JP6646314B2 - Automotive and automotive programs - Google Patents

Description

  The present invention relates to an automobile and an automobile program.

  If cars are shared between family members or multiple employees of the company, one or a small number of cars can be used effectively by multiple people, which is convenient and the use cost is reduced. Can be. However, in this case, if anyone can use the vehicle to be shared, theft of the vehicle cannot be prevented.

  Therefore, conventionally, for the purpose of preventing theft of a vehicle, authentication reference information such as biometric information of a person who intends to use the vehicle is registered and stored in advance, and the stored authentication reference information and By comparing and referring to authentication information of a user who intends to use the car, authentication is performed based on whether or not the two match, and based on the authentication result, opening / closing of a vehicle door and control of starting of the vehicle are performed. There have been proposed devices and methods for doing so (for example, see Patent Documents 1 and 2 below).

  In this case, when it is assumed that a car is used by more than one family member or a plurality of employees of the company, it is necessary to authenticate the biometric information of all the people who plan to use the car. Reference information is registered in advance, so that all of the plurality of registrants can share the car.

JP 2010-208554 A JP 2011-025903 A

  As described above, it is possible that only a limited plurality of users can use the shared vehicle.

  Recently, self-driving cars have been attracting attention. However, according to this self-driving car, unmanned driving without a driver is possible, and the user has not acquired the driving skills. However, since the vehicle can be moved by a car, a plurality of people can easily use a common car.

  However, when multiple users can use the car in this way, it is unclear whether other users want to use the car, and they are confused whether they can start using it. There is. Further, there is a case where the user cannot use the service because he / she is planning to use the service and the user is beyond the user. Conversely, there is a case where another user cannot use the device in an emergency because the user has used the device, which causes trouble.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an automobile capable of smoothly adjusting the competition of use of a shared automobile by a plurality of users and improving security in terms of security. And

In order to solve the above problems, the invention of claim 1 is:
An automobile that performs autonomous driving by autonomous driving,
Wireless communication means;
At least the authentication reference information about the use schedule registrant registered in advance as a person who plans to use the vehicle, a drive schedule registrant information storage means for storing in association with identification information of the use schedule registrant,
Schedule schedule storage means for storing schedule information of the schedule of use of the own vehicle in association with each of the identification information of the use schedule registrant;
Based on the stored schedule information stored in the scheduled schedule storage means, an autonomous movement control means controlling to move the own vehicle by autonomous traveling,
From the authentication reference information and the information obtained from the schedule requester who has made a request to accept the pre-storage schedule information of the use schedule of the own vehicle through the wireless communication means, the schedule requester is the use schedule registrant. Pre-storage schedule information receiving means for determining whether or not there is, and when determining that the user is the use schedule registrant, receiving the pre-storage schedule information of the schedule related to the reception request by the schedule requester,
And the schedule adjustment memory control means,
With
The schedule adjustment storage control means,
Wherein the contention determination unit that accepts the storage before scheduling information according to the request and said already stored schedule information stored in said predetermined schedule storage means determines whether competing accepted by the pre-storage schedule information accepting means,
Means for storing the pre-storage schedule information in the scheduled schedule storage means, when the conflict determination means determines that there is no conflict ;
When the conflict determination unit determines that a conflict occurs, a communication including the communication by the wireless communication unit is used between the scheduled competitor who has registered the conflicting stored schedule information and the scheduled requester. Means for controlling the schedule to be adjusted by
Wherein the scheduled schedule storage means does not have the stored schedule information that conflicts with each other.
An automobile is provided.

  The vehicle according to the first aspect of the present invention is an autonomous vehicle that performs automatic driving by autonomous driving, and includes wireless communication means. Then, information on the use schedule registrant is stored in advance in the use schedule registrant information storage unit as a person who plans to use the own vehicle. As the information of the use schedule registrant, at least information for authentication reference is stored in association with the identification information of the use schedule registrant.

  The schedule information receiving means includes information obtained from a schedule requester who has made a request to receive a use schedule of the own vehicle through the wireless communication means, and authentication reference information stored in the use schedule registrant information storage means, It is determined whether or not the schedule requester is a use schedule registrant, and when it is determined that the schedule requester is a use schedule registrant, schedule information relating to an acceptance request by the schedule requester is received. Therefore, a request for accepting schedule information from a person other than the registrant of the use schedule is rejected.

  Then, the schedule adjustment storage control unit determines whether or not the schedule information stored in the schedule schedule storage unit and the information on the schedule related to the reception request of the schedule requester received by the schedule information reception unit conflict with each other, If it is determined that there is no conflict, the schedule information related to the request for the schedule requester is stored in the schedule schedule storage means in association with the identification information of the use schedule registrant corresponding to the schedule requester.

  Then, the autonomous movement control means controls the own vehicle to move by autonomous traveling based on the schedule information stored in the schedule schedule storage means.

  Therefore, according to the vehicle of the present invention, it is possible to provide a vehicle in which a plurality of users can smoothly adjust the competition of use of the vehicle to be shared, and can improve security in terms of security.

  According to the present invention, the self-vehicle is an autonomous vehicle that performs autonomous driving by autonomous driving, the schedule information of the self-vehicle is stored in the schedule schedule storage means, and the schedule adjustment storage control means is used for a plurality of usages. Schedule information by users can be controlled and stored so that they do not conflict with each other, making it possible for multiple users to smoothly coordinate the use of vehicles to be shared and improve security. Can be provided.

It is a figure for explaining the example of the utilization form of the embodiment of the car by this invention. 1 is a block diagram illustrating a configuration example of an electronic control circuit of an automatic driving vehicle according to an embodiment of an automobile according to the present invention. FIG. 3 is a diagram used to explain a configuration example of a part of an electronic control circuit of the automatic driving vehicle in the example of FIG. 2. FIG. 3 is a diagram used to explain a configuration example of a part of an electronic control circuit of the automatic driving vehicle in the example of FIG. 2. FIG. 3 is a diagram used to explain a configuration example of a part of an electronic control circuit of the automatic driving vehicle in the example of FIG. 2. FIG. 3 is a diagram used to explain a configuration example of a part of an electronic control circuit of the automatic driving vehicle in the example of FIG. 2. FIG. 3 is a diagram used to explain a configuration example of a part of an electronic control circuit of the automatic driving vehicle in the example of FIG. 2. It is a figure showing the flow chart for explaining the flow of processing of use schedule registrant registration in the self-driving car of the embodiment of the car by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the self-driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the self-driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the self-driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the self-driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the self-driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the self-driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the self-driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the self-driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the self-driving vehicle of embodiment of the motor vehicle by this invention. It is a figure for explaining other examples of processing of schedule adjustment of schedule information in an automatic operation vehicle of an embodiment of a car by this invention. FIG. 9 is a diagram showing a part of a flowchart for describing another example of the flow of the process of adjusting the schedule of the schedule information in the automatic driving vehicle of the embodiment of the automobile according to the present invention. FIG. 9 is a diagram showing a part of a flowchart for describing another example of the flow of the process of adjusting the schedule of the schedule information in the automatic driving vehicle of the embodiment of the automobile according to the present invention.

  The embodiment described below is an example in which the automobile is a so-called private automobile and has a configuration of an automatic driving car. In this embodiment, the use form as shown in FIG. 1 is enabled for the automatic driving vehicle 1 which is an embodiment of the automobile of the present invention. In FIG. 1, main functional units provided in the automatic driving vehicle 1 are described as functional blocks.

  First, this utilization form will be described, and an outline of the operation of the automatic driving vehicle 1 according to the embodiment will be described. The self-driving vehicle 1 of the embodiment described below is assumed to be shared by a plurality of users, for example, shared between family members and relatives, and among friends. The sharing user registers the self-driving vehicle 1 in advance as a use schedule registrant. The self-driving vehicle 1 stores the information of the registered use schedule registrant in the use schedule registrant information storage unit 12 in association with identification information including a registrant number and the like. In this case, as the information of the registrant of use, biometric information such as a face image, a voice, a fingerprint, a palm print, a vein, and an iris, a name, an address, a date of birth, a sex, In addition to the nationality, ID, and password, a telephone number or a mail address, which is an example of connection information described later, is stored.

  In this embodiment, the self-driving car 1 uses the stored information of the use schedule registrant alone or in combination of a plurality of the information to use as the use reference registrant authentication reference information described later. is there. That is, as the authentication reference information of the registrant, the biometric information such as face image, voice, fingerprint, palm print, vein, and iris, name, address, date of birth, gender, nationality, ID, password, telephone number or E-mail addresses and the like can be used alone or in combination.

  As the face image of the registrant of use, an image captured by a camera included in the self-driving car 1 can be used, and other biometric information of the registrant of use can be one stored in the memory of the self-driving car 1 in advance. Can be used. As other information, the information inputted by the use schedule registrant can be used. In addition, biometric information including a face image and other information stored on a cloud can be used via the communication network 3. Furthermore, the face image of the registrant of use can also be used by a camera provided in a mobile phone terminal such as a smartphone owned by the user, and other biometric information and other information of the registrant of use can be used. What is stored in the memory of the mobile phone terminal in advance can also be used.

  The self-driving vehicle 1 of this embodiment includes a wireless communication unit 11 having a function of performing communication through a communication network 3 including a mobile phone network and the Internet. The wireless communication means 11 has a function of a mobile phone given a specific mobile phone number (subscriber phone number). The wireless communication means 11 also has an e-mail communication function to which a predetermined mail address is given.

  In the example of FIG. 1, first, for example, a user 2A who is a member of a family and is stored in the self-driving car 1 as a scheduled use registrant, Sends a scheduled reception request through the communication network 3. Then, the self-driving vehicle 1 receives the reception request through the wireless communication unit 11, determines whether or not the user 2 </ b> A is the registrant of use by the supposed requester authentication unit 13, and determines whether the user 2 </ b> A is the registrant of use. When it is confirmed that there is a request, a schedule reception request from the user 2A is received, and the schedule information is received by the schedule information receiving means 15. Then, the schedule adjustment storage control unit 16 refers to the schedule information of the use schedule stored in the schedule schedule storage unit 14 and already registered, and there is schedule information that conflicts with the received schedule information requested to be received. It is determined whether or not there is no conflicting schedule information, and when it is determined that there is no conflicting schedule information, the schedule information set by the user 2A is stored in the schedule schedule storage means 14 with the identification information of the user 2A (use schedule registrant information storage). (The identification information of the use schedule registrant stored in the means 12).

  Next, for example, the user 2B, which is another member of the family, stored in the self-driving car 1 as a use schedule registrant sends a self-driving car 1 a request to receive a schedule. Then, the self-driving vehicle 1 receives the reception request through the wireless communication unit 11, determines whether or not the user 2B is the registrant of use by the supposed requester authentication unit 13 and determines whether the user 2B is the registrant of use. After confirming that there is a request, the schedule receiving request from the user 2B is received, and the schedule information receiving means 15 receives the schedule information. Then, the schedule adjustment storage control unit 16 refers to the schedule information of the use schedule stored in the schedule schedule storage unit 14 and already registered, and there is schedule information that conflicts with the received schedule information requested to be received. It is determined whether or not there is no conflicting schedule information, and when it is determined that there is no conflicting schedule information, the schedule information set by the user 2B is stored in the schedule schedule storage unit 14 by the identification information of the user 2B (the registration information of the use schedule registrant). (Identification information).

  Then, when the schedule of the user 2A is earlier than the schedule of the user 2B, the self-driving vehicle 1 sets the scheduled use start time of the user 2A to the use start specified by the user 2A by the autonomous movement control means 17. Go to the scheduled position. In this embodiment, the autonomous movement control means 17 has a function of moving by autonomous traveling by unmanned driving.

  Then, the occupant authentication unit 18 of the self-driving vehicle 1 authenticates the user 2A who is about to get on the vehicle, using the authentication reference information stored in the use schedule registrant information storage unit 12 and the authentication reference information acquired from the user 2A. By comparing and referring to the information, authentication is performed as to whether or not the occupant is the user 2A. When the authentication result that the occupant is the user 2A is obtained, the user 2A is allowed to ride. . Then, the autonomous vehicle 1 is caused to autonomously travel by the autonomous movement control means 17 in accordance with the schedule information registered by the user 2A in response to the schedule request.

  By the way, if the self-driving car 1 is stored in the schedule schedule storage unit 14 and has already been registered, the schedule information of the scheduled use of the user 2A and the schedule information of the user 2B received as a new reception request are displayed. Is determined, the schedule information of the user 2A and the user 2B is adjusted as described later, and the schedule information of the user 2B is accepted or rejected according to the adjustment result. To Then, depending on the adjustment result, it is necessary to change the schedule information of the users 2A and 2B, and accordingly, the change of the schedule information of the users 2A and 2B is accepted.

  In this embodiment, a mobile phone terminal that requests the self-driving vehicle 1 to receive schedule information is provided with a dedicated application program (hereinafter, referred to as a dedicated application) for requesting reception of the schedule information. The user of the telephone terminal installs it in advance. Then, when the user performs an operation for requesting reception of the self-driving vehicle 1 by using the dedicated application for requesting reception of schedule information of the mobile phone terminal, the wireless communication means 11 of the self-driving vehicle 1 is automatically transmitted to the wireless communication unit 11 of the self-driving vehicle 1. A telephone call is sent to the self-driving car 1 to send a request for receiving schedule information. The device that issues the request for receiving the schedule information is not limited to the mobile phone terminal, and may be a PC (personal computer), a tablet terminal, a watch terminal, a glasses-type terminal, or the like.

  In this case, as the authentication of the schedule requester, the automatic driving vehicle 1 of this embodiment determines whether the schedule requester is a use schedule registrant registered in the automatic driving vehicle 1 as described above. Is performed using the stored information of the registrant of use as the authentication reference information. If the registrant is not the registrant of use, in this embodiment, the request for accepting the plan information is rejected. Therefore, the schedule information reception request includes the authentication information of the schedule requester. The authentication information of the schedule requester is information such as an ID and a password, a mobile phone number, and an email address included in the use schedule registrant information.

  Then, in the dedicated application of the mobile phone terminal of the schedule requester, when a request for receiving schedule information is received, a screen for transmitting the schedule information is displayed, and the schedule information is displayed by a user operation. Is sent to the self-driving vehicle 1. If the schedule information does not conflict with the already registered schedule information, as described above, the schedule information is stored in the schedule schedule storage unit 14 of the self-driving vehicle 1 with the user identification information. Stored correspondingly.

  Further, when the schedule information of the schedule requester is in conflict with the already registered schedule information, as described above, the schedule adjustment storage control means 16 of the self-driving vehicle 1 causes the schedule adjustment storage control unit 16 to adjust the schedule. Processing is performed, and the schedule information is updated in the scheduled schedule storage means 14 according to the adjustment result.

  The outline of the adjustment contents in the schedule adjustment storage control means 16 in this embodiment will be described.

  When the schedule information of the schedule requester and the already registered schedule information conflict with each other, the scheduled competitor who registered the conflicting schedule information assumes that the schedule is being executed according to the conflicting schedule information and that the automatic driving vehicle 1 There are two cases: the case where the user is on board; and the case where the competing schedule information is not executed and the user is not on board.

  When the scheduled competitor is in the self-driving vehicle 1, the schedule adjustment storage control unit 16 sends adjustment message information and the like to the schedule requester through the wireless communication unit 11 so that the scheduled competitor is in the vehicle. The scheduled competitor performs the adjustment by notifying the message information for the adjustment using the display screen, the speaker, or the like provided in the automatic driving vehicle 1. In addition, communication such as a telephone call and an e-mail is performed between the schedule requester and the schedule competitor as needed.

  When the scheduled competitor is not in the automatic driving vehicle 1, the schedule adjustment storage control unit 16 sends adjustment message information to the schedule requester through the wireless communication unit 11, thereby performing the adjustment. To do. Then, in this embodiment, if the priority of the schedule requester is higher, the schedule competitor is contacted with the scheduled competitor who is not on board as needed to make adjustments. In this case, if the wireless communication means 11 has only one mobile phone terminal function, the schedule requester waits until an adjustment result with the planned competitor is obtained. First, the communication path is disconnected, and the result of the adjustment is waited.

  When the wireless communication means 11 has the function of two mobile phone terminals, it is possible to form a communication path different from the communication path with the schedule competitor between the schedule competitor. Therefore, the schedule requester may simply wait without disconnecting the communication path with the schedule requester.

  In this embodiment, the priority of the scheduled schedule is determined according to the user's personal attribute, the purpose of use, and the attribute of the destination (destination, destination), and the adjustment processing according to the priority is performed. Also do.

  In this embodiment, in particular, in consideration of, for example, the case of transporting an acutely ill person to a hospital, such a case is forcibly set to a compulsory priority event that forcibly becomes the highest priority. (Absolute priority event). That is, when the schedule information from the schedule requester is a compulsory priority event (absolute priority event), even if there is a scheduled competitor currently in use, the schedule information from the schedule requester is given top priority. Process.

  As described above, according to the automatic driving vehicle 1 of the embodiment, a user who has previously registered in the automatic driving vehicle 1 as a use schedule registrant sends a request for receiving schedule information to the automatic driving vehicle 1. Thus, the self-driving vehicle 1 can make a request to accept its own use schedule. Then, when the information of the schedule requested to be received conflicts with the information of the schedule of another user, the self-driving vehicle 1 adjusts the schedule. In some cases, it is possible to change (correct) or cancel (delete) the own schedule request. Therefore, the coordination between the schedule requester and the scheduled competitor can be made smooth, and the security can be improved.

[Example of hardware configuration of self-driving car 1]
An example of a hardware configuration of the automatic driving vehicle 1 that realizes the above processing will be described below.

  FIG. 2 is a block diagram illustrating a hardware configuration example of the electronic control circuit unit 10 of the automatic driving vehicle 1 according to the first embodiment. The self-driving vehicle 1 of this embodiment is an example of an electric vehicle. However, the battery is not shown in FIG.

  Further, the automatic driving vehicle 1 of this embodiment has an automatic driving mode and a manual driving mode. The manual driving mode is a mode in which the vehicle can run according to the driver's accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (handle operation), similarly to a normal automobile that is not an automatic driving vehicle. In the automatic driving mode, even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever, and the steering operation, the self-driving vehicle 1 itself (autonomously) avoids obstacles while avoiding obstacles. This is a running mode in which a change is made.

  The driver of the self-driving car 1 can switch the self-driving car 1 running in the manual driving mode to the self-driving mode by a predetermined operation through, for example, a touch panel 112 described later, and while driving in the self-driving mode. When the driver performs a predetermined operation such as an accelerator pedal operation, a brake pedal operation, a shift lever operation or a steering operation, the operation mode is automatically returned to the manual operation mode.

  As shown in FIG. 2, the electronic control circuit unit 10 sends a wireless communication unit 102, a motor drive control unit 103, a steering drive control unit to a control unit 101 having a computer mounted thereon via a system bus 100. 104, a manual / automatic operation mode switching control unit 105, a radar group 106, a camera group 107, a sensor group 108, a surrounding moving body grasping unit 109, a current position detecting unit 110, a display unit 111, a touch panel 112, a car navigation (hereinafter, car navigation) (Abbreviated as “function”) 113, use schedule registrant information receiving unit 114, use schedule registrant information storage unit 115, schedule requester authentication unit 116, occupant authentication unit 117, boarding schedule reception management unit 118, schedule schedule storage unit. 119, voice input / output unit 120, place attribute priority storage unit 121, use purpose priority storage unit 12 , Clock section 123, each of the vehicle information storage unit 124, are connected.

  A motor drive unit 131 is connected to the motor drive control unit 103. A steering drive unit 132 is connected to the steering drive control unit 104. The manual driving operation detecting unit 133 is connected to the manual / automatic driving mode switching control unit 105. The car navigation function unit 113 is connected to a car navigation database 134. Further, a microphone 135 and a speaker 136 are connected to the audio input / output unit 120.

  In this embodiment, the wireless communication unit 102 has a function of performing communication such as telephone communication and e-mail communication through a mobile phone network. It should be noted that a function of performing communication such as telephone communication and e-mail communication by connecting to the Internet instead of the mobile phone network by Wi-Fi (Wireless Fidelity; registered trademark) or the like may be provided. Of course, both communication functions may be provided, and in that case, the control unit 101 or the wireless communication unit 102 may be able to select which communication function to use.

  The control unit 101 has, as a software processing function, a function of performing processing when a request for receiving schedule information is received from a schedule requester via the wireless communication unit 102. The wireless communication unit 11 in FIG. 1 includes a control unit 101 and a wireless communication unit 102 in this example. In this embodiment, functions for two lines (two mobile telephone terminals) of a mobile telephone are provided in consideration of adjustment of schedule information.

  Under the control of the control unit 101, the motor drive control unit 103 controls the supply of a drive signal to the motor drive unit 131 of the automatic driving vehicle 1 including the electric vehicle according to the present embodiment, and Start, running speed control (including brake control and accelerator control), running stop, and the like.

  The steering drive control unit 104 controls the supply of the drive control signal to the steering drive unit 132 of the automatic driving vehicle 1 of this embodiment under the control of the control unit 101, and controls the course change of the automatic driving vehicle 1. To do.

  The manual / automatic driving mode switching control unit 105 performs control to switch the driving mode of the self-driving vehicle 1 between a manual driving mode and an automatic driving mode in accordance with a selection operation input through the touch panel 112. The manual driving operation detecting unit 133 receives the operation information of the accelerator pedal operation, the brake pedal operation, the shift lever operation, and the steering operation by the driver, and supplies the manual driving operation information to the manual / automatic operation mode switching control unit 105. I do.

  When the automatic driving vehicle 1 is in the manual driving mode, the manual / automatic driving mode switching control unit 105 supplies the manual driving operation information from the manual driving operation detection unit 133 to the motor drive control unit 103 and the steering drive control unit 104. Then, the motor drive unit 131 and the steering drive unit 132 are controlled according to the driver's pedal operation, shift lever operation, and steering operation (handle operation).

  When the automatic driving vehicle 1 is in the automatic driving mode, the manual / automatic driving mode switching control unit 105 outputs the outputs of the radar group 106, the camera group 107, the sensor group 108, and the surrounding moving body grasping unit 109 as described later. The automatic driving operation information generated by the control unit 101 based on the information is supplied to the motor driving control unit 103 and the steering driving control unit 104, and the motor driving unit 131 and the steering driving unit 132 are driven and controlled by the automatic driving operation information. I do. In the automatic driving mode, the car navigation function unit 113 searches for a route from a current position to a destination (destination) set by a driver or the like, and controls the vehicle to travel along the searched route. You.

  The radar group 106 is for measuring a distance to a person or an object existing around the vehicle of the self-driving vehicle 1, and includes a laser radar, a millimeter-wave radar, and the like. Laser radars are embedded, for example, near ceilings and bumpers, and millimeter-wave radars are provided, for example, at the front and rear of a vehicle. Both a laser radar and a millimeter wave radar may be provided, or only one may be provided. Further, other radars such as a microwave radar may be used. Further, sonar (not shown) can be used for the same purpose as radar.

  The camera group 107 includes one or more cameras that photograph the inside of the self-driving car 1 and one or more cameras that photograph the outside of the self-driving car 1, such as the front, side, and rear. . A camera for photographing the inside of a vehicle is mounted on, for example, a rearview mirror (a rearview mirror or a room mirror) installed between a driver's seat and a passenger's seat or an upper part of a front window, and a passenger (driver) sitting in a driver's seat. In addition to a camera that captures the behavior of the passenger, a camera that captures the behavior of the passenger (passenger) sitting in the passenger seat or the rear seat is included. Cameras for photographing the periphery of the self-driving car 1 are attached to, for example, the left and right sides of the rearview mirror, and two cameras (stereo cameras) mainly for photographing the left front and right front of the self-driving car 1 and And a camera mounted on, for example, a door mirror or a fender mirror of the self-driving car 1 to photograph left and right sides, a camera photographing the rear of the self-driving car 1, and the like.

  The sensor group 108 includes an opening / closing detection sensor that detects opening / closing of a door and opening / closing of a window, a sensor for detecting wearing of a seat belt, a seating sensor for detecting that a passenger is seated in a seat such as a driver's seat or a passenger seat, In addition, it includes a human sensor (infrared sensor) for detecting a person in the vicinity of the outside of the vehicle and various sensors for acquiring information to assist for automatic driving. Examples of various sensors for obtaining information to assist in automatic driving include a vibration sensor for detecting vibration of a vehicle or a tire, a rotation speed sensor for detecting a rotation speed of a tire, and a detection sensor for detecting a bearing. It includes a geomagnetic sensor, an acceleration sensor for detecting acceleration, a gyro sensor (gyroscope) for detecting an angle and an angular velocity, and the like. In this embodiment, the sensor group 108 also includes a sensor that detects lighting of a right turn signal, a left turn signal (direction indicator), and a hazard lamp (emergency blinking light).

  The surrounding moving body grasping unit 109 grasps a moving body (including a person) around the own vehicle using the images captured by the radar group 106, the sensor group 108, and the camera group 107. The surrounding moving body grasping unit 109 grasps surrounding obstacles and moving bodies by performing processing based on, for example, Bayesian theory.

  Current position detecting section 110 receives a radio wave from a GPS satellite and detects the current position of the own vehicle. Since the current position detecting unit 110 has poor accuracy in the position detected by the radio wave from the GPS satellite, not only the information on the current position detected by the reception of the radio wave from the GPS satellite but also the By using a plurality of sensors and images captured by the radar group 106 and the camera group 107 (also using the navigation function) and the like, and performing processing based on, for example, Bayesian theory, it is possible to detect and confirm a more accurate current position. I have to.

  In the automatic driving mode, in the automatic driving mode, the current position detecting unit 110 and the surrounding moving object grasping unit 109 obtain position information obtained by receiving radio waves from the radar group 106, the camera group 107, the sensor group 108, and the GPS satellites. And the like, that is, information corresponding to information obtained from human eyes and ears is processed by Bayesian theory, and based on this, the control unit 101 generates intellectual information such as changing the course of the vehicle and avoiding obstacles. Perform processing (artificial intelligence) and control (artificial intelligence) to generate automatic driving operation information. Then, based on the generated automatic driving operation information, the motor drive unit 131 is driven by the motor drive control unit 103, and the steering drive unit 132 is driven by the steering drive control unit 104, so that autonomous movement control is performed. . Therefore, in this embodiment, the autonomous movement control unit 17 includes the control unit 101, the radar group 106, the camera group 107, the sensor group 108, the surrounding moving body grasping unit 109, the current position detection unit 110, and the motor drive control unit 103 , A motor drive unit 131, a steering drive control unit 104, a steering drive unit 132, and a car navigation function unit 113 described later.

  The display unit 111 includes, for example, an LCD (Liquid Crystal Display). The touch panel 112 is configured such that a touch sensor capable of performing a touch input with a finger is superimposed on a display screen of a display unit 111 including an LCD. On the display screen of the display unit 111, a display image including software buttons (including character input buttons on a keyboard) is displayed based on the control of the control unit 101. Then, upon detecting a touch by a finger on the software button displayed on the display screen, the touch panel 112 transmits the touch to the control unit 101. The control unit 101 having received this is configured to execute a control process corresponding to the software button.

  A domestic map and route guidance data are stored in the car navigation database 134 connected to the car navigation function unit 113 in advance. The car navigation function unit 113 guides the self-driving vehicle 1 to assist in moving to the designated destination based on a map or route guidance data stored in the car navigation database 134. It is. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing between the manual driving mode and the automatic driving mode.

  That is, in the manual driving mode, the car navigation function unit 113 is detected and confirmed by the current position detection unit 110 on a map that explicitly displays a route (route) to the destination on the display screen of the display unit 111. In addition to displaying an image in which the own vehicle position is superimposed and displayed, the own vehicle position (current position) on the map is moved with the movement of the own vehicle, and route guidance such as intersections and junctions on the route is displayed. Provide voice guidance where needed. This is similar to the normal car navigation function.

  On the other hand, in the automatic driving mode, when the current position of the own vehicle is away from the route to the destination, the car navigation function unit 113 notifies the control unit 101 of the information of the separation direction and the distance, and also notifies the control unit 101 of the own vehicle. When the current position of the vehicle is on the route to the destination, the control unit 101 is notified of the change instruction information of the course direction along the route just before the intersection or the branch point on the route along with the movement of the own vehicle. To do it. Based on the information notified from the car navigation function unit 113, the current position confirmation result of the current position detection unit 110, and the grasping result of the surrounding moving body grasping unit 109, the control unit 101 instructs the own vehicle on the route. The automatic drive operation information for controlling the motor drive unit 131 through the motor drive control unit 103 and controlling the steering drive unit 132 through the steering drive control unit 104 is generated so that the vehicle travels along the route as specified. . Therefore, the self-driving vehicle 1 can move to the destination even when the occupant is unmanned by the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode.

  The use schedule registrant information receiving unit 114 receives registration information of family members who plan to use the automatic driving vehicle 1 of this embodiment as information of the use plan registrant under the control of the control unit 101. Then, the information of the accepted use schedule registrant is stored in the use schedule registrant information storage unit 115. The control unit 101, the use schedule registrant information receiving unit 114, and the use schedule registrant information storage unit 115 constitute a use schedule registrant information storage unit 12.

  FIG. 3 shows an example of information stored in the use schedule registrant information storage unit 115. In this example, the use schedule registrant information storage unit 115 stores, as information of each use schedule registrant, a password, a name, a telephone number (telephone number of a mobile phone terminal), E-mail addresses (e-mail addresses of mobile phone terminals), face images, personal attributes, priorities, and the like are registered and stored.

  The face image of the use schedule registrant is captured and stored by a predetermined camera in the camera group 107, for example. In addition, it is possible to use an image taken by a camera provided in a mobile phone terminal possessed by the use schedule registrant. Note that the face image is an example of biometric information serving as authentication reference information of a use schedule registrant. When the voice of the registrant of use is used as the authentication reference information, the voice of the requester can be the one collected by the microphone provided in the mobile phone terminal. As the biological information, information stored in a memory of the mobile phone terminal in advance can be used. Further, as the other information, information input by the caller to the mobile phone terminal can be used. In addition, biometric information including a face image and other information stored on a cloud can be used via the communication network 3.

  In this example, the personal attribute of the use schedule registrant is a case where the plurality of use schedule registrants are a family, and the attribute as a family member is recorded. In this embodiment, the priorities registered and stored among the families in advance in accordance with the personal attributes are stored. For example, the personal attribute "grandfather" is a little inconvenient to walk, so the priority is set to the first place, and the personal attribute "father" is often used for commuting, so the priority is set high, and the personal attribute "mother" is set. Is the highest priority for shopping, and the personal attribute "Son" is a high school student, so the priority is set to the lowest priority, so that it is decided between families and registered. . The registered priority may be changed (corrected) through a predetermined procedure such as agreement between families. The personal attributes themselves may be determined and registered between families. For example, if the personal attribute is set to be “grandfather”, “grandfather” is the personal attribute “person (self)”, “father” is the personal attribute “son (or groom)”, and “mother” is the personal attribute “bride (or Daughter) ”and“ son ”have the personal attribute“ grandchild ”. Of course, in this case, the registered personal attributes may be changed (corrected).

  Then, the face image of the use schedule registrant is used as authentication reference information for occupant authentication when trying to get on the automatic driving vehicle 1 according to the schedule information.

  The schedule requester authentication unit 116 authenticates, under the control of the control unit 101, whether the above-described schedule requester is a use schedule registrant. In this embodiment, the telephone number and the password of the information of the registered use schedule registrant stored in the use schedule registrant information storage unit 115 are the authentication reference information when performing authentication as the plan requester. Is done. Note that the authentication reference information in the schedule requester authentication may be a mail address or the like instead of the telephone number of the mobile phone terminal. The schedule requester authentication unit 116 and the control unit 101 constitute the schedule requester authentication unit 13.

  The occupant authentication unit 117 authenticates, under the control of the control unit 101, whether or not the occupant who intends to get on the self-driving vehicle 1 is the registrant who has requested the schedule information. In this embodiment, a face image of the use schedule registrant stored in the use schedule registrant information storage unit 115 is used as the authentication reference information in the occupant authentication unit 117. The occupant authentication unit 117 and the control unit 101 constitute an occupant authentication unit 18.

  In this embodiment, the boarding schedule reception management unit 118 determines whether to receive the reception request based on the authentication result of the schedule requester authentication unit 116 when receiving the reception request from the schedule requester through the wireless communication unit 102. If it is determined that the requester is the registrant of use, the received request is received. Then, the boarding schedule reception management unit 118 refers to the other schedule information stored in the schedule schedule storage unit 119 and determines whether there is any schedule information that conflicts with the received schedule information of the reception request. After confirming that there is no conflicting schedule information, the received schedule information is stored in the schedule schedule storage unit 119 in association with the ID (identification information) of the schedule requester.

  When determining that there is conflicting schedule information, the boarding schedule reception management unit 118 determines the priority order of the use schedule registrant information storage unit 115, the priority order of the place attribute priority order storage unit 121, and the use purpose priority order storage unit. The schedule adjustment described below is executed under the control of the control unit 101 with reference to the priority order 122. The boarding schedule reception management unit 118 constitutes the schedule information reception unit 15 and the schedule adjustment storage control unit 16 together with the control unit 101.

  As described above, the schedule schedule storage unit 119 stores, as schedule information, information on the schedule requested to be received by the schedule requester under the control of the ride schedule reception management unit 118. The stored schedule information is read out and provided to the boarding schedule reception management unit 118 in accordance with the control of (1). The schedule schedule storage unit 119 forms the schedule schedule storage unit 14 together with the control unit 101.

  FIG. 4 shows an example of schedule information stored in the scheduled schedule storage unit 119 in this embodiment. In this example, as shown in FIG. 4, the schedule information for each schedule requester is associated with the identification information (ID) of the schedule requester, and the scheduled use start time, scheduled use end time, and scheduled ride A place (departure place), a scheduled drop-off place (destination), the number of users, a purpose of use, and the like are stored. The scheduled use start time, the scheduled boarding place (departure place), the scheduled get off place (destination), the number of users, the purpose of use, and the like are designated by the schedule requester by being included in the reservation information. The scheduled use end time may or may not be designated by the schedule requester.

  The scheduled use start time is the scheduled time of boarding the self-driving car 1 from the boarding place (departure place). When the schedule requester specifies, the scheduled use end time is a scheduled time at which the schedule requester ends use of the automatic driving vehicle 1. If the schedule requester does not specify the scheduled end time of use, the estimated time at which the self-driving vehicle 1 arrives at the scheduled exit location (destination) is calculated and stored. That is, when the schedule requester does not specify the scheduled end time of use, the car navigation function unit 113 of the self-driving car 1 changes from the boarding place (departure place) designated by the plan requester to the get-off place (destination). A search is made for the route up to and the time (moving time) required to move the route resulting from the search is calculated and obtained. Then, the boarding schedule reception management unit 118 acquires the travel time measured by the car navigation function unit 113 under the control of the control unit 101, adds the acquired travel time to the scheduled use start time, and ends the use. The estimated time is estimated, and the estimated usage end time is stored in the scheduled schedule storage unit 119. In addition, you may make it memorize | store the use time (required time, travel time) instead of the use end time, or in addition to the use end time.

  If the scheduled use start time, the scheduled use end time, and the scheduled use time input by the schedule requester are not accurate, such as about 15:00 or about 2 hours, the boarding schedule reception management unit 118 sets the scheduled use start time to the predetermined time. (For example, 15 minutes), the scheduled use end time is shifted for a predetermined time (for example, 30 minutes), and the scheduled use time is extended for a predetermined time (for example, 30 minutes), and stored in the scheduled schedule storage unit 119. You may do so. If the scheduled use start time, scheduled use end time, and scheduled use time have not been determined or have not been input, the boarding schedule reception management unit 118 may prompt the user to re-input by a display message or voice. If there is no time or time input from the schedule requester even after prompting for re-input, the boarding schedule reception management unit 118 refuses to accept the reception request.

  However, as described above, even if there is no input from the schedule requester, the reception end request is accepted for the scheduled end time or scheduled use time, but the scheduled end time or scheduled use time is “undecided (unspecified). May be stored in the scheduled schedule storage unit 119. In this case, the boarding schedule reception management unit 118 determines whether there is a possibility that there is a possibility of a schedule conflict with the schedule information of the schedule requester from the relationship of the scheduled use start time in the schedule information adjustment processing described below. Conflict between rejection of the request from the requester and notification of the request to the requester because the scheduled end time or scheduled use time is undecided, and conflict with the scheduled use end time or planned use time The schedule competitor is notified of the scheduled start time of the scheduled competitor, and the schedule requester is again prompted to enter the scheduled end time or scheduled use time. Either to decide whether or not to make an adjustment is selected.

  Also, since the scheduled end time or scheduled use time of the scheduled competitor is undecided, if it is judged that there is a possibility of scheduled conflict with the scheduled requester's schedule information from the relationship of the scheduled requester's scheduled use start time It is also possible to communicate with the scheduled competitor to prompt the scheduled competitor to input the scheduled use end time or scheduled use time.

  The planned boarding place (departure place) is information on the planned use start position, and the planned boarding place (destination) is information on the planned use end position. The boarding request place (departure place) and the boarding drop-off place (destination) are designated on the map displayed on the display screen by the schedule requester by activating the dedicated application on his / her mobile phone terminal. Can be sent to the self-driving vehicle 1. In this case, the dedicated application is connected to a predetermined server device via the communication network, and performs processing for assisting in specifying the use start scheduled position and the use end scheduled position. The use start planned position and the use end planned position designated in this way are accompanied by latitude and longitude position information and a place name, which are sent to the automatic driving vehicle 1.

  If the scheduled use start position or the scheduled end position input by the schedule requester is not accurate, for example, around 〇〇 station, the boarding schedule reception management unit 118 inputs a predetermined position such as △△ ticket gate at 〇〇 station. It may be replaced with the planned use start position or planned use end position, and stored in the planned schedule storage unit 119. Further, the boarding schedule reception management unit 118 presents (displays) a plurality of accurate planned use start positions and planned use end positions on the display unit 111 to the plan requester, and uses the touch panel 112 to indicate the use planned start positions and You may make it select and input the use end scheduled position. If the scheduled use start position or the scheduled use end position is undecided or not entered, the display message or voice prompts for re-entry. Even after the re-entry is prompted, if there is no input of the planned use start position or the planned use end position from the plan requester, the reception request is rejected.

  However, even if there is no input from the schedule requester, the use end scheduled position may be accepted even if undecided without rejecting the reception request, and may be stored in the schedule schedule storage unit 119. In this case, in the schedule information adjustment processing described later, when it is determined that there is a possibility that the schedule information and the schedule requester's schedule information may conflict with each other in relation to the scheduled use start time and scheduled use end time. , A schedule request cannot be accepted because the scheduled use end position is undecided, and a request for acceptance from the plan requester is rejected, and the purported requester is notified to that effect. If it is not known whether or not the adjustment can be performed, the schedule requester is prompted again to input the scheduled use end position, and then either the case of determining whether or not to perform the schedule adjustment is selected.

  Instead of using a map, the schedule requester inputs information that can directly specify the place (location), such as the name (place name), address, telephone number, etc. of the place of departure or destination, The configuration may be such that the dedicated application sends the information to the designated planned use start position and planned use end position to the automatic driving vehicle 1. In this case, the application included in the self-driving car 1 acquires the latitude and longitude position information from the Internet based on the transmitted place name, address, telephone number, and the like.

  The number of users is the number of people who are scheduled to ride on the self-driving vehicle 1 including the requester. Of course, in the case where the schedule requester only makes a reception request and there is no schedule for boarding the self-driving car 1, it is not included in the number of people scheduled to board. In this case, the occupant authentication, which will be described later, is performed using authentication reference information that can be entered by the occupant, such as a password or a mobile phone number, instead of biometric information such as a face image of the schedule requester. Become. It should be noted that security is ensured when the schedule requester does not ride on the self-driving vehicle 1 or at least when the rider cannot be authenticated with biological information such as a face image of the schedule requester when boarding the automatic driving vehicle 1. Therefore, the ride may be prohibited. The purpose of use is the purpose of going to the place where the passenger is to be disembarked (destination). For example, the purpose of use is stored such as going to a hospital for sudden illness, using for usual visits, using for commuting, going to shopping, and the like.

  The execution status of each piece of schedule information in FIG. 4 is status information indicating whether a schedule based on the schedule information is being executed or has not yet been executed. "Executing" indicates that the schedule requester and the fellow passenger have entered the automatic driving vehicle 1 and the schedule is being executed. “Not yet” indicates that the schedule information has not been executed yet, and is on standby. When the execution of the schedule information is completed, the boarding schedule reception management unit 118 deletes the completed schedule information from the schedule schedule storage unit 119. Similarly, the canceled schedule information is deleted. Note that, even when the execution of the schedule information is completed, the schedule information may be displayed as “execution completed” or “executed” without deleting the schedule information. Similarly, the canceled schedule information may be displayed as “cancel” without being deleted.

  Further, when the schedule information is changed to “executing”, for example, when the scheduled use end time or the scheduled use end position is changed, the schedule information may be changed (corrected) at that time. Good.

  The voice input / output unit 120 takes in the voice collected by the microphone 135 and sends it to the system bus 100 for the voice recognition processing function of the control unit 101, for example. Although not shown, the voice input / output unit 120 has a built-in memory for storing voice message data to be emitted to the outside, and converts voice message data read from the memory into an analog voice signal. It has a voice synthesizer and DA converter. Then, the voice input / output unit 120 supplies the voice message selected under the control of the control unit 101 to the speaker 136 so that the voice message is emitted to a passenger in the vehicle as voice. Note that another speaker may be provided so as to emit sound outside the self-driving vehicle 1, and a voice message may be emitted to a person who is going to get on or get off the vehicle.

  As the voice message to be stored, as described later, for example, an inquiry message such as "Do you want to register a registered user?", "Authentication", "Could not be authenticated", "Schedule request" And a schedule conflict, and an interactive message for accepting the change of schedule information and accepting the input of the change is provided.

  The place attribute priority storage unit 121 stores information on the priority according to the attribute of the place as the destination. FIG. 5 shows an example of the priority information set for each of the target location attributes stored in the location attribute priority storage unit 121. In this case, it is considered that the degree of urgency of movement by the self-driving vehicle 1 differs from place to place, and therefore, priorities are set for each of the place attributes in consideration of the urgency.

  For example, in the example shown in FIG. 5, when the hospital is set as the destination, the urgency is high and the priority is set to the first place. In addition, priorities are set in consideration of the urgency according to the attributes of the destination place. The attributes of the destination place and its priority may be determined by default, or may be set by a use schedule registrant. Further, it is a matter of course that the use schedule registrant may modify the attributes and priorities of the places defined by default, or additionally set the attributes of new places and their priorities.

  Next, in the use purpose priority storage unit 122, information on the priority according to the use purpose from the departure place to the destination is stored. FIG. 6 shows an example of priority information set for each use purpose stored in the use purpose priority storage unit 122. In this case, it is considered that the degree of urgency of moving by the self-driving vehicle 1 is different for each purpose of use, and therefore, priority is set for each purpose of use in consideration of the degree of urgency.

  For example, in the example shown in FIG. 6, "go to hospital for sudden illness" is given an absolute priority in preference to other usage purposes. Then, for example, in the case of regular “outpatient”, the urgency is high and the priority is set to the first place. In addition, priorities are set in consideration of urgency according to the purpose of use.

  The purpose of use and its priority may be set by default, or may be set by a use schedule registrant. Further, it is a matter of course that the use schedule registrant may modify the use purpose and priority set by default, or additionally set a new use purpose and its priority.

  The clock unit 123 generates time information of year, month, day, hour, minute, and second. The control unit 101 of the self-driving vehicle 1 manages the autonomous movement of the own vehicle according to the schedule information stored in the scheduled schedule storage unit 119, based on the time information of the clock unit 123.

  As shown in FIG. 7, the own vehicle information storage unit 124 stores the type of the own vehicle, the number of occupants of the own vehicle, and the like. The number of occupants is used to accept only the number of occupants when receiving schedule information from the schedule requester.

  In the automatic driving vehicle 1 according to the above-described embodiment, the authentication mode in the schedule requester authentication unit 116 and the passenger authentication unit 117 is turned on or off, and the boarding schedule reception management unit 118 The setting as to whether to turn on or off the process of accepting the schedule request from the schedule requester in the above is configured to be performed through the touch panel 112. However, the on / off setting can be performed only when authentication is obtained by an ID and a password set in advance by the owner of the self-driving vehicle 1 or the like.

  As described above, the electronic control circuit unit 10 of the self-driving vehicle 1 is configured. Among the processing blocks shown in FIG. 1, the motor drive control unit 103, the steering drive control unit 104, the manual / automatic operation mode switching Control section 105, surrounding moving body grasping section 109, current position detecting section 110, car navigation function section 113, use plan registrant information receiving section 114, plan requester authenticating section 116, occupant authenticating section 117, boarding plan reception managing section 118. The processing functions of the audio input / output unit 120 can be realized as software processing performed by the control unit 101 executing a program.

[Example of processing operation in automatic driving vehicle 1 of embodiment]
Next, an example of a processing operation in the automatic driving vehicle 1 according to the present embodiment having the above-described configuration will be described.

<Registration example of registered user>
In the self-driving vehicle 1 of this embodiment, when the user selects the item “registration of use schedule registrant” from the processing menu displayed on the display screen of the display unit 111, for example, the use schedule registrant information reception The unit 114 is activated to enter the registration mode of the information of the use schedule registrant, and the user registers himself / herself as the use schedule registrant in the self-driving vehicle 1 and stores the information as the use schedule registrant. be able to. However, in this embodiment, the registration mode of the use schedule registrant is enabled only when the user is authenticated by the registration mode ID and password set in advance by the owner of the self-driving car 1 or the like. ing.

  FIG. 8 is a flowchart for explaining the flow of the processing operation in the self-driving vehicle 1 at the time of "use schedule registrant registration". In the following description, a case where the processing operation of the use schedule registrant information receiving unit 114 is executed as software processing performed by the control unit 101 executing a program will be described.

  The control unit 101 monitors the operation input of the user through the touch panel 112, determines whether or not the item of “registration of a use registrant” is selected from the menu (step S1), and determines that the item is not selected. In some cases, other processing is performed (step S2), and after the other processing is completed, the processing returns to step S1.

  When it is determined in step S1 that the item of “registration of use schedule registrant” is selected from the menu, the control unit 101 determines whether or not the transition of the use plan registrant to the registration mode is permitted (that is, the registration is permitted). A message prompting the input of a password and an ID for migration authentication for determining whether or not to perform the determination is displayed on the display screen of the display unit 111 and is notified by emitting sound from the speaker 136 (step S3).

  Then, the control unit 101 determines whether or not the transfer authentication has been successfully performed based on whether or not the user has input a password and an ID that match the password and ID for the transfer authentication of the registered user to the registration mode ( Step S4). In step S4, when the transfer authentication has failed, the control unit 101 notifies the user of "authentication NG" through the display screen of the display unit 111 and the speaker 136 (step S5), and thereafter ends this processing routine. I do.

  In step S4, when it is determined that the authentication of the registrant of use to the registration mode has been successfully performed, the control unit 101 transmits a message prompting the user to input information of the registrant of use on the display screen of the display unit 111 and on the display screen of the display unit 111. The notification is made via the speaker 136 (step S6), and the completion of the input of the information of the use registrant from the user through the touch panel 112 is waited (step S7).

  Then, in step S7, when it is confirmed that the user has completed the input of the information of the use schedule registrant, the control unit 101 associates the input information of the use schedule registrant with the identification information (ID) and uses the information. It is stored in the registrant information storage unit 115 (step S8). Here, in this embodiment, the identification information is automatically given by the control unit 101, but may be set by the user.

  Next, the control unit 101 captures a face image of the registered user with a camera in the camera group 107, and uses the information of the captured face image as authentication reference information, as a use schedule registrant information storage unit 115. Then, it is stored in association with the user identification information (step S9). It should be noted that one or more face images may be taken. Further, the face image may be photographed not only by a single camera but also by a plurality of cameras. Thereafter, the control unit 101 notifies the end of the registration through the display screen of the display unit 111 and the speaker 136 (step S10), and ends the processing routine.

<Reception of schedule request from schedule requester and schedule information adjustment process>
Next, a process of receiving a schedule request from a schedule requester and adjusting schedule information will be described with reference to flowcharts shown in FIGS. Also in this case, in the following description, the case where the processing operations of the schedule requester authentication unit 116 and the boarding schedule reception management unit 118 are executed as software processing performed by the control unit 101 executing a program will be described.

  The control unit 101 monitors the wireless communication unit 102 to determine whether an incoming call has been detected (step S101), and when it is determined that no incoming call has been detected, performs other processing (step S102). After the end of the process, the process returns to step S101.

When it is determined in step S101 that an incoming call has been detected, the control unit 101 automatically responds (step S103), and determines whether the incoming call is a request to receive a boarding schedule (step S104). In this embodiment, as described above, when making a request to receive a ride schedule, the user uses his / her own mobile phone terminal to enter the self-driving vehicle 1 using a dedicated application for request to receive a ride schedule. Send a reception request to the request. The transmission information at this time includes information indicating that the request is a reception request for a boarding schedule, for example, identification information. Therefore, the control unit 101 of the self-driving car 1 determines whether the incoming call is a reception request for a boarding schedule by determining whether the information obtained by the automatic response includes information indicating that the request is a reception request for a boarding schedule. It is determined whether or not there is.

  When it is determined in step S104 that the incoming call is not a request to receive a boarding schedule, the control unit 101 executes a processing routine corresponding to the information content of the received incoming call (step S105).

  Then, when it is determined in step S104 that the incoming call is a request to receive a boarding schedule, the control unit 101 determines the telephone number (mobile phone number) of the use registrant stored in the use registrant information storage unit 115. Is compared with the telephone number of the schedule requester who has received the call (step S106), and it is determined whether or not the telephone numbers match.

  In step S107, when it is determined that the telephone number of the use schedule registrant stored in the use plan registrant information storage unit 115 does not match the telephone number of the incoming schedule requester, the control unit 101 Since the authentication is NG, a message rejecting the reception of the boarding schedule is sent to the receiving side (step S108), the communication path with the receiving side is disconnected (step S109), and this processing routine ends.

  If it is determined in step S107 that the telephone number of the use registrant stored in the use registrant information storage unit 115 matches the telephone number of the incoming requester, the control unit 101 determines Then, the incoming schedule requester is requested for the ID and password registered in the use schedule registrant information storage unit 115 (step S110), and it is determined whether or not the ID and password have been received (step S111). At this time, the control unit 101 can recognize which one of the use schedule registrants stored in the use schedule registrant information storage unit 115 is based on the telephone number match.

  If it is determined in step S111 that the ID and the password have not been received, the control unit 101 determines whether or not a predetermined time has elapsed since the request for the ID and the password (step S112). If not, the process returns to step S111 to wait for the reception of the ID and the password. If it is determined in step S112 that the predetermined time has elapsed, the control unit 101 advances the process to step S108, and sends a message refusing to accept the boarding schedule to the called side because the authentication is NG (step S112). (S108), the communication path with the called party is disconnected (step S109), and this processing routine ends.

  When it is determined in step S111 that the ID and the password have been received, the received ID and the password are compared with the ID and the password of the schedule requester stored in the use schedule registrant information storage unit 115, and both are compared. The authentication is performed by determining whether or not the IDs match (step S121). As a result of this authentication, when it is determined that the authentication is not OK, the control unit 101 advances the process to step S108 in FIG. 9 and sends a message to the called side to refuse to accept the boarding schedule because the authentication is NG. (Step S108), the communication path with the called party is disconnected (Step S109), and this processing routine ends.

  When it is determined in step S122 that the authentication is OK, the control unit 101 requests the schedule requester to send schedule information (step S123), and receives the schedule information sent in response thereto. And temporarily stores it in the buffer memory (step S124).

  In the above sequence, in this embodiment, in steps S106 and S107, it is determined whether or not the telephone number of the called party is the telephone number of the registrant registered in the registrant information storage unit 115. Although the authentication is performed by determining whether the authentication is performed, the authentication using the telephone number may not be performed. In this case, whether the schedule requester is one of the use schedule registrants registered in the use schedule registrant information storage unit 115 is determined by identifying the ID and the password in the authentication in step S121 and step S122. It can be recognized by specifying the use schedule registrant that matches the one input by the schedule requester.

  Next, the control unit 101 compares and refers to the schedule information of the schedule requester temporarily stored in the buffer memory with the registered schedule information stored in the schedule schedule storage unit 119, and no conflict occurs. It is checked whether there is any registered schedule information that conflicts with the schedule information of the schedule requester (step S125) (step S126).

  When it is determined in step S126 that there is no registered schedule information that conflicts with the schedule information of the schedule requester, the control unit 101 determines the number of people to be boarded in the received schedule information and the own vehicle information storage unit. It compares with the number of passengers stored in 124 (step S131 in FIG. 11), and determines whether or not all of the expected number of passengers are available (step S132).

  When it is determined in step S132 that all of the planned number of people can be boarded, the control unit 101 associates the received schedule information with the ID of the schedule requester, and as the schedule information, as the schedule schedule storage unit 119. The registration is completed, and registration completion is notified to the schedule requester (step S133). Then, the control unit 101 disconnects the communication path with the schedule requester (step S134), and ends this processing routine.

  When it is determined in step S132 that the number of people to be boarded exceeds the number of people to be occupied and it is not possible to get on, the control unit 101 notifies the person requesting the schedule of the number of occupants and notifies that the number of occupants is over (step S135). ). Then, control unit 101 determines whether or not a change in the number of scheduled passengers within the occupancy is received from the requester of the schedule (step S136), and determines that a change in the planned number of passengers within the occupancy is received. If so, the process proceeds to step S133, the received schedule information is stored in the schedule schedule storage unit 119 as schedule information in association with the ID of the schedule requester and registered, and registration completion is notified to the schedule requester. Notification is made (step S133). Then, the control unit 101 disconnects the communication path with the schedule requester (step S134), and ends this processing routine.

  When it is determined in step S136 that the change in the number of boarding passengers within the occupancy is not received, control unit 101 determines whether a cancellation of the reception request has been received from the requester (step S136). S137). When it is determined in step S137 that the cancellation has not been received, the control unit 101 returns the process to step S136, and waits for a change in the number of people to be boarded from the person requesting the plan. If it is determined in step S137 that the cancel has been received, the control unit 101 disconnects the communication path with the schedule requester (step S138), and ends the processing routine.

  Next, in step S126, when it is determined that there is registered schedule information that conflicts with the schedule information of the schedule requester, the control unit 101 determines whether the conflicting registered schedule information is being executed. It is determined with reference to the information on the execution status stored in the scheduled schedule storage unit 119 (step S127).

  If it is determined in step S127 that the conflicting registered schedule information is being executed, the control unit 101 determines that the scheduled requester and the scheduled competitor that has registered the conflicting registered schedule information are in execution. Are compared and determined (step S128). In the determination of the priority order in step S128, the control unit 101 determines the priority order based on the personal attribute stored in the use schedule registrant information storage unit 115 and the location attribute stored in the location attribute priority order storage unit 121. The priority order is compared and determined by referring to all of the priority orders based on the use purpose stored in the use purpose priority order storage unit 122.

  Then, the control unit 101 first determines whether or not the priority of the schedule requester is absolute priority as a result of the determination of the priority (step S141 in FIG. 12). In step S141, for example, the use purpose of the schedule information input by the schedule requester is “go to the hospital due to sudden illness”, and as a result of referring to the use purpose priority storage unit 122, Is determined, the control unit 101 causes the car navigation function unit 113 to move from the current position of the vehicle detected by the current position detection unit 110 to the scheduled boarding start position designated by the schedule requester. Is calculated to obtain an estimated arrival time (step S142).

  Then, the control unit 101 refers to the calculated expected arrival time and the estimated boarding start time specified by the schedule requester to determine whether the vehicle can arrive by the estimated boarding start time (step S143). .

  If it is determined in step S143 that the vehicle can arrive by the scheduled start time, the control unit 101 accepts the schedule information from the schedule requester and stores the information in the schedule schedule storage unit 119. The request acceptance is notified (step S144), and thereafter, the communication path with the schedule requester is disconnected (step S145).

  Next, the control unit 101 stops (or suspends) the use because the scheduled competitor in use (on boarding) receives a scheduled request of the absolute priority, and starts the boarding specified by the scheduled requester. The fact that the vehicle is heading for the scheduled position is notified through the display screen of the display unit 111 and the speaker 136 (step S146). In the case of interruption, the interruption time is also reported. At the time of this notification, in this embodiment, the control unit 101 displays a button for accepting a get-off request on the display screen. It is determined whether or not the getting-off request has been received (step S147).

  When it is determined in step S147 that the getting-off request has been received, the control unit 101 temporarily stops at a location where the getting-off requester can indicate and is at a position indicated by the getting-off requester, and gets off the scheduled competitor in use (step S147). S148). Then, the control unit 101 executes the absolute priority schedule. During the execution or at an appropriate timing after the execution ends, the control unit 101 refers to the boarding start time of the other schedule information that has not been executed, and delays the schedule. If it is determined that this will occur, a communication path is formed for the scheduler who has set the other unexecuted schedule information, and the scheduler who has set the other unexecuted schedule information is communicated through the communication path. The change of the scheduled boarding start time is notified (step S149). Then, the control unit 101 ends the processing routine.

  If it is determined in step S147 that the getting-off request has not been received, the absolute priority schedule is executed with the scheduled competitor in use (riding) on board, and step S149 is performed. To end. In this case, the scheduled competitor can go to the hospital together with the use of absolute priority if the number of passengers has permission, and in order to give priority to the user of absolute priority, It is also possible to get off at the position.

  Next, when it is determined in step S143 that the vehicle cannot arrive by the scheduled boarding start time, the control unit 101 notifies the schedule requester of the estimated arrival time obtained in step S142, and accepts the delay. A message for inquiring whether to keep the schedule request is sent (step S151 in FIG. 13).

  Then, the control unit 101 waits for a response from the schedule requester to the inquiry, and upon receiving the response, determines whether or not the response maintains the request (step S152). If it is determined in step S152 that the request to maintain the request has been obtained, the control unit 101 changes the schedule information received from the schedule requester to the estimated boarding start time to the estimated arrival time, The request is stored in the storage unit 119, and the schedule requester is notified of the request acceptance (step S153). After that, the control unit 101 shifts the processing to step S145 in FIG. 12, and executes the processing after step S145.

  If it is determined in step S152 that the requester of the schedule has received a response to cancel the request without maintaining the request, the control unit 101 notifies the requester of the schedule via the communication path of confirmation of the cancellation of the request. (Step S154) Then, the communication path with the schedule requester is disconnected (Step S155), and this processing routine ends.

  Next, when it is determined in step S141 in FIG. 12 that the priority of the schedule requester is not the absolute priority, the control unit 101 determines that the priority of the schedule information of the schedule requester is in conflict with the schedule information. It is determined whether or not the priority is higher than the priority of (step S161 in FIG. 14). It goes without saying that the priority in this case includes the priority based on the personal attribute.

  If it is determined in step S161 that the priority of the schedule information of the schedule requester is higher than the priority of the conflicting schedule information, the control unit 101 causes the car navigation function unit 113 to execute the current position. The travel time from the current position of the vehicle detected by the detection unit 110 to the scheduled start position specified by the schedule requester is calculated, and the estimated arrival time is obtained (step S162).

  Then, the control unit 101 refers to the calculated expected arrival time and the estimated boarding start time specified by the schedule requester to determine whether or not the vehicle can arrive by the estimated boarding start time (step S163). .

  In step S163, when it is determined that the vehicle cannot arrive by the scheduled boarding start time, the control unit 101 notifies the schedule requester of the estimated arrival time obtained in step S162 via the communication path and accepts the delay. Then, a message is sent inquiring whether to keep the schedule request (step S164).

  Then, the control unit 101 waits for a response from the schedule requester to the inquiry, and upon receiving the response, determines whether the response maintains the request (step S165). If it is determined in step S165 that the request from the schedule requester has been canceled without maintaining the request, the control unit 101 notifies the schedule requester of confirmation of the cancellation of the schedule request (step S166). Then, the communication path with the schedule requester is disconnected (step S167), and this processing routine ends.

  When it is determined in step S163 that the vehicle can arrive by the scheduled boarding start time, and when it is determined in step S165 that the request to maintain the request has been obtained, the control unit 101 determines whether the vehicle is being used. The schedule competitor is notified that the priority is in conflict with the higher-order schedule request, and a message for inquiring whether to approve the suspension (or change) of the use is displayed on the display screen of the display unit 111 and the speaker 136. (Step S171 in FIG. 15). At this time, a call request button (icon) for requesting a call from the scheduled competitor to the scheduled requester is displayed on the display screen.

  The control unit 101 determines whether the call request button has been pressed and a call request has been made by monitoring the operation input through the touch panel 112 (step S172). When it is determined in step S172 that a call request has been made, the control unit 101 forms a communication path with the scheduled requester through the wireless communication unit 102 using the microphone 135 as a transmitter and the speaker 136 as a receiver. (Step S173). As a result, a call can be made between the schedule requester and the scheduled competitor, and a consultation can be made between the two by calling for schedule adjustment.

  Subsequent to step S173, the control unit 101 determines whether an input of acceptance or rejection of use cancellation (or change) from a planned competitor in use is made by monitoring an operation input through the touch panel 112 (step S173). S174). If it is determined in step S174 that there has been an input of a consent for use cancellation (or change) from the scheduled competitor being used, control unit 101 accepts the schedule requester's schedule information and schedule schedule storage unit. In step S175, the request is notified to the schedule requester (step S175), and then the communication path with the schedule requester is disconnected (step S176). Then, the control unit 101 notifies the scheduled competitor in use of the stop (or change) of the use through the display screen of the display unit 111 and the speaker 136 (step S177), and ends the processing routine. In this case as well, steps corresponding to steps S147 and S148 are executed after step S176, but these steps are omitted here.

  Note that the schedule information of the schedule requester in step S175 indicates that the schedule request is to be maintained in step S165 even though the scheduled start time is the expected arrival time obtained in step S162. The estimated time is changed and stored in the estimated arrival time obtained in step S162.

  Next, in step S161, when the control unit 101 determines that the priority of the schedule information of the schedule requester is not higher than the priority of the conflicting schedule information, the control unit 101 communicates with the schedule requester. Notifying that there is a conflict with the use of another person (planned competitor) and the expected end time of use of the other person (planned competitor) through the road, and prompts the user to change the schedule information (planned start time of use) The message is sent (step S181 in FIG. 16).

  Also, in step S174, when it is determined that there has been an input of consent for use cancellation (or change) from the planned competitor in use, the control unit 101 shifts the processing to step S181.

  Next, the control unit 101 determines whether or not the schedule requester has received, via the communication path, the schedule information in which the scheduled use start time has been changed to the scheduled use end time of another (scheduled competitor) (step S182). ). In step S182, when it is determined that the information of the schedule in which the scheduled use start time is changed to the scheduled use end time of the other party (scheduled competitor) is received, the control unit 101 determines that the received schedule request from the scheduled requester is received. The information is accepted and stored in the schedule schedule storage unit 119, and the request acceptance is notified to the schedule requester via the communication path (step S183). Then, the control unit 101 disconnects the communication path with the schedule requester (step S184), and ends this processing routine.

  Further, when it is determined in step S182 that the scheduled use time has not been changed to the scheduled use end time of another person (scheduled competitor), the control unit 101 receives the information from the schedule requester. It is determined whether a request cancellation has been received (step S185). If it is determined in step S185 that the cancel has not been received, the control unit 101 returns the process to step S182, and repeats the processes from step S182. When it is determined in step S185 that the cancellation has been received, the control unit 101 notifies the schedule requester of the cancellation confirmation (step S186), and disconnects the communication path with the schedule requester (step S184). ), And terminates this processing routine.

  Then, when it is determined in step S127 of FIG. 10 that the conflicting schedule information is not being executed, the control unit 101 determines the schedule information of the schedule requester and the schedule information of the schedule competitor (schedule information). Are compared and determined (step S191 in FIG. 17). Also in the determination of the priority in step S191, similarly to step S128, the control unit 101 stores the priority based on the personal attribute stored in the use schedule registrant information storage unit 115 and the place attribute priority storage unit 12 The priorities based on the stored location attributes and the priorities based on the usage purposes stored in the usage purpose priority storage unit 122 are referred to, and the priorities are compared and determined.

  Then, the control unit 101 determines whether or not the schedule information of the schedule requester has a higher priority (step S192). If it is determined in step S192 that the schedule information of the schedule requester has the higher priority, the telephone number of the mobile phone terminal of the scheduled competitor stored in the use schedule registrant information storage unit 115 is used. Then, the call is transmitted to the scheduled competitor, while the schedule requester is requested to wait for schedule adjustment (step S193).

  Then, control unit 101 determines whether there is an incoming call response to the call to the scheduled competitor (step S194). When it is determined in step S194 that there is an incoming call response, a communication path is formed with the scheduled competitor, and the scheduled competitor is competed with the request to receive the boarding schedule of the schedule requester having a higher priority. Therefore, a request for changing the schedule information is requested (step S195).

  In response to the request for changing the scheduled information in step S195, the control unit 101 determines whether or not a change in the scheduled information has been received from the scheduled competitor via the communication channel (step S196). If it is determined in step S196 that the change of the schedule information has not been received, it is determined whether or not a refusal to change the schedule information has been received from the scheduled competitor (step S197). If it is determined in step S197 that the change rejection has been received, the control unit 101 disconnects the communication with the scheduled competitor (step S198), and then proceeds to step S181 in FIG. Is repeated. If it is determined in step S197 that the change rejection has not been received, the control unit 101 returns the process to step S196, and repeats the processes from step S196.

  If it is determined in step S196 that a change (modification) of the schedule information from the scheduled competitor has been received, the control unit 101 transmits the change (modification) of the schedule information received from the planned competitor to the use schedule registrant. A change (correction) is executed by reflecting the scheduled competitor's schedule information in the information storage unit 115 (step S199). Then, the control unit 101 disconnects the communication path with the scheduled competitor (step S200). Then, the control unit 101 shifts the processing to step S183 in FIG. 16, and performs the processing after step S183.

  Also, in step S192, when it is determined that the schedule information of the schedule requester has no higher priority than the schedule information of the schedule competitor, it is determined in step S194 that there is no incoming response from the schedule competitor. If so, the control unit 101 shifts the processing to step S181 in FIG. 16, and repeats the processing from step S181.

[Effects of the above-described embodiment]
As described above, according to the above-described embodiment, since the self-driving vehicle 1 itself adjusts the schedule, the schedule requester registers the use schedule registrant in the self-driving vehicle 1 and updates the schedule information. There is an effect that it is only necessary to make a reception request.

  According to the above-described embodiment, since the self-driving vehicle 1 performs the adjustment between the scheduled competitor and the scheduled requester while confirming the intentions of both, the schedule adjustment can be smoothly performed. . In this case, even when the schedule is being executed, the self-driving vehicle 1 can adjust the schedule between the scheduled competitor on board and the schedule requester, and receives the urgent schedule request from the schedule requester. Can also be easily handled.

  In the above-described embodiment, the user is limited to the registrant registered in the self-driving vehicle 1 and the authentication information is also registered as the registrant information. Can be easily secured.

  Further, in the above-described embodiment, priorities according to personal attributes are set in advance for use schedule registrants, so that when a schedule conflicts, the use schedule of a higher priority order can be prioritized. It is convenient. In addition, it is possible to set priorities according to the purpose of use and destination for schedule information and schedule information, so that when there is a conflict between the schedules, the higher priority use schedule can be prioritized, which is convenient. is there. In particular, in the event of an emergency such as transportation of a suddenly ill patient, priority is given to compulsory (absolute priority), so that it is possible to appropriately respond to an emergency.

[Modification of the above embodiment]
In the above-described embodiment, the plurality of use schedule registrants are family members, personal attributes as family members are recorded, and priorities according to the personal attributes are set in advance. Of course, it is not something that can be done, and it may be the case of a relative or a friend such as a circle.

  Further, the above-described embodiment can be applied to a company car used by a company and a public car used by a public organization. In the case of a company car or a public car, the use registrant information storage unit 115 stores information on each use registrant in addition to the above-mentioned use registrant information, such as affiliation, duties, and post (President, Section Manager, General Information such as employees) is registered and stored. Information such as affiliation, business, and post can be handled as business attributes. In this case, business attributes are more important than personal attributes, and priorities are set according to the importance and urgency of the business and the position of the job. For example, a section manager has a higher priority than a general employee, and a president has a higher priority than a section manager.

  The setting of the priority order is not limited to the individual attributes, business attributes, purpose of use, and destination as described above. It may be possible to do so. For example, if there is no alternative means of transportation, the priority is higher. For example, in the case of a short usage time within a predetermined time (for example, 30 minutes), the priority is higher. The reason is that if the use time is short, the chances of being able to interrupt and use it by adjusting the conflicting schedule are increased.

  In addition, taking into account the characteristics of the group consisting of multiple registrants (family, employees of the company (including affiliation of the sales department, general affairs department, etc.), etc.), or within the group According to this agreement, the case where the use time is longer than the predetermined time may be set to a higher priority.

  In the above-described embodiment, the schedule information of the schedule requester and the registered schedule information stored in the schedule schedule storage unit 119 are compared and referred to. Although the judgment is made and the processing is changed based on the judgment result, if the conflict is within a predetermined time (for example, within 5 minutes), the priority order is not judged, and the schedule requester is notified that the schedule start time is delayed by the predetermined time. Notification or notification may be made.

  Further, in the above-described embodiment, the absolute priority case is provided. However, when the self-driving vehicle is used for a trip involving accommodation at a remote place, emergency response is physically impossible, so In such a case, it is possible to set in advance that the schedule requester cannot be used.

  In the above embodiment, the wireless communication unit 102 is configured to have the functions of two mobile phone terminals, and when the schedule information of the schedule requester and the unexecuted schedule information conflict, As shown in FIG. 17, a communication path different from the communication path with the schedule requester is constructed for the schedule competitor who has registered the conflicting and unexecuted schedule information, and Schedule coordination with scheduled competitors. However, the wireless communication unit 102 does not necessarily need to have the functions of two mobile phone terminals.

  For example, when the wireless communication unit 102 includes only one mobile phone terminal, the schedule requester is notified that schedule adjustment is performed, and the communication path with the schedule requester is temporarily disconnected. A communication path is connected to the scheduled competitor, the schedule is adjusted, and the communication path is disconnected. Then, a communication path may be connected to the schedule requester again to notify the adjustment result. In such a case, while the communication path is connected between the schedule requester and the schedule competitor, change (correction) or cancellation (deletion) of schedule information or schedule information is accepted.

[Modification of schedule adjustment]
When the self-driving vehicle 1 receives the request for receiving the schedule information from the schedule requester, if it is determined that the conflicting schedule information is being executed in step S127 of FIG. When it is possible to incorporate the schedule requester's schedule into the schedule competitor's schedule by slightly changing the route to the destination and, if necessary, slightly changing the schedule requester's schedule information. There is. That is, the boarding start position designated by the schedule requester is taken in as a stopover point of the schedule competitor's schedule information, so that the ride on the self-driving vehicle 1 requested by the schedule requester can be determined by the schedule competitor This is when it can be accepted as a carpool. In this case, it is preferable to obtain the consent of the scheduled competitor and / or the scheduled requester.

  For example, if the route PA from the current position S during execution of the scheduled competitor's schedule information to the destination E is as shown by a solid line in FIG. In FIG. 18A, when the scheduled boarding start position (scheduled boarding location) Sr is close to the route PA and the scheduled boarding end position (scheduled boarding stop) Er is also close to the route PA, it is indicated by a dotted line in FIG. By changing to the route PB, it is possible to accept a ride according to a request from the schedule requester as a shared ride.

  In addition, as shown in FIG. 18 (A), not only when the scheduled boarding end position (scheduled getting off place) Er is just before the destination of the route PA, as shown in FIG. The same is true even if the scheduled end position (scheduled exit location) Er is farther than the destination.

  An example of the flow of the process of the main part of the schedule adjustment in this example will be described with reference to the flowcharts of FIGS.

  As shown in FIG. 19, the processing routine of this example is provided between step S127 and step S128 in FIG. That is, in this example, when it is determined in step S127 that the conflicting schedule is being executed, the control unit 101 uses the car navigation function unit 113 to set the scheduled start position (scheduled boarding location) of the schedule requester and the boarding end. The arrival delay time at the destination of the schedule information of the scheduled competitor in use when the scheduled position (scheduled drop-off location) is set as the stopover point is calculated (step S211 in FIG. 19).

  Then, the control unit 101 determines whether or not the arrival delay time of the calculation result is equal to or less than a predetermined allowable delay time DLth (step S212). When it is determined in step S212 that the arrival delay time of the calculation result exceeds the predetermined allowable delay time DLth, the control unit 101 causes the process to proceed to step S128 in FIG. Execute the following processing.

  Further, in step S212, when it is determined that the arrival delay time of the calculation result is equal to or less than the predetermined allowable delay time DLth, the control unit 101 determines the number of people on board according to the schedule of the scheduled competitor, and It is determined whether or not the total number of boarding passengers is within the number of boarding passengers based on the number of passengers of the scheduled information and the information on the number of boarding passengers stored in the vehicle information storage unit 124 (step S213). If it is determined in step S213 that the total number of people to be occupied exceeds the number of occupants, the control unit 101 causes the process to proceed to step S128 in FIG. 10 and executes the above-described process after step S128.

  In this step S213, when it is determined that the total number of people to be boarded is within the capacity, the schedule requester is notified of the competition with the planned competitor and that piggybacking is possible, and whether or not he / she wants piggybacking is determined. Is transmitted through the communication path (step S214). Then, the control unit 101 receives an answer from the schedule requester as to whether or not he / she wants to piggyback, and determines whether or not he / she wants to piggyback (step S215). If it is determined in step S215 that the schedule requester does not wish to piggyback, the control unit 101 causes the process to proceed to step S128 in FIG. 10 and executes the above-described process after step S128.

  If it is determined in step S215 that the schedule requester wants to take a piggyback ride, the control unit 101 notifies the scheduled competitor using the schedule requester via the display screen of the display unit 111 and the speaker 136. Including the number of persons of the information, the notification of the piggyback ride of the schedule requester and the delay of arrival time to the destination are made, and an inquiry is made as to whether or not to accept the rider (step S216).

  Then, the control unit 101 receives a response to the inquiry as to whether to approve the piggyback ride and determines whether to accept or reject the piggyback ride (step S217). When it is determined in step S217 that the answer is that piggybacking is refused, the control unit 101 notifies the schedule requester that the scheduled competitor has refused piggybacking through the communication path (step S218). Then, the control unit 101 causes the process to proceed to step S128 in FIG. 10 and executes the above-described process after step S128.

  When it is determined in step S217 that the answer indicates that the rider has accepted the piggy-back, the control unit 101 adds the stopover to the schedule information of the scheduled competitor in use stored in the scheduled schedule storage unit 119. The scheduled ride end time is changed to a recalculated time due to the delay caused by passing through a transit point, and the fact is notified to the scheduled competitor through the display screen of the display unit 111 and the speaker 136 (step in FIG. 20). S221).

  Next, the control unit 101 stores the schedule information of the schedule requester in the schedule schedule storage unit 119 in association with the schedule information of the scheduled competitor in use, and notifies the schedule requester to that effect via the communication path. (Step S222). Then, the control unit 101 disconnects the communication path with the schedule requester (step S223), and ends this processing routine.

  In the case of this example, the schedule information stored in the schedule schedule storage unit 119 is determined when both the schedule information of the schedule competitor and the schedule information of the schedule requester are completed. 119 is deleted.

  According to the example described above, both schedules can be executed simultaneously and concurrently by piggybacking (sharing) even if they are competing by coordination between the schedule requester and the schedule competitor. In addition to this, there is an effect that the schedule can be efficiently executed. In addition, about piggybacking (sharing), a plurality of people and a plurality of transit points are also possible.

  In the above-described example, when the scheduled competitor is on board, the schedule adjustment for the piggyback of the scheduled requester is performed. However, even when the schedule information of the scheduled competitor has not been executed, the piggybacking can be similarly adjusted according to the schedule information of the schedule requester. In this case, when the wireless communication unit 102 has the function of two mobile phone terminals, the wireless communication unit 102 receives a request from the schedule requester similarly to the schedule adjustment between the schedule competitor and the schedule requester in the above-described embodiment. While waiting for the request for receiving the schedule information, a communication path is formed with the scheduled competitor to adjust the schedule.

  Further, when the wireless communication unit 102 has only one mobile phone terminal function, the communication path for the request for receiving the schedule information from the schedule requester is temporarily disconnected, and thereafter, the wireless communication unit 102 A communication channel is formed during the period, the schedule for piggybacking is adjusted, and the communication channel is disconnected. Then, the result of the schedule adjustment for piggybacking can be adjusted by connecting the communication path again with the schedule requester and notifying it.

[Other Embodiments or Modifications]
In the above-described embodiment, the automatic driving vehicle is an electric vehicle, but may be another driving system such as a gasoline vehicle or a fuel cell vehicle. In addition, the self-driving vehicle may be capable of traveling not only by car navigation, but also by external radio waves from a traffic light or a signpost.

  Further, the automatic driving vehicle in the above-described embodiment has an automatic driving mode and a manual driving mode, and is configured to be switchable. In this case, since there is no manual operation mode, the manual / automatic operation mode switching control unit 105 and the manual operation detection unit 133 are not required. Instead, an automatic operation control unit (not shown) for performing control processing for automatic operation is provided. In the automatic driving mode, the driver does not need to perform operations such as accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (steering wheel operation). Become. In the case of only the automatic driving mode, the user (passenger) can perform all operations necessary for automatic driving, for example, by button operation, touch panel operation, voice operation, and the like.

  Furthermore, the self-driving vehicle of the present invention is not limited to automobiles, but can be applied to all vehicles such as large vehicles, motorcycles and single-seat mobiles, and ships such as helicopters, aircraft, motorboats and ferries.

  Further, in the above embodiment, the use schedule registrant information storage unit 115, the schedule schedule storage unit 119, the place attribute priority order storage unit 121, the use purpose priority order storage unit 122, the own vehicle information storage unit 124, and the car navigation database 134. Was installed in the own vehicle, but some or all of these storage units may be installed in the cloud instead of in the own vehicle and used via the communication network 3. Further, some or all of the authentication units such as the schedule requester authentication unit 116 and the passenger authentication unit 117 can be processed on the cloud via the communication network 3 instead of in the own vehicle.

  In the above embodiment, the passenger authentication uses the face image of the user, but the voice of the user may be used. When the passenger authentication is performed by the voice of the user, the voice of the user is collected by the microphone 135 in the self-driving car, and the voice of the registrant is stored in the registrant information storage unit 115. At the same time, the occupant authentication unit 117 is configured to have a speaker voice recognition function, and determines whether the stored voice matches the voice of a new user picked up by the microphone 135. By doing so, it is configured to perform passenger authentication.

  In the case where the passenger authentication is performed using the fingerprint of the user, the self-driving vehicle is provided with a fingerprint reading device, and the fingerprint of the registered registrant is stored in the registered user information storage unit 115. The occupant authentication unit 117 is configured to have a fingerprint recognition function, and determines whether the stored fingerprint matches a new user's fingerprint acquired by the fingerprint reading device. Passenger authentication is performed. The use of palm prints, veins, irises, and other biological information is also possible by changing the same configuration.

  Note that a password, a mobile phone number, or the like may be used for passenger authentication instead of biometric information such as a face image, voice, or fingerprint of a user. This method is useful for occupant authentication when the schedule requester who has made the reception request does not get on the automatic driving vehicle 1 and another user who does not register biometric information gets on. Of course, the use form in which the schedule requester does not get on the self-driving car 1 may be prohibited in order to ensure security, or the other user may inform the schedule requester when he / she rides. The notification may be made, a confirmation may be made as to whether or not the ride may be made, and the result of the confirmation may be used as an additional rider authentication.

  Further, in the above-described embodiment, the case where the information of one ride schedule is input is described. However, the information of the ride schedule may be input for a plurality of times, and for each time, the same schedule as described above may be input. Adjustments are possible. In addition, the schedule is not limited to the same day, but may be a schedule over a plurality of days such as two days, or even one week or one month.

  In the above embodiment, the schedule request is made through the mobile phone terminal possessed by the schedule requester. However, a person who is riding in the self-driving car can input an operation through the touch panel 112 or input a voice through the microphone 135. You may make it perform by audio | voice input through the output part 120. For the schedule information of the schedule requester (schedule information), the self-driving vehicle 1 may present a schedule template and have the necessary information input thereto, or the schedule requester may directly input the necessary information. May be entered. Further, schedule information may be input interactively with an automatic driving vehicle.

  It should be noted that the schedule requester needs to be a use schedule registrant, but the passenger does not need to be a use schedule registrant.

  DESCRIPTION OF SYMBOLS 1 ... Automatic driving vehicle, 3 ... Communication network, 10 ... Electronic control circuit part of automatic driving vehicle 1, 101 ... Control part, 102 ... Wireless communication part, 107 ... Camera group, 111 ... Display part, 112 ... Touch panel, 113 ... Car navigation function unit, 114: use schedule registrant information receiving unit, 115: use schedule registrant information storage unit, 116: schedule requester authentication unit, 117: occupant authentication unit, 118: boarding schedule reception management unit, 119: schedule Schedule storage

Claims (23)

An automobile that performs autonomous driving by autonomous driving,
Wireless communication means;
At least the authentication reference information about the use schedule registrant registered in advance as a person who plans to use the vehicle, a drive schedule registrant information storage means for storing in association with identification information of the use schedule registrant,
Schedule schedule storage means for storing schedule information of the schedule of use of the own vehicle in association with each of the identification information of the use schedule registrant;
Based on the stored schedule information stored in the scheduled schedule storage means, an autonomous movement control means controlling to move the own vehicle by autonomous traveling,
From the authentication reference information and the information obtained from the schedule requester who has made a request to accept the pre-storage schedule information of the use schedule of the own vehicle through the wireless communication means, the schedule requester is the use schedule registrant. Pre-storage schedule information receiving means for determining whether or not there is, and when determining that the user is the use schedule registrant, receiving the pre-storage schedule information of the schedule related to the reception request by the schedule requester,
And the schedule adjustment memory control means,
With
The schedule adjustment storage control means,
Wherein the contention determination unit that accepts the storage before scheduling information according to the request and said already stored schedule information stored in said predetermined schedule storage means determines whether competing accepted by the pre-storage schedule information accepting means,
Means for storing the pre-storage schedule information in the scheduled schedule storage means, when the conflict determination means determines that there is no conflict ;
When the conflict determining means determines that a conflict occurs, a communication including the communication by the wireless communication means is used between the scheduled competitor who has registered the conflicting stored schedule information and the scheduled requester. Means for controlling the schedule to be adjusted by
Wherein the scheduled schedule storage means does not have the stored schedule information conflicting with each other.
An automobile characterized by the following . Notification means for notifying a person on board the vehicle of a predetermined message to make an inquiry, and input receiving means for receiving an input of an answer to the inquiry from the person on the vehicle With
If the schedule adjustment storage control unit determines that the pre-storage schedule information and the stored schedule information conflict, the scheduled competitor who registered the conflicting stored schedule information is currently in the boarding. It is determined whether or not the schedule requester and the schedule are determined by using communication through the wireless communication means, notification by the notification means, and reception of operation input by the input reception means. vehicle according to claim 1, characterized in that intends line adjusted between the competitors. The use schedule registrant information storage unit is associated with each identification information of the use schedule registrant, and performs communication through the wireless communication unit with a terminal of the use schedule registrant. Connection information is stored,
If the schedule adjustment storage control unit determines that the pre-storage schedule information and the stored schedule information conflict, the scheduled competitor who registered the conflicting stored schedule information is currently in the boarding. If it is determined that the vehicle is not on board, the wireless communication means connects a communication path with the planned competitor using the connection information, and the wireless communication means The vehicle according to claim 1 or 2, wherein the adjustment is performed by performing communication for adjustment between the schedule requester and the scheduled competitor, respectively. The scheduling storage control means, said predetermined requestor, said notifies the utilization start enabled time after use end scheduled time of appointment competitors, the schedule of the requester's consent answer to the notification is obtained and performs a scheduling of between obtained whether the said predetermined requester by determining said expected competitors, as an adjustment result of the scheduling, answer consent of the scheduled requester is obtained When, the use start time of the pre-storage schedule information of the schedule requester received by the pre-storage schedule information receiving means is changed to a use start time after the planned end time of the planned competitor, The vehicle according to claim 2 or 3, wherein the vehicle is stored in the scheduled schedule storage unit . The scheduling storage control means, said predetermined competitors, the informed or notified of the acceptance request from scheduled requester, whether the scheduled competition's consent answers to the broadcast or notification was obtained and performs a scheduling of between the scheduled competitors and the planned requester by determining, as an adjustment result of the schedule, when the answer of approval of the appointment competitor is obtained, the Storing the pre-storage schedule information of the schedule requester received by the pre-storage schedule information reception unit in the schedule schedule storage unit, and deleting the conflicting stored schedule information from the schedule schedule storage unit. The vehicle according to claim 2 or 3, wherein the vehicle is a vehicle. The vehicle according to claim 5, wherein the notification or notification of the reception request from the schedule requester to the scheduled competitor is a notification or notification of who the schedule requester is. The notification or notification of the acceptance request from the schedule requester to the scheduled competitor is notification or notification of a purpose of use included in the pre-storage schedule information. The method according to claim 5 or 6, wherein The car described. The scheduling storage control unit, when the storage before scheduling information and the previous SL already stored schedule information is determined to compete, with the pre-storage schedule information scheduled according to the accepted request, from said already stored schedule information Priority determining means for determining the priority;
When the priority order determining means determines that the priority order of the pre- storage schedule information is higher than the priority order included in the stored schedule information, the scheduled contention in which the conflicting stored schedule information is registered Means for notifying the presence of a request for accepting the use of the vehicle with a higher priority order, and inquiring whether or not to approve the change of the stored schedule information of the scheduled competitor;
The vehicle according to any one of claims 1 to 7, comprising: The schedule adjustment storage control means,
When the storage before scheduling information and the previous SL already stored schedule information is determined to compete, a priority determination means for determining said pre-storage schedule information, the priority from and the already stored schedule information,
When the priority determining unit determines that the priority of the pre- storage schedule information is higher than the priority included in the stored schedule information, the reception request is accepted as valid, and the conflicting storage is received. The vehicle according to any one of claims 1 to 7, further comprising: changing the completed schedule information so as not to cause a conflict , or deleting the information from the scheduled schedule storage means . The vehicle according to claim 9, wherein the higher priority is an absolute priority. The schedule adjustment storage control means,
When the storage before scheduling information and the previous SL already stored schedule information is determined to conflict, and the priority discrimination means for discriminating said previously stored schedule information, a priority from and the already stored schedule information,
When the priority order determining means determines that the priority order of the pre- storage schedule information is higher than the priority order included in the stored schedule information, it corresponds to the identification information corresponding to the stored schedule information. After confirming the consent from the use schedule registrant, accepting the acceptance request as valid, the conflicting stored schedule information is changed so as not to conflict , or deleted from the schedule schedule storage means ,
The vehicle according to any one of claims 1 to 7, comprising: With correspondence information between each use purpose and priority,
The pre-storage schedule information and the stored schedule information include the purpose of use,
The priority order determining means determines a priority order based on the correspondence information, the use purpose information included in the pre-storage schedule information, and the conflicting stored schedule information. An automobile according to any one of claims 8 to 11. Comprising correspondence information between each of the use schedule registrants and the priority order,
The priority order determination unit determines a priority order based on the correspondence information, the information on the use schedule registrant for each of the pre-storage schedule information and the conflicting stored schedule information. The vehicle according to any one of claims 8 to 11 , wherein It has correspondence information between each attribute of the use end scheduled position and the priority,
The priority order determination means determines the attribute of the planned use end position included in the correspondence information, the pre-storage schedule information and the conflicting stored schedule information, and determines the determined use end schedule. The vehicle according to any one of claims 8 to 11, wherein a priority order is determined based on a position attribute. When the storage before schedule information and the previous term memory already schedule information is determined to be competitive, the expected starting position for the interest that is Ru included in the storage before schedule information, by the way point in the already stored schedule information The vehicle according to claim 1, wherein the pre-storage schedule information is received from a schedule requester. Means for calculating a delay time of a scheduled use start time in the stored schedule information when the scheduled use start position included in the pre- storage schedule information is set as a stopover point in the stored schedule information, When the time is within a predetermined time, the scheduled use start position included in the pre- storage schedule information is set as a stopover in the stored schedule information to receive the pre-storage schedule information from the schedule requester. The vehicle according to claim 15, wherein: The vehicle according to claim 16, further comprising: means for notifying the registrant of the stored schedule information of the delay time. Before accepting the pre- storage schedule information from the schedule requester by setting the scheduled use start position included in the pre- storage schedule information as the stopover point in the stored schedule information, the schedule of the stored schedule information is determined. Inquiring of a registrant as to whether or not to accept the reception of the pre-storage schedule information, and when the consent from the schedule registrant is obtained, receiving the pre-storage schedule information from the schedule requester. The vehicle according to any one of claims 15 to 17, wherein: Before accepting the pre- storage schedule information from the schedule requester by setting the scheduled use start position included in the pre- storage schedule information as a stopover point in the stored schedule information, The vehicle according to any one of claims 15 to 18, wherein it is determined whether or not the vehicle can be boarded by referring to the total number of people to be boarded. The use schedule registrant information storage unit is associated with each identification information of the use schedule registrant, and performs communication through the wireless communication unit with a terminal of the use schedule registrant. Connection information is stored,
The schedule adjustment storage control means, when it is determined that the pre-storage schedule information and the stored schedule information conflict, the connection information of the scheduled competitor who registered the conflicting stored schedule information, The vehicle according to claim 1, wherein the request is sent to the schedule requester for adjustment. 21. The schedule schedule storage means and / or the use schedule registrant information storage means are configured as a cloud connected by the wireless communication means. Car. The stored schedule information includes a planned use start position, a planned use end position, a planned use start time, a planned use time, and / or a planned use end time. 22. The vehicle according to any one of 21. An automobile that performs autonomous driving by autonomous driving,
Wireless communication means, and a use schedule registrant storing at least authentication reference information about the use schedule registrant registered in advance as a person planning to use the own vehicle in association with the identification information of the use schedule registrant Comprising an information storage means, a computer included in an automobile that performs automatic driving by autonomous driving,
Schedule schedule storage means for storing schedule information of the schedule of use of the own vehicle in association with each of the identification information of the use schedule registrant,
On the basis of the planned schedule storage means stored have that Symbol憶済schedule information, the autonomous movement controlling means for controlling to move the vehicle by autonomous,
From the authentication reference information and the information obtained from the schedule requester who has made a request to accept the pre-storage schedule information of the use schedule of the own vehicle through the wireless communication means, the schedule requester is the use schedule registrant. Pre-storage schedule information receiving means for determining whether or not there is, and when determining that the user is the use schedule registrant, receiving the pre-storage schedule information of the schedule related to the reception request by the schedule requester;
Schedule adjustment storage control means,
A car program to be executed as
The schedule adjustment storage control means,
Contention determination means for determining whether or not the pre-storage schedule information relating to the reception request received by the pre-storage schedule information reception means and the stored schedule information stored in the scheduled schedule storage means conflict with each other;
Means for storing the pre-storage schedule information in the scheduled schedule storage means, when the conflict determination means determines that no conflict occurs.
When the conflict determining means determines that a conflict occurs, a communication including the communication by the wireless communication means is used between the scheduled competitor who has registered the conflicting stored schedule information and the scheduled requester. Means to control the schedule to be adjusted by
Run as
An automobile program, wherein the scheduled schedule storage means does not include the stored schedule information that conflicts with each other.

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