JP2018152134A - Autonomous travel vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that a user on a road cannot be recognized to be given a ride in an autonomous travel vehicle.SOLUTION: In a step S4, a vehicle is slowly moved to photograph a user on a road. Specifically, the vehicle is pulled over to a road shoulder to be slowly moved while confirming safety in the surroundings. The user on the road such as a sidewalk is simultaneously photographed by cameras 26b, 26c of a camera system 26 on a sidewalk side to recognize a face of the user on the road. In a step S5, the recognized face of the user on the road is collated with a face image preliminarily stored in a memory 12 as a scheduled riding person to discriminate whether the user on the road is the scheduled riding person. In a step S15, the vehicle is stopped to open a door.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an autonomous traveling vehicle that travels unattended.

  There is known an autonomous vehicle that calls a car when necessary at any landing in the area, allows the automobile to autonomously travel to the called destination, and can drop off the automobile when the user moves to the desired landing ( Patent Document 1).

JP-A-11-184521

  However, in the conventional autonomous vehicle, it is not possible to recognize the user on the road and get on the vehicle.

  The autonomous traveling vehicle according to claim 1 travels to an autonomous traveling control unit that travels a route to a preset destination and a first position where a user is waiting, and at the first position, the user A face recognition unit for recognizing the face of the user, and a determination unit for determining whether the user is a boarder by comparing a user image recognized by the face recognition unit with a pre-registered image of the boarder The autonomous traveling control unit stops the vehicle near the user at the first position when it is determined by the determination unit that the user is scheduled to board the vehicle, and when the determination unit determines that the user is not the scheduled passenger, The determination unit further compares the recognized user image with a pre-registered suspicious person image to determine whether the user is a suspicious person, and the autonomous running control unit determines whether the suspicious person is the suspicious person. The vehicle does not stop at the first position and the door of the vehicle Characterized in that it passed in while tablets.

  According to the present invention, in an autonomous vehicle, a user on the road can be recognized and boarded.

1 is a system configuration diagram of an autonomous vehicle. It is an external view of an autonomous traveling vehicle. It is a flowchart of an autonomous vehicle.

FIG. 1 is a system configuration diagram of an autonomous traveling vehicle according to an embodiment of the present invention.
A memory 12, a display unit 13, a voice input / output unit 14, an input unit 15, a communication unit 16, and a personal authentication unit 17 are connected to the CPU 11 via a bus line.

  The memory 12 stores a program represented by a flowchart described later, and the CPU 11 reads the program and executes a process described later.

  The display unit 13 displays messages for passengers, boarding fees, and the like. The voice input / output unit 14 outputs a voice message to the occupant and accepts voice input such as a destination issued by the occupant.

  The input unit 15 is configured with a touch panel or the like, and the occupant inputs various information when the fare is settled. The communication unit 16 communicates with the vehicle management center to manage the current position of the vehicle. The communication unit 16 further communicates with the user's portable terminal that called the vehicle before getting on the vehicle that the vehicle is coming to the calling point by voice or text. The identity authentication unit 17 performs identity authentication based on a membership card. The identity authentication unit 17 reads a membership card distributed in advance to prove the identity of the person, and authenticates whether the read membership card matches that of the person who plans to board.

  The CPU 11 communicates with the vehicle control system 18 via the bus line, and transmits / receives commands such as vehicle start / stop, vehicle door open / close, seat belt lock, and the like.

  A brake system 19, a travel drive system 20, a steering system 21, a sensor 22, a door opening / closing system 23, and a seat belt mounting system 24 are connected to the vehicle control system 18 via a bus line.

  The vehicle control system 18 receives information from a sensor 22 such as an accelerometer or a gyroscope, and operates the brake system 19, the travel drive system 20, and the steering system 21 to control the direction and speed of the vehicle. The vehicle control system 18 described above functions as an autonomous traveling control unit.

  When a door opening / closing command is received from the CPU 11 via the vehicle control system 18, the door opening / closing system 23 opens / closes the vehicle door or locks the door in a closed state.

  The seat belt mounting system 24 locks the seat belt so that the seat belt is not released by the occupant when receiving a seat belt lock command from the CPU 11 via the vehicle control system 18.

  Further, a navigation system 25, a camera system 26, a GPS 27, and a laser system 28 are connected to the vehicle control system 18 via a bus line.

  The navigation system 25 includes a map database and searches for a route for traveling to a boarding point where a user is waiting for boarding and a destination of an occupant riding the vehicle. Then, the vehicle control system 18 causes the vehicle to automatically travel along the searched route.

  The camera system 26 includes a plurality of cameras that acquire images of 360 ° around the outside of the vehicle, and reads signals and signs. The vehicle control system 18 causes the vehicle to automatically run in accordance with the read signals and signs. Furthermore, the camera system 26 always photographs a user waiting for a vehicle on the road. The CPU 11 recognizes a face of an image taken by a user waiting for the vehicle on the road, and determines whether the user is a scheduled rider who called the vehicle. In addition, when the boarding person calls the vehicle to the management center using the portable terminal, the management center reads out the face image of the boarding person from the member database provided in the management center and stores it in the memory 12. Keep it. The camera system 26 further includes a camera that constantly shoots passengers in the vehicle.

  The GPS 27 supplies current position information to the vehicle control system 18 and the navigation system 25. The laser system 28 is attached to the ceiling outside the vehicle, and specifies the position and distance of an object outside the vehicle such as another vehicle or an obstacle on the road. The vehicle control system 18 makes the vehicle autonomously travel while avoiding the specified object outside the vehicle.

FIG. 2 is an external view of the autonomous vehicle.
A total of four cameras 26a to 26d are attached to the four corners of the vehicle interior ceiling facing the outside of the vehicle. The camera system 26 uses these cameras 26a to 26d to capture a 360 ° range outside the vehicle to acquire the image, and also captures a user who is standing on the road. Furthermore, a camera 26e is attached to the front of the vehicle interior ceiling so as to face the vehicle interior. The camera system 26 photographs an occupant in the vehicle using the camera 26e. The camera mounting position and the number of cameras installed are merely examples, and can be changed as necessary.

  A laser device 28a is rotatably attached to the vehicle exterior ceiling. The laser device 28a incorporates a light source (laser diode) and a light receiving element. When the light emitted from the light source hits an object outside the vehicle, the laser apparatus 28a is reflected and received by the light receiving element. The laser system 28 measures a short time from when the light is irradiated until it is received, and converts the time difference into a distance. The laser device 28a always rotates 360 °, and always measures the distance to an object outside the vehicle.

  Hereinafter, the operation of the autonomous traveling vehicle according to the embodiment of the present invention will be described with reference to the flowchart shown in FIG. The program shown in the flowchart of FIG. 3 is stored in the memory 12, and the CPU 11 reads this program and executes the following processing.

  An autonomous vehicle that autonomously travels unattended is parked at a standby point. The standby point is a management center that manages autonomous vehicles or a predetermined parking lot. The user of the autonomous vehicle is a member system, and member information including a member number and a member's face image is stored in a member database (not shown) of the management center. A user can call an autonomous vehicle from any point. When calling an autonomous vehicle, the boarding location is notified to the management center by using a portable terminal equipped with a GPS function. Member information such as the face image of the user who called the autonomous vehicle is read from the member database and stored in the memory 12 of the autonomous vehicle on which the user is placed as an expected rider. Further, information including facial images of suspicious persons such as criminals and missing persons is read from the latest suspicious person database (not shown) and stored in the memory 12 of the autonomous vehicle on which the user is placed.

  In step S <b> 1 of FIG. 3, the CPU 11 sets a point called by the user as a destination and starts traveling of the autonomous vehicle. Specifically, the CPU 11 instructs the vehicle control system 18 to travel the vehicle. The vehicle control system 18 searches for a route to the destination by the navigation system 25. Then, the vehicle control system 18 operates the brake system 19, the traveling drive system 20, and the steering system 21 to start traveling of the vehicle.

  In step S <b> 2, the CPU 11 continues traveling of the vehicle toward the destination. Specifically, the CPU 11 instructs the vehicle control system 18 to travel the vehicle toward the destination. The vehicle control system 18 causes the vehicle to autonomously travel along the route to the destination searched by the navigation system 25.

  In step S3, the CPU 11 determines whether the vehicle has reached the destination. The destination is a calling point that the user calls with a portable terminal equipped with a GPS function, but the boarding point (first position) where the user gets on is 15 m (meters) before and after the calling point. In addition, the distance of this boarding point (1st position) can be set suitably. The vehicle control system 18 returns a response indicating that the boarding point has been reached to the CPU 11 when the vehicle control system 18 has reached before the calling point searched by the navigation system 25, for example, 15m (meters). If it has not reached the boarding point, the process returns to step S2 and the vehicle continues to travel toward the boarding point. If it has reached the boarding point, the process proceeds to step S4.

  In step S4, the CPU 11 slows down the vehicle and photographs the user on the road. Specifically, the CPU 11 instructs the vehicle control system 18 to slow down the traveling speed and approach the road shoulder. The vehicle control system 18 operates the brake system 19, the traveling drive system 20, and the steering system 21 to slowly bring the vehicle to the road shoulder while checking the surrounding safety. At the same time, the cameras 26b and 26c on the sidewalk of the camera system 26 photograph a user on the road such as a sidewalk, and the CPU 11 recognizes the photographed user's face on the road.

  In step S <b> 5, the CPU 11 compares the recognized user's face on the road with the face image stored in advance in the memory 12 as a scheduled rider, and determines whether the user on the road is a scheduled rider. Face image collation includes face area extraction, face area normalization processing, face feature extraction, and collation processing. In the face area extraction, a face area is extracted from the captured image. The normalization process of the face area is a normalization process for correcting the size, inclination, and luminance of the face area. Facial feature extraction extracts features such as the shape of eyes and nose and their relative positional relationships, the color of the face surface, and the distribution of facial features such as shade distribution. The matching process uses a known neural network method or the like. As a result of this collation, if it is determined that the person is not scheduled to board, the process proceeds to step S6.

  In step S6, the CPU 11 determines whether the vehicle has passed the boarding point (first position). The vehicle control system 18 returns a response indicating that the boarding point has passed to the CPU 11 when the navigation system 25 has passed the boarding point (first position), for example, 15 m (meters) from the calling point. If the vehicle has not passed the boarding point, the process returns to step S4, the vehicle is slowed down, and the face recognition of the user on the road is continued. Is repeatedly checked against the face image.

  If it is determined in step S6 that the vehicle has passed the boarding point (first position), the process proceeds to step S7. In step S7, the CPU 11 stops the vehicle at a predetermined point after passing the boarding point (first position), that is, in the vicinity of the boarding point. Specifically, the CPU 11 instructs the vehicle control system 18 to stop. The vehicle control system 18 operates the brake system 19, the travel drive system 20, and the steering system 21 while confirming the surrounding safety with the camera system 26 and the laser system 28, and a point (first position) near the boarding point (first position). Park at position 2). For example, when a nearby point (second position) is along the same road as the boarding point, the vehicle is parked close to the road shoulder. Alternatively, a nearby point (second position) may be a nearby parking lot. The case where the vehicle has passed the boarding point (first position) means that the boarding person could not be identified at the boarding point (first position) or the boarding person was not at the boarding point (first position). Is applicable. For this reason, the vehicle parks at a point (second position) in the vicinity of the boarding point (first position) and waits for an expected rider to come.

  In the next step S <b> 8, the CPU 11 notifies the scheduled rider that the vehicle is waiting at the second position via the communication unit 16. The communication unit 16 notifies the prospective passenger by making a telephone call by voice synthesis or by sending a text by e-mail.

  In the next step S <b> 9, the CPU 11 determines whether or not there is a response from the scheduled rider via the communication unit 16. If there is no response, the process proceeds to the next step S10, and the CPU 11 determines whether or not a predetermined time has passed since the notification to the passenger scheduled to ride. The fixed time is, for example, several minutes. If the predetermined time has not elapsed, the process returns to step S9, and the CPU 11 waits for a response from the rider. If it is determined in step S10 that the predetermined time has elapsed, the process proceeds to the next step S11. In this case, it is a case where it was not possible to get in contact with the person who planned to board.

  In step S <b> 11, the CPU 11 notifies the scheduled rider that the vehicle is turned back via the communication unit 16. The communication unit 16 notifies the prospective passenger by calling with voice by voice synthesis or by sending an e-mail in text.

  Thereafter, in step S12, the CPU 11 sets the original location such as the management center as the destination and starts traveling of the autonomous vehicle. Specifically, the CPU 11 instructs the vehicle control system 18 to travel the vehicle. The vehicle control system 18 operates the brake system 19, the traveling drive system 20, and the steering system 21 to start traveling of the vehicle toward the original place.

  If it is determined in step S5 that the user on the road is a scheduled rider, the process proceeds to step S13. In step S <b> 13, the CPU 11 collates the face image stored in advance in the memory 12 as a suspicious person with the face of the person who is scheduled to ride, and determines whether the person who is scheduled to ride is a suspicious person. If it is determined that the boarder is a suspicious person, the process proceeds to step S14.

  In step S <b> 14, the CPU 11 transmits the face image of the suspicious person to the police via the communication unit 16 and reports the current location to the police. In the case of a suspicious person, even if the person is scheduled to ride, he / she refuses to board and passes without stopping the vehicle. And it progresses to step S12, sets an original place, such as a management center, as a destination, and returns an autonomous vehicle to the original place.

  If it is determined in step S13 that the scheduled passenger is not a suspicious person, the process proceeds to step S15. In step S15, the CPU 11 stops the vehicle and opens the door. Specifically, the CPU 11 instructs the vehicle control system 18 to stop the vehicle and open the door. The vehicle control system 18 confirms safety around the vehicle by the camera system 26 and the laser system 28, and controls the brake system 19 and the like to stop the vehicle at a safe place. Thereafter, the vehicle control system 18 opens the door by the door opening / closing system 23.

  In step S <b> 16, the CPU 11 causes the personal authentication unit 17 to perform personal authentication. The voice input / output unit 14 instructs the person who plans to board to read the membership card to the person authentication unit 17 by voice. The personal authentication unit 17 compares the read membership card with the member information stored in the memory 12 and authenticates whether it matches that of the prospective passenger. If the membership card matches the scheduled rider, the process proceeds to step S17.

  In step S <b> 17, the CPU 11 determines based on the member information stored in the memory 12 whether the scheduled rider is an unpaid person who has not paid a boarding fee that has been boarded in the past. If unpaid, proceed to step S18. Further, if the membership card does not match the scheduled passenger in step S16, the process also proceeds to step S18.

  In step S <b> 18, the CPU 11 outputs a message such as “Can not get on. Please get off” from the voice input / output unit 14. And in step S19, CPU11 waits until alighting is completed. Whether the getting-off has been completed is to analyze whether the camera 26a to 26d of the camera system 26 takes an image of whether a person who is scheduled to get out of the vehicle goes down or whether there is no person who is scheduled to get in the vehicle using the camera 26e. Determined by When the dismounting is completed, the door is closed by the door opening / closing system 23, the process proceeds to step S12, and the vehicle is moved to the original place such as the management center.

  If the membership card matches the scheduled rider in step S16, and if the scheduled rider is not an unpaid passenger in step S17, the process proceeds to step S20.

  In step S20, the CPU 11 closes the door, locks the door, and sets the destination. Specifically, the CPU 11 instructs the door opening / closing system 23 to close and lock the door via the vehicle control system 18, and the door opening / closing system 23 closes the door and locks the door. Then, the CPU 11 outputs a message prompting the occupant to speak the destination from the voice input / output unit 14, for example, “How far are you going?”, Etc. Recognize voice by receiving voice input of the destination. Then, the CPU 11 sets a destination in the navigation system 25 and searches for a route for traveling to the destination.

  In step S21, the CPU 11 determines whether the occupant has fastened the seat belt. Specifically, the voice input / output unit 14 outputs a message prompting the occupant to fasten the seat belt by voice. The seat belt mounting system 24 detects whether the seat belt is fastened, and returns a response to the CPU 11 if it is fastened. If the seat belt is not fastened, in step S22, the CPU 11 outputs a warning message by voice so as to fasten the seat belt to the occupant from the voice input / output unit 14, and returns to step S21. If it is detected in step S21 that the seat belt is fastened, the process proceeds to step S23. The vehicle will not start running until the seat belt is fastened.

  In step S23, the CPU 11 causes the vehicle to travel toward the destination. Specifically, the CPU 11 instructs the vehicle control system 18 to travel, and the vehicle control system 18 operates the brake system 19, the travel drive system 20, and the steering system 21 to start traveling of the vehicle.

  In step S24, the CPU 11 determines whether the vehicle has reached the destination. The vehicle control system 18 returns a response to the CPU 11 when it reaches the destination searched by the navigation system 25. If the destination has not been reached, the process returns to step S24, and the vehicle continues to travel toward the destination. If the destination has been reached, the process proceeds to step S25.

  In step S25, the CPU 11 stops the vehicle. Specifically, the CPU 11 instructs the vehicle control system 18 to stop the vehicle. The vehicle control system 18 confirms safety around the vehicle by the camera system 26 and the laser system 28, and controls the brake system 19 and the like to stop the vehicle at a safe place.

  In step S26, the CPU 11 settles the boarding fee. That is, the boarding fee is displayed on the display unit 13, and a message prompting the occupant to settle the account is output by voice from the voice input / output unit 14. The occupant inputs card information and the like from the input unit 15 and performs settlement. The process does not proceed to the next step S27 until the settlement of the boarding fee is completed, and the door of the vehicle remains closed.

  In step S27, the CPU 11 opens the door. Specifically, the CPU 11 instructs the vehicle control system 18 to open the door. The vehicle control system 18 opens the door by the door opening / closing system 23. Then, it progresses to said step S19 and completes alighting.

  In step S7, the vehicle is parked at a point (second position) in the vicinity of the boarding point (first position) and waits for a person who plans to board the vehicle. In step S8, the vehicle is waiting in the second position. If the scheduled passenger is notified and there is a response from the scheduled passenger in step S9, the process proceeds to step S28.

  In step S28, CPU11 discriminate | determines whether the response content from a boarding person is a change of a boarding position. Specifically, if the response is a voice, the voice input / output unit 14 recognizes the voice and determines whether the boarding position has changed. If the response is by e-mail, the input unit 15 recognizes characters and determines whether the boarding position has changed. If the boarding position is not changed, the process proceeds to step S29.

  In step S29, CPU11 discriminate | determines whether the response content from a boarding person is a request which wants to wait on the spot. Specifically, if the response is by voice, the voice input / output unit 14 recognizes the voice and determines whether or not there is a standby request. If the response is by e-mail, the input unit 15 recognizes characters and determines whether a standby request has been made. If it is not a waiting request, it is assumed that the boarding is cancelled, and the process proceeds to step S11 to notify the prospective passenger that the vehicle will turn back. In step S12, the autonomously traveling vehicle is returned to the original place such as the management center.

  If the boarding position is changed in step S28, the process proceeds to step S30, and the CPU 11 sets the destination to the boarding position where the change has been made. That is, the CPU 11 sets a destination in the navigation system 25 and searches for a route for traveling to the destination. Thereafter, the process proceeds to step S1, and the traveling of the autonomous vehicle is started with the set destination as a new boarding point.

  If it is determined in step S29 that there is a standby request, the process proceeds to step S31. In step S31, the CPU 11 determines whether a certain time has elapsed since the standby request was made. If the predetermined time has elapsed, the process proceeds to step S11 to notify the scheduled rider that the vehicle will turn back. If the predetermined time has not elapsed, the process proceeds to step S32.

  In step S32, the CPU 11 photographs a user on the road. Specifically, the CPU 11 captures a user on the road such as a sidewalk with the cameras 26b and 26c on the sidewalk of the camera system 26, and recognizes the user's face on the road.

  In step S33, the CPU 11 collates the recognized user's face on the road with the face image stored in advance in the memory 12 as a scheduled rider, and determines whether the user on the road is a scheduled rider. If it is determined that the person is not scheduled to board, the process returns to step S31, and the face recognition and the determination of the person who plans to board are repeated until a predetermined time has elapsed.

  If it is determined in step S33 that the user on the road is an expected passenger, the process proceeds to step S34. In step S <b> 34, the CPU 11 collates the face image stored in advance in the memory 12 as a suspicious person with the face of the person who is scheduled to ride, and determines whether the person who is scheduled to ride is a suspicious person. If it is determined that the boarding person is a suspicious person, the process proceeds to step S35.

  In step S <b> 35, the CPU 11 reports the current location to the police together with the suspicious person's face image via the communication unit 16. In the case of a suspicious person, even if the person is scheduled to board, the process proceeds to step S12 without opening the door of the vehicle, and the original place such as the management center is set as the destination, and the autonomously traveling vehicle is returned to the original place.

  If it is determined in step S34 that the scheduled passenger is not a suspicious person, the process proceeds to step S36. In step S36, the CPU 11 opens the vehicle door. Specifically, the CPU 11 instructs the vehicle control system 18 to open the vehicle door. The vehicle control system 18 opens the door by the door opening / closing system 23. Then, it progresses to said step S16 and authenticates. Thereafter, as described above, if the person who has not paid the boarding fee is not paid, the door is closed and the vehicle travels to the destination.

(Modification)
The present invention can be implemented by modifying the embodiment described above as follows.
(1) If it is determined that the vehicle has passed the boarding point (first position) without being able to recognize the person scheduled to board the vehicle, the vehicle is parked at a point (second position) near the boarding point (first position). I waited for the person who was going to board However, if it is determined that the vehicle has passed the boarding point (first position) without being able to recognize the person who is going to board, it will move to the boarding point (first position) again to recognize the person who is going to board. It may be. This makes it possible to more reliably recognize the person who is scheduled to board.

(2) The user of the autonomous vehicle is a member system, and the member information including the member number and the member's face image is stored in the member database of the management center. However, it does not have to be a member, and when the user who calls the vehicle calls the vehicle, his / her face image is transmitted from the portable terminal to the management center or the autonomous vehicle, and this is stored in the memory 12 of the autonomous vehicle. Remember me as a rider. Thereafter, the face of the user on the road and the face image stored in advance in the memory 12 as a boarder are collated to determine whether the user on the road is a boarder.

(3) An example in which the user's face on the road and the face-scheduled person are previously stored in the memory 12 and collated with the face image to determine whether the user on the road is the person who is going to board and to get on the vehicle. explained. However, if there is a person who rides together with the person who plans to ride, a plurality of persons including the person who plans to ride may be boarded if it is determined that at least one person is the person who plans to board.

(4) The vehicle is made to travel after it is detected that the seat belt is fastened. However, if the seat belt is removed while the vehicle is running, a warning message may be output by voice, and if the seat belt is not fastened after a few minutes, the vehicle may be stopped on the shoulder.

(5) Before opening the door of the vehicle, it was determined whether or not the scheduled rider is a suspicious person. However, after the vehicle door is opened and the vehicle is boarded, it may be determined whether or not the scheduled rider is a suspicious person. In this case, the recognized image of the scheduled passenger and the image of the suspicious person registered in advance are discriminated. If it is determined that the person is a suspicious person, after the scheduled passenger gets on, the vehicle door is You may make it lock so that it cannot open by operation. In addition, the seat belt mounting system 24 may lock the seat belt so that the seat belt is not released by the operation of the occupant. This is to secure the suspicious person in the vehicle and report it to the police.

(6) In the autonomous traveling control by the vehicle control system 18 which is an autonomous traveling control unit, the autonomous traveling vehicle is caused to travel along a route based on a route calculation from the departure place to the destination. The present invention can also be applied to an autonomous vehicle that travels on a predetermined route.

According to the embodiment described above, the following operational effects can be obtained.
(1) The autonomously traveling vehicle travels to the vehicle control system 18 that travels a route to a preset destination and the first position where the user is waiting, and the user's face is displayed at the first position. A recognition unit (CPU 11, step S 4) that recognizes and a determination unit that determines whether the user is a passenger by collating the image of the user recognized by the face recognition unit with the image of the passenger scheduled to be registered in advance ( CPU11, step S5), and vehicle control system 18 stops a vehicle near the user of the 1st position, when it is discriminate | determined as a boarding person by a discrimination | determination part (CPU11, step S15), When it is determined by the determination unit that the person is not scheduled to board, the vehicle passes through the first position and stops at the second position in the vicinity of the first position (CPU 11, step S7). Therefore, the user on the road can be recognized and boarded.

  The present invention is not limited to the above-described embodiment, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention as long as the characteristics of the present invention are not impaired. It is. Moreover, it is good also as a structure which combined the above-mentioned embodiment and a some modification.

11 CPU
DESCRIPTION OF SYMBOLS 12 Memory 13 Display part 14 Voice input / output part 15 Input part 16 Communication part 17 Personal authentication part 18 Vehicle control system 19 Brake system 20 Traveling drive system 21 Steering system 22 Sensor 23 Door opening / closing system 24 Seat belt mounting system 25 Navigation system 26 Camera System 27 GPS
28 Laser system

Claims (9)

An autonomous travel controller that travels a route to a preset destination;
A face recognition unit that travels to a first position where a user is waiting, and recognizes the user's face at the first position;
A discriminating unit that discriminates whether or not the user is expected to board by comparing the image of the user recognized by the face recognition unit with an image of the scheduled passenger who is registered in advance;
The autonomous traveling control unit stops the vehicle near the user at the first position when the determining unit determines that the user is scheduled to board the vehicle, and the determining unit is not the planned passenger. If determined, the determination unit further determines whether the recognized user image and the suspicious person image registered in advance are suspicious,
The autonomous traveling control unit is characterized in that, when the determination unit determines that the person is a suspicious person, the vehicle does not stop at the first position and the vehicle door passes while being locked. Autonomous vehicle. In the autonomous traveling vehicle according to claim 1,
The autonomous traveling control unit, when the determining unit determines that it is not the suspicious person, passes through the first position and stops at a second position near the first position. vehicle. In the autonomous traveling vehicle according to claim 2,
An autonomous traveling vehicle, further comprising: a notification unit that notifies the user that the vehicle has stopped at the second position and is waiting when the vehicle stops at the second position. In the autonomous traveling vehicle according to claim 3,
The autonomous traveling vehicle, wherein the autonomous traveling control unit moves the vehicle to a predetermined position when the user cannot be confirmed even after a predetermined time has elapsed after stopping at the second position. In the autonomous traveling vehicle according to claim 4,
The said notification part notifies the said user that a vehicle is moved to a predetermined position, when moving a vehicle to a predetermined position, The autonomous traveling vehicle characterized by the above-mentioned. In the autonomous traveling vehicle according to any one of claims 1 to 5,
A user authentication unit based on the user's membership card,
The autonomous traveling control unit, after stopping the vehicle near the user, starts traveling to a destination according to an authentication result by the personal authentication unit. In the autonomous traveling vehicle according to any one of claims 1 to 6,
A user authentication unit based on the user's membership card,
The autonomous traveling control unit starts traveling to a destination when the user authenticated by the personal authentication unit is not an unpaid person for boarding fees after the vehicle is stopped near the user. Autonomous traveling vehicle. The autonomous traveling vehicle according to any one of claims 1 to 6, further comprising a detection unit that detects that the seat belt is fastened,
The autonomous traveling vehicle is characterized in that the autonomous traveling vehicle departs the vehicle when it is detected that the user fastens the seat belt by the detecting unit after getting on the vehicle. An autonomous travel controller that travels a route to a preset destination;
A face recognition unit that travels to a first position where a user is waiting, and recognizes the user's face at the first position;
A discriminating unit that discriminates whether or not the user is expected to board by comparing the image of the user recognized by the face recognition unit with an image of the scheduled passenger who is registered in advance;
The autonomous traveling control unit stops the vehicle near the user at the first position when the determining unit determines that the user is scheduled to board the vehicle, and the determining unit is not the planned passenger. If determined, the determination unit further determines whether the recognized user image and the suspicious person image registered in advance are suspicious,
The autonomous traveling vehicle, wherein the autonomous traveling control unit locks the door of the vehicle after the user gets on the vehicle when the identifying unit determines that the user is a suspicious person.

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