JP6747528B2 - Autonomous vehicle - Google Patents

Description

The present invention relates to an autonomous vehicle that travels unmanned.

2. Description of the Related Art There is known an autonomous vehicle in which an automobile can be called at an arbitrary landing place in an area when necessary, and the vehicle can autonomously travel to a destination, and the user can leave the vehicle when the user moves to a desired landing place. (Patent Document 1)

JP, 11-184521, A

However, in conventional autonomous vehicles, no measures have been taken against illegal acts such as violence and property damage by passengers after boarding.

An autonomous traveling vehicle according to a first aspect of the present invention includes an autonomous traveling control unit that travels a preset route to a destination, an imaging unit that captures an image of an occupant in the vehicle after boarding, and a sound in the vehicle after boarding. The autonomous traveling control unit includes a detection unit configured to detect a vehicle, an image captured by the imaging unit, and a determination unit that analyzes a sound detected by the detection unit to determine a specific action that is an illegal act of the occupant. Changes the destination to the nearest police station or stops the traveling of the vehicle when the determination unit determines the specific behavior of the occupant.
The autonomous traveling vehicle according to the second aspect of the present invention includes an autonomous traveling control unit that travels along a route to a preset destination, an imaging unit that images an occupant in the vehicle after boarding, and an image captured by the imaging unit. A discriminating unit that analyzes an image to discriminate a specific behavior of the occupant, and a lock control unit that locks a seat belt and/or a door when the discriminating unit discriminates the specific behavior of the occupant. With.
An autonomous traveling vehicle according to a third aspect of the present invention is an autonomous traveling control unit that travels along a route to a preset destination, an imaging unit that images an occupant in the vehicle after boarding, and an image captured by the imaging unit. By analyzing the image, a determination unit that determines a specific action that is an illegal act of the occupant, and an emergency operation member, the autonomous traveling control unit, the specific action is determined by the determination unit, Alternatively, when the operation member is operated, the destination is changed to the nearest police station or the traveling of the vehicle is stopped.

According to the present invention, in an autonomous vehicle, it is possible to appropriately cope with illegal acts such as violence and property damage by an occupant after boarding.

It is a system configuration diagram of an autonomous traveling vehicle. It is an external view of an autonomous vehicle. It is a flow chart of an autonomous running vehicle.

FIG. 1 is a system configuration diagram of an autonomous traveling vehicle according to an embodiment of the present invention.
A memory 12, a display unit 13, a voice input/output unit 14, an input unit 15, and a communication unit 16 are connected to the CPU 11 via a bus line.

The memory 12 stores a program represented by a flowchart described later, and the CPU 11
Reads this program and executes the processing described later.

The display unit 13 displays a message to the occupant, a boarding charge, and the like. Voice input/output unit 14
Outputs a message to the occupant by voice and receives a voice input such as a destination issued by the occupant. The voice input/output unit 14 further detects an impact sound in the vehicle, a screaming voice of the occupant, and the like, and sets the occupant's illegal act as a discrimination element.

The input unit 15 is composed of a touch panel or the like and includes an emergency button operated by an occupant in an emergency, and the occupant inputs various kinds of information at the time of payment of a boarding fare. The communication unit 16 communicates with a vehicle management center to manage the current position of the vehicle. The communication unit 16 further transmits information to the nearest police station or the vehicle manager when it is determined that the occupant is illegal.

The CPU 11 communicates with the vehicle control system 17 via a bus line, and transmits/receives commands such as starting traveling of the vehicle, stopping traveling of the vehicle, opening/closing the door of the vehicle, and locking the seat belt.

A brake system 18, an acceleration system 19, a steering system 20, a sensor 21, a door opening/closing system 22, and a seat belt wearing system 23 are connected to the vehicle control system 17 via a bus line.

The vehicle control system 17 receives information from a sensor 21 such as an accelerometer or a gyroscope and operates a brake system 18, an acceleration system 19 and a steering system 20 to control the direction and speed of the vehicle. The vehicle control system 17 described above functions as an autonomous traveling control unit.

The door opening/closing system 22 opens/closes the vehicle door or locks the door in a closed state when receiving a command to open/close the vehicle door from the CPU 11 via the vehicle control system 17. When the door is locked by the door opening/closing system 22, an occupant cannot release the door.

When the seat belt wearing system 23 receives a seat belt locking command from the CPU 11 via the vehicle control system 17, the seat belt mounting system 23 locks the seat belt so that the seat belt is not released. When the seat belt is locked by the seat belt wearing system 23, the occupant cannot release the seat belt.

Further, the vehicle control system 17 includes a navigation system 24 via a bus line,
The camera system 25, GPS 26, and laser system 27 are connected.

The navigation system 24 includes a map database and searches for a boarding point where the passenger waits for boarding and a route for traveling to the destination of the passenger. Then, the vehicle control system 17 automatically causes the vehicle to autonomously travel along the searched route.

The camera system 25 is composed of a plurality of cameras that acquire an image of the surrounding 360° outside the vehicle, and reads signals and signs. The vehicle control system 17 causes the vehicle to automatically travel autonomously according to the read signal or sign. The camera system 25 further includes a camera that constantly captures the image of the occupant in the vehicle, and captures the posture and behavior of the occupant. The CPU 11 determines the occupant's illegal behavior such as violent behavior in the vehicle or damage to property based on the image of the occupant's posture and behavior.

The GPS 26 supplies current position information to the vehicle control system 17 and the navigation system 24. The laser system 27 is mounted on the vehicle exterior ceiling and identifies the position and distance of an object outside the vehicle such as another vehicle or an obstacle on the road. The vehicle control system 17 is
The vehicle is automatically driven autonomously while avoiding the specified object outside the vehicle.

FIG. 2 is an external view of an autonomous vehicle.
A total of four cameras 25a to 25d are attached to the outside of the vehicle at four corners of the vehicle interior ceiling. The camera system 25 uses the cameras 25a to 25d to detect the surrounding area 3 outside the vehicle.
A 60 degree range is imaged and the image is acquired. Further, a camera 25e is attached to the front part of the vehicle interior ceiling of the vehicle facing the inside of the vehicle. The camera system 25 constantly photographs the passengers in the vehicle with the camera 25e. It should be noted that the mounting positions of the cameras and the number of cameras installed are examples, and can be changed as needed.

A laser device 27a is rotatably attached to the vehicle exterior ceiling. The laser device 27a has a light source (laser diode) and a light receiving element built-in. When the light emitted from the light source hits an object outside the vehicle, it is reflected and received by the light receiving element of the sensor. The laser system 27 measures a slight time from irradiation of light to reception of light, and converts the time difference into a distance. The laser device 28a constantly rotates 360° and constantly measures the distance to an object outside the vehicle.

Hereinafter, the operation of the autonomous traveling vehicle according to the embodiment of the present invention will be described with reference to the flowchart shown in FIG. The program shown in the flowchart of FIG. 3 is stored in the memory 12, and the CPU 11 reads this program and executes the following processing.

An autonomous vehicle that is autonomous and autonomously drives is parked at a standby point. The standby point is a management center that manages autonomous vehicles or a predetermined parking lot. The occupant who is the user can call the autonomous vehicle from any point. When calling an autonomous vehicle, a portable terminal equipped with a GPS function is used to inform the management center of the boarding point.

In step S1 of FIG. 3, the CPU 11 sets the boarding point as the destination and starts the traveling of the autonomously traveling vehicle. Specifically, the CPU 11 instructs the vehicle control system 17 to drive the vehicle. The vehicle control system 17 operates the brake system 18, the acceleration system 19, and the steering system 20 to start traveling of the vehicle. The boarding point is the point where the user calls the autonomously traveling vehicle using the mobile terminal.

In step S2, the CPU 11 continues traveling of the vehicle toward the boarding point. Specifically, the CPU 11 instructs the vehicle control system 17 to drive the vehicle toward the boarding point.
The vehicle control system 17 automatically makes the vehicle autonomously travel along the route to the boarding point searched by the navigation system 24.

In step S3, the CPU 11 determines whether the vehicle has reached the boarding point. The vehicle control system 17 returns a response to the CPU 11 when reaching the boarding point searched by the navigation system 24. If the vehicle has not reached the boarding point, the process returns to step S2, and the vehicle continues to travel toward the boarding point. If you have reached the boarding point, step S
Go to 4.

In step S4, the CPU 11 stops the vehicle and opens the door. Specifically, CPU1
1 instructs the vehicle control system 17 to stop the vehicle and open the door. Vehicle control system 1
7 confirms the safety around the vehicle by the camera system 25 and the laser system 27 and controls the brake system 18 and the like to stop the vehicle at a safe place. After that, the vehicle control system 17 opens the door by the door opening/closing system 22.

In step S5, the CPU 11 determines whether the occupant has finished riding. In particular,
The CPU 11 acquires an image outside the vehicle and an image inside the vehicle by the camera system 25, and determines whether all the passengers are seated in the seats inside the vehicle by analyzing the image. If all passengers are not on board, wait until they are completed. When it is determined that the occupant has finished riding, the process proceeds to step S6.

In step S6, the CPU 11 closes the door, locks the door, and sets the destination.
Specifically, the CPU 11 instructs the door opening/closing system 22 to close the door and lock the door via the vehicle control system 17, and the door opening/closing system 22 closes the door to lock the door. Then, the CPU 11 outputs, from the voice input/output unit 14, a message prompting the occupant to utter the destination, for example, "Where are you going?"
The voice input of the destination emitted from the occupant is received and the voice recognition is performed. And the CPU 11
Sets a destination in the navigation system 24 and searches for a route for traveling to the destination.

In step S7, the CPU 11 causes the vehicle to travel toward the destination. Specifically, C
The PU 11 instructs the vehicle control system 17 to travel, and the vehicle control system 17 operates the brake system 18, the acceleration system 19, and the steering system 20 to start traveling of the vehicle.

In step S8, the CPU 11 causes the camera 25e installed in the vehicle of the camera system 25e.
The occupant in the vehicle is photographed from and the image is stored in the memory 12. The shooting may be a still image or a moving image.

In step S9, the CPU 11 detects a sound inside the vehicle. Specifically, the voice input/output unit 1
4, the impact sound in the vehicle, the screaming voice of the occupant, etc. are detected and stored in the memory 12.

In step S10, the CPU 11 analyzes the image and sound stored in the memory 12. That is, based on the saved image, it is determined whether the occupant is in the normal sitting state, whether the occupant is out of the normal sitting state and is in an abnormal posture, or whether violent acts are performed. Analysis is performed by comparing with a template image stored in advance. Further, based on the stored sound, it is analyzed whether an impact sound inside the vehicle or a screaming voice of a passenger is emitted.

In step S11, the CPU 11 determines from the analysis result of the image and the sound whether or not there is a specific action that is an illegal act of the occupant. For example, when a violent act is performed and a scream is made, it is determined that there is a specific action that is an illegal act. Further, when the action of removing the item inside the vehicle is performed and the sound of removing the item is detected, it is determined that there is an illegal act of damage to the item. If there is no illegal act of the occupant, the process proceeds to the next step S12.

In step S12, the CPU 11 determines whether the vehicle has reached the destination. The vehicle control system 17 returns a response to the CPU 11 when reaching the destination searched by the navigation system 24. If the destination is not reached, return to step S7,
The vehicle continues to travel to the destination, and the occupant inside the vehicle is continuously photographed and the sound inside the vehicle is detected.
If the destination is reached, the process proceeds to step S13.

In step S13, the CPU 11 stops the vehicle. Specifically, the CPU 11 instructs the vehicle control system 17 to stop the vehicle. The vehicle control system 17 confirms the safety around the vehicle by the camera system 25 and the laser system 27 and controls the brake system 18 and the like to stop the vehicle at a safe place.

In step S14, the CPU 11 pays the boarding fare. That is, the fare is displayed on the display unit 13, and the voice input/output unit 14 audibly outputs a message prompting the passenger to settle the fare. The occupant inputs card information or the like through the input unit 15 to settle the boarding fare. When the settlement is completed, the process proceeds to step S15.

In step S15, the CPU 11 opens the door. Specifically, the CPU 11 instructs the vehicle control system 17 to open the door. The vehicle control system 17 includes the door opening/closing system 2
Open the door by 2.

In step S16, the CPU 11 determines whether the occupant has finished getting off the vehicle. Specifically, the CPU 11 acquires an image outside the vehicle and an image inside the vehicle by the camera system 25, and determines whether all the passengers have gone out of the vehicle by analyzing the image. If all passengers have not finished getting off, wait until it is completed. If it is determined that the occupant has finished getting off, step S1
Proceed to 7.

In step S17, the CPU 11 closes the door, sets the standby point as the destination, and starts traveling of the autonomously traveling vehicle. Specifically, the CPU 11 instructs the vehicle control system 17 to close the door, and further instructs the vehicle to travel. The standby point is a management center that manages autonomous vehicles or a predetermined parking lot.

If there is a specific action that is an illegal act of the occupant in step S11, the process proceeds to step S18. In step S18, the CPU 11 outputs a warning message by voice from the voice input/output unit 14 to the occupant. The warning message is, for example, "I will call the police if I do not stop."
And so on.

In step S19, the CPU 11 determines whether the illegal act continues for a predetermined period. The predetermined period is, for example, several minutes. If it has not continued for the predetermined period, the process proceeds to step S20.

In step S20, the CPU 11 determines whether the emergency button has been pressed. The emergency button is provided on the input unit 15 and is operated by an occupant. If the emergency button has not been pressed, the process returns to step S7, the vehicle continues to travel to the destination, and photographing of an occupant in the vehicle and detection of sound in the vehicle are continued.

If it is determined in step S19 that the illegal act has continued for a predetermined period, or if it is determined in step S20 that the emergency button has been pressed, the process proceeds to step S21.

In step S21, the CPU 11 sets the police station near the current position as the destination. Specifically, the CPU 11 searches for and sets a police station near the current position as a destination in the navigation system 24, and searches for a route for traveling to the police station, which is the destination.

In step S22, the CPU 11 notifies the retrieved police station of the illegal act in the vehicle and the current position. The form of the notification is a voice-synthesized telephone call, an electronic mail, or the like, and is performed via the communication unit 16. In step S23, the CPU 11 transmits the image of the illegal act to the searched police station via the communication unit 16. By sending images in advance, police can respond quickly.

In step S24, the CPU 11 locks the seat belt and the door. Specifically, the CPU 11 instructs the seat belt wearing system 23 to lock the seat belt via the vehicle control system 17, and the seat belt wearing system 23 locks the seat belt. Further, the CPU 11 instructs the door opening/closing system 22 to lock the door via the vehicle control system 17, and the door opening/closing system 22 locks the door. As a result, the lock of the seat belt and the door cannot be released by the operation of the occupant. Locking the seat belt and the door can restrain the illegal person.

In step S25, the CPU 11 drives the vehicle toward the destination. In particular,
The CPU 11 instructs the vehicle control system 17 to travel, and the vehicle control system 17
The brake system 18, the acceleration system 19, and the steering system 20 are operated to drive the vehicle toward the police station.

In step S26, the CPU 11 determines whether the vehicle has reached the destination police station.
The vehicle control system 17 returns a response to the CPU 11 when reaching the destination set in the navigation system 24. If the vehicle has not reached the destination, the process returns to step S25, and the vehicle continues to travel toward the destination. If the vehicle has reached the destination, the process proceeds to step S27.

In step S27, the CPU 11 stops the vehicle. Specifically, the CPU 11 instructs the vehicle control system 17 to stop the vehicle. The vehicle control system 17 confirms the safety around the vehicle by the camera system 25 and the laser system 27 and controls the brake system 18 and the like to stop the vehicle at a safe place of the police station.

In step S28, the CPU 11 notifies the police station that the vehicle has arrived at the police station. The form of the contact is a telephone by voice synthesis, an electronic mail, or the like, and is performed via the communication unit 16. The seatbelt and door locks will be unlocked at an appropriate time according to instructions from the management center.

(Modification)
The present invention can be implemented by modifying the embodiment described above as follows.
(1) An example has been described in which the sound input/output unit 14 detects an impact sound in a vehicle, a screaming voice of a passenger, and the like. However, when the image of the occupant in the vehicle by the camera system 25 is a moving image and includes sound, the impact sound in the vehicle or the screaming sound of the occupant may be detected by this sound.

(2) Images of illegal activities are sent to the police station near the current position. But,
The image may be transmitted not only to the police station but also to the outside such as a management center that manages the vehicle. Based on the transmitted images, it is possible to take measures at external police stations, management centers, etc.

(3) When a specific behavior that is an illegal act of an occupant is discriminated, the passenger is allowed to drive to the nearest police station. However, the running of the vehicle may be stopped when the specific behavior of the occupant is determined. By stopping the traveling of the vehicle, it is possible to quickly and safely evacuate the vehicle in which the illegal act has been performed. Further, the vehicle may be stopped and then the police may be contacted to call the police.

According to the embodiment described above, the following operational effects can be obtained.
(1) A vehicle control system 1 in which an autonomous vehicle travels on a route to a preset destination
7, a camera system 25 that captures an image of an occupant in the vehicle after boarding, a CPU 11 that analyzes an image captured by the camera system 25, and determines a specific action that is an illegal act of the occupant
The communication unit 16 that transmits the image captured by the camera system 25 to the outside when the specific behavior of the occupant is determined in 1. Therefore, in the autonomous vehicle, it is possible to appropriately cope with illegal acts such as violence by the occupant after getting on the vehicle and damage to property.

The present invention is not limited to the above-described embodiments, and other forms considered within the scope of the technical idea of the present invention are also included in the scope of the present invention as long as the characteristics of the present invention are not impaired. Be done. Further, a configuration in which the above-described embodiment and a plurality of modified examples are combined may be adopted.

11 CPU
12 memory 13 display unit 14 voice input/output unit 15 input unit 16 communication unit 17 vehicle control system 18 braking system 19 acceleration system 20 steering system 21 sensor 22 door opening/closing system 23 seat belt wearing system 24 navigation system 25 camera system 26 GPS
27 Laser system

Claims (10)

An autonomous traveling control unit that travels on a route to a preset destination,
A shooting unit that shoots passengers inside the car after boarding,
A detection unit that detects the sound inside the vehicle after getting on,
An image captured by the image capturing unit and a sound detected by the detection unit are analyzed, and a determination unit that determines a specific action that is an illegal act of the occupant is provided ,
The autonomous traveling control unit changes the destination to the nearest police station or stops traveling of the vehicle when the specific action of the occupant is determined by the determination unit. In the autonomous vehicle according to claim 1,
An autonomous vehicle in which the determining unit determines that the specific action is performed when a violent act is performed and a scream is uttered. The autonomous vehicle according to claim 1 or 2,
The autonomous traveling control unit includes a transmission unit that changes the destination or stops the traveling of the vehicle, and transmits the illegal activity and the current position of the vehicle to the police station. Traveling vehicle. The autonomous traveling vehicle according to claim 3 ,
The transmitting unit further transmits an image of the specific action captured by the capturing unit to the outside. The autonomous vehicle according to claim 3 or 4 ,
An identification unit for identifying whether or not the vehicle has reached the nearest police station,
Wherein the arrival of identification unit to the police station is identified, further comprising autonomous vehicle and a control unit for communication with said police station from the transmitting unit that has been reached. The autonomous vehicle according to any one of claims 1 to 5 ,
The autonomous running control unit, the determination the specific actions that are determine by in unit changes the destination if continued for a predetermined time period, or autonomous vehicle to stop traveling of the vehicle. The autonomous traveling vehicle according to any one of claims 1 to 6,
Equipped with emergency operation member,
The autonomous traveling control unit changes the destination or stops traveling of the vehicle when the operating member is operated. The autonomous vehicle according to any one of claims 1 to 7,
The autonomous traveling vehicle, further comprising a lock control unit that changes the destination or stops traveling of the vehicle and locks a seat belt and/or a door. An autonomous traveling control unit that travels on a route to a preset destination,
A shooting unit that shoots passengers inside the car after boarding,
A discriminating unit that analyzes the image photographed by the photographing unit and discriminates a specific action that is an illegal act of the occupant;
An autonomous traveling vehicle comprising: a lock control unit that locks a seat belt and/or a door when the determination unit determines the specific behavior of the occupant. An autonomous traveling control unit that travels on a route to a preset destination,
A shooting unit that shoots passengers inside the car after boarding,
A discriminating unit that analyzes the image photographed by the photographing unit and discriminates a specific action that is an illegal act of the occupant;
With an emergency operation member,
When the specific behavior is discriminated by the discrimination unit or the operation member is operated, the autonomous traveling control unit changes the destination to the nearest police station, or stops traveling of the vehicle. Autonomous vehicle.

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