JP2020155138A - Automatic driving vehicle and theft prevention program of automatic driving vehicle - Google Patents

Abstract

To provide an automatic driving vehicle which prevents theft of a vehicle of an automobile and demonstrates power also in criminal arrest and criminal roundup.SOLUTION: An automatic driving vehicle comprises: first switching means for switching modes from a manual driving mode to an automatic driving mode; second switching means for switching modes from the automatic driving mode to the manual driving mode; theft detection means for detecting that an own vehicle is in a theft state and/or reception means for receiving notification that the own vehicle is in the theft state; and control means. The control means invalidates switching to the manual driving mode by the second switching means in the case where the own vehicle is in the automatic driving mode, and switches the modes to the automatic driving mode by the first switching means and invalidates the switching to the manual driving mode by the second switching mode in the case where the own vehicle is in the manual driving mode when it is detected that the own vehicle is in the theft state by the theft detection means, or the notification that the own vehicle is in the theft state is received by the reception means.SELECTED DRAWING: Figure 1

Description

The present invention relates to self-driving cars and anti-theft programs for self-driving cars.

Various anti-theft systems and anti-theft devices have been proposed that can prevent the theft of automobile vehicles. For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2013-147202) and Patent Document 2 (Japanese Patent Laid-Open No. 2013-126197), if authentication cannot be performed using a passcode or the like, the vehicle cannot be driven. It is disclosed that by doing so, theft of the vehicle of the automobile is prevented. Further, in Patent Document 3 (Japanese Patent Laid-Open No. 2002-225677) and Patent Document 4 (Japanese Patent Laid-Open No. 2011-116145), theft of an automobile vehicle is prevented by preventing a criminal from getting into the driver's seat. It is disclosed to try to prevent it.

Further, in order to help identify the criminal against the theft of the vehicle, an invention in which an image of the criminal and the voice of the criminal are recorded is also described in, for example, Patent Document 5 (Japanese Patent Laid-Open No. It has been proposed in Japanese Patent Application Laid-Open No. 2001-322533) and Patent Document 6 (Japanese Unexamined Patent Publication No. 2000-305136).

Japanese Unexamined Patent Publication No. 2013-147202 Japanese Unexamined Patent Publication No. 2013-126197 JP-A-2002-225677 Japanese Unexamined Patent Publication No. 2011-116145 Japanese Unexamined Patent Publication No. 2001-322533 Japanese Unexamined Patent Publication No. 2000-305136

Conventional anti-theft devices and anti-theft systems prevent theft of automobile vehicles by controlling the vehicle so that it cannot run and preventing thieves (thieves) from getting into the vehicle. The emphasis is on preventing theft. However, if the password is revealed by a car thief, or if the mechanism that prevents driving is canceled or destroyed, the theft of the car cannot be avoided.

Further, the inventions of Patent Document 5 and Patent Document 6 can be used as proof that the criminal is clarified or that the captured criminal is a thief of the vehicle by the captured image of the criminal or the voice of the criminal, but they are direct. It is not a technology that helps to arrest or arrest the criminal. Conventionally, there has been no proposal for an anti-theft system or anti-theft device for an automobile vehicle intended to arrest or arrest a criminal.

As described above, conventionally, there is no effective measure against the theft of a car, including the arrest of the criminal and the arrest of the criminal.

By the way, recently, an autonomous vehicle that can automatically drive while avoiding obstacles without the driver having to operate the accelerator, brake, or steering (steering wheel) has appeared. Effective anti-theft measures are also required for this self-driving car, but conventionally, as described above, there is no effective anti-theft measure.

An object of the present invention is to provide an autonomous driving vehicle that is effective in arresting a criminal and arresting a criminal while preventing the theft of an automobile vehicle by utilizing the characteristic of autonomous driving.

In order to solve the above problems, the invention of claim 1 is
It is an autonomous vehicle that has a manual driving mode and an automatic driving mode.
A first switching means for switching from the manual operation mode to the automatic operation mode,
A second switching means for switching from the automatic operation mode to the manual operation mode,
A theft detection means for detecting that the vehicle is in a stolen state, and / or a receiving means for receiving a notification that the vehicle is in a stolen state.
When the theft detecting means detects that the vehicle is in the stolen state, or when the receiving means receives a notification that the vehicle is in the stolen state, if the vehicle is in the automatic driving mode, the above. When the switching to the manual driving mode by the second switching means is invalidated and the own vehicle is in the manual driving mode, the switching means is switched to the automatic driving mode by the first switching means and the second switching means is used. Control means for disabling the switching to the manual operation mode by
Provide an autonomous vehicle characterized by being equipped with.

According to the self-driving car of the invention of claim 1 having the above configuration, when the theft detecting means detects that the vehicle is in the stolen state or the receiving means receives the notification that the vehicle is in the stolen state, the control means receives the notification that the vehicle is in the stolen state. When the own vehicle is in the automatic driving mode, the switching to the manual driving mode by the second switching means is invalidated, and when the own vehicle is in the manual driving mode, the automatic driving mode is set by the first switching means. At the same time as switching, control is performed so as to invalidate switching to the manual operation mode by the second switching means.

Therefore, the self-driving car according to the present invention moves with the criminal (suspect, suspect) on board in the self-driving mode, and heads for the theft destination such as a police station. Therefore, police officers can arrest the criminal who is in the vehicle, prevent theft of the vehicle of the car, and are effective in arresting the criminal and arresting the criminal.

According to the present invention, it is possible to provide an autonomous driving vehicle that is effective in arresting a criminal and arresting a criminal while preventing the theft of an automobile vehicle by utilizing the characteristic of autonomous driving.

It is a block diagram which shows the hardware configuration example of the embodiment of the autonomous driving vehicle by this invention. It is a figure used for demonstrating a part of the hardware configuration example of FIG. It is a figure which shows a part of the flowchart for demonstrating an example of the flow of the processing operation of the embodiment of the autonomous driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating an example of the flow of the processing operation of the embodiment of the autonomous driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating an example of the flow of the processing operation of the embodiment of the autonomous driving vehicle by this invention. It is a figure which shows a part of the flowchart for demonstrating an example of the flow of the processing operation of the embodiment of the autonomous driving vehicle by this invention. It is an image diagram of the embodiment of the theft prevention system of the self-driving car by this invention. It is a figure which shows the structural example of the outline of the Embodiment of the anti-theft system of the self-driving car by this invention. It is a sequence diagram for demonstrating an example of the processing operation in the anti-theft system of the self-driving car by this invention.

[First Embodiment]
The first embodiment of the present invention is a case where the anti-theft processing control is performed only by the autonomous driving vehicle. FIG. 1 is a block diagram showing a hardware configuration example of the electronic control circuit unit 10 of the autonomous driving vehicle 1 of the first embodiment. The self-driving car 1 of this embodiment is an example in the case of an electric vehicle. However, the battery is not shown in FIG.

Further, the automatic driving vehicle 1 of this embodiment includes an automatic driving mode and a manual driving mode. The manual driving mode is a mode in which the driver can drive according to the accelerator operation, the brake operation, the shift lever operation, and the steering operation (steering wheel operation), as in the case of a normal automobile that is not an autonomous driving vehicle. In addition, the automatic driving mode is a driving mode in which the self-driving car 1 itself automatically avoids obstacles and changes course even if the driver does not operate the accelerator, brake, shift lever, or steering. is there.

In the normal state, the driver of the autonomous driving vehicle can switch the autonomous driving vehicle running in the manual driving mode to the automatic driving mode by a predetermined operation through a touch panel, for example, and while driving in the automatic driving mode. , When the driver operates the accelerator, brake, shift lever, or steering, it is configured to automatically return to the manual operation mode. However, as will be described later, the autonomous driving vehicle 1 of this embodiment is configured to be controlled so that it can only travel in the autonomous driving mode when it detects the theft state of its own vehicle.

As shown in FIG. 1, the electronic control circuit unit 10 transmits the wireless communication processing unit 102, the radar 103, and various sensor groups 104 to the control unit 101 configured by mounting the microcomputer through the system bus 100. Camera group 105, GPS (Global Positioning System) receiving unit 106, current location confirmation unit 107, surrounding moving object grasping unit 108, voice output unit 109, motor drive control unit 110, steering drive control unit 111, display unit with touch panel 112, car The navigation (hereinafter abbreviated as car navigation) function unit 113, the door lock control unit 114, the passenger authentication unit 115, the theft detection processing unit 116, and the manual / automatic operation mode switching control unit 117 are connected to each other.

A speaker 121 is connected to the audio output unit 109. A motor drive unit 122 is connected to the motor drive control unit 110. A steering drive unit 123 is connected to the steering drive control unit 111.

Further, a car navigation database 124 is connected to the car navigation function unit 113. A door lock drive mechanism unit 125 is connected to the door lock control unit 114. A passenger authentication information memory 126 is connected to the passenger authentication unit 115. A theft destination memory 127 is connected to the theft detection processing unit 116. A manual operation detection unit 128 is connected to the manual / automatic operation mode switching control unit 117.

In this example, the wireless communication processing unit 102 has a police organization (a police organization, a security organization, and a security organization that differ depending on the country) to which the autonomous driving vehicle 1 of the first embodiment is moved when the vehicle is stolen. In Japan, there are police stations, police stations, police stations, in the United States, there are state police, county police, city / town / village police, county security bureaus, security officer offices, etc.), or , A functional part for contacting other predetermined locations. In this embodiment, assuming that the mobile phone network is used for contacting the destination, the owner of the automatic driving vehicle 1 regards the vehicle as a mobile phone terminal and makes a contract with the mobile phone company. , The subscriber telephone number of the mobile phone is assigned to the automatic driving vehicle 1, and the wireless communication processing unit 102 communicates using the subscriber telephone number as the calling party telephone number.

In addition, the wireless communication processing unit 102 includes a telephone number memory in which a subscriber telephone number (mobile phone number) of a mobile phone terminal that enables wireless communication with the autonomous driving vehicle is registered. Then, the wireless communication processing unit 102 has a function of automatically transmitting to the mobile phone terminal of the stored mobile phone number by cooperating with the control unit 101 and executing a predetermined process as described later. ing.

The radar 103 is for measuring the distance to vehicles, pedestrians, obstacles, etc. existing around the vehicle of the autonomous driving vehicle, and includes a laser radar, a millimeter wave radar, and the like. Laser radars are embedded, for example near the ceiling and bumpers, and millimeter-wave radars are installed, for example, at the front and rear of the vehicle. It may have both a laser radar and a millimeter wave radar, or it may have only one. Further, other radars such as a quasi-millimeter wave radar may be used.

The various sensor groups 104 include an open / close detection sensor that detects the opening / closing of a door or an opening / closing of a window, a sensor for detecting the wearing of a seatbelt, and a seating sensor that detects that a passenger is seated in a seat such as a driver's seat or a passenger's seat. In addition, it consists of various sensors for acquiring information that assists autonomous driving. Various sensors for acquiring auxiliary information for automatic driving include, for example, a vibration sensor for detecting the vibration of a vehicle or a tire, a rotation speed sensor for detecting the rotation speed of a tire, and a rotation speed sensor for detecting an orientation. It includes geomagnetic sensors, acceleration sensors for detecting acceleration, gyro sensors (gyroscopes) for detecting angles and angular velocities, and the like. The various sensor groups 104 also include a sound sensor (microphone) that collects the voice of a passenger in the own vehicle and the sound around the self-driving car.

The camera group 105 includes one or more cameras that photograph the inside of the autonomous driving vehicle 1, and one or more cameras that photograph the surroundings of the autonomous driving vehicle 1. Cameras that take pictures of the inside of the car are, for example, cameras that are attached to rearview mirrors (rearview mirrors, rearview mirrors) installed between the driver's seat and the passenger's seat to take a face image of a person sitting in the driver's seat. Includes cameras for taking facial images of passengers sitting in the passenger and rear seats. Further, the cameras that photograph the surroundings of the automatic driving vehicle 1 are, for example, two cameras (stereo cameras) that are attached to the left side and the right side of the rearview mirror and mainly photograph the left front and the right front of the automatic driving vehicle 1. In addition, a camera attached to, for example, a door mirror or a fender mirror of the automatic driving vehicle 1 to take a picture of the left and right sides and the rear, and a camera attached to the vicinity of a rear number plate and a tail lamp to take a picture of the rear of the automatic driving vehicle 1. It includes cameras, as well as omnidirectional cameras (360 degree cameras) and fisheye cameras that are mounted on the roof and take pictures of the surroundings at a wide angle.

The GPS receiving unit 106 receives radio waves from GPS satellites, detects the current position of the own vehicle, and supplies the detected current position information to the current location confirmation unit 107.

Since the accuracy of the position detected by the radio wave from the GPS satellite is poor in the current location confirmation unit 107, not only the information of the current position detected by the GPS reception unit 106 but also one or a plurality of sensors included in the various sensor groups 104. The sensor, the radar 103, the captured image of the camera group 105, and the like are also used, and for example, processing based on the Bayesian theory is performed to detect and confirm the current position with higher accuracy.

The peripheral moving body grasping unit 108 uses the radar 103 and the captured image of the camera group 105 to grasp the moving body around the own vehicle. The surrounding moving body grasping unit 108 also grasps surrounding obstacles and moving bodies by performing processing based on Bayesian theory and the like.

The self-driving car 1 is obtained from various information acquired by the radar 103, various sensor groups 104, the camera group 105, and the GPS receiving unit 106 in the current location confirmation unit 107 and the surrounding moving object grasping unit 108, that is, from the human eye or ear. Information corresponding to the information is processed by Bayesian theory or the like, and based on this, the control unit 101 performs intelligent information processing (artificial intelligence) and control (artificial intelligence) such as changing the course of the own vehicle and avoiding obstacles. ..

Although not shown, the voice output unit 109 has a built-in memory for storing voice message data to be emitted to the outside, and is a voice synthesizer that converts the voice message data read from the memory into an analog voice signal. And has a built-in DA converter. Then, the voice output unit 109 supplies the voice message selected by the control of the control unit 101 to the speaker 121, and emits the sound to the outside as voice. As the voice message to be memorized, as will be described later, when a suspected thief (suspected thief, thief) is on board, "the thief is being transferred", "the thief is on board", or " Please call 110 "and so on.

Under the control of the control unit 101, the motor drive control unit 110 controls the supply of the drive signal to the motor drive unit 122 of the automatic driving vehicle 1 composed of the electric vehicle of this embodiment, and the automatic driving vehicle 1 To control the start of running, acceleration / deceleration of running speed, stop of running, etc.

Under the control of the control unit 101, the steering drive control unit 111 controls the supply of the drive control signal to the steering drive unit 123 of the autonomous driving vehicle 1 of this embodiment to control the course change of the autonomous driving vehicle 1. To do.

The display unit 112 with a touch panel is arranged by superimposing a touch panel capable of touch input by a finger on a display panel made of, for example, an LCD (Liquid Crystal Display). On the LCD display screen, a display image including software buttons (including a character input button on the keyboard) is displayed under the control of the control unit 101. Then, when the touch panel of the display unit 112 with a touch panel detects a touch by a finger on the software button displayed on the display screen, the touch is transmitted to the control unit 101. The control unit 101 that receives this is configured to execute the control process corresponding to the software button.

The car navigation function unit 113 is a function unit for guiding the autonomous driving vehicle 1 to assist in moving to a designated destination based on a map stored in the car navigation database 124 and route guidance data. Is. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing in the manual operation mode and the automatic operation mode.

That is, in the manual operation mode, the car navigation function unit 113 is confirmed by the current location confirmation unit 107 on the map that clearly displays the route to the destination on the display screen of the display unit 112 with the touch panel. Along with displaying an image that superimposes the vehicle position, the vehicle position (current position) on the map is moved as the vehicle moves, and route guidance is required, such as intersections and branch points on the route. To give voice guidance with.

On the other hand, in the automatic driving mode, when the current position of the own vehicle is far from the route to the destination, the car navigation function unit 113 notifies the control unit 101 of the separation direction and distance information, and also notifies the own vehicle. When the current position of the vehicle is on the route to the destination, the control unit 101 is notified of the change instruction information of the route direction along the route in front of the intersection or the branch point on the route as the vehicle moves. To do. The control unit 101 is as instructed on the route by the own vehicle based on the information notified from the car navigation function unit 113, the confirmation result of the current location confirmation unit 107, and the grasp result of the surrounding moving body grasping unit 108. The motor drive unit 122 is controlled through the motor drive control unit 110, and the steering drive unit 123 is controlled through the steering drive control unit 111 so as to move in the same path. Therefore, the self-driving car 1 can move to the destination even when the passenger is unmanned by the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode.

In this embodiment, the car navigation function unit 113 has a function (peripheral search function) for searching facilities and equipment corresponding to a designated keyword around the current location. This peripheral search data is also stored in the car navigation database 124. The data for peripheral search is not stored in the car navigation database 124, but the car navigation function unit 113 sends a peripheral search request including keywords and current location information on the Internet through the wireless communication processing unit 102. It may be sent to the search site of, and the peripheral search results centered on the current position may be obtained from the search site.

The door lock control unit 114 controls the door lock drive mechanism unit 125 connected to the door lock control unit 114 to control the locked state of opening and closing all the doors for the passengers of the autonomous driving vehicle 1. That is, when the autonomous driving vehicle 1 is moving, the door lock control unit 114 is set to the door closed lock state by the door lock drive mechanism unit 125 so that the door does not open. Then, in a normal state other than the stolen state, the door lock control unit 114 is in a door closing lock state when the automatic driving vehicle 1 receives a predetermined button operation or a door unlocking operation input from a wireless key or the like while the autonomous driving vehicle 1 is stopped. Is released, and the door can be opened and closed by the door opening / closing operation unit (not shown).

Then, in this embodiment, as will be described later, when the door lock control unit 114 detects the stolen state of the own vehicle, the door lock control unit 114 controls the door lock drive mechanism unit 125 in response to a control instruction from the control unit 101. , Even if the vehicle is stopped, the door is automatically closed and locked, the door of the own vehicle is locked so that it cannot be opened and closed, and even if a predetermined button operation or a door unlock operation input such as a wireless key is received. , It is configured so that the door closed lock state is not released. As will be described later, the door closed / locked state in this stolen state can be confirmed by photographing a police notebook presented by a police officer with a camera, or through the wireless communication processing unit 102 to carry the owner of the autonomous driving vehicle 1. It is configured to be unlocked only when a predetermined special condition is cleared, such as when an unlocking instruction including a predetermined password is received through a telephone terminal.

Although not shown, a window lock control unit and a window lock drive mechanism unit are further provided, and the window lock and unlock are controlled in the same manner as the door by the control of the control unit 101. That is, when the stolen state of the own vehicle is detected, the control unit 101 puts the window closed lock state and locks the window of the own vehicle so that it cannot be opened or closed.

The passenger authentication unit 115 performs an authentication process for a passenger who permits the operation of the autonomous driving vehicle 1 of this embodiment. In the autonomous driving vehicle 1 of this embodiment, a face image which is biometric information of the passenger is used as the authentication information of the passenger who can drive. That is, the face image of the passenger who is permitted to drive the autonomous driving vehicle 1 is registered in advance and stored in the passenger authentication information memory 126. In this case, only when it can be confirmed that the authentication information determined by the owner of the autonomous driving vehicle 1, for example, the ID and the password, has been input through the touch panel of the display unit 112 with the touch panel, the autonomous driving vehicle 1 Allow registration of facial images of passengers who are allowed to drive. Therefore, in the passenger authentication information memory 126, the face image of the owner of the autonomous driving vehicle 1 is stored, and the face image of the passenger who is permitted to drive by the owner of the autonomous driving vehicle 1 is stored.

The number of passengers permitted to drive by the owner of the autonomous driving vehicle 1 may be one or a plurality of passengers including the owner himself / herself. In addition, one or more face images may be registered in advance for one passenger who is permitted to drive. In the case of a plurality of cases, for example, face images such as different facial expressions, different face angles, and different dates and times can be registered. In addition, when wearing glasses, sunglasses, a hat, etc., it is preferable to register both worn and unworn facial images. By registering a plurality of face images, it is possible to reduce the probability that the owner is not erroneously authenticated (authentication omission probability). On the other hand, in the case of registering only one, a face image having a specific facial expression (for example, a smile) or a specific angle (for example, directly in front) may be registered. This makes it possible to reduce the probability of erroneously authenticating a person other than the owner as the owner (misauthentication probability). Of course, it is also possible to register a plurality of face images having a specific facial expression and a specific angle to reduce both the authentication omission probability and the false authentication probability. In this embodiment, a plurality of face images are registered and stored in advance.

The passenger authentication information memory 126 also stores an ID and password registered by the owner of the autonomous driving vehicle 1.

The passenger authentication unit 115 acquires the face image of the passenger who got on the autonomous driving vehicle 1 from the camera group 105, compares and refers to the face image stored in the passenger authentication information memory 126, and refers to the face image of the passenger. When it is determined that the face image matches any of the face images stored in the passenger authentication information memory 126, the passenger of the autonomous driving vehicle 1 is permitted to drive.

Then, when the passenger's face image does not match any of the face images stored in the passenger authentication information memory 126, the passenger authentication unit 115 determines the ID and password of the owner of the autonomous driving vehicle 1. After waiting for the input of the ID and password, it is determined that the registration is a new passenger who permits the operation of the autonomous driving vehicle 1, and the face image of the passenger is used as the passenger authentication information memory 126. Additional memory to. That is, in this embodiment, the registration of the passenger who newly permits the driving of the autonomous driving vehicle 1 is for authentication set by the owner of the autonomous driving vehicle 1 and registered in the passenger authentication information memory 126. It is necessary to enter information (ID and password in this example), and when this authentication information cannot be confirmed, it is not possible to newly register a passenger who is permitted to drive the autonomous driving vehicle 1.

Then, the passenger authentication unit 115 does not match the face image of the passenger with any of the face images stored in the passenger authentication information memory 126, and the authentication information of the owner of the autonomous driving vehicle 1 When the ID and password, which is an example of the above, are not input, the theft detection processing unit 116 is notified of the authentication result indicating that the authentication could not be performed.

Further, in this embodiment, the passenger authentication unit 115 displays the face image of the passenger who could not be authenticated in the area of the passenger authentication information memory 126 as a suspected thief, which is distinguished from the authentication information. Try to remember. The face image of the suspected thief can be read out and used as a criminal confirmation material when the suspect is a thief.

When the theft detection processing unit 116 receives the authentication result from the passenger authentication unit 115 that the passenger cannot be authenticated, the theft detection processing unit 116 detects that the own vehicle is in the stolen state and notifies the control unit 101.

When the control unit 101 detects the notification that the own vehicle is in the stolen state, the control unit 101 controls the door lock drive mechanism unit 125 through the door lock control unit 114 to put the door closed lock state. Due to this door closed lock state, the suspected thief is trapped in the autonomous driving vehicle 1. When the suspected thief is wearing a seatbelt in the seat, the seatbelt may be controlled so as not to be removed. The suspected thief may be detained by providing a mechanism that can automatically tie or fix the legs or torso from under the seat or from the backrest.

Further, when the control unit 101 detects the notification that the own vehicle is in the stolen state, the control unit 101 controls the manual / automatic operation mode switching control unit 117, and the thief suspect who is a passenger operates the accelerator, the brake, and the like. It is controlled so that it cannot be switched to the manual operation mode even if the shift lever is operated or the steering is operated. In addition, input operations such as specifying and changing the movement destination in the automatic operation mode are also invalidated. In the automatic driving mode, the manual / automatic driving mode switching control unit 117 behaves as if the driver has accepted an input operation such as specifying or changing the moving destination, and the police to the suspected thief who is a passenger. The transfer to a police station or other destination may go unnoticed.

The manual driving operation detection unit 128 is an operation detecting means for detecting the accelerator operation, the brake operation, the shift lever operation, and the steering operation of the occupant (driver). When the own vehicle is not in the stolen state, the manual / automatic driving mode switching control unit 117 performs accelerator operation, brake operation, and shift by the driver in the manual driving operation detection unit 128 in the automatic driving mode as described above. When a notification of lever operation or steering operation is received, it is controlled to switch from the automatic operation mode to the manual operation mode.

On the other hand, when the manual / automatic driving mode switching control unit 117 receives the detection notification that the own vehicle is in the stolen state from the theft detection processing unit 116, the manual / automatic driving mode switching control unit 117 forcibly puts the automatic driving vehicle 1 into the automatic driving mode. At the same time as switching, the detection notification of the accelerator operation, the brake operation, the shift lever operation and the steering operation by the driver in the manual driving operation detection unit 128 is invalidated so that the automatic driving mode is continuously maintained.

Then, the theft detection processing unit 116 refers to the theft destination memory 127 to determine the destination in the automatic operation mode at the time of theft. In this embodiment, the stolen destination memory 127 is stored in the stolen destination memory 127 by registering and storing the stolen destination whose priority is set in advance by the owner of the autonomous driving vehicle 1. The theft detection processing unit 116 searches the theft destinations stored in the theft destination memory 127 in descending order of priority, and determines the destinations that can arrive within a predetermined time (for example, within one hour) from the current position. To do so.

In this way, determining the destination that can arrive within a predetermined time from the current position is because if the destination is too far, the risk of trouble will increase if the thief is on board. , To minimize the risk of the trouble occurring. In addition, if the destination is too far away, the battery level of the electric vehicle may be insufficient (in the case of a gasoline vehicle, the gasoline may be insufficient). In this case, a time shorter than the time that can be moved with the current remaining battery level (or remaining amount of gasoline) is set as a predetermined time. For example, if the remaining battery power is equivalent to 40 minutes, the predetermined time is set to 30 minutes.

It should be noted that the destination may be determined not as a destination that can arrive within a predetermined time, but as a location within a predetermined distance range (for example, within 10 km) from the current location.

The above-mentioned time setting within a predetermined time from the current position and the distance setting within a predetermined distance range are set at the time of shipment from the manufacturer of the autonomous driving vehicle 1 or at the time of sale at the dealer, but the owner of the autonomous driving vehicle 1 Alternatively, the passenger who is permitted to drive by the owner may be able to change the set time and the set distance.

If the destination that can arrive within a predetermined time (or within a predetermined distance range) is not stored in the theft destination memory 127, the theft detection processing unit 116 searches the car navigation function unit 113 for a police station or the like. The police station, etc. found as a result of the search will be determined as the destination in the event of theft. Then, when the theft detection processing unit 116 determines the theft destination, the vehicle is automatically driven to move the vehicle to the determined theft destination.

If you cannot find a police station, etc. that can arrive within the specified time (or within the specified distance) by searching the surrounding area, notify the emergency call contact and wait without moving your vehicle. Examples of the contact information for emergency calls include a telephone number for emergency calls to police agencies and an e-mail address for emergency calls.

The telephone number for emergency calls to police agencies is a telephone number for reporting to local police agencies in the event of a criminal case such as theft, and varies from country to country. For example, it is 110 in Japan, China, Indonesia, etc., 911 in the United States, Canada, etc., and 112 in the Netherlands, Sweden, etc. Calling these emergency call telephone numbers to police agencies to make a call will be collectively referred to as the 110th call.

Also, when the theft is detected, if the battery level of the electric vehicle is low (in the case of a gasoline vehicle, the gasoline is low), the destination is searched for in order to avoid running out of battery (out of gasoline) while moving. Instead, you may immediately call 110 and stand by without moving your vehicle.

FIG. 2 is an example of the stored contents of the stolen destination memory 127. As shown in FIG. 2, as the registration information of the stolen destination, the priority, the attribute of the stolen destination, the address of the stolen destination, the contact telephone number of the stolen destination are the owner of the autonomous driving vehicle 1 and the like. It is input by an administrator and is stored. In addition, the contact e-mail address of the destination in case of theft may be stored.

The attributes of the destination at the time of theft may be, for example, "police station near home", "police station near company", "nearest police station, etc." selected from those prepared in advance as selection items. , Is entered directly. The address is input by the owner or manager of the autonomous driving vehicle 1, but it may not be input depending on the attribute of the destination at the time of theft, and it is an arbitrary item. For example, when the attribute of the destination at the time of theft is "nearest police station, etc.", the address is not entered because the address differs depending on the current position of the autonomous driving vehicle 1. The same applies to the contact telephone number.

When the address of the destination at the time of theft is input, the location information of the latitude / longitude corresponding to the address is acquired from the car navigation database 124 or through the Internet and stored in the destination memory 127 at the time of theft. I will try to do it. This location information is used to calculate the theft destination and the distance from the current position or the arrival time from the current position.

In some cases, the "nearest police station, etc." can obtain the address and location information, as well as the telephone number and e-mail address of the contact, as a result of the peripheral search.

When the theft detection processing unit 116 determines the destination at the time of theft as described above, if the contact telephone number can be obtained before the start of the automatic operation or after the start of the automatic operation, the telephone number is obtained. Call the destination in the event of theft using. Then, the theft detection processing unit 116 generates a message including information such as the vehicle type, body color, number of the own vehicle, that the own vehicle is in the stolen state, and that it is scheduled to arrive at the place in a few minutes. Then, the message is converted into synthetic voice by voice synthesis and sent to the contact. The time "minutes later" in "how many minutes later the place is scheduled to arrive" of this message is obtained by requesting the car navigation function unit 113 from the theft detection processing unit 116. The car navigation function unit 113 can calculate the estimated time of arrival of the stolen destination from the route and distance from the current position of the own vehicle to the stolen destination. The theft detection processing unit 116 acquires the time of the calculation result from the car navigation function unit 113 and generates the message.

As described above, the theft detection processing unit 116 includes a message generation means and a voice synthesis means for realizing a function of generating a message to be sent to the destination at the time of theft and sending it as a transmitted voice. The message generation method is, for example, in the built-in memory, "I am moving toward that with the thief. This car is a white sedan, and the car number is Shinagawa A ○○○○. () Minutes. Store the data of the text message such as "I will arrive there later.", Insert the time obtained from the car navigation function unit 113 in the blank () of "() minutes later", and send it to the destination in case of theft. Complete the message. Then, the theft detection processing unit 116 converts the completed text message into a synthetic voice by the voice synthesis means, and sends it as a transmitted voice to the destination at the time of theft.

In this way, if the stolen destination, such as a police station, can be contacted by telephone in advance, a police officer or the like will be on standby when the stolen autonomous vehicle 1 arrives. It can be expected that the criminal can be easily arrested and secured.

In addition, the theft detection processing unit 116 calls 110 when the destination cannot be contacted at the time of theft. For that case, the message generation means of the theft detection processing unit 116 is "The thief is in the self-driving car. The current position is near () and is moving toward (). This car is moving toward (). , With a white sedan, the car number is Shinagawa A ○○○○. ”And so on, memorize the data of the text message, and check the blank () of“ () near ”by the current location confirmation unit 107. Insert the current location name acquired by the car navigation function unit 113 based on the current position, and insert the determined destination at the time of theft in the blank () of "Moving toward ()" to call 110. Complete the message to include in. Then, the theft detection processing unit 116 converts the completed text message into a synthetic voice by the voice synthesis means, and sends the 110th notification message as the transmitted voice. The message may include the latitude / longitude position information acquired by the GPS receiving unit 106.

When dialing 110, it is assumed that the police car will track the moving vehicle. Therefore, in this embodiment, when the theft detection processing unit 116 detects (determines) that the police car has tracked the own vehicle after calling 110, the vehicle is brought closer to the shoulder of the road and stopped. To do so. In this case, the tracking of the police car's own vehicle is detected by collecting the image captured by the camera of the camera group 105 and the siren of the police car by the microphone which is the sound sensor in the various sensor groups 104. To do. In addition, the theft detection processing unit 116 picks up the call from the police car, "Shinagawa A ○○○○'s white sedan, please stop" with a microphone, and based on the voice recognition result of the picked up voice, it itself. The vehicle may be controlled to stop on the shoulder or the like.

The description of this embodiment applies not only to police cars but also to police vehicles in general. For example, the police vehicle that tracks the own vehicle may be a police car, a police motorcycle, or both a police car and a police motorcycle, but in this embodiment, the police car is used for simplicity.

The theft detection processing unit 116 includes a voice recognition means for recognizing a police car siren and recognizing a voice call from a police car. If the voice recognition means has a language understanding function, it can follow the voice instructions from the police car. For example, follow the call from the police car, "Turn left at the intersection and stop.", Stop at the shoulder where you turned left at the intersection, and follow the call, "Enter the parking lot on the front left and stop." To the parking lot on the front left. You can enter and stop. Of course, the same measures can be taken not only for police cars when dialing 110, but also for police cars on patrol.

As mentioned above, when the control unit 101 arrives at a police station, etc., or when it detects the pursuit of a police car and stops on the road shoulder, for example, the control unit 101 takes a picture of a police notebook presented by a police officer with a camera and recognizes the image. By checking the police notebook, the door closing lock state is released and the police officer can open and close the door.

Further, even when the owner of the autonomous driving vehicle 1 sends a door closing / unlocking instruction including a predetermined password to the autonomous driving vehicle 1 through a mobile phone terminal, the control unit 101 of the autonomous driving vehicle 1 has the password. It is configured to release the door closed lock state after confirming.

The theft detection processing unit 116 does not call 110 only when the destination at the time of theft cannot be contacted, but also when the destination at the time of theft is not a police station or the like and can be contacted. You may call 110. Further, even if the destination at the time of theft can be contacted at a police station or the like, the 110th call may be made at the same time in order to more surely arrest or secure the criminal.

In the event of theft, the telephone contact to the destination and the 110th call are made without the passenger hearing the call voice. As a result, the suspected thief sitting in the driver's seat can be contacted with the police station or the like without being noticed.

As described above, the electronic control circuit unit 10 of the autonomous driving vehicle 1 is configured. Among the blocks shown in FIG. 1, the current location confirmation unit 107, the surrounding moving body grasping unit 108, the audio output unit 109, and the motor drive Each processing function of the control unit 110, steering drive control unit 111, car navigation function unit 113, door lock control unit 114, passenger authentication unit 115, theft detection processing unit 116, and manual / automatic operation mode switching control unit 117 is controlled. Unit 101 can be realized as software processing.

[Example of processing operation flow in autonomous vehicle 1]
[Example of the flow of detection of theft in the autonomous driving vehicle 1]
3 and 4 are flowcharts for explaining an example of the flow of detecting theft in the autonomous driving vehicle 1 configured as described above. In the following description, the processing in each step in the flowcharts of FIGS. 3 and 4 is performed by the control unit 101, which is the current location confirmation unit 107, the surrounding moving body grasping unit 108, the voice output unit 109, and the motor drive control unit 110. , Steering drive control unit 111, car navigation function unit 113, door lock control unit 114, passenger authentication unit 115, theft detection processing unit 116, manual / automatic operation mode switching control unit 117, each processing function is realized as software processing. It will be explained as if it is.

When the power is turned on to the self-driving car 1, the process starts from the start of FIG. First, the control unit 101 monitors the output of the driver's seat seating sensor in the various sensor groups 104 to determine whether or not the passenger is seated in the driver's seat of the own vehicle (step S1), and determines whether or not the passenger is seated in the driver's seat (step S1). When it is determined that the passenger is not seated, another process is executed (step S2), and then the process is returned to step S1. In addition to monitoring the output of the driver's seat seating sensor, whether or not the passenger is seated in the driver's seat is determined by a camera for photographing the passenger in the driver's seat in the camera group 105. It can be discriminated by monitoring the captured image of.

When it is determined in step S1 that the occupant is seated in the driver's seat, the control unit 101 acquires the captured image information from the camera that captures the occupant in the driver's seat in the camera group 105, and acquires the image information. A passenger's face image is extracted from the captured image information and temporarily stored in a buffer memory (not shown) (step S3).

Next, the control unit 101 compares the face image of the passenger temporarily stored in the buffer memory with the face image stored in the information memory 126 for passenger authentication, and the matching face image is used for passenger authentication. Whether or not the passenger is a registrant is determined based on whether or not the passenger is in the information memory 126 (step S4). When it is determined in step S4 that the occupant is a registrant, the control unit 101 permits the registrant to drive (including automatic driving), and shifts to the processing routine during normal driving of the automatic driving vehicle 1. (Step S9).

Further, when it is determined in step S4 that the passenger is not a registrant, a message "You are not registered as a driver" is displayed on the display screen of the display unit 112 with a touch panel, and a non-registered person is displayed. Wait for the input of the authentication information for registration (step S5).

Then, the control unit 101 determines whether or not the input of the authentication information consisting of the ID and the password has been accepted (step S6), and when it is determined that the input has been accepted, stores the accepted ID and password and the passenger authentication information memory 126. The ID and password set by the owner described above are compared with each other, and it is determined whether or not the authentication is OK depending on whether or not they match (step S7).

When it is determined in step S7 that the authentication is OK, the control unit 101 stores the passenger's face image temporarily stored in step S3 in the passenger authentication information memory 126 and registers the passenger. (Step S8). Next, the control unit 101 proceeds to step S9 to allow the registrant to operate (including automatic operation), and shifts to the processing routine during normal operation.

When it is determined in step S6 that the input of the authentication information consisting of the ID and the password is not accepted, the control unit 101 displays, for example, the message "You are not registered as a driver" on the display screen. After that, it is determined whether or not a predetermined time set in advance, for example, 2 minutes or more has elapsed (step S11 in FIG. 4).

When it is determined in step S11 that the predetermined time or more has not elapsed, the control unit 101 performs an operation (cancellation operation) of the cancel button displayed on the display screen of the display unit 112 with a touch panel, for example, by the passenger. It is determined whether or not the process has been performed (step S12), and when it is determined that the cancel button has not been operated, the process returns to step S6.

When it is determined in step S12 that the cancel button has been operated, the control unit 101 turns off the power of the autonomous driving vehicle 1 to disable the operation of the autonomous driving vehicle 1 (step S13). Then, the control unit 101 ends this processing routine.

Even when the cancel button is operated, the face image of the passenger temporarily stored in step S3 is stored in the passenger authentication information memory 126 as the face image of the registration failure person, and the face of the registration failure person is stored. The owner of the autonomous driving vehicle 1 may be notified that the image is stored in the passenger authentication information memory 126. In that case, the owner of the autonomous driving vehicle 1 can read the face image of the registration failure person from the passenger authentication information memory 126 and confirm the suspected thief. That is, if the face image of the person who failed to register is the face image of a stranger who owns the autonomous driving vehicle 1, the police station or the like can be notified as a suspected thief.

It should be noted that turning off the power of the autonomous driving vehicle 1 and stopping the vehicle increases the risk of escape of the suspected thief, which is not preferable, and the operation of the cancel button can be invalidated.

When it is determined in step S11 that the predetermined time or more has passed, the control unit 101 determines that the passenger is a suspected thief and the own vehicle is in a stolen state, and closes and locks the door. The detection of the accelerator operation, the brake operation, the shift lever operation and the steering operation by the manual operation operation detection unit 128 is invalidated, and control is performed so that only automatic operation is possible (step S14). Then, the control unit 101 shifts to the theft movement processing routine (step S15).

Further, when it is determined in step S7 of FIG. 3 that the authentication is not OK, the control unit 101 determines whether or not the authentication is NG instead of OK for the predetermined time, for example, the third time (FIG. 4). Step S16), when it is determined that the predetermined time has not been reached, a message prompting the re-entry of the authentication information is displayed on the display screen of the display unit 112 with the touch panel (step S17), and the process is performed in step S6 of FIG. Return to and wait for the authentication information to be entered.

Then, when it is determined in step S16 that the authentication is NG instead of OK for the predetermined time, the control unit 101 proceeds to step S14 and determines that the own vehicle is in a stolen state. In addition to closing and locking the door, the manual operation detection unit 128 disables the detection of accelerator operation, brake operation, shift lever operation, and steering operation, and controls so that only automatic operation is possible. Then, the control unit 101 advances the process to step S15, and shifts to the theft movement processing routine.

[Example of flow of movement processing when stolen in autonomous vehicle 1]
An example of the flow of the theft movement process in step S15 in FIG. 4 described above will be described with reference to the flowcharts of FIGS. 5 and 6. In the processing in each step in the flowcharts of FIGS. 5 and 6, the control unit 101 also performs the current location confirmation unit 107, the surrounding moving body grasping unit 108, the voice output unit 109, the motor drive control unit 110, and the steering drive control unit 111. , Car navigation function unit 113, door lock control unit 114, passenger authentication unit 115, theft detection processing unit 116, manual / automatic operation mode switching control unit 117, each processing function is realized as software processing. To do.

First, the control unit 101 specifies the stolen destination having the highest priority for the stored information in the stolen destination memory 127 (step S21). Next, the control unit 101 determines whether or not the information of the stolen destination having the nth priority is stored in the stolen destination memory 127 (step S22).

When it is determined in step S22 that the data of the stolen destination having the nth priority is stored, the control unit 101 has registered only the attributes of the theft destination having the nth priority, and the address. (And the position information of latitude and longitude) is determined whether or not it is not stored (step S23).

In step S23, when it is determined that only the attribute is registered and the address (and the position information of latitude / longitude) is not stored in the stolen destination having the nth priority, the control unit 101 determines that the destination is stolen. An attribute such as a police station is found by performing a peripheral search centered on the current position, and the address and the position information of latitude / longitude are acquired (step S24). When the search target is a police station or the like, various police agencies, for example, in the case of Japan, the police station, police box, or police box is detected.

In addition, small police agencies (police boxes, police boxes in the case of Japan) may be absent due to patrols, etc., so priority is given to large police agencies (police station in the case of Japan). It may be detected in. If there is no resident police officer, or if one or two people can store information on a small police agency with a high probability of absence in a database or obtain it from a predetermined site on the Internet, that scale You may take measures to lower the priority of small police agencies.

Then, the control unit 101 calculates the arrival time from the current position to the stolen destination of the nth priority from the position information of the address and the position information of the current position of the own vehicle (step S25).

Further, when it is determined in step S23 that the stolen destination having the nth priority is not only the attribute but also the address (and the position information of latitude / longitude), the control unit 101 processes it. To step S25, the arrival time from the current position to the stolen destination of the nth priority is calculated from the position information of the address and the position information of the current position of the own vehicle.

Following this step S25, the control unit 101 determines whether or not it is possible to arrive at the destination from the current location within a predetermined time determined in advance based on the arrival time obtained in step S25 (step S26). ).

When it is determined in step S26 that the destination cannot be reached from the current location within a predetermined time, the control unit 101 sets n = n + 1 and steals the next priority from the theft destination memory 127. The time destination is specified to be read (step S27), then the process is returned to step S22, and the processes after this step S22 are repeated.

When it is determined in step S26 that the destination can be reached from the current location within a predetermined time, the control unit 101 reads the stolen destination from the stolen destination memory 127, or in step S24. The automatic operation is started with the stolen destination found as a result of the peripheral search as the destination (step S28).

Further, when it is determined in step S22 that the data of the stolen destination having the nth priority is not stored, that is, the stolen destination memory 127 does not store an appropriate stolen destination for the current location. When the determination is made, the control unit 101 searches for the nearest police station or the like by a peripheral search, sets the police station or the like of the search result as the movement destination, and starts the automatic operation (step S29).

Following step S28 or step S29, the control unit 101 determines whether or not the set contact information of the destination, in this example, the telephone number is known (step S31 in FIG. 6), and is known. When it is determined, the destination is called (step S32). Then, the control unit 101 determines whether or not the destination has answered the incoming call in response to the outgoing call (step S33), and when it is determined that the incoming call has been answered, the number of the own vehicle or the number of the own vehicle is determined. Information on the own vehicle such as features, information on the current position, the destination, and the estimated time of arrival at the destination are telephoned by synthetic voice (step S34).

Then, the control unit 101 continues the automatic operation and moves to the set destination (step S35). Then, the control unit 101 determines whether or not the own vehicle has arrived at the destination (step S36), and when it is determined that the vehicle has not arrived, returns the process to step S35 and repeats the processes after this step S35. When it is determined that the vehicle has arrived at the destination, the vehicle is stopped and a voice message indicating that the suspected thief is on board, for example, "the thief is being transferred" or "the thief is on board" is sent from the speaker 121. The sound is emitted (step S37). In addition, the horn may be sounded or the light may be blinked to notify an outsider.

If this destination is a police station, etc., a police officer can open the door by approaching the self-driving car 1 and having the police notebook read by a camera, for example, and arrest or arrest the suspected thief on board. Can be secured.

In step S31, when it is determined that the contact information of the set destination, the telephone number in this example, is not known, and in step S33, the destination to which the call is made is absent or busy, and the incoming call is answered. When it is determined that the control unit 101 does not, the control unit 101 calls 110 (step S38), and information on the own vehicle such as the number and characteristics of the own vehicle, information on the current position, the destination, and the estimated time of arrival at the destination. Etc. are communicated by synthetic voice (step S39).

Then, the control unit 101 determines whether or not the police car has tracked the own vehicle (step S40), and when it determines that the police car has tracked the vehicle, automatically drives the vehicle to the shoulder and stops (step S41). In step S41, if the voice call from the police car can be recognized by voice, the vehicle can stop at an appropriate shoulder or parking lot according to the voice instruction.

Further, when it is determined in step S40 that the police car has not been tracking, the police car moves to the set destination by automatic operation (step S42). Then, the control unit 101 determines whether or not the own vehicle has arrived at the destination (step S43), and when it determines that the vehicle has not arrived, returns the process to step S40 and repeats the processes after this step S40. When it is determined that the vehicle has arrived at the destination, the vehicle proceeds to step S37 to stop the vehicle and the fact that the suspected thief is on board is referred to as, for example, "transferring the thief" or "on board the thief". The voice message is emitted from the speaker 121.

[Effect of the first embodiment]
As described above, when the self-driving car 1 of the above-described embodiment detects that the self-driving car is in a stolen state, the self-driving car 1 automatically drives the self-driving car and moves to a destination such as a police station. It is possible to move to a police station or the like with the suspected thief on board. Therefore, it is possible to prevent the theft of the self-driving car, and it is also effective in arresting the criminal and arresting the criminal.

Then, when the self-driving car 1 of the above-described embodiment detects that the own vehicle is in a stolen state, the doors and windows are closed and locked so that the criminal is confined in the vehicle. It can be reliably transferred to a police station, etc.

Further, in the automatic driving vehicle 1 of the above-described embodiment, when it is detected that the own vehicle is in a stolen state, manual driving by the suspected thief is prohibited, and the passenger can specify the destination in the automatic driving mode. Since the change is invalidated and only the movement to the designated destination such as the police station can be performed by the automatic driving mode, the criminal can be reliably transferred to the police station or the like.

Furthermore, since the self-driving car is not stopped but is running at high speed by automatic driving, it is possible to prevent the suspected thief from breaking the window glass and jumping out from there to escape.

[Modified example of the first embodiment]
In the first embodiment described above, an automatic driving vehicle having both an automatic driving mode and a manual driving mode is described as an example. However, even if the automatic driving vehicle does not have the manual driving mode, This invention can be constructed. In this case, since the automatic operation mode is always set, there is no switching between the manual operation mode and the automatic operation mode. Therefore, in the above description, it is not necessary to control to switch from the manual operation mode to the automatic operation mode or to switch from the automatic operation mode to the manual operation mode. Of course, the autonomous driving vehicle without manual driving is not provided with the manual / automatic driving mode switching control unit 117 or the manual driving operation detection unit 128. Further, the accelerator pedal, brake pedal, shift lever, steering wheel, etc. required for manual driving may not be provided. However, in order to ensure safety, a brake pedal (a brake button, a touch panel input corresponding to the brake, or a voice input may be provided) may be provided so that only the brake operation can be manually handled.

Further, in the first embodiment described above, the set destination is contacted after the movement is started by the automatic operation, but the set destination is contacted before the movement by the automatic operation is started. You may try to do it.

In addition, although the contact to the destination is made by telephone, it may be contact by a communication application such as facsimile (fax), e-mail, or LINE.

In the first embodiment described above, when the autonomous driving vehicle 1 arrives at the destination, the suspected thief emits a sound while riding by a voice message. A voice message such as "Call 110" may be emitted to the outside while the suspected thief is on board.

Further, as shown in FIG. 7, a display 130 made of an LCD (Liquid Crystal Display) is provided on the door of the self-driving car 1, for example, and the stolen state is detected to detect the thief suspect 131 in the self-driving car. When the vehicle is on board 1, the display screen of the display 130 displays a text message such as "the thief is being transferred", "the thief is on board", or "please call 110". May be good. The display 130 may be provided on the side window, the windshield, or the rear glass, or an LED (Light Emitting Diode) may be provided instead of the LCD to notify the outside of the theft state. Good. Further, the voice message may be emitted to the outside in conjunction with the display in the text character message.

In the first embodiment described above, in the self-driving car 1, whether or not the self-driving car 1 is in a stolen state based on whether or not the passenger, particularly the person who gets in the driver's seat, is a registrant. However, the determination as to whether or not the vehicle is stolen is not limited to this case.

For example, the theft detection processing unit 116 determines from the outputs of the vibration sensor, the acceleration sensor, etc. in the various sensor groups 104 and the confirmation result of the current location of the current location confirmation unit 107, even though the own vehicle is not driven. When it is detected that the vehicle has moved more than a distance, it may be detected that the vehicle is stolen. Further, when abnormal sensor data such as large vibration data or acceleration data that does not appear when the vehicle is stopped or during normal driving is detected, it may be detected that the vehicle is in a stolen state. This is based on the assumption that the self-driving car 1 is stolen without being put into an operating state by being lifted by using a heavy machine such as a crane car or a tow truck.

In the first embodiment described above, the authentication information is checked when the passenger is not a registrant, but when the passenger is not a registrant, the passenger is immediately determined to be a thief suspect. Then, it may be detected that the own vehicle is in a stolen state.

In addition, if the passenger wears a balaclava and it is difficult to authenticate the face image, the passenger judges that there is a possibility of being a thief and carefully authenticates mainly the eyes. Alternatively, the passenger may be urged to take off his balaclava and expose his face. In addition, the passenger may be immediately determined to be a suspected thief, and the vehicle may be detected as stolen.

The destination at the time of theft can be the place where the car was parked before the theft. In that case, the self-driving car will return to the place where it was parked before the theft with the suspected thief on board, so to avoid danger and trouble there, call 110 at the same time as the transfer. You may. Further, when the current position of the self-driving car is the place where the vehicle was parked before the theft, the driver may call 110 with the door closed and locked without moving.

In the first embodiment described above, the notification of the theft from the self-driving car 1 to the owner of the self-driving car 1 was not described, but "the car was stolen. Currently, the thief is carried. And, ○ △ is being transferred to the police station. ”And so on, by telephone or e-mail from the autonomous driving car 1, make sure to contact the communication terminal such as the mobile phone terminal of the owner of the autonomous driving car 1 for the theft. Of course, it is also good. Also, if theft is detected but it is difficult to move, contact the owner's mobile phone or other communication terminal, saying, "The car was stolen, but I can't move from here now." You may put in.

Further, in the above-described first embodiment, the autonomous driving vehicle 1 may contact the destination by telephone or the like, but may not contact the destination. In this case, the self-driving car 1 may contact a communication terminal such as a mobile phone terminal of the owner of the own vehicle, and the owner may contact the destination or 110.

[Second Embodiment]
The first embodiment described above is a case where the anti-theft processing control is performed only by the self-driving car 1, but even when it is determined that the self-driving car 1 is abnormal, the self-driving car 1 is actually used. There are cases where an acquaintance of the owner of the car is trying to drive. In that case, the determination of the theft of the autonomous driving vehicle 1 can be made more reliably by the intervention of the owner. Further, in many cases, the owner of the self-driving car 1 recognizes that the self-driving car 1 parked at a predetermined place has disappeared and detects the theft. For example, when the autonomous driving vehicle 1 parked in the parking lot of the service area disappears while the owner of the autonomous driving vehicle 1 is eating, or when the autonomous driving vehicle 1 is parked in the parking lot of the shopping center. This is the case where the car 1 is lost while the owner of the self-driving car 1 is shopping. The second embodiment assumes such a case.

FIG. 8 is a diagram for explaining an outline of the anti-theft system for the autonomous driving vehicle according to the second embodiment. That is, in the second embodiment, the configuration of the system including the autonomous driving vehicle 2 and the communication terminal capable of wireless communication possessed by the owner 3 of the autonomous driving vehicle 2, for example, a high-performance mobile phone terminal 4 called a smartphone. It becomes. In this second embodiment, the autonomous driving vehicle 2 and the mobile phone terminal 4 can wirelessly communicate with each other through a communication network including a mobile phone network and the Internet. The telephone number and e-mail address of the mobile phone terminal 4 of the owner 3 are registered in advance in the self-driving car 2 as a notification destination of an abnormality or the like. Then, in the mobile phone terminal 4, an application program for supporting the theft prevention of the autonomous driving vehicle 2 is downloaded from a predetermined site of the autonomous driving vehicle 2 and stored in advance. Although the mobile phone terminal 4 is used in this embodiment, it can also be configured by a fixed telephone terminal or a personal computer. Further, in case the owner 3 cannot be contacted, the telephone number or e-mail address of the mobile phone terminal of the owner 3's family may be registered as a backup contact.

The autonomous driving vehicle 2 of this embodiment has substantially the same configuration as the autonomous driving vehicle 1 of the first embodiment shown in FIG. 1, but a method of detecting that the vehicle is stolen is the first method. It is different from the embodiment of 1. Further, the configuration of the wireless communication processing unit 102 is different from that of the first embodiment.

The wireless communication processing unit 102 of the automatic driving vehicle 2 of the second embodiment is a telephone in which the subscriber telephone number (mobile phone number) of the mobile phone terminal 4 capable of wirelessly communicating with the automatic driving vehicle 2 is registered. It has a number memory. Then, the wireless communication processing unit 102 automatically transmits the stored mobile phone number to the mobile phone terminal 4 by cooperating with the control unit 101 to perform a notification as described later and its storage. It has a function of automatically responding to an incoming call from the mobile phone terminal 4 having a mobile phone number and executing a predetermined process as described later.

In this second embodiment, the owner 3 recognizes that the self-driving car 2 is in a stolen state by notifying the self-driving car 2 through the mobile phone terminal 4. To do so.

Further, in the following example of the second embodiment, the method of setting the moving destination is also different from that of the first embodiment, and the owner 3 notifies the autonomous driving vehicle 2 of the moving destination through the mobile phone terminal 4. By sending, the self-driving car 2 is made to recognize the destination at the time of theft.

As described above, there are two cases (first example and second example) in which the owner 3 notifies the autonomous driving vehicle 2 that the autonomous driving vehicle 2 is in a stolen state. That is, in the first example, as shown in FIG. 8, the mobile phone terminal 4 of the owner 3 receives the abnormality detection notification from the autonomous driving vehicle 2, and the owner 3 checks the abnormality content and the abnormality is checked. As a result of the check, a notification of whether the vehicle is stolen or not (hereinafter referred to as a theft notification) is sent from the mobile phone terminal 4 to the autonomous driving vehicle 2. The second example is a case where the owner 3 detects that the self-driving car 2 has disappeared and notifies the self-driving car 2 of the theft state without receiving the abnormality notification from the self-driving car 2. is there. In the case of the second example, it is not a theft notification but a notification of the theft state, that is, a theft notification.

Then, in the example of FIG. 8, the owner 3 designates a police station or the like 5 as a destination in the event of theft, and the self-driving car 2 moves to the designated police station or the like 5 by automatic driving. Is shown. Also in this second embodiment, it is not possible to switch to the door closed locked state, the window closed locked state, and the manual operation mode when moving at the time of theft, which is the same as the first embodiment and moving at the time of theft. The processing operation is performed substantially in the same manner as in the first embodiment.

FIG. 9 shows an electronic control circuit unit of the autonomous driving vehicle 2 in the anti-theft system of the autonomous driving vehicle of the second embodiment (hereinafter, only referred to as the autonomous driving vehicle 2 for simplicity) and a mobile phone of the owner 3. A sequence diagram of an example of communication with the telephone terminal 4 is shown. The example of FIG. 9 is the case of the first example in which the owner 3 notifies the autonomous driving vehicle 2 of the stolen state of the autonomous driving vehicle 2.

That is, first, the autonomous driving vehicle 2 detects whether or not an abnormality has occurred in its own vehicle. The anomaly detection means can be realized, for example, with substantially the same configuration as the theft detection means of the first embodiment (see FIG. 1). In this case, the passenger authentication unit 115 acquires the face image of the passenger who got on the autonomous driving vehicle 2 from the camera group 105, and the acquired face image and the face stored in the passenger authentication information memory 126. Compare and refer to the image to determine if they match. When the face image of the occupant does not match any of the face images stored in the occupant authentication information memory 126, the occupant authentication unit 115 makes an abnormality in the authentication result indicating that the occupant could not be authenticated. Notify the detection processing unit (not shown). By this notification, the abnormality detection processing unit detects that the own vehicle is in an abnormal state. The abnormality detection process by comparing the facial images may be performed at any time, but it is preferable to perform the abnormality detection process when it is determined that the occupant is seated in the driver's seat, as in the case of the theft detection means.

In the case of theft detection, it is preferable to make a definite judgment as to whether or not the authentication was successful by tightening the judgment accuracy of the authentication result, but in the case of anomaly detection, it is judged whether or not there is a matching face image. It is preferable to detect it as an abnormality if it is even a little suspicious, even if it cannot be detected.

In the second embodiment, unlike the first embodiment, even if the abnormality detection is an uncertain judgment with low credibility, the final judgment of theft can be entrusted to the owner, so that the theft detection can be performed. At the same time as preventing leakage, it is possible to prevent false judgment of theft. Therefore, when the matching face image does not exist and the occupant cannot be authenticated as in the first embodiment, the occupant is requested to enter the ID and password, and the authentication is confirmed again. Even if there is no operation, no particular problem occurs.

The abnormality that can be detected by the abnormality detecting means is not limited to this example. For example, it is difficult to authenticate the occupant, detect a suspicious situation such as the occupant wearing a balaclava, or detect that the vehicle has moved more than a predetermined distance even though it is not driven. Or, when abnormal sensor data that does not appear when the vehicle is stopped or during normal driving is detected, these can be detected as abnormalities in the vehicle.

When the abnormality detection processing unit detects an abnormality in the own vehicle, the abnormality detection processing unit transmits a notification of the abnormality to the mobile phone terminal 4 of the owner 3 as a registered destination. The report of this abnormality is accompanied by a report of the current state of the autonomous driving vehicle 2. When a passenger who is not a registrant is detected, the information of the current report of the autonomous vehicle 2 includes a face image of the passenger, and the predetermined distance is provided even though the own vehicle is not driven. When it is detected that the vehicle has moved, the image information around the vehicle is included. In addition, the current position information such as the latitude and longitude of the own vehicle may be included.

It should be noted that the abnormality may be reported by telephone, and the current status of the autonomous vehicle 2 may be reported by attaching an image by e-mail. As a report of abnormality, when the passenger is suspicious, a synthetic voice to that effect is sent, and when the passenger is suspicious, a synthetic voice to that effect is sent.

The mobile phone terminal 4 that has received the notification of the abnormality and the current report of the autonomous driving vehicle 2 displays the face image of the occupant on the display screen or displays the image of the surroundings of the autonomous driving vehicle 2. Then, on the display screen, a software button for causing the owner 3 to input the confirmation result of the presence or absence of theft is displayed.

The owner 3 looks at the display image on the display screen of the mobile phone terminal 4, checks for the presence or absence of theft, and inputs the check result through the software button on the display screen of the mobile phone terminal 4. That is, if the face image on the display screen is a face image of a stranger, it is determined that the face image is stolen. Further, if the surrounding image is an image in which the autonomous driving vehicle 2 is suspended in the air, an image in which the self-driving car 2 is towed by a tow truck, or an image in which the self-driving car 2 is placed on a trailer, the image is stolen. Judge that it is in a state. The mobile phone terminal 4 notifies the autonomous driving vehicle 2 of the check result of whether or not the owner 3 has been stolen.

The self-driving car 2 that has received the check result of the owner 3 for theft analyzes the received check result and determines whether the check result is in the stolen state or not in the stolen state. To do. Then, as a result of the determination, when it is determined that the vehicle is not in the stolen state, the autonomous driving vehicle 2 does not perform the processing at the time of the theft and leaves it as it is.

Further, as a result of determining the check result, when it is determined that the vehicle is in a stolen state, the autonomous driving vehicle 2 closes and locks the doors and windows, and prohibits manual driving by the passenger (prohibition of switching to the manual driving mode). ) Is controlled. Then, the self-driving car 2 sends an instruction request for the destination in the event of theft to the mobile phone terminal 4.

The mobile phone terminal 4 sends an instruction notification of a destination such as a police station to the autonomous driving vehicle 2 based on the instruction input of the owner 3. In this case, the mobile phone terminal 4 has a move destination candidate memory having the same data content as the stolen destination memory 127 of the autonomous driving vehicle 2, and automatically selects the move destination information selected from the move destination candidate memory. Send to driving car 2. In this case, the information of the destination to be sent may be only the identification information, and the autonomous driving vehicle 2 reads the destination specified by the identification information from the theft destination memory 127 and identifies it.

The destination instruction notification is not limited to this method, and text information such as "□□ police station", "△△ police box", "nearest police station, etc." may be notified as it is. The self-driving car 2 can recognize characters and grasp the destination as a result of the recognition.

Then, after sending the instruction notification of the destination, the mobile phone terminal 4 automatically dials 110. The report information to be sent to the police station or the like at the time of the 110th call may be transmitted by the owner 3 directly by a call with the police station or the like, or may be carried in advance as in the case of the first embodiment. The report message may be stored in the telephone terminal 4, converted into synthetic voice, and sent to a police station or the like. In this example, in this 110th call, when the autonomous driving vehicle 2 arrives at the destination, a message requesting the mobile phone terminal 4 to make a telephone call from a police station or the like and the mobile phone terminal 4 Phone number is also included.

The self-driving car 2 that has received the notification of the instruction of the moving destination moves toward the instructed moving destination by automatic driving.

Then, when the self-driving car 2 arrives at the destination, the mobile phone terminal 4 is notified to that effect. This notification may be made by synthetic voice over the telephone or by e-mail. Further, it may be notified by a communication application such as LINE.

If the destination is a police station, etc., the police station, etc. will contact you by telephone for the arrival of the self-driving car 2 in response to the request for arrival notification included in the 110th call. 3 notifies through the mobile phone terminal 4 that the door closed lock state of the autonomous driving vehicle 2 is released. After that, the owner 3 sends a door closing / unlocking instruction to the autonomous driving vehicle 2 through the mobile phone terminal 4. Therefore, the self-driving car 2 that receives the door closing lock release instruction releases the door closing lock state. Therefore, the police officer can open and close the door of the self-driving car 2 from the outside, and can arrest or secure the suspected thief on board.

[Effect of the second embodiment]
Needless to say, even in the second embodiment in which the above configuration and operation are performed, the same action and effect as in the first embodiment can be obtained. Then, according to this second embodiment, when the owner confirms the stolen state of the autonomous driving vehicle 2, the stolen state can be detected more reliably, and theft only by the autonomous driving vehicle 2 can be detected. It is possible to reduce erroneous judgment in the case of judgment of the state.

Further, according to the second embodiment, the owner can detect the stolen state of the self-driving car 2 and notify the self-driving car 2 to the stolen state of the self-driving car 2 itself. Even if it cannot be detected, theft of the vehicle can be prevented.

[Modified example of the second embodiment]
In the second embodiment described above, as in the first embodiment described above, an autonomous driving vehicle having both an automatic driving mode and a manual driving mode will be described as an example, but the manual driving mode The present invention can be configured even in a non-self-driving car.

In the second embodiment described above, the destination is set by the owner of the autonomous driving vehicle 2 by notifying the autonomous driving vehicle 2 through the mobile phone terminal, but in the second embodiment. Also, the self-driving car 2 itself may set the destination at the time of theft in the same manner as in the first embodiment.

Further, in the second embodiment described above, the owner 3 of the autonomous driving vehicle 2 confirms and notifies the stolen state of the autonomous driving vehicle 2, but the present invention is not limited to this, and the administrator of the autonomous driving vehicle 2 or The management company may do it. For example, when many self-driving cars such as transportation companies, courier companies, bus companies, and taxi companies are managed and operated by computers at the center, the self-driving car 2 identified as stolen from the center You can notify theft and destination. The destination is not limited to the police station, but may be set to the head office, head office, branch office, or branch office of the company. If the destination is set to the head office, head office, branch office, or branch office of the company, call 110 to have the police officer come to the head office, head office, branch office, or branch office for site verification and arrest or securing of the criminal.

Furthermore, if a police officer finds an autonomous vehicle to be restrained, such as an autonomous vehicle on which the criminal is on the run or on the run, or an autonomous vehicle that has been reported stolen, the number plate etc. Identify contact information such as a phone number to contact the self-driving car, use the contact information (for example, phone number) to contact the self-driving car, make it in communication with the self-driving car, and make the self-driving car In response to the above, a notification of the detection of the theft state, a predetermined point (a place where a police vehicle such as a police car or a white-buy can rush), or a destination of a predetermined police station or the like may be notified. In this way, the self-driving car keeps the doors and windows closed and locked so that the criminal on board cannot escape, and moves to the notified destination, so it waits at the notified predetermined place. The police officer who was doing this can arrest or detain the criminal in the self-driving car.

[Other embodiments or modifications]
In the above-described embodiment, if the suspected thief breaks the window and escapes from the running vehicle during the automatic driving transfer by the autonomous driving vehicle 1 or the autonomous driving vehicle 2, the camera group 105 Recognize from the captured image of the thief, report the image information such as the face image of the thief and the position information of the escaped point of the thief, and stop the autonomous vehicle on the spot or on the nearby road shoulder etc. It may be.

Further, when there is no police officer at the police station or the like at the destination, the self-driving car 1 or the self-driving car 2 may search around another police station or the like closest to the destination. Of course, you may wait at the police station or the like of the destination without moving.

Further, in the above-described embodiment, the theft state or the abnormal state is detected based on the detection of a suspicious passenger, the suspicious movement of the own vehicle, or the abnormal sensor data. When it is detected that the autonomous driving vehicle 1 or the autonomous driving vehicle 2 is traveling on a suspicious route other than the route normally used by the person, it is detected as traveling suspected of theft or abnormal traveling, and the first embodiment The case may be processed, or the owner may be notified of the abnormality in the case of the second embodiment.

Further, in the above-described embodiment, the theft detecting means and the abnormality detecting means detect the stolen state of the autonomous driving vehicle 1 and the abnormal state of the autonomous driving vehicle 2 based on the face authentication (comparison result of face images). However, the detection of theft or abnormal conditions is not limited to this. For example, the driver of the autonomous driving vehicle 1 or the autonomous driving vehicle 2 is subjected to biometric authentication such as voiceprint authentication, fingerprint authentication, iris authentication, and vein pattern authentication, and the theft state or abnormal state is detected based on the authentication result. You may try to do it. The authentication is not limited to biometric authentication, and may be a confirmation operation such as a name, an address, a date of birth, an ID, a password, a telephone number of a mobile phone terminal, or an e-mail address. Further, by combining these various authentications, the authentication for the driver of the autonomous driving vehicle 1 or the autonomous driving vehicle 2 may be further strengthened, and the theft state or the abnormal state may be detected based on the authentication result. ..

Further, in the above-described embodiment, the theft detection means, the abnormality detection means, various authentications, and the like are performed by the automatic driving vehicle 1, the automatic driving vehicle 2, or the owner 3, but the automatic driving vehicle 1 and the automatic driving vehicle 2 May have a function to connect to the Internet so that it can be done in the cloud.

In the above-described embodiment, the autonomous driving vehicle 1 or the autonomous driving vehicle 2 enters the automatic driving mode when it is determined that the own vehicle is in a stolen state, and even if the passenger tries to switch to the manual driving, the auto lock is activated. It is controlled so that it does not switch to the manual operation mode. However, assuming that the passenger is not a thief and accidentally locks the automatic driving mode, the non-thief passenger, such as the owner, performs automatic driving by performing a predetermined operation. The lock state of the mode may be released so that the mode can be switched to the manual operation mode. In this case, the predetermined operations for canceling the automatic operation mode include biometric authentication such as fingerprint authentication of the owner, password, password, voice recognition (the word may be recognized together), and speaker recognition. , Face recognition, gesture recognition, etc., and combinations thereof can be used.

Further, in the above-described embodiment, in the autonomous driving vehicle without the manual driving mode, the input operation such as the designation or change of the moving destination by the passenger is controlled so as to be invalid. However, assuming that the input operation is accidentally disabled when the passenger is not a thief, the non-thief passenger, such as the owner, performs the input operation by performing a predetermined predetermined operation. The invalid state may be released.

When the rent-a-car company uses this invention, the driver who uses the rent-a-car is registered as a temporary owner at the time of departure. The driver who uses the rental car is face-authenticated and recognized as a legitimate user while using the rental car. If the rental car is used by someone other than this driver, theft will be detected because face recognition will not be performed. When the rental car is returned, the registered driver's face image is deleted and the owner's qualification is lost. If the rental car is detected to be stolen, the driver, who is the temporary owner, will be contacted and the rental car company will also be contacted. In addition, the driver who uses the rental car can register not only the face image but also biometric information such as fingerprint, iris, vein pattern, and voice (voiceprint), and perform biometric authentication using the biometric information. When returning the rental car, the registered driver's biometric information will be deleted. Furthermore, it is possible to issue a temporary ID card or password to the driver who uses the rental car so that the driver can return the rental car when the rental car is returned. Moreover, these can also be used in combination. Furthermore, the present invention can be applied to car sharing in which a specific car is shared among a plurality of members as in the case of a rental car.

It should be noted that the present invention can be applied not only to the theft of an autonomous vehicle but also to vandalism on the vehicle. In this case, even if the passenger does not sit in the driver's seat, when the intruder is found in the vehicle by the in-vehicle camera or the like, the intruder's face image captured by the in-vehicle camera is combined with the registered face image. Compare. If the intruder's face image is not registered, it will be detected as vandalism on the vehicle (detected as stolen), the doors and windows will be closed and locked, and the vehicle will be automatically driven to a destination such as a police station.

Further, the present invention can be applied to the arrest of a criminal whose face image is available, such as a wanted criminal. The self-driving car cooperates with the cloud, that is, obtains the face image of the criminal such as a wanted criminal from a predetermined site on the Internet, and the face image of the criminal matches the face image of the passenger of the self-driving car. In this case, it can be regarded as a detection of the theft state, and the door or window can be automatically closed and locked and transferred to a police station or the like. In this case, even if the passenger is the owner of the self-driving car or a registrant such as a passenger who is permitted to drive, invalidate it and forcibly transfer it to the police station etc. Can be done.

In the case of a criminal who can obtain a fingerprint instead of a face image, the same response can be taken by fingerprint authentication. When this embodiment is applied by a rental car company in cooperation with the police, when a wanted criminal uses a rental car, the rental car identifies the wanted criminal and transfers it to a designated police station, etc., so it is nationwide. It has the effect of increasing the possibility of arresting or arresting a criminal in the area.

In addition, the face image of the driver (driver) of the autonomous driving car while driving is taken with the camera of the surveillance camera system installed on the road such as the automatic speed violation control device, and the taken face image is prepared in advance. When it matches the image of the criminal's face, it can be regarded as a stolen state and the self-driving car can be notified to that effect. The self-driving car that has been notified that it is in the stolen state will be put into the door closed lock state and the window closed lock state, and will be forcibly moved to the destination such as the police station by automatic driving. In this case, the surveillance camera system automatically provides the contact information (notification destination) of the self-driving car based on the license plate number, for example, from an internet site. It is advisable to register the number of the driving vehicle and the contact information (notification destination).

By doing so, it is possible to increase the possibility of arresting or arresting a criminal whose face image or fingerprint is known, such as a wanted criminal.

In the above embodiment, when it is detected that the vehicle is stolen, it is transferred to a predetermined police station or the nearest police station, but the police station or the like has jurisdiction. In that case, it can be transferred to the police station under the jurisdiction. Further, instead of a police station or the like, a transfer area dedicated to stolen vehicles may be provided and transferred there.

In addition, when it is detected that the self-driving car of a company that manages and operates many self-driving cars such as a transportation company, a delivery company, a bus company, a taxi company, a car rental company, etc. is in a stolen state, It may be transferred to a transfer area dedicated to stolen vehicles provided by the company.

In addition, by using the GPS provided in the autonomous driving vehicle, it is possible to identify the country or local government in which the vehicle is traveling. If the country or local government is known, information on various police agencies corresponding to the specified country or local government and emergency call telephone numbers that differ depending on the national or local government can be obtained, and processing specialized for that country or local government can be performed.

The present invention includes not only ordinary automobiles and light automobiles, but also trucks, buses, taxis, tractors, dump trucks, bulldozers, excavator cars, forklifts, crane trucks, tow trucks, single-person automobiles, motorcycles, electric bicycles, and electric bicycles. It can also be applied to assisted bicycles. Furthermore, it can be applied to ships, aircraft, helicopters, etc.

Further, although the self-driving vehicle of the above-described embodiment is an electric vehicle, the present invention can be applied to a gasoline vehicle, a hybrid vehicle, a fuel cell vehicle, and other drive type vehicles.

1, 2, ... Self-driving car, 10 ... Electronic control circuit unit, 104 ... Various sensor groups, 105 ... Camera group, 106 ... GPS receiver unit, 107 ... Current location confirmation unit, 112 ... Display unit with touch panel, 113 ... Car navigation function unit , 114 ... Door lock control unit, 115 ... Passenger authentication unit, 116 ... Theft detection processing unit, 117 ... Manual / automatic operation mode switching control unit

Claims (48)

It is an autonomous vehicle that has a manual driving mode and an automatic driving mode.
A first switching means for switching from the manual operation mode to the automatic operation mode,
A second switching means for switching from the automatic operation mode to the manual operation mode,
A theft detection means for detecting that the vehicle is in a stolen state, and / or a receiving means for receiving a notification that the vehicle is in a stolen state.
When the theft detecting means detects that the vehicle is in the stolen state, or when the receiving means receives a notification that the vehicle is in the stolen state, the vehicle is in the automatic driving mode. When the switching to the manual driving mode by the second switching means is invalidated and the own vehicle is in the manual driving mode, the switching means is switched to the automatic driving mode by the first switching means and the second switching means is used. Control means for disabling the switching to the manual operation mode by
Self-driving car characterized by being equipped with. When the theft detecting means detects that the vehicle is in the stolen state, or when the receiving means receives a notification that the vehicle is in the stolen state, the vehicle is stolen in the automatic driving mode. When the vehicle is stolen, the destination is determined. Destination determination means and
Car navigation means with a function to assist you in moving to a designated destination, and
With
The first aspect of claim 1, wherein the control means controls the car navigation means to move the stolen destination determined by the theft destination determination means as the designated destination. Self-driving car. It is equipped with a storage unit that stores the destination when the vehicle is stolen when the vehicle is in the stolen state.
The autonomous driving vehicle according to claim 2, wherein the stolen destination determination means determines the stolen destination stored in the storage unit as the stolen destination in the automatic driving mode. When the attribute of the destination is stored as the theft destination of the storage unit without including the position information, the theft destination determination means is a destination matching the attribute and is from the current position. The self-driving vehicle according to claim 2 or 3, wherein a destination that can arrive within a predetermined time or a destination that exists within a predetermined distance range from the current position is determined. When the determined contact information of the stolen destination can be obtained, the vehicle is in a stolen state and the vehicle is stolen at the stolen destination by using the contact information of the stolen destination. The self-driving vehicle according to any one of claims 2 to 4, further comprising a notification means for notifying the information for recognizing the vehicle through a wireless communication means. It has a function to calculate time information about the estimated time of arrival at the stolen destination.
The autonomous driving vehicle according to claim 5, wherein the information notified to the stolen destination by the notification means includes time information about the estimated time of arrival at the stolen destination. When the receiving means receives the notification of the theft state, the receiving means also receives the information of the theft destination.
The self-driving vehicle according to any one of claims 2 to 6, wherein the stolen destination determining means determines the received stolen destination as the stolen destination in the automatic driving mode. .. Equipped with a search method to search around the current position
The self-driving car according to any one of claims 2 to 7, wherein the stolen destination determination means determines the nearest police agency searched by the search means as the theft destination. When the control means detects that the theft is in the stolen state by the theft detecting means, or when the receiving means receives a notification that the theft is in the state, the navigation means designates the destination. Alternatively, any of claims 2 to 8, wherein the change input operation is invalid, but the navigation means is controlled so as to behave as if the destination designation or change input operation was accepted. Self-driving car described in. The destination at the time of theft is a police agency, which has a confirmation means for confirming police officers.
One of claims 2 to 9, wherein when the police officer cannot be confirmed by the confirmation means when arriving at the police agency, the police officer is searched for another nearest police agency. Self-driving car described in. The destination at the time of theft is a police agency, which has a confirmation means for confirming police officers.
The invention according to any one of claims 2 to 10, wherein when the police officer cannot be confirmed by the confirmation means when arriving at the police agency, the police officer is made to stand by without moving. Self-driving car. Equipped with a passenger imaging unit that captures the passengers of the own vehicle
The thief suspect is moving in the automatic driving mode when the theft detecting means detects that the vehicle is in the stolen state, or when the receiving means receives a notification that the vehicle is in the stolen state. The invention according to any one of claims 1 to 11, wherein when the passenger escapes from the vehicle, the image information of the suspected thief taken by the passenger imaging unit is sent to the police agency. Self-driving car. Equipped with location information acquisition means
The self-driving car according to any one of claims 1 to 12, wherein the location information of the escaped suspected thief is sent to a police agency. The theft detection means includes a biometric information acquisition unit.
A claim characterized in that it detects that the vehicle is in a stolen state based on a comparison result between the biometric information of a person registered in advance and the biometric information newly acquired by the biometric information acquisition unit. The self-driving vehicle according to any one of 1 to 13. The biological information acquisition unit is an imaging unit.
The theft detecting means detects that the own vehicle is in a stolen state based on a comparison result between a face image of a person registered in advance and a face image of a person newly captured by the imaging unit. 14. The self-driving car according to claim 14. The biometric information of the person registered in advance is the biometric information of the criminal or the suspect including the wanted criminal acquired from a predetermined site on the Internet, and the biometric information of the criminal or the suspect and the biometric information acquisition. The self-driving car according to claim 14 or 15, wherein the self-driving car detects that the own vehicle is in a stolen state based on the comparison result with the biometric information newly acquired by the department. The theft detection means includes detecting that the vehicle has been stolen based on a notification from a surveillance camera system installed on the road.
The surveillance camera system is stolen by the vehicle taken by the surveillance camera based on the result of comparison between the face image of the driver of the vehicle taken by the surveillance camera and the face image of the criminal or suspect including the wanted criminal. The automatically driven vehicle according to any one of claims 1 to 16, wherein a notification of the state is sent. Any of claims 1 to 17, wherein the theft detection means includes verification of ID information such as a name, an address, a date of birth, an ID, a password, a telephone number of a mobile phone terminal, and an e-mail address. Self-driving car described in Crab. The claim is characterized in that the theft detecting means includes detecting that the own vehicle is in a stolen state by detecting that the position of the own vehicle has been moved without driving the own vehicle. The self-driving vehicle according to any one of claims 1 to 18. The self-driving car according to any one of claims 1 to 19, wherein the stolen state of the own vehicle also includes vandalism on the vehicle. The self-driving car according to any one of claims 1 to 20, wherein the theft detection means is provided on a cloud connected via the Internet. Anomaly detection means to detect whether or not an abnormality has occurred in the vehicle,
When the abnormality detecting means detects that an abnormality has occurred in the own vehicle, the transmitting means for transmitting the abnormality report including the current information at that time to the registered destination, and
With
Any of claims 1 to 21, wherein the receiving means receives the notification that the own vehicle from the registered partner who transmitted the abnormality report is in a stolen state. Self-driving car described in Crab. The automatic driving according to claim 22, wherein the current information included in the abnormality report includes image information of the occupant, image information around the own vehicle, and / or current position information of the own vehicle. car. The self-driving vehicle according to claim 22 or 23, wherein the other party is the owner of the own vehicle, the manager of the own vehicle, or the management company of the own vehicle. The abnormality detecting means includes a biometric information acquisition unit.
22. Claim 22 is characterized in that it detects that an abnormality has occurred in the own vehicle based on a comparison result between the biometric information of a person registered in advance and the biometric information newly acquired by the biometric information acquisition unit. The self-driving vehicle according to any one of claims 24. The biological information acquisition unit is an imaging unit.
The abnormality detecting means detects that an abnormality has occurred in the own vehicle based on a comparison result between a face image of a person registered in advance and a face image of a person newly captured by the imaging unit. The self-driving vehicle according to claim 25. The biometric information of the person registered in advance is the biometric information of the criminal or the suspect including the wanted criminal acquired from a predetermined site on the Internet, and the biometric information of the criminal or the suspect and the biometric information acquisition. The self-driving car according to claim 25 or 26, wherein an abnormality has occurred in the own vehicle based on a comparison result with the biometric information newly acquired by the department. Any of claims 22 to 27, wherein the abnormality detecting means includes collation of ID information such as a name, an address, a date of birth, an ID, a password, a telephone number of a mobile phone terminal, and an e-mail address. Self-driving car described in Crab. The abnormality detecting means includes detecting that an abnormality has occurred in the own vehicle based on a notification from a surveillance camera system installed on the road.
The surveillance camera system notifies that an abnormality has occurred in the own vehicle based on the result of comparison between the face image of the driver of the vehicle taken by the surveillance camera and the face image of the criminal or suspect including the wanted criminal. The self-driving vehicle according to any one of claims 22 to 28, wherein the vehicle is sent out. The claim is characterized in that the abnormality detecting means includes detecting that an abnormality has occurred in the own vehicle by detecting that the position of the own vehicle has been moved without driving the own vehicle. The self-driving vehicle according to any one of 22 to 29. The self-driving vehicle according to any one of claims 22 to 30, wherein the occurrence of an abnormality in the own vehicle includes roughening on the vehicle. The autonomous driving vehicle according to any one of claims 22 to 31, wherein the abnormality detecting means is provided on a cloud connected via the Internet. The door and / or window of the own vehicle based on the detection of the theft state by the theft detecting means or the reception of the notification of the theft state by the receiving means. Equipped with a locking means to lock the door in a non-openable manner
The claim is characterized in that the door and / or window of the own vehicle is locked so as not to be opened and closed by the locking means, and the locked state is released only when a predetermined unlocking condition of the locking means is cleared. The self-driving vehicle according to any one of 1 to 32. The door and / or window of the own vehicle based on the detection of the theft state by the theft detecting means or the reception of the notification of the theft state by the receiving means. A locking means that locks the door so that it cannot be opened and closed,
An external imaging unit that captures the outside of the vehicle and
With
By photographing the police notebook with the external imaging unit and confirming the police notebook by image recognition, the lock state of opening and closing of the door and / or the window that cannot be opened and closed by the locking means is released. The self-driving car according to any one of claims 1 to 33. When the predetermined release condition of the automatic operation lock mode is cleared in the automatic operation lock mode in which the switching to the manual operation mode is invalidated by the first switching means or the second switching means. The self-driving vehicle according to any one of claims 1 to 34, wherein only the automatic driving mode can be switched to the manual driving mode. Equipped with a notification means that notifies the state of the own vehicle by text / image and / or voice
The notification means is based on the fact that the theft detecting means detects that the vehicle is in the theft state, or the receiving means receives the notification that the vehicle is in the theft state. Claims 1 to claim that the vehicle is in a stolen state, that the criminal or suspect including the wanted criminal is on board, and / or that the emergency call contact is notified. The self-driving car according to any one of 35. When the theft detecting means detects that the vehicle is in the stolen state, or when the receiving means receives a notification that the vehicle is in the stolen state, the vehicle is stolen in the automatic driving mode. Equipped with destination determination means
The self-driving car according to any one of claims 1 to 36, wherein the determination of the destination at the time of theft is made based on the remaining amount of the battery, gasoline and / or fuel of the self-driving car. Equipped with a means of reporting to the emergency call contact
For the emergency call by the reporting means based on the detection of the theft state by the theft detecting means or the reception of the notification of the theft state by the receiving means. The self-driving vehicle according to any one of claims 1 to 37, wherein the contact is controlled to make a report. A call detection means that detects a voice call to the police vehicle's own vehicle,
Voice recognition means for recognizing voice and
With
The automatic according to any one of claims 1 to 38, wherein when the voice call is detected, the voice is recognized by voice and the behavior of the own vehicle is determined based on the voice recognition result. Driving car. The second switching means is characterized in that it switches from the automatic driving mode to the manual driving mode by detecting at least one of the occupant's accelerator operation, brake operation, shift lever operation and steering operation. The self-driving car according to any one of claims 1 to 39. Based on the detection of the theft state by the theft detecting means, or the reception of the notification of the theft state by the receiving means, the occupant's accelerator operation and brake operation The self-driving vehicle according to any one of claims 1 to 40, wherein the shift lever operation and / or the steering operation is invalidated. An authentication information storage means for storing authentication information including a user's face image in an authentication information storage unit,
An authentication means for authenticating a passenger using the authentication information of the user stored in the authentication information storage unit, and
With
Claim 1 is characterized in that the face image of the passenger who could not be authenticated by the authentication means is stored as a suspected thief in an area of the authentication information storage unit separated from the authentication information. The self-driving car according to any one of claims 41. An autonomous vehicle that can be used temporarily
The self-driving car according to any one of claims 1 to 42, wherein the self-driving car that can be temporarily used is a rental car provided by a rental car company. The automatic driving according to claim 43, wherein when the theft detecting means detects that the vehicle is in a stolen state, the theft state is notified to the temporary user and the rental car company. car. Temporary user registration receiving means for storing the authentication information of the temporary user in the authentication information storage unit, and
An authentication means for authenticating a user by using the authentication information of the temporary user stored in the authentication information storage unit.
With
The self-driving car according to claim 43 or 44, wherein the user who could not be authenticated by the authentication means is detected as the suspected thief. The self-driving car according to claim 45, wherein when the temporary use is completed, the authentication information of the user who has finished the temporary use is deleted from the authentication information storage unit. An autonomous vehicle that can be used temporarily
The vehicle according to any one of claims 1 to 42, wherein the self-driving car that can be temporarily used is a self-driving car provided by a car sharing company. A computer equipped with an autonomous vehicle that has a manual driving mode and an automatic driving mode,
A first switching means for switching from the manual operation mode to the automatic operation mode,
A second switching means for switching from the automatic operation mode to the manual operation mode,
A theft detection means for detecting that the vehicle is in a stolen state, and / or a receiving means for receiving a notification that the vehicle is in a stolen state.
When the theft detecting means detects that the vehicle is in the stolen state, or when the receiving means receives a notification that the vehicle is in the stolen state, if the vehicle is in the automatic driving mode, the above. When the switching to the manual driving mode by the second switching means is invalidated and the own vehicle is in the manual driving mode, the switching means is switched to the automatic driving mode by the first switching means and the second switching means is used. Control means for disabling switching to the manual operation mode by
Self-driving car anti-theft program to function as.

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