JP2020179852A - Automatic driving vehicle and program for automatic driving vehicle - Google Patents

Abstract

To provide an automatic driving vehicle which can prevent a traffic accident due to a driver's use of a portable device while driving.SOLUTION: An automatic driving vehicle is provided with: a manual driving mode of traveling according to driving operation by a driver; and an automatic driving mode of conducting autonomous traveling. The automatic driving vehicle comprises: imaging means; photographic image analysis means for analyzing whether or not the driver has performed a motion of holding a portable device in the hands, on the basis of a photographic image captured by the imaging means; and mode switching means for switching from the manual driving mode to the automatic driving mode, when the photographic image analysis means detects a driver's motion of holding a portable device in the hands, in a state of traveling in the manual driving mode.SELECTED DRAWING: Figure 1

Description

The present invention relates to autonomous vehicles capable of autonomous driving and programs for autonomous vehicles.

It is dangerous for a driver who is driving a car to make a phone call or make an e-mail communication using a mobile phone terminal, which is distracting and dangerous. It is stipulated that the driver must not act, and penalties are also stipulated. The same applies not only to mobile phone terminals but also to cases where a driver who is driving a car wants to use a mobile terminal such as a game machine or a notebook personal computer that gazes at the display screen.

Against this background, the invention of mobile terminals such as mobile phone terminals whose use is restricted in automobiles and the invention of communication systems which restrict the use of mobile devices by drivers in automobiles have been conventionally provided. (See, for example, Patent Document 1 (Japanese Patent Laid-Open No. 10-322440) and Patent Document 2 (Japanese Patent Laid-Open No. 2007-258988)).

Japanese Unexamined Patent Publication No. 10-322440 Japanese Unexamined Patent Publication No. 2007-258988

However, not all mobile terminals such as mobile phone terminals have functions that limit the use of automobiles in the car, and even if a system with such functions is standard equipment in automobiles. Absent. In addition, mobile phone terminals and systems having the above-mentioned usage restriction function are costly and are unnecessary functions for those who do not have a driver's license for automobiles.

For this reason, at present, mobile devices without usage restrictions as described above are often brought into automobiles, and it is the driver's morals to ensure that the above-mentioned compliance items of the Road Traffic Act are strictly observed. I have no choice but to expect.

However, if there is an incoming call to the mobile phone terminal while driving, the incoming call may be annoying and one may want to answer. Especially when waiting for an urgent call. In that case, if the driver is driving on a general road, the driver can stop the car on the shoulder and then answer the incoming call. However, if the driver is driving on the highway, the vehicle stops on the shoulder. On the contrary, it is dangerous.

We propose an autonomous vehicle to solve the above problems and prevent traffic accidents caused by the use of mobile devices while the driver is driving. In this case, the purpose is to provide the functions that the self-driving car should have.

In order to solve the above problems, the invention of claim 1 is
In an autonomous vehicle having a manual driving mode in which driving is performed based on a driving operation by the driver and an automatic driving mode in which autonomous driving is performed.
Shooting means and
A photographed image analysis means for analyzing whether or not the driver has acted to pick up a mobile device based on the photographed image taken by the photographing means.
Mode switching means for switching from the manual operation mode to the automatic operation mode when the photographed image analysis means detects an action of the driver picking up the portable device in the driving state in the manual operation mode. When,
Provide an autonomous vehicle characterized by being equipped with.

In the self-driving car according to claim 1 having the above configuration, the photographed image analysis means analyzes whether or not the driver has acted to pick up the mobile device based on the photographed image taken by the photographing means. To. Then, in the driving state in the manual driving mode, when the photographed image analysis means detects the action of the driver picking up the mobile device, the mode switching means switches from the manual driving mode to the automatic driving mode.

Therefore, when the driver took the action of picking up the mobile device, the car was running in the automatic driving mode, so it was in a safe state and started to use the function of the portable device picked up. Even so, it is possible to prevent traffic accidents and the like.

According to the self-driving car according to the present invention, when the behavior of picking up a portable device is detected while driving in the manual driving mode, the driver can be relieved because the manual driving mode can be switched to the automatic driving mode. In addition to being able to start using the functions of the portable device that you picked up, the self-driving car is in a safe automatic driving mode, and it is possible to prevent traffic accidents etc. It has a remarkable effect.

It is a block diagram which shows the structural example of the electronic control circuit part of the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure used for demonstrating the processing operation example of the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating the processing operation example of the electronic control circuit part of the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating the processing operation example of the electronic control circuit part of the 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating another example of the processing operation example of the electronic control circuit part of 1st Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating the modification of the processing operation example of the electronic control circuit part of 1st Embodiment of the automatic driving vehicle by this invention. It is a block diagram which shows the structural example of the electronic control circuit part of the 2nd Embodiment of the automatic driving vehicle by this invention. It is a figure used for demonstrating the processing operation example of the 2nd Embodiment of the automatic driving vehicle by this invention. It is a figure which shows the flowchart for demonstrating the processing operation example of the electronic control circuit part of the 2nd Embodiment of the automatic driving vehicle by this invention. It is a block diagram which shows the structural example of the electronic control circuit part of the 3rd Embodiment of the automatic driving vehicle by this invention.

[First Embodiment]
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 pedal operation, the brake pedal 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. Further, in the automatic driving mode, even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever, or the steering, the self-driving car 1 itself automatically (autonomously) avoids obstacles and follows the path. This is the driving mode to change.

In the normal state, the driver of the autonomous driving vehicle 1 can switch the autonomous driving vehicle 1 running in the manual driving mode to the automatic driving mode and while driving in the automatic driving mode by, for example, a predetermined operation through the touch panel. In addition, when the driver operates the accelerator pedal, brake pedal, shift lever or steering, it is configured to automatically return to the manual operation mode. However, as will be described later, when the automatic driving vehicle 1 of this embodiment is forcibly switched from the manual driving mode to the automatic driving mode, the above-mentioned manual driving mode must be satisfied only after satisfying the predetermined conditions described later. Even if the operation to return to is invalidated, the operation is controlled to maintain the running in the automatic driving mode.

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

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

Under the control of the control unit 101, the motor drive control unit 102 controls the supply of the drive signal to the motor drive unit 121 of the automatic driving vehicle 1 composed of the electric vehicle of this embodiment, and the automatic driving vehicle 1 To control the running start, running speed control, running stop, etc.

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

The manual / automatic driving mode switching control unit 104 sets the driving mode of the automatic driving vehicle 1 to any of the manual driving mode, the automatic driving mode, and the forced automatic driving mode described later, in response to the selection operation input through the touch panel 112. Control to switch to.

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

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

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

Then, in this embodiment, the manual / automatic operation mode switching control unit 104 receives the determination result of the forced automatic operation mode switching determination unit 115, which will be described later, against the intention of the driver-that is, the operation by the driver. Contrary to the mode selection setting-it also controls to automatically switch from the manual operation mode to the automatic operation mode.

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

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

However, when the driving mode of the self-driving car 1 is the forced self-driving mode, even if the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering wheel, the manual / automatic driving mode switching control unit 104 , The manual operation operation information is invalidated, and the forced automatic operation mode is maintained.

The radar 106 is for measuring the distance to an object existing around the vehicle of the autonomous driving vehicle 1, 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.

The camera group 107 includes one or more cameras for photographing the inside of the autonomous driving vehicle 1, and one or a plurality of cameras for photographing the surroundings outside the vehicle of the autonomous driving vehicle 1. The camera that shoots the inside of the car is attached to the rearview mirror (rearview mirror, room mirror) installed between the driver's seat and the passenger seat, the upper part of the front window, etc., and the person (driver) sitting in the driver's seat In addition to cameras that capture actions, it also includes cameras for capturing the actions of passengers sitting in the passenger seat and rear-view seats. Further, the cameras for photographing the surroundings of the autonomous driving vehicle 1 are attached to, for example, the left side and the right side of the rearview mirror, and two cameras (stereo cameras) for mainly photographing the left front and the right front of the autonomous driving vehicle 1 , For example, a camera attached to a door mirror or a fender mirror of the autonomous driving vehicle 1 to photograph the left and right sides, a camera to photograph the rear of the autonomous driving vehicle 1, and the like.

The various sensor groups 108 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 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 peripheral moving body grasping unit 109 uses the radar 106 and the captured image of the camera group 107 to grasp the moving body around the own vehicle. The surrounding moving object grasping unit 109 grasps surrounding obstacles and moving objects by performing processing based on, for example, Bayesian theory.

The current position detection unit 110 receives radio waves from GPS satellites and detects the current position of the own vehicle. Since the accuracy of the position detected by the radio wave from the GPS satellite is poor, the current position detection unit 110 includes not only the information of the current position detected by the reception of the GPS radio wave but also one or more of the current position detection units 108 included in the various sensor groups 108. The sensor and radar 106 of the above, the captured image of the camera group 107, 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.

In the automatic driving mode, the automatic driving vehicle 1 has various types of radar 106, camera group 107, various sensor groups 108, position information acquired by receiving GPS radio waves, and the like in the current position detection unit 110 and the surrounding moving object grasping unit 109. Information, that is, information corresponding to information obtained from the human eye or ear is processed by Bayesian theory, and based on this, the control unit 101 performs intelligent information processing (artificial information processing) such as changing the course of the own vehicle and avoiding obstacles. (Intelligence) and control (artificial intelligence) are performed to generate automatic driving operation information.

The display unit 111 includes, for example, an LCD (Liquid Crystal Display). The touch panel 112 is arranged by superimposing a touch sensor capable of touch input by a finger on the display screen of the display unit 111 made of an LCD. On the display screen of the display unit 111, a display image including software buttons (including a character input button on the keyboard) is displayed based on the control of the control unit 101. Then, when the touch panel 112 detects a touch by a finger on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101. 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 123 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 detected and confirmed by the current position detection unit 110 on the map that explicitly displays the route to the destination on the display screen of the display unit 111. In addition to displaying an image that superimposes the position of the own vehicle, the position of the own vehicle (current position) on the map is moved as the own vehicle moves, and route guidance such as intersections and branch points on the route is provided. Make voice guidance where necessary. This is the same as a normal car navigation function.

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 instructs the own vehicle on the route based on the information notified from the car navigation function unit 113, the current position confirmation result of the current position detection unit 110, and the grasp result of the surrounding moving body grasping unit 109. The motor drive unit 121 is controlled through the motor drive control unit 102, and the automatic driving operation information for controlling the steering drive unit 122 is generated through the steering drive control unit 103 so as to move along the route as described. .. 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.

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

In this embodiment, the forced automatic driving mode switching determination unit 115 notifies the incoming call notification from the incoming call notification detection unit 116 by the mobile phone terminal (mobile phone terminal 2 in FIG. 1) brought into the vehicle of the automatic driving vehicle 1. Based on the detection output of the driver's behavior and the detection result of the driver's behavior from the driver's behavior analysis detection unit 114, it is determined whether or not to switch the automatic driving vehicle 1 to the forced automatic driving mode, and the forced automatic driving mode is canceled. Make a decision as to whether or not.

The microphone 124 connected to the incoming call notification detection unit 116 is for collecting sounds (voice and vibration) in the vehicle. The incoming call notification detection unit 116 detects an incoming call notification notified by the mobile phone terminal 2, such as a ring tone, an incoming melody, or vibration of vibration, from the voice signal picked up by the microphone 124, and sends the detection result to the control unit 101. Notice.

The clock unit 117 not only provides time information of the year, month, day, hour, minute, and second, but also serves as a timer for measuring the time.

Although not shown, the voice output unit 118 has a built-in memory for storing voice message data to be emitted to the outside, and 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 118 supplies the voice message selected by the control of the control unit 101 to the speaker 125, and emits the sound to the outside as voice. As the voice message to be memorized, as will be described later, for example, an operation mode switching notification message such as "switched to automatic operation mode" or "switched to manual operation mode" or automatic operation mode. Notification messages are provided to prompt you to set the destination when switching.

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 motor drive control unit 102, the steering drive control unit 103, and the manual / automatic operation mode switching control Unit 104, surrounding moving body grasping unit 109, current position detection unit 110, car navigation function unit 113, driver action analysis detection unit 114, forced automatic operation mode switching determination unit 115, incoming call notification detection unit 116, voice output unit 118. Each processing function can be realized by the control unit 101 as software processing.

[Example of operation of switching operation mode in the automatic driving vehicle 1 of the first embodiment]
In the autonomous driving vehicle 1 provided with the electronic control circuit unit 10 as described above, when the driver uses a portable device brought into the vehicle while driving in the manual driving mode, the driver is forced to use the portable device. Automatically switch from manual operation mode to forced automatic operation mode.

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

<First example; when the mobile device is a mobile phone terminal and there is an incoming call notification>
FIG. 2A shows a state in which the driver 3 brings the mobile phone terminal 2 (for example, a mobile phone or a smartphone) into the vehicle of the automatic driver 1 and places it on the dashboard 4, for example, in the manual driving mode. It shows the situation where the self-driving car 1 is being driven. In FIG. 2A, reference numeral 5 denotes a steering wheel, and 107a is installed on the side of the rear-view mirror 6 at the upper part of the front window in order to photograph the driver's actions in the camera group 107. Shows the camera.

In the state of FIG. 2 (A), when the mobile phone terminal 2 receives an incoming call (including a videophone), in this example, the ringtone is emitted and the driver 3 is notified of the incoming call. .. Then, in this example, the automatic driving vehicle 1 immediately switches from the manual driving mode to the forced automatic driving mode, and the driver is notified to that effect. Therefore, the driver 3 can rest assured that he / she picks up the mobile phone terminal 2 on the dashboard 4 and releases both hands from the steering wheel 5 to answer the incoming call, as shown in FIG. 2 (B). And you can make a call.

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

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

When it is determined in step S1 that the incoming call notification has not been detected, the control unit 101 executes other processing (step S2), and after executing the processing, returns the processing to step S1.

Further, when it is determined in step S1 that the incoming call notification is detected, the control unit 101 determines whether or not the driving mode of the automatic driving vehicle 1 is the manual driving mode (step S3). When it is determined in step S3 that the operation mode is not the manual operation mode but the automatic operation mode, it is possible to answer the incoming call and make a safe call. Therefore, the control unit 101 sets the process to step S1. return.

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

Next, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether or not the driver picks up the mobile phone terminal 2 and acts to answer the incoming call. (Step S5).

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

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

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

Next, the control unit 101 controls to maintain the forced automatic operation mode even if the manual operation operation is detected (step S11). Then, the control unit 101 monitors the photographed image information of the camera 107a, analyzes the photographed image information, causes the driver to end the call using the mobile phone terminal 2, and somewhere in the mobile phone terminal 2. And put a hand on the steering wheel to determine whether or not the manual operation is possible (step S12).

The discrimination process in step S12 is an example of the end detection means for detecting the event of the end of use of the function of the portable device by the driver. In the determination in step S12, in addition to the determination of the action of the driver placing his / her hand on the steering wheel, the driver terminates the call using the mobile phone terminal 2 and places the mobile phone terminal 2 somewhere. It may be something to discriminate.

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

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

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

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

As described above, according to this embodiment, as shown in FIG. 2, when the driver 3 has the mobile phone terminal 2 and gets into the autonomous driving vehicle 1 and is driving in the manual driving mode. In addition, when there is an incoming call to the mobile phone terminal 2, the automatic driving vehicle 1 is automatically switched from the manual driving mode to the forced automatic driving mode, and the automatic driving vehicle 1 runs safely in the forced automatic driving mode. It becomes a state. Therefore, the driver can rest assured that he / she can take his / her hand off the steering wheel 5 and pick up the mobile phone terminal 2 to perform an incoming call answering operation to make a call.

Further, in the above-described embodiment, the driver does not act to respond to the incoming call notification, and when the incoming call notification ends, the manual driving operation is detected to return to the manual driving mode. Therefore, the driver can easily return to the manual operation mode by performing a manual operation when he / she does not make a call for an incoming call.

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

<Second example; when a mobile device makes a call (call) with a mobile phone terminal>
As shown in FIG. 2 (A), the driver 3 brings the mobile phone terminal 2 into the vehicle of the automatic driver 1, for example, in a state where the mobile phone terminal 2 is placed on the dashboard 4, and the autonomous driving vehicle is in the manual driving mode. Even when the driver 3 tries to make a call (call) using the mobile phone terminal 2 from the situation where the driver 1 is driving, the autonomous driving vehicle 1 of this embodiment can safely make a call based on the call. Is configured to allow

That is, in this embodiment, as shown in FIG. 2B, the driver 3 picks up the mobile phone terminal 2 on the dashboard 4 and releases both hands from the steering wheel 5 to make a call. When an attempt is made, such an operation is detected by analyzing the photographed image information of the driver 3 by the camera 107a, and based on the detection result, the autonomous driving vehicle 1 is forced to automatically operate from the manual driving mode. The operation mode is switched to, and the driver 3 is notified to that effect. Therefore, the driver 3 can rest assured that he / she picks up the mobile phone terminal 2 on the dashboard 4 and releases both hands from the steering wheel 5 to make a call (call) as shown in FIG. 2 (B). You can operate and make a call.

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

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

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

When it is determined in step S33 that the driver 3 has not taken the action of picking up the mobile phone terminal 2, the control unit 101 executes other processing (step S34), and when the processing is completed, the processing is performed. Is returned to step S33.

When it is determined in step S33 that the driver 3 has acted to pick up the mobile phone terminal 2, the control unit 101 switches the operation mode to the forced automatic operation mode and emits a message to that effect through, for example, the speaker 125. The driver 3 is notified by making a sound (step S35).

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

Next, the control unit 101 controls to maintain the forced automatic operation mode even if the manual operation operation is detected (step S37). Then, the control unit 101 monitors the photographed image information of the camera 107a, analyzes the photographed image information, causes the driver 3 to end the call using the mobile phone terminal 2, and places the mobile phone terminal 2. The camera is placed on the steering wheel 5 and a hand is placed on the steering wheel 5 to determine whether or not the manual operation is possible (step S38). When it is determined in step S38 that the manual operation is not possible, the step S38 is continuously executed and waits for the manual operation to be possible.

Then, when it is determined in step S38 that the manual operation is possible, the control unit 101 switches from the forced automatic operation mode to the normal automatic operation mode (step S39), and the accelerator pedal, the brake pedal, the shift lever, and the steering wheel are used. Wait for the manual operation such as, etc. to be detected (step S40), and when the manual operation is detected in this step S40, the automatic operation mode is switched to the manual operation mode, and a message to that effect is emitted through, for example, the speaker 125. , Notify the driver 3 (step S41). After this step S41, the control unit 101 returns the process to step S33, and repeats the processes after this step S33.

As described above, according to this embodiment, when the driver 3 has the mobile phone terminal 2 and gets into the autonomous driving vehicle 1 and is driving in the manual driving mode, the mobile phone terminal 2 is used. When it becomes necessary to make a call (call), when the driver 3 acts to pick up the mobile phone terminal 2 for the call (call), the self-driving car 1 automatically moves. , The manual driving mode is switched to the forced automatic driving mode, and the automatic driving vehicle 1 is in the forced automatic driving mode and is in a state of safely traveling in accordance with the traffic regulations regarding the handling of portable devices in the vehicle. Therefore, the driver 3 can safely take his / her hand off the steering wheel 5 and pick up the mobile phone terminal 2 to perform a transmission (call) operation to make a call.

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

<Modified example of the first embodiment>
<Modified example of the first example>
In the first example described above, when the incoming call notification of the mobile phone terminal is detected, it is assumed that the driver answers the incoming call, and the driver can safely pick up the mobile phone terminal. In consideration of the above, the operation mode of the automatic driving vehicle 1 is immediately switched to the forced automatic driving mode. That is, in the first example, the incoming call notification is an event that triggers the start of use of the function of the mobile device, and by detecting this, the forced automatic operation mode is switched to.

Therefore, even if the driver does not answer the incoming call, the forced automatic driving mode is temporarily entered, and the driver's manual driving operation is invalidated until the incoming call notification disappears. Therefore, although it is rare, the driver performs manual driving operations such as accelerator pedal operation, brake pedal operation, and steering operation in order to turn left or right or change the diagonal line while the incoming call notification of the mobile phone terminal is being performed. However, those manual operation operations may be invalidated, resulting in a dangerous situation.

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

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

That is, in the example of FIG. 6, first, the control unit 101 monitors the voice information picked up by the microphone 124 in the same manner as in the first example described above, and notifies the incoming call from the mobile phone terminal 2. It is determined whether or not has been detected (step S51).

When it is determined in step S51 that the incoming call notification has not been detected, the control unit 101 executes other processing (step S52), and after executing the processing, returns the processing to step S51.

Further, when it is determined in step S51 that the incoming call notification is detected, the control unit 101 determines whether or not the driving mode of the automatic driving vehicle 1 is the manual driving mode (step S53). When it is determined in step S53 that the operation mode is not the manual operation mode but the automatic operation mode, it is possible to answer the incoming call and make a safe call. Therefore, the control unit 101 processes the process in step S51. return.

When it is determined in step S53 that the operation mode is the manual operation mode, the control unit 101 monitors the photographed image information of the camera 107a, analyzes the photographed image information, and the driver hands the mobile phone terminal 2. It is determined whether or not the mobile phone terminal 2 is picked up in order to answer the incoming call (step S54).

In step S54, when it is determined that the driver has not picked up the mobile phone terminal 2 in order to answer the incoming call, the control unit 101 determines whether or not the incoming call notification from the mobile phone terminal 2 has disappeared. (Step S55), and when it is determined that the incoming call notification has not disappeared, the process returns to step S54. When it is determined in step S55 that the incoming call notification has disappeared, the control unit 101 returns the process to step S51.

Then, in step S54, when it is determined that the driver has acted to pick up the mobile phone terminal 2 in order to answer the incoming call, the control unit 101 switches the operation mode to the forced automatic operation mode to that effect. A message is emitted from the speaker 125, for example, to notify the driver (step S56).

Next, the control unit 101 executes the start processing of the car navigation function described with reference to FIG. 4, sets the destination (destination), and starts the car navigation function (step S57). Next, the control unit 101 controls to maintain the forced automatic operation mode even if the manual operation operation is detected (step S58).

Then, the control unit 101 monitors the photographed image information of the camera 107a, analyzes the photographed image information, causes the driver to end the call using the mobile phone terminal 2, and somewhere in the mobile phone terminal 2. It is determined whether or not the manual operation is possible by placing the camera on the steering wheel and placing the hand on the steering wheel (step S59). When it is determined in step S59 that the manual operation is not possible, the step S59 is continuously executed and waits for the manual operation to be possible.

Then, when it is determined in step S59 that the manual operation is possible, the control unit 101 switches from the forced automatic operation mode to the normal automatic operation mode (step S60), and the accelerator pedal, the brake pedal, the shift lever, and the steering wheel are used. Wait for the manual operation such as, etc. to be detected (step S61), and when the manual operation is detected in this step S61, the automatic operation mode is switched to the manual operation mode, and a message to that effect is emitted through, for example, the speaker 125. , Notify the driver (step S62). After this step S62, the control unit 101 returns the process to step S51 and repeats the processes after this step S51.

As described above, according to the modified example of this first example, after confirming not only the incoming call notification but also the driver's behavior of picking up the mobile phone terminal to answer the incoming call, Since the mode is switched to the forced automatic operation mode, the driver's manual operation is not invalidated even during the incoming call notification. Therefore, if the driver performs a manual driving operation for turning left or right or changing the diagonal line while the incoming call notification of the mobile phone terminal is being performed, it is effective. Then, when the driver performs the necessary manual driving operation and then picks up the mobile phone terminal to answer the incoming call, the operation mode is switched to the forced automatic driving mode, so that the incoming call answering operation can be performed with peace of mind. You can make a call.

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

<Modification of the second example>
In the second example described above, the case where the mobile device is a mobile phone terminal and the function is the transmission (calling) of telephone communication has been described. However, it can be applied not only to the transmission (calling) of telephone communication but also to the transmission (transmission) of e-mail (including the short mail transmission function) provided in the mobile phone terminal. Furthermore, other communication functions of mobile devices such as mobile phone terminals, such as Internet telephones, miniblogs (microblogs) such as Twitter (registered trademark), instant messengers such as LINE, SNS, electronic bulletin boards, etc. The present invention is also applicable to the transmission (transmission) of information by a communication service through a communication service. Also, in the case of e-mail and message communication, not only incoming (received) and outgoing (sent) but also e-mail creation that may distract attention and lead to dangerous driving, such as watching the display screen or thinking. The present invention is also applicable during input operations such as time and message composition. Of course, the present invention can be applied even during a browsing operation such as when checking an email or checking a message. Furthermore, mobile devices are not limited to mobile phone terminals.

Further, in the case of this second example, the mobile device does not have a communication function, but has a display screen that the driver may gaze at for input operation or viewing, for example, a game machine or an electronic device. It may be a book (electronic book reader, viewer), a video player such as a DVD (Digital Versatile Disc) player or a memory player, a portable television, or the like. Further, the portable device may be a tablet having a display screen, a PDA (Personal Digital Assistant), a laptop computer, or the like. Even in that case, since the action picked up by the driver on the mobile device triggers the start of use of the function provided by the mobile device, the processing flow shown in FIG. 6 can be applied as it is.

[Second Embodiment]
In the first embodiment described above, the mobile phone terminal 2 as an example of the mobile device has no electrical connection with the electronic control circuit unit 10 of the automatic driving vehicle 1, and the function of the mobile phone terminal 2 is The mobile phone terminal 2 is executed by the user (driver) by performing the mobile phone terminal 2 on the mobile phone terminal 2.

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

FIG. 7 is a block diagram showing a configuration example of the electronic control circuit unit 10A of the automatic driving vehicle 1A of the second embodiment, and the electronic control circuit unit 10 of the automatic driving vehicle 1 of the first embodiment described above. The same reference numerals are given to the same parts, and detailed description thereof will be omitted.

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

As shown in FIG. 8A, the dashboard 4 of the autonomous driving vehicle 1A of the second embodiment is provided with a storage pocket 116Ap for storing the mobile phone terminal 2 at a predetermined portion within reach of the driver. Has been done. The driver can fix the mobile phone terminal 2 brought into the vehicle by inserting it into the storage pocket 116Ap.

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

Then, the electronic control circuit unit 10A of the second embodiment receives a control signal from the mobile phone terminal 2 by the mobile phone interface unit 116A and the control unit 101, performs processing at the time of an incoming call, or transmits (transmits). It is configured so that processing at the time of calling) can be performed.

That is, the electronic control circuit unit 10A has a function of an incoming call detection circuit that receives a control signal from the mobile phone terminal 2 and detects an incoming call, and based on the incoming call detection result, as shown in FIG. 8 (B), It is provided with a function of displaying an incoming call (incoming call notification) on the display screen 111D of the display unit 111, or supplying a ringtone to the speaker 125A through the voice interface unit 118A and releasing the incoming call to notify the incoming call.

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

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

Further, as shown in FIG. 8C, in the standby state, which is not the incoming call notification state, the control unit 101 determines on the display screen 111D via the outgoing (calling) software button 112c or the Internet. Display the software button 112d for accessing the site of. When a user (driver or the like) touch-operates these buttons 112c and 112d, the operation is detected by the touch panel 112 and notified to the control unit 101. Upon receiving this notification, the control unit 101 performs processing according to the operated button 112c or 112d.

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

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

In this second embodiment, since the mobile phone call can be made hands-free, although it is permitted under the Road Traffic Act, the driver's attention is slightly distracted during the call, and the call is made ( When making a call, sending (sending) an e-mail, or accessing the Internet, it is necessary to operate through the touch panel 112 while looking at the display screen 111D, so switch from the manual operation mode to the forced automatic operation mode. , I am trying to improve the safety.

In this second embodiment, the driver uses the software buttons 112a to 112d displayed on the display screen 111D of the display unit 111 to detect an event that triggers the driver to start using the function of the mobile device. Is said to have been touch-operated. That is, in this second embodiment, the control unit 101 analyzes the captured image information of the camera 107a so that the driver touches the software buttons 112a to 112d displayed on the display screen 111D. It is determined whether or not any of the software buttons 112a to 112d is actually touched through the touch panel 112. Then, the control unit 101 determines that the driver touches the software buttons 112a to 112d displayed on the display screen 111D, and that any one of the software buttons 112a to 112d is actually touched. When this happens, the manual operation mode is automatically switched to the forced automatic operation mode.

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

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

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

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

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

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

Next, the control unit 101 controls to maintain the forced automatic operation mode even if the manual operation operation is detected (step S76). Then, the control unit 101 detects that the driver has operated through the touch panel 112 to terminate the function (call, e-mail, Internet connection, etc.) transmitted on the display screen 111D, and the captured image of the camera 107a. The information is monitored, the captured image information is analyzed, and the driver performs such an end operation and then puts his / her hand on the steering wheel to determine whether or not the driver is in a state where manual driving is possible. (Step S77). When it is determined in step S77 that the manual operation is not possible, the step S77 is continuously executed and waits for the manual operation to be possible.

Then, when it is determined in step S77 that the manual operation is possible, the control unit 101 switches from the forced automatic operation mode to the normal automatic operation mode (step S78), and the accelerator pedal, the brake pedal, the shift lever, and the steering wheel. Wait for the manual operation such as, etc. to be detected (step S79), and when the manual operation is detected in this step S79, the automatic operation mode is switched to the manual operation mode, and a message to that effect is emitted through, for example, the speaker 125A. , Notify the driver (step S80). After this step S80, the control unit 101 returns the process to step S73, and repeats the processes after this step S73.

In step S73, the driver has not acted to touch the software button 112c or 112d to make a call (call), or the software button 112c or 112d has been touched. When it is determined that the incoming call has not been detected, the control unit 101 determines whether or not an incoming call has been detected (step S81), and when it is determined that the incoming call has not been detected, the process returns to step S73.

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

When it is determined in step S82 that the driver attempts to touch the software button 112a in order to answer an incoming call and has detected the touch operation of the software button 112a through the touch panel 112, the control unit 101 shifts the process to step S74, and repeats the processes after this step S74.

Further, in step S82, it is determined that the driver has not acted to touch the software button 112a in order to answer the incoming call, or has not detected the touch operation of the software button 112a through the touch panel 112. When this is done, the control unit 101 returns the process to step S73, and repeats the processes after step S73.

As described above, according to this embodiment, when the driver is driving in the manual driving mode, the driver acts to make a call, e-mail, or make a call to an Internet site, or a telephone. When an action is taken to respond to an incoming call or an e-mail, the autonomous driving vehicle 1A is automatically switched from the manual driving mode to the forced automatic driving mode, and the autonomous driving vehicle 1A is in the forced automatic driving mode. Then, it will be in a state of driving safely. Therefore, the driver can rest assured that he / she can take his / her hand off the steering wheel and receive various services via the Internet by paying attention to the call, e-mail receiving / sending operation, and the display screen. Is possible.

[Modified example of the second embodiment]
It should be noted that the detection of the event that triggers the driver to start using the function of the mobile device in the second embodiment is not limited to the detection of the operation of the software buttons 112a to 112d of the display screen 111D by the driver. Instead, it may be detected whether or not the driver's hand is away from the steering wheel. For example, even if the driver operates the software buttons 112a to 112d on the display screen 111D, and when both hands are released from the steering wheel, the driver switches to the forced automatic driving mode and operates the software buttons 112a to 112d. The manual driving mode may be maintained and not switched to the forced automatic driving mode when the driver holds at least one hand on the steering wheel.

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

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

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

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

In addition, a modified example of the third embodiment can be configured in the same manner as the modified example of the second embodiment, and the same effect can be obtained.

The mobile phone may be a car phone.

[Other embodiments or modifications]
In the above-described embodiment, the forced automatic driving mode is switched to the normal automatic driving mode and then switched to the manual driving mode. However, when the driver finishes using the function of the portable device, the forced automatic driving mode is used. Therefore, it may be configured to directly switch to the manual operation mode.

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

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, or another drive type vehicle.

1,1A, 1B ... Self-driving car, 10,10A, 10B ... Electronic control circuit unit, 104 ... Manual / automatic operation mode switching control unit, 107 ... Camera group, 111 ... Display unit, 112 ... Touch panel, 113 ... Car navigation function Unit, 114 ... Driver's action analysis detection unit, 115 ... Forced automatic operation mode switching determination unit, 116 ... Incoming call notification detection unit

Claims (22)

In an autonomous vehicle having a manual driving mode in which driving is performed based on a driving operation by the driver and an automatic driving mode in which autonomous driving is performed.
Shooting means and
A photographed image analysis means for analyzing whether or not the driver has acted to pick up a mobile device based on the photographed image taken by the photographing means.
Mode switching means for switching from the manual operation mode to the automatic operation mode when the photographed image analysis means detects an action of the driver picking up the portable device in the driving state in the manual operation mode. When,
Self-driving car characterized by being equipped with. The self-driving car according to claim 1, wherein the portable device is a mobile phone terminal, and the action to be picked up is an action for transmission or transmission. The self-driving car according to claim 2, wherein the transmission or transmission is a transmission of a telephone, an e-mail, or a transmission for an Internet communication service. The first aspect of the present invention, wherein the portable device is a tablet, a PDA (Personal Digital Assistant) or a laptop computer, and the action to be picked up is an e-mail transmission or a transmission for an Internet communication service. Self-driving car. The self-driving car according to claim 1, wherein the portable device is a device having a function of a game machine, and the action picked up is an action for starting to use a game. The self-driving car according to claim 1, wherein the portable device is a device having a function of a viewing device, and the action to be picked up is an action for starting viewing and use. The automatic driving mode includes a normal automatic driving mode in which the driver can switch to the manual driving mode by a predetermined operation, and a forced automatic driving mode in which switching to the manual driving mode is not possible.
The autonomous driving vehicle according to any one of claims 1 to 6, wherein the mode switching means switches from the manual driving mode to the forced automatic driving mode. Provided with an end detection means for detecting the end of use of the function provided by the portable device after the driver has acted to pick up the portable device.
The seventh aspect of claim 7, wherein when the end detecting means detects that the use of the function provided in the mobile device has been completed, the forced automatic operation mode is switched to the normal automatic operation mode or the manual operation mode. Self-driving car. Provided with an end detection means for detecting the end of use of the function provided by the portable device after the driver has acted to pick up the portable device.
The invention according to any one of claims 1 to 7, wherein when the end detecting means detects that the function provided in the mobile device has been used, the automatic operation mode is switched to the manual operation mode. Self-driving car. The end detecting means detects an action for terminating a call operation, an input operation, a viewing operation, or a viewing operation by the driver in the portable device based on the analysis result of the captured image captured by the photographing means. The self-driving car according to claim 8 or 9. It is equipped with a navigation means that guides the vehicle to the set destination, and also
When the manual operation mode is switched to the automatic operation mode by the mode switching means, the driver or a passenger is inquired about the destination, and a designation means for receiving the designation of the destination in response to the inquiry is provided.
The autonomous driving vehicle according to any one of claims 1 to 10, wherein the navigation means guides the own vehicle toward the designated destination by the designated means. It is equipped with a navigation means that guides the vehicle to the set destination, and also
Claims 1 to 1, characterized in that, when the mode switching means switches from the manual driving mode to the automatic driving mode, the navigation means guides the own vehicle toward a preset destination. The self-driving car according to any one of claims 11. When the mode switching means switches from the manual driving mode to the automatic driving mode, the driver or a passenger is provided with an inquiry means for inquiring whether or not the preset destination is acceptable.
The automatic driving according to claim 12, wherein when the inquiry means may use the preset destination, the navigation means guides the vehicle toward the preset destination. car. If the preset destination is not good for the inquiry means, the inquiry means is provided with a designation means for inquiring the driver or passenger for the destination and accepting the designation of the destination in response to the inquiry.
The autonomous driving vehicle according to claim 13, wherein the navigation means guides the own vehicle toward the designated destination by the designated means. The navigation means includes a presentation means for presenting a route candidate.
When the manual operation mode is switched to the automatic operation mode by the mode switching means, the route candidate is presented to the driver or the passenger by the presenting means, and the selection of one route from the route candidates is accepted. Equipped with a means of choice
The 11th or 14th claim, wherein the navigation means uses the route selected by the selection means and guides the own vehicle toward the designated destination by the designated means. Self-driving car. The navigation means includes a presentation means for presenting a route candidate.
When the manual operation mode is switched to the automatic operation mode by the mode switching means, the route candidate is presented to the driver or the passenger by the presenting means, and the selection of one route from the route candidates is accepted. Equipped with a means of choice
The automatic according to claim 12 or 13, wherein the navigation means uses the route selected by the selection means to guide the own vehicle toward the preset destination. Driving car. The autonomous driving vehicle according to any one of claims 1 to 16, wherein the mode switching means notifies the driver by voice that the mode has been switched from the manual driving mode to the automatic driving mode. A detection means for detecting an incoming call or a notification to the driver of the incoming call to the mobile device having a communication function is provided.
When the notification is detected by the detection means and the photographed image analysis means detects the action of the driver picking up the portable device, the mode switching means changes from the manual operation mode to the above. The autonomous driving vehicle according to any one of claims 1 to 17, wherein the autonomous driving mode is switched to. The automatic driving according to any one of claims 1 to 18, wherein the driver picks up the mobile device is an action of picking up the mobile device placed on the dashboard. car. The communication function of the mobile device is provided as the function of the own vehicle.
The captured image analysis means has a function of analyzing an action for transmitting by the driver using the communication function or an action for responding to an incoming call or reception received by the communication function.
The mode switching means responds to an action for transmission by the driver using the communication function or an incoming call or reception received by the communication function in the captured image analysis means in the driving state in the manual operation mode. The autonomous driving vehicle according to any one of claims 1 to 19, wherein even when an action for a response is detected, the manual driving mode is switched to the automatic driving mode. The captured image analysis means also analyzes whether or not the driver has both hands away from the steering wheel.
The mode switching means automatically shifts from the manual operation mode when it is detected by the captured image analysis means that both hands are separated from the steering wheel in the driving state in the manual operation mode. The self-driving vehicle according to any one of claims 1 to 20, wherein the automatic driving vehicle is switched to a driving mode. A computer provided in an autonomous vehicle equipped with a shooting means and a manual driving mode in which driving is performed based on a driving operation by the driver and an automatic driving mode in which autonomous driving is performed.
A photographed image analysis means for analyzing whether or not the driver has acted to pick up a mobile device based on the photographed image taken by the photographing means.
Mode switching means for switching from the manual operation mode to the automatic operation mode when the photographed image analysis means detects an action of the driver picking up the portable device in the driving state in the manual operation mode. When,
A program for self-driving cars to function as.

Images