG.

  The speaker 30 performs voice output (voice guidance or the like) related to automatic driving. The speaker 30 may be configured as a part of an audio device or a navigation device 24 (not shown).

  Based on the vehicle speed V, lateral acceleration Gl, yaw rate Yr, and other information detected by the sensor group 20, the automatic driving control unit 32 controls a steering device 38, a driving device 40, and a braking device 42, which will be described later, and a vehicle by automatic driving. The control required for 10 driving | running | working is performed.

  The manual driving control unit 34 controls a steering device 38, a driving device 40, and a braking device 42, which will be described later, based on operations by the driver such as the handle 62, the accelerator pedal 92, and the brake 94, so that the vehicle 10 travels by manual driving. Perform the necessary control.

  The operation mode switching unit 36 switches between the automatic operation mode and the manual operation mode based on a command from the ECU 14. In other words, the operation mode switching unit 36 outputs one of the control signal input from the automatic operation control unit 32 and the control signal input from the manual operation control unit 34 to the steering device 38, the drive device 40, and the braking device 42. The operation mode is switched by not outputting the other, and the automatic operation control is started or ended.

  The steering device 38 switches the traveling direction (steering angle θst) of the vehicle 10 based on a command from the automatic driving control unit 32 or the manual driving control unit 34.

  The drive device 40 generates a driving force for the vehicle 10 based on a command or the like from the automatic operation control unit 32 or the manual operation control unit 34. When the vehicle 10 is an engine vehicle, the drive device 40 includes, for example, an engine and a transmission (not shown). Or when the vehicle 10 is a narrowly-defined electric vehicle (battery vehicle), the drive device 40 has a travel motor and a transmission which are not shown in figure, for example. Both the engine and the traveling motor are started and stopped via the ignition switch 22.

  The braking device 42 generates a braking force of the vehicle 10 based on a command from the automatic operation control unit 32 or the manual operation control unit 34. The braking device 42 includes, for example, a brake disk, a brake caliper, and a hydraulic mechanism (not shown). Furthermore, when the vehicle 10 is an electric vehicle including a travel motor (not shown), the braking device 42 may include the travel motor as a part for regenerative braking. The electric vehicle here is not limited to an electric vehicle in a narrow sense, but includes a hybrid vehicle, a fuel cell vehicle, and the like.

  The storage unit 48 stores various programs and data such as a control program used in the calculation unit 46. The storage unit 48 is a RAM (Random Access Memory) that stores an imaging signal converted into a digital signal, temporary data used for various arithmetic processes, and a ROM (Read Only Memory) that stores an execution program, a table, a map, or the like. ) Etc.

  The calculation unit 46 performs calculation based on input information from the driver's license card reader 16, the automatic operation switch 18 and the sensor group 20, and generates a switching signal for the operation mode switching unit 36 based on the calculation result.

  As shown in FIG. 1, the calculation unit 46 includes a driver's license presence / absence determination unit 44. The driver's license presence / absence determining unit 44 determines whether or not the driver's license 52 exists in the vehicle 10 based on the driver's license holder information output from the driver's license card reader 16.

  In general, a driver's license is used for identification of an individual in many public institutions. For this reason, the driver's license holder takes the driver's license out of the vehicle without leaving it in the vehicle when getting off the vehicle, and carries it without leaving the skin. Focusing on this point, in the present embodiment, when the driver's license 52 exists in the vehicle 10, it is determined that there is an occupant having driving qualification in the passenger compartment, and the driver's license 52 exists in the vehicle 10. If not, it is determined that there is no occupant with driving qualification in the passenger compartment. That is, in the present embodiment, the driver's license card reader 16 and the driver's license presence / absence determination unit 44 constitute an occupant detection device 96 that detects the presence of an occupant in the passenger compartment.

  The automatic driving control device 12 mounted on the automatic driving vehicle 10 according to the first embodiment basically has the above-described configuration. Next, the automatic driving control device 12 permits execution of the automatic driving control. The procedure to do is demonstrated.

[Control Procedure of First Embodiment]
FIG. 3 is a flowchart showing a control procedure for allowing the automatic driving control device 12 to execute the automatic driving control of the automatic driving vehicle 10. Here, the driving mode of the vehicle 10 is the manual driving mode, and a state where the driving license 52 is inserted in the driving license card reader 16 will be described as an initial state.

  First, in step S1, an occupant is seated in the driver's seat, the ignition switch 22 is turned on, and the engine or the traveling motor is started. At this time, the ECU 14 detects that the ignition switch 22 is turned on.

  When the ignition switch 22 is turned on, the process proceeds to step S2, and the ECU 14 detects an automatic operation start instruction signal (operation mode switching request signal) instructing the start of automatic operation. If the automatic operation start instruction signal is not detected, it is determined that the automatic operation switch 18 is in the off state (manual operation mode), and the process is terminated.

  When the automatic driving start instruction signal is detected, the process proceeds to step S3, and the license holder information stored in the driving license 52 is detected. When the license holder information is detected, the driver's license presence / absence determination unit 44 of the ECU 14 indicates that the driver's license 52 exists in the vehicle 10 (in the vehicle), and that there is an occupant with driving qualification in the vehicle interior. to decide.

  Next, in step S <b> 4, the ECU 14 calls up display data for permitting automatic driving stored in the storage unit 48 in advance and outputs the display data to the display device 28. Thereafter, in step S5, a switching signal for switching the operation mode to the automatic operation mode is output to the operation mode switching unit 36, the execution of the automatic operation control is permitted, and the process ends.

  On the other hand, if the license holder information is not detected in step S3, the driver's license presence / absence determination unit 44 does not have the driver's license 52 in the vehicle 10 and a passenger who has driving qualifications in the passenger compartment. Judge that it does not exist.

  In this case, in step S <b> 6, the ECU 14 calls up display data for rejecting the automatic driving stored in the storage unit 48 in advance and outputs the display data to the display device 28. Thereafter, in step S7, the automatic operation switch 18 is turned off (manual operation mode), and the process is terminated.

  As described above, the automatic driving vehicle 10 instructs the automatic driving control device 12 that automatically controls the vehicle 10, the occupant detection device 96 that detects the presence of an occupant in the vehicle interior, and the start and end of the automatic driving control. The occupant detection device 96 includes a determination device that determines whether or not the driver's license 52 exists in the vehicle 10 when an automatic operation start instruction is detected by the automatic operation switch 18. The automatic driving control device 12 permits the automatic driving control of the vehicle 10 to be executed when the determiner confirms the presence of the driving license 52.

  As described above, when the autonomous driving vehicle 10 confirms the presence of the driving license 52 in the vehicle 10, the autonomous driving vehicle 10 permits the execution of the automatic driving control of the vehicle 10. The presence can be easily and reliably confirmed, and the vehicle 10 can be smoothly and automatically driven.

  Moreover, in this embodiment, since the determination device is the driver's license card reader 16, it can confirm that the passenger | crew who has driving qualification exists in a vehicle interior easily and reliably.

  The driver's license card reader 16 has two slots (insertion portions) into which cards are inserted. The driver's license 52 is inserted into one slot, and the ETC card 60 is inserted into the other slot. It is configured to be. That is, the driver's license card reader 16 is integrated with the ETC vehicle-mounted device 58. For this reason, the user of the vehicle does not need to newly install a card reader for a driver's license, and the user's economic burden can be suppressed.

[Configuration of Second Embodiment]
Next, an automatic driving control apparatus 102 mounted on an automatic driving vehicle 100 (hereinafter also referred to as “vehicle 100”) according to a second embodiment of the present invention will be described. Since the components of this automatic driving control device 102 are the same as those of the automatic driving control device 12 according to the first embodiment, the same names and symbols as those in the first embodiment are given and detailed description thereof is omitted.

[Control Procedure of Second Embodiment]
FIG. 4 is a flowchart showing a control procedure for allowing the automatic driving control apparatus 102 according to the second embodiment to execute the automatic driving control of the vehicle 100. Compared with the control procedure according to the first embodiment, the process is not terminated after the execution of the automatic driving control is permitted, and whether or not the driving license 52 exists in the vehicle 100 is determined periodically (for example, for a predetermined time). Alternatively, the points to be checked at every predetermined travel distance are different.

  Specifically, after permitting the automatic operation control to be executed in step S15, the process waits for a predetermined time (for example, about 5 to 10 seconds) in step S16, returns to step S12 after the predetermined time, and performs the same processing. repeat.

  As described above, in the autonomous driving vehicle 100 according to the second embodiment, since it is periodically checked whether or not the driver's license 52 exists in the vehicle 100, an occupant having driving qualification in the passenger compartment more reliably. Can be confirmed.

  Further, in the autonomous driving vehicle 100 according to the second embodiment, whether or not the driving license 52 exists in the vehicle 100 is confirmed at intervals of about 5 to 10 seconds, for example. For this reason, even when a driver having driving qualification gets off the vehicle 100 after the execution of the automatic driving control is permitted, the automatic driving control of the vehicle 100 can be stopped immediately, and the vehicle 100 can be made smooth. Can be driven automatically.

[Modification 1]
As described above, as the embodiment of the autonomous driving vehicle according to the present invention, the example of detecting the driver's license (first embodiment) and the example of periodically detecting the driver's license (second embodiment) are shown. It is not limited to.

  For example, in order to confirm that an occupant having driving qualification exists in the passenger compartment, the object detected by the occupant detection device is not limited to the driver's license, but may be anything corresponding to the driver's license.

[Specific Example 1 of Modification 1]
For example, the detection target detected by the occupant detection device 96 may be the ETC card 60. In this case, the ETC vehicle-mounted device already installed in the vehicle can be used as the determination device, which is simple.

[Specific Example 2 of Modification 1]
Alternatively, in the future, when an IC card in which an IC driver's license and an ETC card are integrated is issued, it is functional if the IC card is detected.

[Specific Example 3 of Modification 1]
Further, a human authentication device that detects a driver's fingerprint, retina, or voiceprint may be provided in the vehicle, and the driver's fingerprint information, retina information, or voiceprint information may be detected. In this case, there is an occupant with driving qualification in the vehicle interior by collating fingerprint information, retina information or voiceprint information stored in advance in a storage device (not shown) in the vehicle or an external server with the detection result by the human authentication device. It can be determined with high accuracy.

[Specific Example 4 of Modification 1]
Furthermore, portable information terminals (including mobile phones) such as smartphones may be detected. Since portable information terminals such as smartphones are rarely lent or borrowed between the owner and another person, driving qualified person information stored in a storage device or an external server (not shown) in the vehicle in advance and detected mobile By collating with the owner of the information terminal, it can be determined whether or not the owner of the portable information terminal in the passenger compartment has driving qualifications.

[Specific Example 5 of Modification 1]
Furthermore, any or all of the above may be combined as detection targets. In this case, it can be determined with certainty that there is an occupant having driving qualifications in the passenger compartment.

[Modification 2]
Further, in the second embodiment, it is periodically detected whether or not the driver's license 52 exists in the vehicle 100, but it is detected that a predetermined event has occurred, not every predetermined time or every predetermined mileage. You may make it detect whether a driver's license exists in a vehicle as a trigger.

  For example, when a vehicle enters a toll road, if the existence of a driver's license or equivalent of a driver's license is confirmed, it will be confirmed more reliably that there are passengers with driving qualifications in the passenger compartment. Can do. Specifically, whether or not a driver's license exists in the vehicle triggered by communication between the ETC on-board device and the ETC gate installed at the entrance / exit of the toll road, or the driving location of the vehicle specified by the navigation device May be detected.

[Modification 3]
Furthermore, in the second embodiment, it is periodically detected whether or not the driver's license 52 exists in the vehicle 100. If the driver's license 52 does not exist, the automatic driving control is stopped. Below, you may comprise so that automatic operation control may not be stopped exceptionally.

  For example, in a relatively large parking lot such as a parking lot of a commercial facility such as a shopping mall or a department store, the passenger does not operate the vehicle (in many cases, after the passenger gets off the vehicle). An automatic parking system is known in which a vehicle is parked at a predetermined location by driving control. When parking automatically using such an automatic parking system, for example, when an occupant selects parking by automatic driving control, or at the entrance of a parking lot near the entrance of the commercial facility, etc. When a signal indicating that the vehicle is within the parking lot is received, the counter for the predetermined time in step S16 may be changed so as not to be counted, or the predetermined time may be changed to a large value. Thereby, even after an occupant gets off the vehicle at the entrance of the parking lot near the entrance of the commercial facility, the vehicle can be parked by automatic operation control, which is preferable.

[Modification 4]
In the first embodiment and the second embodiment, the example in which the driver's license card reader 16 is integrated with the ETC in-vehicle device 58 is shown, but the present invention is not limited to this. The driver's license card reader and the ETC vehicle-mounted device may not be integrated and may be separately fixed (mounted) in the vehicle.

[Modification 5]
In addition, when disaster information such as earthquake warnings in the area around the vehicle is received from the external communication network, a driver's license is issued to guide the vehicle to the evacuation route or to allow other emergency vehicles to pass smoothly. You may comprise so that execution of automatic operation control is attained irrespective of the presence or absence.

  The present invention is not limited to the above-described embodiment and other embodiments, and it is needless to say that various configurations can be adopted based on the description of this specification.

DESCRIPTION OF SYMBOLS 10,100 ... Automatic driving vehicle (vehicle) 12,102 ... Automatic driving control apparatus 14 ... ECU
16 ... Driver's license card reader (judgment device)
18 ... Automatic operation switch (Automatic operation start / end indicator)
52 ... Driver's license 58 ... ETC on-board unit 96 ... Occupant detection device

Claims (5)

An automatic driving control device for automatically driving the vehicle;
An occupant detection device that detects the presence of an occupant in the passenger compartment;
An automatic operation start / end indicator for instructing the start and end of automatic operation control;
With
The occupant detection device is
A determinator for determining whether or not a driver's license or an equivalent of the driver's license exists in the vehicle when an automatic driving start instruction is detected by the automatic driving start / end indicator; ,
The automatic driving control device permits execution of automatic driving control of the vehicle when the determination unit confirms the presence of the driving license or an equivalent of the driving license. .   2. The autonomous driving vehicle according to claim 1, wherein the determination unit periodically confirms the presence of the driver's license or an equivalent of the driver's license.   3. The automatic driving vehicle according to claim 1, wherein the determination unit is a card reader.   The automatic driving vehicle according to any one of claims 1 to 3, wherein the determination device is an ETC on-vehicle device.   5. The autonomous driving vehicle according to claim 1, wherein when the vehicle enters a toll road, the determination unit confirms the presence of the driver's license or an equivalent of the driver's license. An autonomous driving vehicle characterized by

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