JP2022079326A - Vehicle and control device - Google Patents

Abstract

To appropriately perform an autonomous operation and a manual operation of a vehicle, while preventing theft of the vehicle.SOLUTION: A vehicle, which is configured to communicate with a first radio communication terminal and a second radio communication terminal, can be operated manually by a person on board when a predetermined relation with the first radio communication terminal is satisfied in a manual operation mode, and cannot be manually operated by the person on board when the predetermined relation with the first radio communication terminal is not satisfied in the manual operation mode. In an autonomous operation mode, when the predetermined relation with the first radio communication terminal is satisfied, the mode can be transferred to the manual operation mode, and in the autonomous operation mode, when the predetermined relation with the first radio communication terminal is not satisfied, the mode cannot be transferred to the manual operation mode. In the autonomous operation mode, when the predetermined relation with the first radio communication terminal is not satisfied, the mode can be transferred to the manual operation mode by a predetermined operation of the second radio communication terminal.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to vehicles and control devices.

Patent Document 1 discloses a vehicle control device including a mobile key authentication unit that authenticates a mobile key possessed by a user who uses a vehicle, and an automatic driving control unit having a function of automatically driving the vehicle. The automatic driving control unit permits automatic driving to a personal authentication base where the user's personal authentication is possible when the mobile key authentication unit cannot authenticate the mobile key, and the destination other than the personal authentication base. The automatic driving restriction control for prohibiting the automatic driving and the manual driving is executed, and the automatic driving restriction control is terminated after the vehicle arrives at the personal authentication base and the personal authentication is established. According to this configuration, if the user loses or damages the mobile key while away from home, the vehicle will automatically drive to the personal authentication base by automatic driving restriction control, and the personal authentication will be established at the personal authentication base. As soon as it is done, the automatic operation restriction control is terminated, and normal manual operation and automatic operation to any destination are permitted.

Japanese Unexamined Patent Publication No. 2019-172148

However, in the configuration disclosed in Patent Document 1, if the user loses or damages the mobile key, manual operation cannot be performed at all, and it is necessary to move to the personal authentication base, which is inconvenient for the user. In addition, in the configuration disclosed in Patent Document 1, when an unmanned vehicle is to be automatically driven, a person who has been entrusted with the movement authority of the vehicle without being given a mobile key by the user (hereinafter referred to as a movement authority person) is the vehicle. It cannot be applied when manually driving the vehicle or when the person authorized to move causes the vehicle to drive automatically. This is because in these cases, it is the same as when the mobile key is lost or damaged.

On the other hand, if autonomous driving is permitted by a person who is not given a mobile key by the user without any restrictions, a person who intends to steal the vehicle (hereinafter referred to as a thief) gets into an unmanned vehicle during automatic driving and the person concerned. There is a risk of stealing the vehicle by switching from automatic driving to manual driving.

An object of the present disclosure is to provide a technique capable of appropriately performing autonomous driving and manual driving of a vehicle while deterring theft of the vehicle.

The vehicle according to one aspect of the present disclosure is set to communicate with a first wireless communication circuit set to communicate with the first wireless communication terminal and a second wireless communication terminal different from the first wireless communication terminal. The vehicle is provided with a second wireless communication circuit, and is provided with a manual operation mode in which the passenger of the vehicle manually operates and an autonomous operation mode in which the passenger can move autonomously without boarding. When a predetermined relationship is established with the first wireless communication terminal in the manual operation mode, manual operation by the passenger is possible, and in the manual operation mode, the first wireless communication terminal If the predetermined relationship is not established with the passenger, the manual operation by the passenger is impossible, and the predetermined relationship with the first wireless communication terminal in the autonomous operation mode. If is satisfied, the transition to the manual operation mode is possible, and if the predetermined relationship with the first wireless communication terminal is not established in the autonomous operation mode, the manual operation is performed. When the transition to the mode is impossible and the predetermined relationship is not established with the first wireless communication terminal in the autonomous operation mode, the predetermined operation of the second wireless communication terminal is performed. The transition to the manual operation mode becomes possible.

The control device according to one aspect of the present disclosure is set to communicate with a first wireless communication circuit set to communicate with the first wireless communication terminal and a second wireless communication terminal different from the first wireless communication terminal. A control device that can be mounted on a vehicle equipped with the second wireless communication circuit, which is a manual operation mode in which the occupant of the vehicle manually operates and the occupant can move autonomously without boarding. When a predetermined relationship is established with the first wireless communication terminal in the manual operation mode, manual operation by the passenger is possible, and in the manual operation mode. If the predetermined relationship is not established with the first wireless communication terminal, the manual operation by the passenger is impossible, and in the autonomous operation mode, with the first wireless communication terminal. If the predetermined relationship is established between the two, the transition to the manual operation mode is possible, and in the autonomous operation mode, the predetermined relationship is established with the first wireless communication terminal. If not, the transition to the manual operation mode is impossible, and if the predetermined relationship is not established with the first wireless communication terminal in the autonomous operation mode, the second wireless communication is performed. The transition to the manual operation mode becomes possible by a predetermined operation of the terminal.

It should be noted that these comprehensive or specific embodiments may be realized by a system, a method, an integrated circuit, a computer program or a recording medium, and may be realized by an arbitrary combination of a system, a method, an integrated circuit, a computer program and a recording medium. May be done.

According to the present disclosure, it is possible to provide a technique capable of appropriately performing autonomous driving and manual driving of a vehicle while deterring theft of the vehicle.

The figure which shows an example of the vehicle which concerns on one Embodiment A block diagram showing an example of the configuration of the device included in the vehicle according to the embodiment. The figure which shows the example of the 1st display in the vehicle-in-vehicle display circuit which concerns on one Embodiment. The figure which shows the example of the 2nd or 3rd display in the car interior display circuit which concerns on one Embodiment. The figure which shows the display example during autonomous driving in the display circuit outside the vehicle which concerns on one Embodiment. The figure which shows the display example during manual operation in the vehicle exterior display circuit which concerns on one Embodiment. A flowchart showing an example of vehicle starting processing by the first wireless communication terminal according to an embodiment. A flowchart showing an example of vehicle starting processing by a second wireless communication terminal according to an embodiment. A flowchart showing an example of remote user authentication processing by a second wireless communication terminal according to an embodiment. A flowchart showing an example of the manual operation mode switching process according to the embodiment.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of already well-known matters and duplicate explanations for substantially the same configuration may be omitted. This is to avoid unnecessary redundancy of the following description and to facilitate the understanding of those skilled in the art. It should be noted that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter of the claims.

(Background to this disclosure)
The user of the vehicle (for example, the driver) has a FOB (Frequency Operated Button Key) key which is a key for releasing the door lock of the vehicle, starting the engine, and the like. The user can use the FOB key to unlock the door, board the vehicle, start the engine, and drive the vehicle. When the vehicle has the function of autonomous driving, when the user selects the autonomous driving mode, the vehicle autonomously travels to the destination. When the user performs an operation related to manual driving (for example, steering wheel operation or brake operation) during operation in the autonomous driving mode, the vehicle transfers the operation authority to the user. In addition, when a situation occurs in which the autonomous driving mode cannot be determined autonomously, the vehicle transfers the operation authority to the user. In this way, transferring the operation authority of the vehicle to the user during autonomous driving is called "authority delegation".

As typified by auto valet parking, it is being considered to autonomously drive an unmanned vehicle on which a person does not board to a destination (for example, a parking position). For example, a person who has been entrusted with the movement authority of a vehicle without being given a FOB key by a user (movement authority person) operates a predetermined management terminal to autonomously drive an unmanned vehicle to a destination. In this case, if the thief gets into an unmanned vehicle during autonomous driving and performs an operation related to manual driving, delegation of authority occurs and the driver switches to manual driving. That is, the thief may steal the vehicle.

If the delegation of authority is not permitted when the FOB key does not exist in the vehicle, it seems that the theft of the unmanned vehicle by the above-mentioned thief can be prevented. However, in this case, even if the FOB key of the user who is driving the vehicle breaks down or is lost, the delegation of authority is not permitted. In addition, even when a situation occurs in which manual operation is required by the person who has the authority to move in auto valet parking or the like, the person who has the authority to move does not have the FOB key, so that the person who has the authority to move cannot perform manual operation.

Therefore, in the following, an embodiment in which the user and the person authorized to move can appropriately drive the vehicle automatically and manually while deterring the theft of the vehicle will be described.

(One embodiment)
<Vehicle configuration>
The configuration of the vehicle 1 according to the embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram showing an example of a vehicle 1 according to an embodiment. FIG. 2 is a block diagram showing an example of the configuration of the device included in the vehicle 1 according to the embodiment.

The vehicle 1 includes a first wheel 2a and a second wheel 2b coupled to a vehicle body, and can be moved by using the first wheel 2a and the second wheel 2b. The first wheel 2a may be the front wheel of the vehicle 1, and the second wheel 2b may be the rear wheel of the vehicle 1. In the present embodiment, the case where the vehicle 1 has four wheels will be described, but the vehicle 1 may have two wheels, three wheels, or five or more wheels. Alternatively, the vehicle 1 may be an unmanned aerial vehicle having no wheels represented by a drone.

The vehicle 1 includes a camera device 11, a radar device 12, a positioning device 13, a high-precision map DB (DataBase) 14, an environment recognition device 15, a control device 20, a first wireless communication circuit 21, a second wireless communication circuit 23, and an in-vehicle display. The circuit 27, the vehicle exterior display circuit 28, the engine control device 29, the brake control device 30, and the EPS (Electric Power Steering) control device 31 are included. Further, the vehicle 1 includes an opening / closing unit 40 that is opened / closed for getting on / off the vehicle 1.

The high-precision map DB 14, environment recognition device 15, control device 20, first wireless communication circuit 21, second wireless communication circuit 23, engine control device 29, brake control device 30, and EPS control device 31 are processors, respectively. It may be configured as an ECU (Electronic Control Unit) provided with a memory and a communication I / F. Further, these devices 14, 15, 20, 21, 23, 29, 30, and 31 are not limited to being configured as one ECU, and even if at least two devices are configured as one ECU. good. Further, the devices 11, 12, 13, 14, 15, 20, 21, 23, 27, 28, 29, 30, and 31 included in the vehicle 1 may be capable of transmitting and receiving information to and from each other through the in-vehicle network. Examples of the in-vehicle network include CAN (Controller Area Network), LIN (Local Interconnect Network), and FlexRay.

The camera device 11 photographs the surroundings of the vehicle 1 and generates a peripheral image. The surrounding image may be either a still image or a moving image. As shown in FIG. 1, the vehicle 1 includes a plurality of camera devices 11, and may generate a surrounding image by deforming and synthesizing a photographed image of each camera device 11. Alternatively, the vehicle 1 may be provided with a camera device 11 capable of photographing in all directions, and a surrounding image may be generated by deforming the photographed image of the camera device 11.

The radar device 12 irradiates the surroundings of the vehicle 1 with radio waves and generates 3D point cloud data indicating the reflection points of the radio waves. The 3D point cloud data is data composed of a plurality of points having three-dimensional coordinates (hereinafter referred to as 3D points). That is, the 3D point cloud data is data showing the position and shape of an object existing around the vehicle 1. The radar device 12 may be read as LiDAR (Light Detection and Ranging).

The positioning device 13 measures the position of the vehicle 1 based on the signal received from the Global Navigation Satellite System (GNSS), and generates positioning information indicating the result of the measurement. Positioning information may include measured time, measured longitude and latitude.

The high-precision map DB 14 is a DB that holds map information that shows the links, shapes, lanes, and the like of the road on which the vehicle 1 travels with high accuracy. Further, the high-precision map DB 14 may hold map information indicating the parking hierarchy, structure, parking position, and the like with high accuracy. The high-precision map DB 14 may hold the map information in advance, or may appropriately receive and hold the map information around the vehicle 1 from an external predetermined server through the second wireless communication circuit 23. The map information may be read as another term such as an HD map or a dynamic map.

The environment recognition device 15 recognizes the surrounding environment of the vehicle 1 based on the surrounding image received from the camera device 11, the 3D point cloud data received from the radar device 12, and the positioning information received from the positioning device 13. For example, the environment recognition device 15 recognizes the position, shape, line, road sign, traffic light, other vehicles, bicycles, pedestrians, etc. of the road on which the vehicle 1 is traveling. The recognition result by the environment recognition device 15 may be used for autonomous driving of the vehicle 1 by the control device 20 described later. In addition, the recognition result by the environment recognition device 15 may be used for an advanced driver-assistance system (ADAS).

The first wireless communication circuit 21 is a device provided with a first antenna 22 and set to perform wireless communication with the first wireless communication terminal 51 through the first antenna 22. An example of the first wireless communication terminal 51 is a FOB key or a smartphone possessed by the user of the vehicle 1. The FOB key may be read as another term such as a smart key, an electronic key, a mobile key, or a badge. Examples of wireless communication between the first wireless communication circuit 21 and the first wireless communication terminal 51 include LF (Low Frequency), RF (Radio Frequency), and Bluetooth (registered trademark).

The second wireless communication circuit 23 is a device provided with a second antenna 24 and set to perform wireless communication with a second wireless communication terminal 52 different from the first wireless communication terminal 51 through the second antenna 24. The second wireless communication terminal 52 may be read as a management terminal. Examples of management terminals include PCs, tablet terminals, smartphones, and the like used by persons with mobile authority for auto valet parking. Examples of wireless communication between the second wireless communication circuit 23 and the second wireless communication terminal 52 include cellular (for example, LTE (Long Term Evolution), 4G, 5G), Wi-Fi (registered trademark), and Bluetooth. .. The second wireless communication circuit 23 and the second wireless communication terminal 53 may communicate with each other via a predetermined server.

When the first wireless communication terminal 51 and the second wireless communication terminal 52 correspond to a common wireless communication method (for example, Bluetooth), the first wireless communication circuit 21 and the second wireless communication circuit 23 are the same. It may be there. Alternatively, in this case, the first wireless communication circuit 21 and the second wireless communication circuit 23 may be configured as one wireless communication circuit.

The control device 20 is a device that controls the behavior of the vehicle 1 such as forward, backward, turn, and stop. The control device 20 is coupled to at least the first wireless communication circuit 21 and the second wireless communication circuit 23. The control device 20 has a manual operation mode and an autonomous operation mode.

In the manual operation mode, the control device 20 controls the behavior of the vehicle 1 according to the manual operation by the passenger. For example, the control device 20 moves the vehicle 1 forward, backward, turns, and stops in response to a steering wheel operation, a shift operation, an accelerator operation, and a brake operation by the occupant.

In the autonomous driving mode, the control device 20 autonomously controls the behavior of the vehicle 1 while using the recognition result of the surroundings of the vehicle 1 by the environment recognition device 15, and moves the vehicle 1 to the destination. In the autonomous driving mode, a person may or may not be on board the vehicle 1.

The control device 20 may enable manual operation by the passenger when a predetermined relationship is established with the first wireless communication terminal 51 in the manual operation mode. The passenger in this case is, for example, the user of vehicle 1.

In the manual operation mode, the control device 20 may make manual operation by the passenger impossible if a predetermined relationship is not established with the first wireless communication terminal 51. The passenger in this case is, for example, a thief.

In the autonomous operation mode, the control device 20 may enable a transition to the manual operation mode when a predetermined relationship is established with the first wireless communication terminal 51. That is, the control device 20 may enable delegation of authority in this case.

In the autonomous operation mode, the control device 20 may make the transition to the manual operation mode impossible if a predetermined relationship is not established with the first wireless communication terminal 51. That is, in this case, the control device 20 may make delegation of authority impossible.

In the autonomous operation mode, the control device 20 shifts to the manual operation mode by a predetermined operation of the second wireless communication terminal 52 when a predetermined relationship is not established with the first wireless communication terminal 51. It may be possible. That is, even if a predetermined relationship is not established with the first wireless communication terminal 51, the control device 20 transfers authority when a predetermined operation is performed on the second wireless communication terminal 52. It may be possible.

When a predetermined relationship is established with the first wireless communication terminal 51, the first wireless communication circuit 21 succeeds in user authentication for the user authentication signal received from the first wireless communication terminal 51. It may be the case.

When a predetermined relationship is not established with the first wireless communication terminal 51, the user authentication of the user authentication signal received from the first wireless communication terminal 51 by the first wireless communication circuit 21 fails. It may be the case that the first wireless communication circuit 21 has not received the signal for user authentication.

The predetermined operation of the second wireless communication terminal 52 is an operation of the second wireless communication terminal 52 by a person who has been entrusted with the movement authority of the vehicle 1 (that is, a person who has the movement authority) without being handed over the first wireless communication terminal 51 by the user. May be. For example, the mobile authority operates the second wireless communication terminal 52 to transmit a user authentication signal from the second wireless communication terminal 52. The second wireless communication circuit 23 receives the user authentication signal transmitted from the second wireless communication terminal 52, and the control device 20 performs user authentication for the user authentication signal received by the second wireless communication circuit 23. You may go.

The opening / closing section 40 included in the vehicle is configured to be openable / closable, and the passenger can open the opening / closing section 40 to enter / exit the vehicle 1. The opening / closing portion 40 may be read as the door of the vehicle 1. The opening / closing section 40 may include a lock circuit 41 that locks the opening / closing section 40.

The control device 20 may be able to open / close the opening / closing unit 40 when a predetermined relationship is established with the first wireless communication terminal 51 in the autonomous operation mode. As a result, the user who possesses the first wireless communication terminal 51 can open the opening / closing unit 40.

In the autonomous operation mode, the control device 20 may not open the opening / closing unit 40 by the lock circuit 41 when a predetermined relationship is not established with the first wireless communication terminal 51. As a result, a thief who does not have the first wireless communication terminal 51 cannot open the opening / closing unit 40.

In the autonomous operation mode, the control device 20 makes it possible to open / close the opening / closing unit 40 by a predetermined operation of the second wireless communication terminal 52 when a predetermined relationship is not established with the first wireless communication terminal 51. good. As a result, the mobile authority can operate the second wireless communication terminal 52 to open the opening / closing unit 40.

The display circuit displays information. The display circuit is an in-vehicle display circuit 27, which is exemplified in FIGS. 1, 3A and 3B, and is displayed toward the inside of the vehicle 1, and an in-vehicle display circuit 27, which is exemplified in FIGS. 1, 4A and 4B, and is directed to the outside of the vehicle 1. Includes at least one of the vehicle exterior display circuits 28 to be displayed. Examples of the in-vehicle display circuit 27 include an instrument panel (see FIGS. 3A and 3B), a liquid crystal display, an organic EL display, and an LED. Examples of the vehicle exterior display circuit 28 include a liquid crystal display, an organic EL display, and an LED. Although the vehicle exterior display circuit 28 is provided on the roof of the vehicle 1 in FIG. 1, the vehicle exterior display circuit 28 may be provided at a location different from that on the roof of the vehicle 1. For example, the vehicle exterior display circuit 28 may be provided on the front bumper of the vehicle 1, the head ride of the vehicle 1, or the like.

In the autonomous operation mode, when a predetermined relationship is established with the first wireless communication terminal 51, the display circuit performs the first display. For example, the in-vehicle display circuit 27 displays, as the first display, information indicating that the user has been authenticated, as shown in FIG. 3A. As a result, the user having the first wireless communication terminal 51 can recognize that the authority can be delegated by looking at the first display of the in-vehicle display circuit 27. The vehicle exterior display circuit 28 may perform the first display.

In the autonomous operation mode, when a predetermined relationship is not established with the first wireless communication terminal 51, the display circuit performs a second display. For example, the in-vehicle display circuit 27 does not display information regarding user authentication as a second display, as shown in FIG. 3B. As a result, the thief cannot recognize whether or not the delegation of authority is possible even by looking at the second display of the in-vehicle display circuit 27. The outside display circuit 28 may perform the second display.

In the autonomous operation mode, when a predetermined relationship is not established with the first wireless communication terminal 51, and the opening / closing unit 40 can be opened / closed by a predetermined operation of the second wireless communication terminal 52. , The display circuit makes a third display different from the first display. For example, the in-vehicle display circuit 27 does not display information regarding user authentication as a third display, as shown in FIG. 3B. The second display and the third display may be the same. As a result, even if the authority of the vehicle 1 can be transferred by a predetermined operation of the second wireless communication terminal 52, the thief can transfer the authority even by looking at the third display of the in-vehicle display circuit 27. I can't recognize whether or not it is. The vehicle exterior display circuit 28 may perform a third display.

The second wireless communication terminal 52 includes a display circuit 53 for displaying information. Examples of the display circuit 53 include a liquid crystal display and an organic EL display.

When the vehicle 1 can transition to the manual operation mode by a predetermined operation of the second wireless communication terminal 52, the display circuit 53 of the second wireless communication terminal 52 causes the vehicle 1 to transition to the manual operation mode. You may indicate that it is possible. Further, the display circuit 53 of the second wireless communication terminal 52 may display information indicating that the opening / closing unit 40 of the vehicle 1 can be opened / closed when the opening / closing unit 40 of the vehicle 1 can be opened / closed. .. As a result, even if the information related to user authentication is not displayed on the in-vehicle display circuit 27 as described above, the mobile authority can transfer the authority by the above display on the display circuit 53 of the second wireless communication terminal 52. Can be recognized.

The engine control device 29 controls the behavior of the engine included in the vehicle 1. In the manual operation mode, the engine control device 29 may control the behavior of the engine (that is, forward or backward of the vehicle 1) according to the shift operation and the accelerator operation by the passenger. In the autonomous operation mode, the engine control device 29 controls the behavior of the engine according to the autonomous control by the control device 20. When the vehicle 1 is an electric vehicle or a hybrid vehicle, the engine may be read as a motor.

The brake control device 30 controls the behavior of the brake included in the vehicle 1. In the manual operation mode, the engine control device 29 may control the behavior of the brake (that is, the stop of the vehicle 1) according to the brake operation by the passenger. In the case of the autonomous driving mode, the brake control device 30 may control the behavior of the brake according to the autonomous control by the control device 20.

The EPS control device 31 controls the steering behavior of the vehicle 1. In the manual operation mode, the EPS control device 31 may control the steering behavior (that is, the turn of the vehicle 1) according to the steering wheel operation by the passenger. In the case of the autonomous driving mode, the EPS control device 31 may control the steering behavior according to the autonomous control by the control device 20.

<Vehicle operation>
An example of the processing performed by the vehicle 1 and the control device 20 according to the present embodiment will be described with reference to the flowcharts shown in FIGS. 5 to 8.

FIG. 5 is a flowchart showing an example of the starting process of the vehicle 1 by the first wireless communication terminal 51 according to the embodiment. This process may be started when the first wireless communication terminal 51 possessed by the user transmits a signal for user authentication and the first wireless communication circuit 21 receives the signal for user authentication.

As S101, the control device 20 performs user authentication on the user authentication signal received from the first wireless communication terminal 51, and determines whether or not the user authentication is successful.

If the user authentication fails in the determination of S101 (S101: NO), the control device 20 ends this process.

In the determination of S101, if the user authentication is successful (S101: YES), as S102, the control device 20 indicates that the user authentication of the first wireless communication terminal 51 has been completed, and the status information for holding the authentication status. Write to.

As S103, the control device 20 unlocks the opening / closing unit 40 through the lock circuit 41 and permits the ignition to be turned on.

As S104, when the user boarding the vehicle 1 performs the engine start operation, the control device 20 starts the engine.

As S105, the control device 20 switches to the autonomous operation mode.

As S106, as shown in FIG. 4A, the control device 20 displays information indicating that the vehicle 1 is operating in the autonomous driving mode on the vehicle exterior display circuit 28. As a result, a person in the vicinity of the vehicle 1 and other vehicles can recognize that the vehicle 1 is autonomously driving.

As S107, as shown in FIG. 3A, the control device 20 displays information indicating that the user has been authenticated on the in-vehicle display circuit 27. As a result, the passenger (user) of the vehicle 1 can recognize that the authority can be delegated. Then, the control device 20 ends this process.

FIG. 6 is a flowchart showing an example of the starting process of the vehicle 1 by the second wireless communication terminal 52 according to the embodiment. This process is started when, for example, the second wireless communication terminal 52 operated by the mobile authority transmits a signal for autonomous driving authentication, and the second wireless communication circuit 23 receives the signal for autonomous driving authentication. You can do it. For example, in auto valet parking, when the unmanned vehicle 1 is autonomously moved to the parking position, the person authorized to move may perform an operation related to the autonomous driving authentication to the second wireless communication terminal 52.

As S201, the control device 20 authenticates the signal for autonomous driving authentication received from the second wireless communication terminal 52, and determines whether or not the autonomous driving authentication is successful.

If the autonomous driving authentication fails in the determination of S201 (S201: NO), the control device 20 ends this process.

If the autonomous driving authentication is successful in the determination of S201 (S201: YES), the control device 20 turns on the ignition and starts the engine as S202. At this time, the user or the person who has the authority to move may not exist in the vehicle 1. That is, the vehicle 1 may be unmanned.

As S203, the control device 20 switches to the autonomous operation mode.

As S204, as shown in FIG. 4A, the control device 20 displays information indicating that the vehicle 1 is operating in the autonomous driving mode on the vehicle exterior display circuit 28. As a result, a person in the vicinity of the vehicle 1 and other vehicles can recognize that the vehicle 1 is autonomously driving. Then, the control device 20 ends this process.

FIG. 7 is a flowchart showing an example of a remote user authentication process by the second wireless communication terminal 52 according to the embodiment. This process may be started, for example, when the second wireless communication terminal 52 operated by the mobile authority transmits a user authentication signal and the second wireless communication circuit 23 receives the user authentication signal. .. For example, when a situation occurs in auto valet parking where manual operation of the vehicle 1 is required, the mobile authority may perform an operation related to the user authentication on the second wireless communication terminal 52. Alternatively, when the first wireless communication terminal 51 of the user who is on board the vehicle 1 is damaged or lost, the mobile authority may perform an operation related to the user authentication on the second wireless communication terminal 52.

As S301, the control device 20 authenticates the user authentication signal received from the second wireless communication terminal 52, and determines whether or not the user authentication is successful.

If the user authentication fails in the determination of S301 (S301: NO), the control device 20 ends this process.

If the user authentication is successful in the determination of S301 (S301: YES), the control device 20 writes in the status information that the user authentication of the second wireless communication terminal 52 has been completed. Here, as shown in FIG. 3B, the control device 20 does not display the information indicating that the user has been authenticated on the in-vehicle display circuit 27. This is because when the information indicating that the user has been authenticated is displayed on the in-vehicle display circuit 27, it is known that the authority can be transferred to the thief who got into the unmanned vehicle 1. Then, the control device 20 ends this process.

FIG. 8 is a flowchart showing an example of the manual operation mode switching process according to the embodiment.

As S401, the control device 20 determines whether or not the manual operation by the passenger has been performed. Here, the passenger may be any of the user of the vehicle 1, the person authorized to move, and the thief. Further, the manual operation may be a steering wheel operation, an accelerator operation, a brake operation, or the like, as described above.

In the determination of S401, if no manual operation is performed by the passenger (S401: NO), the control device 20 ends this process.

In the determination of S401, when a manual operation is performed by the passenger (S401: YES), as S402, the control device 20 determines whether or not the first wireless communication terminal 51 has been user-authenticated in the status information. ..

In the determination of S402, if the first wireless communication terminal 51 is not user-authenticated in the status information (S402: NO), as S403, the control device 20 determines whether the second wireless communication terminal 52 has been user-authenticated in the status information. Judge whether or not.

In the determination of S403, if the second wireless communication terminal 52 has not been user-authenticated in the status information (S403: NO), as S404, the control device 20 ends this process while maintaining the autonomous operation mode. For example, when the passenger is a thief, even if a manual operation is performed, the determination of either S401 or S402 is NO, so that the autonomous driving mode is maintained in this way. As a result, it is possible to prevent the thief from delegating authority and stealing the vehicle 1.

In the determination of S402, the first wireless communication terminal 51 has been user-authenticated in the status information (S402: YES), or in the determination of S402, the second wireless communication terminal 52 has been user-authenticated in the status information. If there is (S403: YES), as S405, the control device 20 switches to the manual operation mode. For example, when the passenger is a user or a person who has the authority to move, the determination of S402 or S403 becomes YES by performing the manual operation, so that the manual operation mode is switched in this way. As a result, the user of the vehicle 1 or the person who has the authority to move can transfer the authority and switch to the manual operation.

As S406, as shown in FIG. 4B, the control device 20 displays information indicating the manual operation mode on the vehicle exterior display circuit 28. As a result, a person in the vicinity of the vehicle 1 and other vehicles can recognize that the vehicle 1 is being manually driven. Then, the control device 20 ends this process.

The embodiment of the present embodiment has been described above.

According to the present embodiment, the user possessing the first wireless communication terminal 51 and the mobile authorized person who can authenticate the user through the second wireless communication terminal 52 can switch the autonomous operation to the manual operation. .. On the other hand, a thief who does not have the first wireless communication terminal 51 and does not have the operation authority of the second wireless communication terminal 52 can switch the autonomous driving to the manual driving even if he / she gets into the unmanned vehicle 1. I can't. Therefore, according to the present embodiment, the user and the person authorized to move can appropriately drive the vehicle 1 autonomously and manually while deterring the theft of the vehicle 1.

Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can come up with various modifications, modifications, substitutions, additions, deletions, and even examples within the scope of the claims. It is understood that it belongs to the technical scope of the present disclosure. Further, each component in the above-described embodiment may be arbitrarily combined as long as the gist of the invention is not deviated.

The technique of the present disclosure is useful for vehicles capable of autonomous driving.

1 Vehicle 2a 1st wheel 2b 2nd wheel 11 Camera device 12 Radar device 13 Positioning device 14 High-precision map DB
15 Environment recognition device 20 Control device 21 1st wireless communication circuit 22 1st antenna 23 2nd wireless communication circuit 24 2nd antenna 27 In-vehicle display circuit 28 External display circuit 29 Engine control device 30 Brake control device 31 EPS control device 40 Open / close section 41 Lock circuit 51 1st wireless communication terminal 52 2nd wireless communication terminal 53 Display circuit

Claims (20)

The first wireless communication circuit set to communicate with the first wireless communication terminal,
A second wireless communication circuit set to communicate with a second wireless communication terminal different from the first wireless communication terminal, and
It is a vehicle equipped with
It has a manual driving mode in which the passenger of the vehicle manually drives, and an autonomous driving mode in which the passenger can move autonomously without boarding.
In the manual operation mode, when a predetermined relationship is established with the first wireless communication terminal, manual operation by the passenger is possible.
In the manual operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the manual operation by the passenger is impossible.
In the autonomous operation mode, when the predetermined relationship is established with the first wireless communication terminal, the transition to the manual operation mode is possible.
In the autonomous operation mode, if the predetermined relationship is not established with the first wireless communication terminal, the transition to the manual operation mode is impossible.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the transition to the manual operation mode is possible by the predetermined operation of the second wireless communication terminal. Become,
vehicle. The vehicle according to claim 1.
In addition, it is equipped with a control circuit.
The control circuit is coupled to at least the first wireless communication circuit and the second wireless communication circuit.
vehicle. The vehicle according to claim 1 or 2, further
The passenger can enter and exit, and it has an opening / closing part equipped with a lock circuit.
In the autonomous operation mode, when the predetermined relationship is established with the first wireless communication terminal, the opening / closing unit can be opened / closed.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the opening / closing portion cannot be opened by the lock circuit.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the opening / closing portion can be opened / closed by a predetermined operation of the second wireless communication terminal.
vehicle. The vehicle according to claim 3.
In addition, it is equipped with a display circuit.
In the autonomous operation mode, when the predetermined relationship is established with the first wireless communication terminal, the display circuit performs the first display.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the display circuit makes a second display.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the opening / closing portion can be opened / closed by a predetermined operation of the second wireless communication terminal. If so, the display circuit makes a third display different from the first display.
vehicle. The vehicle according to claim 4.
The second display and the third display are the same.
vehicle. The vehicle according to claim 4 or 5.
The display circuit is an in-vehicle display circuit that displays toward the inside of the vehicle and / or a vehicle that is an outside display circuit that displays toward the outside of the vehicle. The vehicle according to any one of claims 1 to 6.
The second wireless communication terminal includes a display circuit and has a display circuit.
When the vehicle can transition to the manual operation mode by the predetermined operation of the second wireless communication terminal, the display circuit of the second wireless communication terminal causes the vehicle to shift to the manual operation mode. Displays that the transition is possible,
vehicle. The vehicle according to any one of claims 1 to 6, further comprising a vehicle body and a vehicle body.
The first wheel and the second wheel coupled to the vehicle body are provided.
Movable using the first wheel and the second wheel,
vehicle. The vehicle according to any one of claims 1 to 8.
The first wireless communication circuit includes a first antenna and has a first antenna.
The second wireless communication circuit includes a second antenna.
vehicle. The vehicle according to any one of claims 1 to 9.
The first wireless communication circuit and the second wireless communication circuit are the same.
vehicle. The first wireless communication circuit set to communicate with the first wireless communication terminal,
A second wireless communication circuit set to communicate with a second wireless communication terminal different from the first wireless communication terminal, and
It is a control device that can be mounted on a vehicle equipped with
It has a manual driving mode in which the passenger of the vehicle manually drives, and an autonomous driving mode in which the passenger can move autonomously without boarding.
In the manual operation mode, when a predetermined relationship is established with the first wireless communication terminal, manual operation by the passenger is possible.
In the manual operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the manual operation by the passenger is impossible.
In the autonomous operation mode, when the predetermined relationship is established with the first wireless communication terminal, the transition to the manual operation mode is possible.
In the autonomous operation mode, if the predetermined relationship is not established with the first wireless communication terminal, the transition to the manual operation mode is impossible.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the transition to the manual operation mode is possible by the predetermined operation of the second wireless communication terminal. Become,
Control device. The control device according to claim 11.
In addition, it is equipped with a control circuit.
The control circuit is coupled to at least the first wireless communication circuit and the second wireless communication circuit.
Control device. The control device according to claim 11 or 12.
The vehicle is further accessible to passengers and has an opening / closing section with a lock circuit.
In the autonomous operation mode, when the predetermined relationship is established with the first wireless communication terminal, the opening / closing unit can be opened / closed.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the opening / closing portion cannot be opened by the lock circuit.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the opening / closing portion can be opened / closed by a predetermined operation of the second wireless communication terminal.
Control device. The control device according to claim 13.
The vehicle is further equipped with a display circuit.
In the autonomous operation mode, when the predetermined relationship is established with the first wireless communication terminal, the display circuit performs the first display.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the display circuit makes a second display.
In the autonomous operation mode, when the predetermined relationship is not established with the first wireless communication terminal, the opening / closing portion can be opened / closed by a predetermined operation of the second wireless communication terminal. If so, the display circuit makes a third display different from the first display.
Control device. The control device according to claim 14.
The second display and the third display are the same.
Control device. The control device according to claim 14 or 15.
The display circuit is an in-vehicle display circuit that displays toward the inside of the vehicle and / or an outside display circuit that displays toward the outside of the vehicle.
Control device. The control device according to any one of claims 11 to 16.
The second wireless communication terminal includes a display circuit and has a display circuit.
When the vehicle can transition to the manual operation mode by the predetermined operation of the second wireless communication terminal, the display circuit of the second wireless communication terminal causes the vehicle to shift to the manual operation mode. Displays that the transition is possible,
Control device. The control device according to any one of claims 11 to 16.
The vehicle further includes a vehicle body and
The first wheel and the second wheel coupled to the vehicle body are provided.
Movable using the first wheel and the second wheel,
Control device. The control device according to any one of claims 11 to 18.
The first wireless communication circuit of the vehicle includes a first antenna.
The second radio communication circuit of the vehicle comprises a second antenna.
vehicle. The control device according to any one of claims 11 to 19.
The first wireless communication circuit of the vehicle and the second wireless communication circuit of the vehicle are the same.
Control device.

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