JP2021039473A - Moving object controlling device and moving object indoor monitoring and controlling device - Google Patents

Abstract

To provide a moving object controlling device and a moving object indoor monitoring and controlling device capable of shortening the time required until dealing with an event such as a sudden illness or annoying behavior in a room of a moving object.SOLUTION: A moving object controlling device 10 mounted on a moving object 100 includes: an input reception unit 11 that receives an input of alighting request of a passenger who is boarding the moving object via an alighting request input unit 71; a destination setting unit 12 that sets a destination of the moving object in accordance with an input mode of the alighting request; a route setting unit 13 that sets a travel route to the set destination; a travel control unit 14 that controls a moving object to travel on a set travel route; a vehicle interior condition specifying unit 15 that specifies whether or not a predetermined type of event has occurred in a room, using a detection result of a sensor unit 60 provided in the room of the moving object; and a reporting unit 16 that reports the occurrence of the event to the outside of the moving object upon specifying that a predetermined type of event has occurred.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to techniques for controlling a moving body and monitoring the interior of the moving body.

A system has been disclosed that allows the police, railway companies, and other external organizations to be notified by using the report button provided in the vehicle when a sudden illness, annoying act, or criminal act occurs on the train. For example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2007-6113

However, since the notification button is provided at a predetermined position in the vehicle, when the vehicle is congested, the time to move to the position of the notification button increases, and as a result, until the notification is made. Time may increase. In addition, the whistleblower needs to verbally explain the outline of the case and the situation inside the vehicle, which may increase the time required to deal with the case. Such a problem is common not only to trains but also to moving objects such as taxis and vehicles such as buses. In particular, in an autonomous driving vehicle, there is a possibility that the driver or the conductor is not on board, so it is desired to improve the convenience of passengers.

The present disclosure can be realized in the following forms.

According to the first aspect of the present disclosure, a mobile body control device (10) mounted on the mobile body (100) is provided. The mobile body control device includes an input reception unit (11) that receives an input of a disembarkation request of a passenger who is on the moving body via a disembarkation request input unit (71), and the disembarkation request input mode. The destination setting unit (12) for setting the destination of the moving body, the route setting unit (13) for setting the traveling route to the set destination, and the set by controlling the moving body. It is provided with a travel control unit (14) for traveling a travel route.

According to the mobile body control device of this form, the input of the disembarkation request of the passengers who are on the moving body is received via the disembarkation request input unit, and the destination of the moving body is set according to the input mode of the disembarkation request. Since the travel route to the set destination is set and the moving body is controlled to travel on the set travel route, the destination can be easily set according to the input mode of the passenger's disembarkation request. Therefore, for example, when an event such as a sudden illness or annoying act occurs in the vehicle interior of a moving body, an appropriate destination can be easily set according to the event. As a result, the time required to deal with the event that has occurred can be shortened.

According to the second aspect of the present disclosure, there is provided a monitoring control device (10a) that is mounted on the moving body (100a) and monitors the interior of the moving body. This monitoring control device uses the detection result of the sensor unit (60) provided in the room to associate a passenger riding on the moving body with the passenger's belongings, and the passenger is the moving body. The belongings management unit (17) that monitors the state of the belongings until the passenger gets off the vehicle, and the forgotten item determination unit (18) that determines whether or not the belongings are forgotten when the passenger gets off the moving body. ), And a notification unit (16a) for notifying passengers getting off from the moving body when it is determined that the passenger's belongings are forgotten.

According to this form of monitoring and control device, the passenger disembarking from the moving body by associating the passenger on the moving body with the passenger's belongings by using the detection result of the sensor unit provided in the room. Until this happens, the condition of the belongings is monitored, it is determined whether or not the belongings are forgotten when the passenger disembarks from the moving body, and if it is determined that the belongings are forgotten, the passengers disembarking from the moving body are notified. Therefore, even if the passenger's belongings are not equipped with a communication device, it is possible to accurately detect the forgotten items in the moving body.

According to the third aspect of the present disclosure, a monitoring control device (100b) on which a user (u2) registered in advance in a database (DB) can ride is mounted on a moving body (100b) to monitor the interior of the moving body (a monitoring control device). 10b) is provided. This monitoring control device uses a passenger information acquisition unit (20) that acquires a face image of a passenger when riding on the moving body by using an image pickup device (61) provided in the room, and the image pickup device. A fare payment determination unit (21) that determines whether or not the passenger has paid the fare, and a reporting unit that notifies the passenger that the fare has not been paid when the passenger has not paid the fare (21). 16b) and.

According to this form of monitoring and control device, the passenger's face image when boarding the moving object is acquired, it is determined whether or not the passenger has paid the fare, and the passenger has not paid the fare. In some cases, the passengers are notified that the fare has not been paid, so that the passengers whose fare has not been paid can be encouraged to pay the fare. Therefore, it is possible to settle the fare of the mobile object with high accuracy. In addition, it is possible to suppress the occurrence of illegal boarding on a moving body.

According to the fourth aspect of the present disclosure, a mobile body (100c, 100c,) having a guest room divided into a general space (SP1) and a dedicated space (SP2) that can be used only by users having predetermined attributes. A monitoring control device (10c, 10d) mounted on 100d, 100e) and monitoring the inside of the guest room is provided. This monitoring control device acquires the visitor identification information for identifying the attribute of the visitor to the dedicated space from the image pickup device (61) provided around the entrance of the dedicated space. The acquisition unit (23), the determination unit (24) that determines whether or not the visitor is a user having the predetermined attributes, and the entrance, using the acquired visitor identification information. When it is determined that the person is not a user having the predetermined attributes, the notification unit (16c) for notifying the visitors by using the notification device (55) provided in the guest room is provided. ..

According to this form of monitoring and control device, it is determined whether or not the visitor is a user having a predetermined attribute by using the visitor identification information for identifying the attribute of the visitor to the dedicated space. However, if it is determined that the visitor is not a user with predetermined attributes, the visitor will be notified, so that the visitor can be seated in the seat even if he / she is not seated in the seat provided in the dedicated space. It is possible to determine whether or not the subject is a good target person. As a result, it is possible to suppress a delay in alerting visitors to the dedicated space, and thus it is possible to suppress a decrease in user convenience.

The present disclosure can also be realized in various forms. For example, a moving body control method, a moving body indoor monitoring control method, a reporting system, a monitoring system, a computer program for realizing these methods and systems, a storage medium for storing such computer programs, and the like. Can be done.

The block diagram which shows the schematic structure of the automatic driving bus in 1st Embodiment. The flowchart which shows the processing procedure of the traveling control processing. A flowchart showing a processing procedure of a destination setting process. Explanatory drawing which shows an example of a destination display part. The flowchart which shows the processing procedure of the traveling control processing in another Embodiment 1 of 1st Embodiment. The flowchart which shows the processing procedure of the vehicle interior condition identification processing in another Embodiment 1 of 1st Embodiment. The flowchart which shows the processing procedure of the vehicle interior condition identification processing in another Embodiment 2 of 1st Embodiment. The block diagram which shows the schematic structure of the automatic driving bus in 2nd Embodiment. A flowchart showing a processing procedure of a lost item management process. A flowchart showing a processing procedure of a lost item management process. The block diagram which shows the schematic structure of the automatic driving bus in 3rd Embodiment. A flowchart showing a processing procedure of fare non-payment notification processing. The flowchart which shows the processing procedure of the fare non-payment notification processing in another Embodiment 1 of 3rd Embodiment. The block diagram which shows the schematic structure of the automatic driving bus in 4th Embodiment. The figure which looked at the state of the vehicle interior of the automatic driving bus in 4th Embodiment from above. A flowchart showing the processing procedure of the visitor monitoring process. The block diagram which shows the schematic structure of the automatic driving bus in another Embodiment 1 of 4th Embodiment. The figure which looked at the state of the inside of the guest room of the automatic driving bus in the other Embodiment 1 of 4th Embodiment from above. The flowchart which shows the processing procedure of the visitor monitoring processing in another Embodiment 1 of 4th Embodiment. The figure which looked at the state of the inside of the guest room of the automatic driving bus in the other Embodiment 2 of 4th Embodiment from above.

A. First Embodiment:
A1. Device configuration:
The automatic driving bus 100 shown in FIG. 1 is a bus in which all control related to traveling can be automatically executed without the judgment of the driver. In the automatic driving bus 100, engine control is performed by driving an automatic driving device 51 including an actuator group for driving the automatic driving bus 100 based on the conditions inside and outside the vehicle interior acquired by the sensor unit 60. And brake control and steering control are automatically executed on behalf of the driver. As the automatic operation, for example, among the operation levels from level 0 to level 5 defined in SAE (Sociacy of Automotive Engineers), the operation of level 4 to level 5 corresponds.

The automatic driving bus 100 of the present embodiment can travel in two traveling modes, an automatic driving mode and a remote control mode. In the remote control mode, the automatic driving bus 100 is remotely controlled by the operator OP located in the management center 500, which is the remote control source. The automatic driving bus 100 transmits an image of the surroundings of the automatic driving bus 100, detection results of various sensors mounted on the automatic driving bus 100, and the like to the management center 500, and the operator OP receives an image received from the automatic driving bus 100. The automatic driving bus 100 is remotely controlled while referring to the above.

The automatic driving bus 100 includes an automatic driving device 51, a communication device 53, a notification device 55, a sensor unit 60, a disembarkation request input unit 71, a destination display unit 72, and a control device 10. In another form, the control device 10 may be provided in the management center 500 that manages the operation of the automatic driving bus 100 and can communicate with the automatic driving bus 100.

The automatic driving device 51 includes a driving device (not shown), a steering device, and a braking device. The driving device includes at least one of an internal combustion engine and a motor, and generates a driving force for traveling. The steering device includes an electric steering mechanism and the like, and realizes steering of the automatic driving bus 100. The braking device includes a disc brake and the like, and realizes braking of the automatic driving bus 100.

The communication device 53 wirelessly communicates with the management center 500 to obtain an image of the surroundings of the automatic driving bus 100, a detection result of the sensor unit 60, information on an event occurring in the vehicle interior of the automatic driving bus 100, and the like. Exchange data.

The notification device 55 notifies the passengers of the automatic driving bus 100 of information such as the destination of the automatic driving bus 100 and information on the stop. In addition, the notification device 55 notifies the outside of the automatic driving bus 100 of information such as an event occurring in the passenger compartment of the automatic driving bus 100, for example, the presence of a suddenly ill person or the occurrence of an incident. The notification device 55 includes a display device and a speaker (not shown). The display device is a liquid crystal panel or the like provided inside and outside the vehicle interior of the autonomous driving bus 100 and capable of displaying images, characters, symbols, and the like. The speaker is provided toward the inside and outside of the vehicle interior of the automatic driving bus 100, and outputs sound.

The sensor unit 60 acquires the internal and external conditions of the automatic driving bus 100. The sensor unit 60 includes an internal camera 61, an external camera 62, a peripheral object sensor 63, a position sensor 64, and a voice recognition sensor 65.

The internal camera 61 is aimed at the passenger compartment of the autonomous driving bus 100, and photographs the state of the passenger compartment. The internal camera 61 is arranged at various positions in the vehicle interior, such as around a place where an entrance, an exit, and an exit request input unit 71 are provided. The internal camera 61 is, for example, a wide-angle camera.

The external camera 62 is directed to the periphery of the automatic driving bus 100, and photographs at least the traveling direction of the automatic driving bus 100. The external camera 62 is, for example, a monocular camera.

The peripheral object sensor 63 includes a stopped vehicle, a falling object, a stopped object, and a pedestrian, in addition to other vehicles traveling around the automatic driving bus 100 such as a preceding vehicle, a vehicle traveling in an adjacent lane, an oncoming vehicle, an approaching vehicle, and a following vehicle. Detects the presence, position, size, distance, etc. of various peripheral objects such as people. Examples of the peripheral object sensor 63 include an object sensor using a reflected wave such as a laser radar, a millimeter wave radar, and an ultrasonic sensor.

The position sensor 64 detects the self-position of the automatic driving bus 100. The self-position is represented by the latitude and longitude of the autonomous driving bus 100. Examples of the position sensor 64 include a global navigation satellite system (GNSS) and a gyro sensor. The self-position may include the altitude of the self-driving bus 100.

The voice recognition sensor 65 is provided in the passenger compartment of the autonomous driving bus 100, acquires the utterance content of the passenger, and recognizes the voice, the volume, and the emotion.

In addition to the internal camera 61, the external camera 62, the peripheral object sensor 63, the position sensor 64, and the voice recognition sensor 65, the sensor unit 60 includes a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, an ultrasonic sensor, and a temperature sensor. An infrared sensor, a load sensor, and the like may be provided.

The disembarkation request input unit 71 receives a disembarkation request of a passenger who is on the automatic driving bus 100. In the present embodiment, the disembarkation request input unit 71 is a button with a display (for example, "stop") for accepting that the automatic driving bus 100 is stopped at the next stop while the automatic driving bus 100 is running. Functions as. That is, the passenger can input the disembarkation request by pressing the disembarkation request input unit 71.

In the present embodiment, the button pressing mode is predetermined as the input mode of the disembarkation request input unit 71, and for example, three modes of "single pressing", "continuous hitting", and "long pressing" are defined. ing. Further, the destination of the automatic driving bus 100 is set (changed) according to the pressing mode of the disembarkation request input unit 71. In the present embodiment, it is assumed that the passengers of the automatic driving bus 100 are informed in advance of the pressing mode of the disembarkation request input unit 71 and the destination corresponding to the pressing mode. Therefore, since the passenger can change the destination of the automatic driving bus 100 according to the pressing mode of the disembarkation request input unit 71, the passenger can quickly set the destination according to the situation in the vehicle interior. The "press once" is a pressing mode corresponding to the case where the passenger's intention to disembark is accepted, similar to the normal disembarkation button. The "continuous hit" is, for example, a pressing mode corresponding to the case where there is a passenger who needs a toilet. The "long press" is, for example, a pressing mode corresponding to the case where there is a suddenly ill person in the vehicle interior. A plurality of disembarkation request input units 71 are provided at locations other than the seats of the autonomous driving bus 100 and locations other than the seats, for example, locations in the vehicle interior where passengers near aisles and doors can push. The pressing mode is not limited to the above example, and any other mode may be set.

The destination display unit 72 displays the destination of the automatic driving bus 100. The destination display unit 72 is composed of, for example, a display button, a display panel, or the like. The destination display unit 72 is provided in the vehicle interior of the automatic driving bus 100, and is arranged around the disembarkation request input unit 71.

The control device 10 is configured as an ECU including a CPU, a memory, and an interface (not shown). By expanding and executing the program stored in the memory, the CPU expands and executes the input receiving unit 11, the destination setting unit 12, the route setting unit 13, the traveling control unit 14, the vehicle interior condition specifying unit 15, and the reporting unit 16. Functions as.

The input reception unit 11 receives the input from the passengers in the disembarkation request input unit 71, and acquires the pressing mode of the disembarkation request input unit 71.

The destination setting unit 12 sets the destination of the automatic driving bus 100 according to the pressing mode of the disembarkation request input unit 71.

The route setting unit 13 searches for a route to the destination set by the destination setting unit 12, and sets the travel route of the automatic driving bus 100. The route setting unit 13 sets a route to the destination by using a navigation device (not shown) mounted on the automatic driving bus 100 and using a map built in the navigation device.

The travel control unit 14 controls the automatic driving device 51 to cause the automatic driving bus 100 to travel on the set travel route.

The vehicle interior condition specifying unit 15 uses the detection result of the sensor unit 60 to specify whether or not a predetermined type of event has occurred in the vehicle interior of the autonomous driving bus 100. In the present embodiment, the "predetermined type of event" means an emergency situation in the vehicle interior, such as an event in which a passenger needs a toilet or a hospital, or an event in which a suspicious object or a suspicious person exists in the vehicle interior. This means an event that requires a change in the traveling route of the automatic driving bus 100 in order to be assumed to be. The emergency situation means a situation in which it is necessary to contact the manager of the autonomous driving bus 100 or an external organization such as the police.

The vehicle interior condition specifying unit 15 registers, for example, the movements of passengers and the movements of objects that can be detected by the sensor unit 60 in a database or the like in association with each predetermined event, and the sensor unit 60. By analyzing the detection result of and comparing it with the movements of passengers and objects registered in the database, the event occurring in the passenger compartment is identified. For example, when a state in which a standing passenger is lying down is detected in the captured image of the internal camera 61 for a certain period of time, the vehicle interior condition specifying unit 15 has an event that the passenger needs a hospital in the vehicle interior. Identify as occurring. Further, for example, when it is detected in the captured image of the internal camera 61 for a certain period that the object placed on the loading platform does not move, the vehicle interior condition specifying unit 15 has a suspicious object in the vehicle interior. Identify that an existing event is occurring.

When a predetermined event occurs in the vehicle interior of the automatic driving bus 100, the reporting unit 16 uses the notification device 55 to notify the occurrence of the event to the outside of the automatic driving bus 100. The outside of the automatic driving bus 100 includes, for example, the surroundings of the automatic driving bus 100, a management center 500, a police box, police, and the like.

A2. Driving control processing:
The travel control process shown in FIG. 2 is repeatedly executed while the automatic driving bus 100 is traveling. The travel control process is started when a signal indicating that the ignition switch of the automatic driving bus 100 is turned on is transmitted and the signal is received by the control device 10. The input receiving unit 11 receives a disembarkation request (step S105). Specifically, the input receiving unit 11 detects the presence / absence of input to the disembarkation request input unit 71, and if there is an input, acquires the input mode.

The destination setting unit 12 sets the destination (step S110). Specifically, as shown in FIG. 3, the destination setting unit 12 has three pressing modes of the disembarkation request input unit 71: "single pressing", "continuous hitting", and "long pressing". It is determined which mode is used (step S205). When it is determined that the pressing mode is pressing once (step S205: pressing once), the destination setting unit 12 sets the destination at the next stop. On the other hand, when it is determined that the pressing mode is continuous hitting (step S205: pressed once), the destination setting unit 12 sets the destination as an emergency stop location (step S215). The emergency stop location is the location where the vehicle can stop closest to the current position, and corresponds to, for example, the roadside zone. The destination setting unit 12 may set an emergency stop location as the destination according to the number of times of repeated hits. Specifically, the number of repeated hits and the emergency stop location are associated in advance. For example, when the number of repeated hits is two, the purpose is a public facility or a commercial facility that is closest to the current position and has a toilet. It may be set to the ground, or the management center 500 may be set to the destination when the number of times of repeated hits is three.

When it is determined in step S215 described above that the pressing mode is long pressing (step S205: long pressing), the destination setting unit 12 sets the destination to the nearest hospital (step S220). In step S220, the destination may be set at a confluence with an ambulance (rendezvous point) instead of the nearest hospital. Specifically, the destination setting unit 12 searches for the nearest fire station and acquires traffic congestion information by communicating with a traffic management system, for example, an intelligent transport system (Intelligent Transport System) via a communication device 53. , The intermediate point between the current position of the automatic driving bus 100 and the current position of the ambulance may be set as the destination.

After the execution of step S210, the execution of step S215, or the execution of step S220, step S115 shown in FIG. 2 is executed. The destination setting unit 12 displays the destination on the destination display unit 72 (step S115).

As shown in FIG. 4, the destination display unit 72 displays the destination candidates of the automatic driving bus 100, and the destination set in step S110 described above (in the example shown in FIG. 4, the emergency stop location). Is displayed more prominently. Each time the destination is set according to the pressing mode of the disembarkation request input unit 71, the destination is sequentially switched and displayed on the destination display unit 72. Since the destination display unit 72 is provided around the disembarkation request input unit 71 (in the example shown in FIG. 4, the position on the right side of the disembarkation request input unit 71), the passenger can be easily notified of the destination. it can. The destination display unit 72 may be omitted, and the destination may be displayed on the disembarkation request input unit 71. Further, in addition to the destination, a means for contacting the outside of the automatic driving bus 100, such as calling the management center 500 or calling the police, may be displayed.

As shown in FIG. 2, the route setting unit 13 sets a traveling route (step S120). Specifically, the route setting unit 13 searches for a route from the current position of the autonomous driving bus 100 to the destination set in step S110 described above, and from the intelligent transportation system to each route via the communication device 53. Acquire traffic congestion information and set the route with the shortest travel time to the destination as the travel route.

The travel control unit 14 determines whether or not automatic driving is possible (step S125). Specifically, the travel control unit 14 determines whether or not the travel route set in step S120 described above is included in the predetermined travel section. The "predetermined traveling section" means a traveling section that can be automatically driven, which is predetermined by law, environment, etc., and is managed by, for example, the management center 500. Step S125 is executed because it is necessary to switch from the automatic driving mode to the remote control mode when the traveling route changed due to the change of the destination of the automatic driving bus 100 deviates from the traveling section where the automatic driving is possible. is there. When it is determined that automatic driving is possible (step S125: YES), the travel control unit 14 causes the automatic driving bus 100 to travel by automatic driving (step S135). On the other hand, when it is determined that automatic driving is not possible (step S125: NO), the travel control unit 14 notifies the management center 500 and causes the automatic driving bus 100 to travel by remote control at the management center 500 (step S130). ..

The reporting unit 16 notifies the outside of the occurrence of an event (step S140). Specifically, the reporting unit 16 notifies the management center 500 of the situation inside the vehicle interior via the communication device 53. For example, the reporting unit 16 transmits the captured image of the internal camera 61 to the management center 500. In addition, the reporting unit 16 uses the notification device 55 to notify the passengers of the autonomous driving bus 100, the vehicle traveling around the autonomous driving bus 100, and the like that the situation inside the vehicle interior and the destination have been changed. Announce. After the execution of step S140, the travel control process ends, and after the elapse of a predetermined interval time, the above-mentioned step S105 is executed.

According to the control device 10 of the first embodiment having the above configuration, the input of the disembarkation request of the passengers on the automatic driving bus 100 is received via the disembarkation request input unit 71, and the disembarkation request is input according to the input mode. Since the destination of the autonomous driving bus 100 is set, the traveling route to the set destination is set, and the moving body is controlled to travel on the set traveling route, it corresponds to the input mode of the passenger's disembarkation request. The destination can be set easily. Therefore, for example, when an event such as a sudden illness or annoying act occurs in the passenger compartment of the autonomous driving bus 100, an appropriate destination can be easily set according to the event. As a result, the time required to deal with the event that has occurred can be shortened.

In addition, using the detection result of the sensor unit 60 provided in the passenger compartment of the autonomous driving bus 100, it is specified whether or not a predetermined type of event has occurred in the passenger compartment, and the specified event has occurred. Is reported to the outside of the automatic driving bus 100, so that the passengers of the automatic driving bus 100 do not need to report to the outside. Therefore, it is possible to omit the time required for the passenger to notify the outside.

A3. Other Embodiments of the first embodiment:
(1) In the above embodiment, the destination setting unit 12 may set the destination in consideration of the situation in the vehicle interior in addition to the pressing mode of the disembarkation request input unit 71. Specifically, the destination may be set after identifying the existence or nonexistence of a dangerous person in the vehicle interior as the situation in the vehicle interior. The travel control process of the first embodiment shown in FIG. 2 is the travel control process of the first embodiment shown in FIG. 2 at a point where step S107 is additionally executed and a point where step S110a is executed instead of step S110. Different from. Since the other procedures in the travel control process of the present embodiment are the same as those of the travel control process of the first embodiment, the same procedures are designated by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 5, when the disembarkation request is received (step S105), the vehicle interior condition specifying unit 15 specifies the vehicle interior condition (step S107). As shown in FIG. 6, the vehicle interior condition specifying unit 15 acquires the detection result of the voice recognition sensor 65 (step S305). The vehicle interior condition specifying unit 15 determines whether or not the uttered person is angry (step S310). Specifically, the vehicle interior situation specifying unit 15 identifies the emotional state of the person who utters the acquired voice by using a known emotion recognition technique.

When it is determined that the uttered person is not angry (step S310: NO), the vehicle interior condition specifying unit 15 determines whether or not the specific keyword is included in the voice (step S315). Specifically, the vehicle interior situation identification unit 15 uses a known voice recognition technology to quarrel between passengers, such as words that point out manner violations and words that threaten others, in the acquired voice. Also, identify whether or not a keyword indicating the occurrence of trouble such as standing up is included.

When it is determined that the specific keyword is included (step S315: YES), the vehicle interior condition specifying unit 15 determines whether or not the volume is louder than a predetermined threshold value (step S320). Specifically, the vehicle interior condition specifying unit 15 specifies whether or not the volume of the acquired voice is louder than the volume in the automatic driving bus 100 during normal operation (for example, about 60 to 80 decibels). To do. The above-mentioned steps S310, S315 and S320 may be executed in any order or at the same time. In this case, the vehicle interior condition specifying unit 15 may transmit voice data to, for example, the management center 500 via the communication device 53, and acquire each recognition result of emotion, voice, and volume.

When it is determined that the person who uttered in step S310 is angry (step S310: YES), or when it is determined that a specific keyword is included in step S315 described above (step S315: YES), or as described above. When it is determined in step S320 that the volume volume is higher than a predetermined threshold value (step S320: YES), the vehicle interior condition specifying unit 15 identifies that a dangerous person exists in the vehicle interior (step S325). After the execution of step S325, step S110a shown in FIG. 5 is executed.

As shown in FIG. 5, the destination setting unit 12 sets the destination (step S110a). Specifically, when there is no dangerous person in the vehicle interior, the destination setting unit 12 sets the destination according to the procedure shown in FIG. 3, as in the first embodiment. On the other hand, when there is a dangerous person in the vehicle interior, the destination setting unit 12 sets the nearest police station (police box) as a stopover and then sets the nearest hospital as the destination. This is because after transporting the dangerous person to the nearest police station, the passengers are transported to the nearest hospital. After the execution of step S110a, the above-mentioned step S115 is executed.

According to the travel control process of the present embodiment, a more appropriate destination can be set according to the situation inside the vehicle interior of the automatic driving bus 100, specifically, the presence or absence of a dangerous person.

(2) In the other embodiment 1, the vehicle interior condition specifying unit 15 may determine the presence or absence of a dangerous person by using the image captured by the internal camera 61 in addition to the detection result of the voice recognition sensor 65. .. At this time, the weight value may be set according to the feature amount of the captured image and the feature amount of the detection result of the voice recognition sensor 65, and the presence or absence of the dangerous person may be determined using the weight value. The vehicle interior condition specifying process in the present embodiment shown in FIG. 7 is executed by adding step S301, step S303, step S311, step S316, step S321 and step S323, and the other embodiment shown in FIG. 6 is described above. It is different from the vehicle interior condition identification process of 1. Since the other procedures in the vehicle interior condition specifying process of the present embodiment are the same as those of the vehicle interior condition specifying process of the other embodiment 1, the same procedures are designated by the same reference numerals and detailed description thereof will be omitted. To do.

When the vehicle interior condition specifying process is started, the vehicle interior condition specifying unit 15 acquires an image captured by the internal camera 61 (step S301). The vehicle interior condition specifying unit 15 determines the first weight value (step S303). Specifically, the vehicle interior condition specifying unit 15 detects a person or an object included in the captured image, and determines the first weight value according to the degree of occlusion of the detected person or the object. For example, when most of the people and objects in the captured image can be detected, that is, when the occlusion is mild, the first weight value is set to be larger than the reference value. Further, for example, when less than half of the person and the object in the captured image can be detected, that is, when the occlusion is severe, the first weight value is set smaller than the reference value. The reference value is calculated in advance by an experiment or the like, and is set based on, for example, the brightness of the passenger compartment of the autonomous driving bus 100, the angle of view of the internal camera 61, and the like.

When the detection result of the voice recognition sensor 65 is acquired (step S305), the vehicle interior condition specifying unit 15 determines the second weight value by emotion recognition (step S311). Specifically, the vehicle interior situation specifying unit 15 identifies the emotional state of the person who utters the voice acquired by the voice recognition sensor 65, as in step S310 described above. At this time, the vehicle interior condition specifying unit 15 determines the second weight value according to the degree of reliability of emotion recognition. For example, the vehicle interior condition specifying unit 15 sets a large second weight value when the reliability is high, and sets a low second weight value when the reliability is low.

The vehicle interior condition specifying unit 15 determines the third weight value by voice recognition (step S316). Specifically, the vehicle interior condition specifying unit 15 identifies the keyword included in the voice acquired by the voice recognition sensor 65 as in step S315 described above, and as in step S311 described above, the reliability of voice recognition The third weight value is determined according to the degree.

The vehicle interior condition specifying unit 15 determines the fourth weight value by volume recognition (step S321). Specifically, the vehicle interior condition specifying unit 15 identifies the volume of the voice acquired by the voice recognition sensor 65 in the same manner as in step S320 described above, and recognizes the volume in the same manner as in steps S311 and S316 described above. The fourth weight value is determined according to the degree of reliability. In addition, step S311 and step S316 and step S321 may be executed in any order or at the same time.

The vehicle interior condition specifying unit 15 determines whether or not the total weight value is larger than the threshold value (step S323). Specifically, the vehicle interior condition specifying unit 15 obtains the sum of the values obtained by multiplying each weight value by a predetermined coefficient, and compares the sum with a predetermined threshold value. The predetermined threshold value is calculated in advance by an experiment or the like, and is, for example, 1. The predetermined threshold value may be set to any other value instead of 1. Further, the total of the weight values may be the product of the values obtained by multiplying each weight value by a predetermined coefficient instead of the sum of the values obtained by multiplying each weight value by a predetermined coefficient.

When it is determined in step S323 described above that the total weight value is larger than the threshold value (step S323: YES), the vehicle interior condition specifying unit 15 identifies that a dangerous person exists in the vehicle interior (step S325). After the execution of step S325 or when it is determined in step S323 described above that the total weight value is equal to or less than the threshold value (step S323: NO), the vehicle interior condition specifying process ends.

According to the traveling control process of the present embodiment, it is possible to more accurately determine whether or not a dangerous person exists in the vehicle interior of the automatic driving bus 100.

(3) In the other embodiment 2, the detection range of the sensor unit 60 may be narrowed down to a predetermined area when the total weight value is included in the predetermined threshold range. For example, in order to capture a person presumed to be a dangerous person more clearly, the imaging range of the internal camera 61 may be changed to capture an image in a state closer to the person presumed to be a dangerous person. The case where the total weight value is included in the predetermined threshold range may be, for example, a case where the total weight value is 1 or less, or a case where the total weight value is 2 or more.

(4) In each of the above embodiments, the presence or absence of a dangerous person may be specified by the following method. For example, it may be possible to identify whether or not a person is a dangerous person by detecting the movement of the person based on the optical flow of the person extracted from the history of the captured image of the internal camera 61, and the movement estimated for a certain period of time. If is not seen, the person may be identified as a dangerous person. Further, for example, when a person's belongings in the captured image of the internal camera 61 are detected and a dangerous object such as a knife or a gun is detected, the person may be identified as a dangerous person. In addition, the presence or absence of a suspicious object may be specified by the following method. For example, when an object placed at the same position for a certain period of time is detected in the captured image of the internal camera 61, the object may be identified as a suspicious object. In addition, the presence or absence of a suddenly ill person may be specified by the following method. For example, when a collapsed person is detected in the image captured by the internal camera 61, the person may be identified as a suddenly ill person. Further, for example, when the internal camera 61 is composed of an infrared camera and the body temperature of the person in the captured image is equal to or higher than a predetermined threshold value or lower than or equal to a predetermined threshold value, the person is identified as a suddenly ill person. You may. Further, for example, in a configuration in which a load sensor is mounted in the vehicle interior of the automatic driving bus 100, when a strong impact is detected by the load sensor, it may be specified that a suddenly ill person exists. Further, for example, the pulse may be detected by analyzing the face image of the passenger, and when the pulse rate is equal to or more than a predetermined threshold value or equal to or less than a predetermined threshold value, the passenger may be identified as a suddenly ill person. ..

(5) In each of the above embodiments, the automatic driving bus 100 does not have to include the disembarkation request input unit 71. In this case, a GUI button capable of executing the same function as the disembarkation request input unit 71 may be provided in a predetermined application operating on a mobile device such as a smartphone or a tablet terminal, and the GUI button may be operated (pressed). .. In such a configuration, the input receiving unit 11 acquires the input to the GUI button via the communication device 53, and for example, when the GUI button is slid (swipe), the emergency stop location is set as the destination. The destination may be set according to the operation mode of the GUI button.

(6) In each of the above embodiments, the driving mode may include, in addition to the automatic driving mode and the remote control mode, a driving mode associated with the above-mentioned predetermined type of event. For example, as a driving mode when there are suspicious objects or dangerous objects in the passenger compartment, head to an open place with few traffic such as a riverbank or a vacant lot with only the suspicious objects or dangerous objects on the automatic driving bus 100. There may be a driving mode in which the vehicle travels. Further, for example, as a traveling mode when a dangerous person is present in the vehicle interior, when the dangerous person presses the disembarkation request input unit 71 in order to prevent the dangerous person from getting off the automatic driving bus 100 and escaping. There may be a traveling mode in which the vehicle travels toward the nearest police station without accepting the input of the disembarkation request input unit 71. Further, for example, as a traveling mode when a dangerous person exists in the vehicle interior, there may be a traveling mode in which a temporary bus is dispatched and the passengers of the automatic driving bus 100 are transferred to the temporary bus. Therefore, according to the present embodiment, since the automatic driving bus 100 is driven in the traveling mode associated with the predetermined types of events in advance, the automatic driving is appropriately performed according to the events occurring in the vehicle interior. The bus 100 can be driven.

B. Second embodiment:
When a user carrying luggage equipped with a communication tag such as RFID (Radio Frequency IDentifier) gets on a vehicle, it determines whether or not there is something left behind in the vehicle by communicating with the communication tag when getting on and off. However, there is known a technique for giving an alarm to a user when it is determined that there is something left behind in the vehicle. However, when carrying a baggage that does not have a communication tag, it is not possible to accurately determine whether or not there is something left behind. Therefore, in the automatic driving bus 100a of the present embodiment, in the forgotten item management process described later, the state of the belongings after associating the passenger with the belongings of the passenger by using the detection result of the sensor unit 60 such as the internal camera 61. By monitoring, even when a baggage without a communication tag is brought into the automatic driving bus 100a, it is possible to accurately determine what is left behind in the automatic driving bus 100a. Hereinafter, the configuration of the automatic driving bus 100a and the lost property management process will be described in detail.

B1. Device configuration:
The automatic driving bus 100a in the second embodiment shown in FIG. 8 is a bus in which all the control related to traveling can be automatically executed without the judgment of the driver, as in the first embodiment described above. The automatic driving bus 100a is provided with a control device 10a instead of the control device 10, an omission of a disembarkation request input unit 71 and a destination display unit 72, and an additional storage unit 80. It is different from the automatic operation bus 100 of the first embodiment shown in 1. The same components as those of the automatic driving bus 100 of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The control device 10a is a monitoring control device that monitors the interior of the automatic driving bus 100a. The control device 10a is configured as an ECU including a CPU, a memory, and an interface (not shown). The CPU functions as a property management unit 17, a forgotten item determination unit 18, a notification unit 16a, a delivery management unit 19, and an input reception unit 11a by expanding and executing a program stored in the memory.

The belongings management unit 17 manages the belongings of passengers on the automatic driving bus 100a. Specifically, the property management unit 17 monitors the state of the passenger's property by using the image captured by the internal camera 61 from the time the passenger gets on the automatic driving bus 100a to the time when the passenger gets off the bus 100a. In addition, the belongings management unit 17 causes the storage unit 80 to store the forgotten items in the automatic driving bus 100a. In the present embodiment, the "passenger's belongings" means, for example, all the things that the passenger wears when getting on the automatic driving bus 100a such as baggage, bags, and the like, and jackets and the like. ..

The forgotten item determination unit 18 determines whether or not the passenger's belongings are forgotten when the passenger gets off the automatic driving bus 100a. The forgotten item determination unit 18 determines whether or not the forgotten item is a forgotten item by detecting the distance between the passenger and the passenger's belongings, for example, using the image captured by the internal camera 61.

When it is determined that the passenger's belongings are forgotten, the notification unit 16a notifies the passenger getting off the automatic driving bus 100a by using the notification device 55. Further, the notification unit 16a may notify the passenger u1 disembarking from the automatic driving bus 100a to the passenger's mobile terminal device 200 via the communication device 53. The mobile terminal device 200 includes, for example, a smartphone, a tablet terminal, a dedicated input device, and the like.

The delivery management unit 19 presents the forgotten item to the passenger's mobile terminal device 200 via the communication device 53, and delivers the forgotten item according to the delivery method desired by the passenger.

The input receiving unit 11a receives the input of the delivery method specified by the passenger in the predetermined application operating in the mobile terminal device 200.

The storage unit 80 stores the forgotten items in the automatic driving bus 100a according to the instruction of the property management unit 17. The storage unit 80 includes a robot 81 and an in-seat storage 82. The robot 81 is a dual-arm robot having two arms and driving each arm to hold an article. The in-seat storage 82 is a storage space provided under the seat surface of the automatic driving bus 100a. The in-seat storage 82 may be a space under the seat. Further, the storage unit 80 may omit the robot 81.

B2. Lost and Found Management Process:
The lost property management process shown in FIGS. 8 and 9 is repeatedly executed while the automatic driving bus 100a is traveling. The lost-and-found management process is started when a signal indicating that the ignition switch of the automatic driving bus 100a is turned on is transmitted and the signal is received by the control device 10a. The belongings management unit 17 determines whether or not a passenger has boarded the automatic driving bus 100a (step S405). Specifically, the belongings management unit 17 acquires an image captured by the internal camera 61 provided near the entrance of the autonomous driving bus 100a, and the captured image includes passengers boarding the autonomous driving bus 100a. Judge whether or not. In addition, the belongings management unit 17 determines whether or not the passenger holds the boarding card over an IC card reading device (not shown) provided at the boarding port of the automatic driving bus 100a.

When it is determined that the passenger is not on board (step S405: NO), the property management unit 17 executes step S405 until the departure time of the automatic driving bus 100a is reached. On the other hand, when it is determined that the passenger has boarded (step S405: YES), the belongings management unit 17 determines whether or not the passenger has let go of the belongings (step S410). Specifically, the property management unit 17 moves an object that is presumed that the passenger's property does not touch the passenger's body from the history of the captured image of the internal camera 61, for example, the passenger puts the property under his / her feet. By doing so, it is possible to detect the state in which the belongings are placed on the floor for a certain period of time, or the state in which the passengers place the belongings on the loading platform for a certain period of time. If so, it is determined that the passenger has let go of his belongings.

When it is determined that the passenger has not let go of the belongings (step S410: NO), the belongings management unit 17 executes step S410 until it is determined that the passenger has let go of the belongings. On the other hand, when it is determined that the passenger has let go of the belongings (step S410: YES), the belongings management unit 17 associates the passenger with the passenger's belongings (step S415). Specifically, the property management unit 17 associates the passenger's face and current position with the appearance and current position of the passenger's property and stores them in a memory (not shown). The belongings management unit 17 monitors the state of the vehicle interior (step S420). Specifically, the captured image of the internal camera 61 is acquired for a certain period of time, and changes in the position of the passenger and the position of the passenger's belongings are detected. When the position of the passenger or the position of the passenger's belongings has changed, the belongings management unit 17 updates the current position of the passengers and the belongings stored in the memory in step S415 described above.

The belongings management unit 17 determines whether or not the passenger gets off the automatic driving bus 100a (step S425). Specifically, the belongings management unit 17 detects, for example, when a passenger presses a disembarkation button (not shown) provided in the vehicle interior, or in an image captured by an internal camera 61 provided at the disembarkation port. In some cases, it is determined that the passenger is getting off. When it is determined that the passenger is getting off (step S425: YES), the forgotten item determination unit 18 determines whether or not the passenger's belongings are present in the vehicle interior (step S430). Specifically, the forgotten item determination unit 18 acquires an image captured by the internal camera 61, calculates the current position of the passenger and the current position of the belongings associated with the passenger, and the distance between the two is a predetermined distance. Determine if it is greater than. The predetermined distance is calculated in advance by an experiment or the like, and is set to, for example, an average distance from the seat or loading platform of the autonomous driving bus 100a to the exit. If the image captured by the internal camera 61 does not show the movement of the passenger's belongings for a certain period of time, the forgotten item determination unit 18 may determine that the passenger's belongings are present in the vehicle interior.

When it is determined that the passenger's belongings are present in the vehicle interior, the notification unit 16a notifies the passenger who got off the vehicle of the lost item (step S435). Specifically, the notification unit 16a uses the speaker of the notification device 55 to announce that the passenger who got off has something left behind. In addition, the notification unit 16a transmits a notification that the mobile terminal device 200 has something left behind via the communication device 53.

The delivery management unit 19 presents the passenger who got off the vehicle with a delivery method for the lost item (step S440). Specifically, the delivery management unit 19 transmits a delivery method guide to the mobile terminal device 200 via the communication device 53. Examples of the delivery method include a method of shipping from a predetermined delivery system using a drone, a method of shipping from the management center 500 by a delivery person, a method of a passenger going to the management center 500 and receiving a forgotten item, and the like. The delivery method may include an option of refusing to receive. In addition, when presenting the delivery method, information such as the delivery date and time and the delivery fee may be presented.

The delivery management unit 19 determines whether or not the passenger desires delivery (step S445). Specifically, the delivery management unit 19 determines whether or not the input reception unit 11a has accepted the designation of "yes" for delivery. When it is determined that the passenger desires delivery (step S445: YES), the delivery management unit 19 delivers the forgotten item according to the designated delivery method (step S450). On the other hand, when it is determined that the passenger does not wish to deliver (step S445: NO), the belongings management unit 17 determines whether or not the robot 81 can hold the forgotten item (step S455). Specifically, the property management unit 17 calculates the size of the lost item using the image captured by the internal camera 61. In addition, the property management unit 17 estimates the lost item by pattern matching and calculates the approximate weight of the lost item. The belongings management unit 17 determines that the robot 81 can hold the forgotten item when the size of the forgotten item is less than or equal to the predetermined size or when the weight of the forgotten item is less than or equal to the predetermined weight.

When it is determined that the robot 81 can hold the lost item (step S455: YES), the inventory management unit 17 causes the robot 81 to store the lost item (step S460). Specifically, the property management unit 17 transmits a control signal instructing the control device of the robot 81 to store the lost item via the communication device 53. When it is determined in step S455 described above that the robot 81 cannot hold the forgotten item (step S455: NO), the belongings management unit 17 determines whether or not the forgotten item enters the in-seat storage 82 (step S465). Specifically, the inventory management unit 17 determines whether or not the size of the lost item calculated in step S445 described above is smaller than the size of the in-seat storage 82.

When it is determined that the lost item enters the in-seat storage 82 (step S465: YES), the inventory management unit 17 causes the manager to store the lost item in the in-seat storage 82 (step S470). Specifically, the belongings management unit 17 instructs the manager to store the lost item in the in-seat storage 82 when the manager is on the automatic driving bus 100a. On the other hand, when the manager is not on the automatic driving bus 100a, the belongings management unit 17 requests the management center 500 to dispatch the manager to the automatic driving bus 100a via the communication device 53. Is sent, and the dispatched manager is made to store the forgotten item in the in-seat storage 82.

When it is determined in step S465 described above that the forgotten item does not enter the in-seat storage 82 (step S465: NO), the belongings management unit 17 notifies the management center 500 that the forgotten item cannot be stored in the automatic driving bus 100a. (Step S475). In addition, the belongings management unit 17 automatically performs when there is no response even after a predetermined time has passed after notifying the passengers of the forgotten items, or when the distance between the passengers and the belongings is not shortened even after notifying the passengers of the forgotten items. The management center 500 may be notified that the forgotten items will not be stored in the driving bus 100a.

When it is determined in step S425 described above that the passenger does not disembark (step S425: NO), or when it is determined in step S430 described above that the passenger's belongings do not exist in the vehicle interior (step S430: NO), the above-mentioned Step S420 is executed.

After the execution of step S475, the execution of step S470, the execution of step S460, or the execution of step S450, the forgotten item management process is completed, and after a predetermined interval time has elapsed, the above-mentioned step S405 is performed. Will be executed.

According to the control device 10a of the second embodiment having the above configuration, the passengers on the automatic driving bus 100a are associated with the passengers' belongings by using the captured image of the internal camera 61, and the passengers are associated with each other. Monitors the condition of belongings until the passenger gets off the automatic driving bus 100a, determines whether or not the belongings are forgotten when the passenger gets off the automatic driving bus 100a, and determines that the belongings are forgotten. Since the passengers getting off from the automatic driving bus 100a are notified, it is possible to accurately detect the forgotten items in the automatic driving bus 100a even when the passengers' belongings are not equipped with a communication device. Further, since the storage unit 80 stores the lost item, it is possible to prevent the lost item from being left in the vehicle interior. Therefore, it is possible to prevent the forgotten item from being stolen. In addition, since the passenger who has forgotten the lost item on the autonomous driving bus 100a accepts the designation of the lost item delivery method and delivers the lost item according to the accepted delivery method, the lost item can be delivered to the passenger by the delivery method desired by the passenger. it can. As a result, it is possible to suppress a decrease in passenger convenience.

C. Third Embodiment:
There is known a technique for executing operation guidance and settlement of usage fees by communicating with a communication terminal device carried by passengers of a shared vehicle such as a bus and a bus stop or a vehicle. However, for example, when getting on and off the vehicle at the boarding place and the getting-off place desired by the passenger, there is a possibility that the usage fee cannot be settled because the stop is not used. Further, for example, when the frontage of the entrance / exit is wide like an autonomous driving bus, there is a possibility that an illegal boarding may occur without paying a usage fee by hiding in another passenger and getting on / off. Therefore, in the automatic operation bus 100b of the present embodiment, in the fare non-payment notification process described later, the presence or absence of the passenger's fare payment act is detected by using the image captured by the internal camera 61, and when the fare is not paid, the passenger By notifying the passenger that the fare has not been paid, the passenger can be encouraged to pay the fare. Therefore, it is possible to settle the usage fee with high accuracy. In addition, the occurrence of illegal boarding can be suppressed. Hereinafter, the configuration of the automatic driving bus 100b and the fare non-payment notification processing will be described in detail.

C1. Device configuration:
The automatic driving bus 100b according to the third embodiment shown in FIG. 11 is a bus in which all the control related to traveling can be automatically executed without the judgment of the driver, as in each of the above-described embodiments. A user registered in advance in the user database DB described later can board the automatic driving bus 100b. For example, the user u2 registers a face image on a predetermined application operated by the mobile terminal device 200, reserves a scheduled boarding date, a boarding section, etc. of the automatic driving bus 100b, and thereby, the automatic driving bus 100a is set at the reserved date and time. You can get on the bus.

The automatic driving bus 100b is different from the automatic driving bus 100a of the second embodiment shown in FIG. 8 in that the control device 10b is provided in place of the control device 10a and that the storage unit 80 is omitted. The same components as those of the automatic driving bus 100a of the second embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The control device 10b is a monitoring control device that monitors the interior of the automatic driving bus 100b. The control device 10b is configured as an ECU including a CPU, a memory, and an interface (not shown). The CPU functions as a passenger information acquisition unit 20, a fare payment determination unit 21, a notification unit 16b, a database registration unit 22, and an input reception unit 11b by expanding and executing a program stored in the memory.

The passenger information acquisition unit 20 acquires a face image of a passenger boarding the autonomous driving bus 100b at the time of boarding by using the captured image of the internal camera 61.

The fare payment determination unit 21 detects the passenger's fare payment act from the image captured by the internal camera 61, and determines whether or not the passenger has paid the fare. In the present embodiment, the “fare payment act” means that the passenger holds the boarding card over an IC card reading device (not shown) provided at the boarding gate of the autonomous driving bus 100b to settle the fare. .. Therefore, for example, the fare payment determination unit 21 determines that the fare has been paid when the fare payment act by the passengers who have boarded the vehicle is detected in the captured image. The fare payment determination unit 21 may determine whether or not the fare has been paid by acquiring the reading result of the IC card reading device without using the captured image. Further, the IC card includes an IC ticket, a commuter pass, a boarding card in which registration information of a database DB is stored, and the like. The above-mentioned fare payment act may include payment of the fare on a predetermined application operated by the mobile terminal device 200 before or during the boarding of the automatic driving bus 100b.

The reporting unit 16b notifies the passenger that the fare has not been paid when the passenger has not paid the fare. In addition, the reporting unit 16b notifies the management center 500 when the number of times the fare has not been paid (hereinafter referred to as "the number of unpaid fare") is equal to or greater than a predetermined number of times.

The database registration unit 22 registers the user information of the user u2 in the user database DB (hereinafter, simply referred to as “database DB”) stored in a memory (not shown). The user information includes, for example, information such as the face image dt1 of the user u2, the number of unpaid times dt2, and the past boarding history dt3. The database registration unit 22 assigns an identification number to each user, associates the identification number with the user information, and registers the identification number in the database DB.

The input receiving unit 11b receives inputs such as a boarding reservation designated by a passenger in a predetermined application operating in the mobile terminal device 200 and payment of a fare.

C2. Fare unpaid notification processing:
The fare non-payment notification process shown in FIG. 12 is repeatedly executed while the automatic driving bus 100b is traveling. The fare non-payment notification process is started when a signal indicating that the ignition switch of the automatic driving bus 100b is turned on is transmitted and the signal is received by the control device 10b. The passenger information acquisition unit 20 acquires a face image of the passenger at the time of boarding (step S505). Specifically, the passenger information acquisition unit 20 acquires an image captured by an internal camera 61 provided near the entrance of the autonomous driving bus 100b, and extracts an image of a person's face in the captured image. If the passenger information acquisition unit 20 cannot acquire the face image at the time of boarding, the passenger information acquisition unit 20 may use the internal camera 61 in the vehicle interior to image the passenger and acquire the face image.

The fare payment determination unit 21 determines whether or not the passenger has paid the fare (step S510). Specifically, the fare payment determination unit 21 extracts the behavior of the passenger from the history of the captured image of the internal camera 61, and if the above-mentioned fare payment act is detected, it determines that the fare has been paid.

When it is determined that the fare has not been paid (step S510: NO), the database registration unit 22 collates the face image dt1 registered in the database DB with the face image acquired in step S505 described above (step S515). ). The database registration unit 22 registers the unpaid fare in the database DB (step S520). Specifically, the database registration unit 22 counts up the number of unpaid times of users whose face images match in step S515 described above.

The database registration unit 22 determines whether or not the number of unpaid payments is equal to or greater than a predetermined number of times (step S525). The predetermined number of times is, for example, three times. The predetermined number of times may be set to any other number of times instead of three times. When it is determined that the number of unpaid times is equal to or greater than the predetermined number of times (step S525: YES), the reporting unit 16b notifies the management center 500 (step S530). At this time, the reporting unit 16b may report to an external organization such as the police in addition to the management center 500.

After the execution of step S530, when it is determined that the number of unpaid times is less than the predetermined number in step S525 described above (step S525: NO), or when it is determined that the fare has been paid in step S510 described above (step). S510: YES), the fare non-payment notification process is completed, and after the elapse of the predetermined interval time, the above-mentioned step S405 is executed.

According to the control device 10b of the third embodiment having the above configuration, the passenger's face image at the time of boarding the automatic driving bus 100b is acquired, it is determined whether or not the passenger has paid the fare, and the passenger Notifies passengers of unpaid fares when they have not paid the fares, so passengers with unpaid fares can be encouraged to pay the fares. Therefore, the fare of the automatic driving bus 100b can be settled with high accuracy. In addition, it is possible to suppress the occurrence of unauthorized boarding on the automatic driving bus 100b.

C3. Other Embodiments of the third embodiment:
(1) In the configuration in which the fare is paid by pre-payment before boarding, the passenger who is boarding the autonomous driving bus 100b without paying the fare may be notified to urge the passenger to pay the fare. The fare non-payment notification process of the present embodiment shown in FIG. 13 omits step S505, step S515, step S520 and step S525, and additionally executes step S507, step S517, step S518 and step S527. Is different from the fare non-payment notification process shown in FIG. Since the other procedures in the fare unpaid notification process of the present embodiment are the same as those of the fare unpaid notification process of the third embodiment, the same procedures are designated by the same reference numerals, and detailed description thereof will be omitted.

When the fare non-payment notification process is started, the passenger information acquisition unit 20 determines whether or not the target passenger is on the automatic driving bus 100b (step S507). The target passenger means a passenger who has not paid the fare in advance. When step S507 is executed, it is assumed that the face image of the target passenger and the mobile terminal device 200 are specified by referring to the database DB. In step S507, the passenger information acquisition unit 20 has a current position detected by the position sensor 64 of the automatic driving bus 100b and a current position detected by a position sensor (not shown) mounted on the mobile terminal device 200 of the target passenger. If they match, it is determined that the target passenger is on board. In this embodiment, it is possible to determine whether or not the target passenger is on board by acquiring the face image at the time of boarding and collating it with the face image dt1 of the database DB without omitting the above-mentioned step S505. You may judge.

When it is determined that the target passenger is on board (step S507: YES) and the fare has not been paid at the time of boarding (step S510: NO), the reporting unit 16b is notified of the target passenger, that is, unpaid. Notify the user of (step S517). Specifically, the reporting unit 16b transmits a notification to the unpaid user's mobile terminal device 200 via the communication device 53 to urge the payment of the fare. The reporting unit 16b may use the notification device 55 to make an announcement such as "If you have not paid the fare, please pay the fare promptly."

The fare payment determination unit 21 determines whether or not the unpaid user has paid the fare (step S518). Specifically, the fare payment determination unit 21 may detect the presence or absence of the fare payment act by the same procedure as in step S510 described above, or the fare payment determination unit 21 may detect the presence or absence of the fare payment act on the application of the mobile terminal device 200 of the unpaid user. It may be determined whether or not the settlement has been made. When it is determined that the fare has not been paid (step S518: NO), the database registration unit 22 sets the unpaid user to disable the use of the automatic driving bus 100b (step S527). Specifically, the database registration unit 22 registers that the unpaid user cannot be used as the user information of the unpaid user in order to prevent the unpaid user from making a reservation for the automatic driving bus 100b in the future. At this time, the mobile terminal device 200 of the unpaid user may be notified that the automatic driving bus 100b cannot be used until the fare is paid. After the execution of step S527, the above-mentioned step S530 is executed.

If it is determined in step S518 described above that the fare has been paid (step S518: YES), or if it is determined in step S507 described above that the target passenger is not on board (step S507: NO), the fare unpaid notification process Is finished.

According to the fare non-payment notification process of the present embodiment, the face image of the passenger who has not paid the fare and the number of times the fare has not been paid are registered in the database DB, and the number of times the passenger has not paid the fare. Is more than a predetermined number of times, the management center 500 is notified, so that the management center 500 can take appropriate measures for passengers who have not paid the fare. In addition, since passengers who are urged to pay the fare but do not pay the fare are set to be unavailable for the automatic driving bus 100b, it is possible to suppress the occurrence of unauthorized boarding of the automatic driving bus 100b.

(2) In each embodiment of the third embodiment, when a user who is not registered in the database DB gets on the automatic driving bus 100b and the fare is not paid, the face image of the user and the unpaid user are not paid. The number of times may be registered in the database DB, and the next time the passenger gets on the automatic driving bus 100b, the payment of the fare may be prompted.

(3) In step S507, the target passenger is on the automatic driving bus 100b based on the degree of coincidence between the moving speed and the moving locus of the automatic driving bus 100b and the moving speed and the moving locus of the mobile terminal device 200. It may be determined whether or not.

D. Fourth Embodiment:
Priority seats and women-only boarding spaces will be provided for moving objects such as buses and trains. For example, when a ticket with an IC tag in which information on gender and whether or not a person is eligible for a priority seat is embedded as a ticket for a mobile body, a reading device mounted on the seat of the mobile body can be used. There is known a technique for reading an IC tag and determining whether or not a seated passenger is a subject who can be seated in the seat. Further, there is known a technique for alerting a seated passenger when the seated passenger is not a target person who can be seated in the seat. However, if the person is not seated, it cannot be determined whether or not the person can use the seat, so that the alerting may be delayed and the convenience of the user may be reduced. Therefore, in the automatic driving bus 100c of the present embodiment, in the visitor monitoring process described later, the identification information of the visitors to the dedicated space that can be used only by a predetermined user is acquired by using the image captured by the internal camera 61. However, by determining whether or not the visitor can use the dedicated space using such identification information, it can be determined whether or not the visitor can be seated in the seat without being seated. Can be judged. As a result, it is possible to suppress the delay in alerting the visitors, and thus it is possible to suppress the deterioration of the convenience of the user. Hereinafter, the configuration of the automatic driving bus 100c and the attendance monitoring process will be described in detail.

D1. Device configuration:
The automatic driving bus 100c according to the fourth embodiment shown in FIGS. 14 and 15 is a bus in which all control related to driving can be automatically executed without the judgment of the driver, as in the first embodiment described above. is there. The automatic driving bus 100c is a type of bus that gets on and off from the front door 91.

The guest room of the automatic driving bus 100c shown in FIG. 15 is divided into a general space SP1 and a dedicated space SP2 with the boundary L as a boundary. The general space SP1 is a boarding space that can be used by anyone regardless of the attributes of passengers. The dedicated space SP2 is a boarding space that can be used only by passengers having predetermined attributes according to the type of space, such as a priority seat space, a women-only space, and a children-only space. In the present embodiment, the "predetermined attribute" means information indicating a characteristic or property peculiar to the passenger, and corresponds to, for example, information such as gender, age group, presence or absence of injury or illness. For example, when the dedicated space SP2 is a priority seat space, attributes such as the age group being included in the senior group or having an injury or illness are defined as attributes that can use the dedicated space SP2. Further, for example, when the dedicated space SP2 is a female-only space, it is defined that the gender is female as an attribute in which the dedicated space SP2 can be used. Further, for example, when the dedicated space SP2 is a space dedicated to children, attributes such as the age group being included in the younger age group are defined as the attributes that can use the dedicated space SP2. A passenger companion having an attribute defined for each dedicated space SP2 may be a user of the dedicated space SP2 as having the attribute even if the passenger does not have the attribute.

An internal camera 61 and a notification device 55 are provided around the entrance of the dedicated space SP2, specifically, near the boundary L between the general space SP1 and the dedicated space SP2. The internal camera 61 photographs passengers entering the dedicated space SP2 from the general space SP1. The notification device 55 outputs a voice calling attention to passengers who cannot use the dedicated space SP2 in response to an instruction from the notification unit 16c, which will be described later.

As shown in FIG. 14, the automatic driving bus 100c has a control device 10c instead of the control device 10 and omits the disembarkation request input unit 71 and the destination display unit 72. It is different from the automatic driving bus 100 of one embodiment. The same components as those of the automatic driving bus 100 of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted. In FIG. 14, the management center 500 is not shown.

The control device 10c is a monitoring control device that monitors the inside of the passenger compartment of the automatic driving bus 100c. The control device 10c is configured as an ECU including a CPU, a memory, and an interface (not shown). The CPU functions as a visitor identification information acquisition unit 23, a determination unit 24, and a notification unit 16c by expanding and executing a program stored in the memory.

The visitor identification information acquisition unit 23 acquires information for identifying the attributes of the visitors to the dedicated space SP2 (hereinafter, referred to as “visitor identification information”) by using the captured image of the internal camera 61. The visitor identification information is information capable of identifying at least one of the above-mentioned predetermined attributes, and in the present embodiment, is information indicating an age group. The visitor identification information acquisition unit 23 identifies the age group of the visitors by detecting the person included in the captured image and estimating the age of the detected person, and acquires the visitor identification information.

The determination unit 24 uses the visitor identification information to determine whether or not the visitor to the dedicated space SP2 is a passenger having a predetermined attribute. The determination unit 24, for example, enters the dedicated space SP2 by collating the acquired visitor identification information with the attributes stored in a memory (not shown) and predetermined for each type of the dedicated space SP2. Determine if the person is a passenger with predetermined attributes.

When it is determined that the visitor is not a passenger having a predetermined attribute to the dedicated space SP2, the notification unit 16c notifies the visitor by using, for example, a notification device 55 such as a speaker or a display device.

D2. Visitor monitoring process:
The visitor monitoring process shown in FIG. 16 is repeatedly executed while the automatic driving bus 100c is running. The visitor monitoring process is started when a signal indicating that the ignition switch of the automatic driving bus 100c is turned on is transmitted and the signal is received by the control device 10c. The visitor identification information acquisition unit 23 acquires the captured image of the internal camera 61 and acquires the visitor identification information (step S605). The determination unit 24 determines whether or not the visitors to the dedicated space SP2 are the entrance target persons (step S610). Specifically, the determination unit 24 determines that the person is an admission target when the age group indicated in the visitor identification information is included in the age group predetermined as the user of the dedicated space SP2. To do.

When it is determined that the person is not the target person for admission (step S610: NO), the notification unit 16c alerts the person who has entered the dedicated space SP2 (step S615). Specifically, the notification unit 16c tells the notification device 55, "Please check if the dedicated space SP2 is available." Or "You cannot use the dedicated space SP2. Use the general space SP1. Please make an announcement. When the notification device 55 is a buzzer or a siren, the notification unit 16c may cause the notification device 55 to output an alarm sound.

After the execution of step S615 or when it is determined in the above-mentioned step S610 that the person is an admission target person (step S610: YES), the admission monitoring process is completed, and after the elapse of a predetermined interval time, the above-mentioned step S605 Is executed.

According to the control device 10c of the fourth embodiment having the above configuration, the use of the visitor having a predetermined attribute by using the visitor identification information for identifying the attribute of the visitor to the dedicated space SP2. It is determined whether or not the person is a person, and if it is determined that the visitor is not a user having predetermined attributes, the visitor is notified, so that the visitor is seated in the seat provided in the dedicated space SP2. It is possible to determine whether or not the person can be seated in the seat without doing so. As a result, it is possible to suppress the delay in alerting the visitors to the dedicated space SP2, and thus it is possible to suppress the deterioration of the convenience of the user.

D3. Other embodiments of the fourth embodiment:
(1) The automatic driving bus 100d in the other embodiment 1 of the fourth embodiment shown in FIGS. 17 and 18 additionally includes an internal camera 61a and a control device 10d instead of the control device 10c. Is different from the automatic driving bus 100c of the fourth embodiment shown in FIGS. 14 and 15. The same components as those of the automatic driving bus 100c of the fourth embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The internal camera 61a is provided around the front door 91. The internal camera 61a images a passenger boarding the self-driving bus 100d.

The control device 10d is different from the control device 10c in that the CPU also functions as the passenger identification information acquisition unit 25. The passenger identification information acquisition unit 25 acquires information for identifying the attributes of passengers boarding the autonomous driving bus 100d (hereinafter, referred to as “passenger identification information”) using the captured image of the internal camera 61a. The passenger identification information is information that can identify the attributes of passengers who can use the dedicated space SP2, like the visitor identification information, and is information indicating an age group in the present embodiment. The passenger identification information acquisition unit 25 identifies a person included in the captured image and estimates the age of the detected person to identify the age group of the visitors and acquire the passenger identification information.

The visitor monitoring process of the present embodiment shown in FIG. 19 is executed by adding step S602 and at a point of executing step S610a instead of step S610. Different from monitoring process. Since the other procedures in the attendee monitoring process of the present embodiment are the same as those of the attendee monitoring process of the fourth embodiment, the same procedures are designated by the same reference numerals, and detailed description thereof will be omitted.

In the visitor monitoring process of the present embodiment, the passenger identification information acquired when boarding the automatic driving bus 100d is used to determine whether or not the passenger has the attribute that the dedicated space SP2 can be used, and the dedicated space SP2 is used. When a passenger who does not have the attribute that can use is trying to enter the dedicated space SP2, a warning is given. Specifically, when the visitor monitoring process is started, the passenger identification information acquisition unit 25 acquires the captured image of the internal camera 61a and acquires the passenger identification information (step S602). When the above-mentioned step S605 is executed and the visitor identification information is acquired, the determination unit 24 determines whether or not the visitor to the dedicated space SP2 is an admission target person (step S610a). Specifically, the determination unit 24 collates the passenger identification information with the visitor identification information, and the visitors to the dedicated space SP2 are included in the age group defined as the users of the dedicated space SP2. In that case, it is determined that the person is an admission target person. In step S605, acquisition of the visitor identification information may be omitted. In this case, the face image of the visitor included in the image captured by the internal camera 61 is acquired, and the acquired face image and the acquired face image and step S602 are obtained. By collating with the face image acquired at the time of execution, the passenger identification information of the visitors may be acquired, and it may be determined whether or not the visitors have the attributes predetermined in the dedicated space SP2. ..

When it is determined that the person is not an admission target person (step S610a: NO), the above-mentioned step S615 is executed to alert the visitors to the dedicated space SP2. On the other hand, when it is determined in step S610a described above that the person is an admission target person (step S610a: YES), the admission monitoring process ends.

According to the control device 10d of the present embodiment, whether or not the passenger is a user having a predetermined attribute is determined by using the passenger identification information for identifying the attribute of the passenger who gets on the automatic driving bus 100d. Judgment is made, and it is determined that the passenger is not a user having a predetermined attribute, and when the passenger intends to enter the dedicated space SP2, a notification is given. Therefore, whether or not the passenger is a passenger who can use the dedicated space SP2 is determined. It can be judged at an earlier stage. Therefore, it is possible to further suppress the delay in alerting the visitors to the dedicated space SP2.

(2) The automatic driving bus 100e according to the second embodiment of the fourth embodiment shown in FIG. 20 includes a rear door 92 in addition to the front door 91. The automatic driving bus 100c is a type of bus that gets on and off from the front door 91 or the rear door 92. The rear door 92 is provided in the dedicated space SP2. Therefore, when boarding the automatic driving bus 100e from the rear door 92, the vehicle first enters the dedicated space SP2. An internal camera 61b is provided around the rear door 92, and passenger identification information of passengers getting on the vehicle is acquired from the rear door 92. The determination unit 24 uses this passenger identification information to determine whether or not the passengers who boarded from the rear door 92 are passengers who can use the dedicated space SP2, so that the passengers who cannot use the dedicated space SP2 are rearward. Even when boarding from the door 92, the notification device 55 can be used to call attention.

(3) In each of the fourth embodiments, as the visitor identification information, the passenger identification information included in the IC ticket, the commuter pass, the QR ticket, etc., and the passenger's mobile terminal device are stored. Personal information or the like may be used. In this case, since the image analysis of the captured images of the internal cameras 61, 61a and 61b and the data collation processing can be omitted, the processing load of the visitor monitoring processing can be reduced.

(4) In each embodiment of the fourth embodiment, the number of times the attention has been received is registered in the database in association with the face image of the passenger, and the number of times the attention has been received is equal to or greater than the predetermined number of times. When boarding, you may warn in advance not to enter the dedicated space SP2. Specifically, a notification device is provided near the front door 91, and the face image of a passenger boarding from the front door 91 is collated with the face image registered in the database, and the number of times of alerting is equal to or more than a predetermined number. In the case of a certain passenger, the notification device near the front door 91 may be alerted.

(5) When the other embodiment 2 of the fourth embodiment is applied to a train instead of the autonomous driving bus, the passenger identification information may be acquired at the time of entering the station, for example, at a ticket gate.

E. Other embodiments:
(1) In each of the above embodiments, the moving body on which the control devices 10, 10a, 10b, 10c and 10d are mounted is not limited to the automatic driving bus, but may be a manual driving bus or an on-demand traffic service. It may be a vehicle used or a moving body such as a train or a subway.

Each part such as a control part and a method thereof described in the present disclosure is a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. May be realized by. Alternatively, each unit such as the control unit and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and method thereof described in the present disclosure may be a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

The present disclosure is not limited to the above-described embodiment, and can be realized by various configurations within a range not deviating from the gist thereof. For example, the technical features in the embodiments corresponding to the technical features in each form described in the column of the outline of the invention may be used to solve some or all of the above-mentioned problems, or one of the above-mentioned effects. It is possible to replace or combine as appropriate to achieve part or all. Further, if the technical feature is not described as essential in the present specification, it can be deleted as appropriate.

10 ... Control device, 11 ... Input reception unit, 12 ... Destination setting unit, 13 ... Route setting unit, 14 ... Travel control unit, 71 ... Disembarkation request input unit, 100 ... Automatic driving bus

Claims (10)

A mobile control device (10) mounted on the mobile (100).
An input reception unit (11) that receives an input of a disembarkation request of a passenger who is on the moving body via the disembarkation request input unit (71), and
A destination setting unit (12) that sets the destination of the moving body according to the input mode of the disembarkation request, and
A route setting unit (13) for setting a travel route to the set destination, and
A travel control unit (14) that controls the moving body to travel on the set travel path, and
To prepare
Mobile control device. The mobile control device according to claim 1, further
Using the detection result of the sensor unit (60) provided in the room of the moving body, the vehicle interior condition specifying unit (15) that specifies whether or not a predetermined type of event has occurred in the room. ,
When it is identified that an event of the predetermined type has occurred, a reporting unit (16) that notifies the occurrence of the event to the outside of the moving body, and
To prepare
Mobile control device. The mobile control device according to claim 2.
When it is specified that an event of the predetermined type has occurred, the travel control unit travels the moving body in a travel mode associated with the event in advance.
Mobile control device. A monitoring control device (10a) mounted on a moving body (100a) to monitor the interior of the moving body.
Using the detection result of the sensor unit (60) provided in the room, the passenger on the moving body is associated with the passenger's belongings until the passenger gets off the moving body. , The property management department (17) that monitors the state of the property,
A forgotten item determination unit (18) for determining whether or not the belongings are forgotten when the passenger gets off the moving body, and a forgotten item determination unit (18).
When it is determined that the passenger's belongings are forgotten, the notification unit (16a) that notifies the passenger getting off from the moving body and the notification unit (16a).
To prepare
Monitoring and control device. The monitoring control device according to claim 4.
The belongings management unit stores the forgotten items in a storage unit provided in the room.
Monitoring and control device. The monitoring control device according to claim 4 or 5.
An input reception unit (11a) that accepts input for specifying a delivery method for the lost item from a passenger who has left the lost item on the moving object.
With the delivery management department (19), which delivers the forgotten items according to the accepted delivery method,
Further prepare,
Monitoring and control device. A monitoring control device (10b) that is mounted on a mobile body (100b) on which a user (u2) registered in advance in a database (DB) can ride and monitors the interior of the mobile body.
A passenger information acquisition unit (20) that acquires a face image of a passenger when riding on the moving body by using an image pickup device (61) provided in the room.
Using the image pickup device, a fare payment determination unit (21) for determining whether or not the passenger has paid the fare, and a fare payment determination unit (21).
A reporting unit (16b) that notifies the passenger of unpaid fare when the passenger has not made the payment.
To prepare
Monitoring and control device. The monitoring control device according to claim 7.
In the database, the number of times (dt2) that the payment act is not performed is registered in association with the user.
The reporting unit notifies the manager (500) of the mobile body when the number of times the passenger has not made the payment is equal to or greater than a predetermined number of times.
Monitoring and control device. It is mounted on a mobile body (100c, 100d, 100e) having a guest room divided into a general space (SP1) and a dedicated space (SP2) that can be used only by users having predetermined attributes. It is a monitoring control device (10c, 10d) that monitors
With the visitor identification information acquisition unit (23) that acquires the visitor identification information for identifying the attribute of the visitor to the dedicated space from the imaging device (61) provided around the entrance of the dedicated space. ,
Using the acquired visitor identification information, a determination unit (24) for determining whether or not the visitor is a user having the predetermined attributes, and
When it is determined that the visitor is not a user having the predetermined attributes, the notification device (55) provided in the guest room is used to notify the visitor with the notification unit (16c).
To prepare
Monitoring and control device. The monitoring control device according to claim 9.
A passenger identification information acquisition unit (25) that acquires passenger identification information for identifying the attributes of the passengers of the moving body from an imaging device (61a) provided at the boarding port (91) of the moving body is further added. Prepare,
The determination unit determines whether or not the passenger is a user having the predetermined attributes by using the acquired passenger identification information.
The notification unit notifies the passenger when it is determined that the passenger is not a user having the predetermined attributes and the passenger intends to enter the dedicated space.
Monitoring and control device.

Images