JP6916852B2 - Vehicle control systems, vehicle control methods, and vehicle control programs - Google Patents

Description

The present invention relates to a vehicle control system, a vehicle control method, and a vehicle control program.

In recent years, research on a technology related to car sharing in which one vehicle is shared by a plurality of people has been promoted. In connection with this, a user who wants to share a vehicle registers as a member with a car sharing company, and when using the vehicle, temporarily suspends the vehicle using authentication information such as an ID and password issued by the car sharing company. A technology that can be exclusively used is disclosed (see, for example, Patent Document 1).

International Publication No. 2015/166811

However, in the method of the prior art, since each member individually uses one vehicle, it is difficult to use it as a carpool vehicle. In addition, the carpooling applicant may not be able to easily grasp which of the traveling vehicles can be carpooled.

The present invention has been made in consideration of such circumstances, and one of the objects of the present invention is to provide a vehicle control system, a vehicle control method, and a vehicle control program capable of easily realizing carpooling of vehicles. do.

The invention according to claim 1 is based on an output unit that outputs information to the outside of the vehicle, an interior camera that captures the interior of the vehicle, and information on the face included in the image captured by the interior camera. The in-vehicle condition acquisition unit that acquires information including the position and gender of the occupant seated in the seat in the vehicle interior and the information on the in-vehicle equipment set in the vehicle as the in-vehicle condition, and the in-vehicle condition acquisition unit obtains the information. and the information indicating whether available or not boarded the vehicle status and the vehicle, a vehicle control system and a control unit to output to the output unit.

The invention according to claim 2 is the vehicle control system according to claim 1, wherein the vehicle interior condition acquisition unit is based on a face region included in an image captured by the vehicle interior camera. Based on at least one of the occupant's hairstyle, clothes, face shape, and color included in the image, the position of the occupant seated in one of the plurality of seats existing in the It estimates the gender of the occupants.

The invention according to claim 3 is the vehicle control system according to claim 1 or 2, wherein a recognition unit that recognizes a person in the vicinity of the vehicle and a person recognized by the recognition unit are not allowed to ride. Further provided with a determination unit for determining whether or not the vehicle is qualified, the determination unit determines whether or not the person recognized by the recognition unit is a ride applicant, and is determined to be the ride applicant. In this case, it is determined whether or not the person who wants to board the vehicle is ineligible for boarding based on the person information of the person who wants to board the vehicle.

The invention according to claim 4 is the vehicle control system according to claim 3, further comprising an imaging unit that images the periphery of the vehicle, and the determination unit analyzes an image captured by the imaging unit. Then, based on the movement of the rider included in the image obtained as the analysis result, it is determined whether or not the rider is ineligible for boarding.

The invention according to claim 5 is the vehicle control system according to claim 3 or 4, wherein the determination unit acquires and acquires information on a person who does not want to share a carpool set by an already-riding occupant. Based on the person information and the person information of the ride applicant recognized by the recognition unit, it is determined whether or not the ride applicant is an unsuitable person for boarding.

The invention according to claim 6 is the vehicle control system according to any one of claims 3 to 5, further comprising an interface control unit that outputs information to the occupants of the vehicle, and said the interface. At the timing when the determination unit determines that the person recognized by the recognition unit is a ride applicant, the control unit outputs an inquiry to the occupant as to whether or not the ride applicant may be shared. Based on the input result of the occupant with respect to the output, the determination unit determines whether or not the applicant for boarding is ineligible for boarding.

The invention according to claim 7 is the vehicle control system according to any one of claims 3 to 6, wherein the person is determined to be ineligible for riding in the vehicle by the determination unit. In this case, it controls to refuse the boarding of the person.

The invention according to claim 8, onboard computer, capturing the passenger compartment cabin camera, occupant position and seated on the seat that is present before Symbol cabin based on information relating to a face included in the image captured and information including the gender, acquires the information about the vehicle equipment is set to the vehicle as a vehicle status, the acquired the vehicle status and information indicating whether available or not boarded the vehicle has, towards the outside of the vehicle by the output unit outputs This is a vehicle control method.

Invention of claim 9, the in-vehicle computer to image the passenger compartment cabin camera, the position of the occupant seated on the seat that is present before Symbol cabin based on information relating to a face included in a captured image information and including gender, and information about the vehicle equipment is set to the vehicle is acquired as the vehicle status, information indicating whether it is possible boarded on the acquired vehicle conditions and the vehicle, toward the outside by the output portion It is a vehicle control program that outputs information.

According to the inventions of claims 1 to 9, the vehicle control system can easily realize carpooling of vehicles.

Further, according to the inventions of claims 3 to 7, the vehicle control system can prevent an ineligible person from getting into the vehicle.

It is a block diagram of the vehicle system 1 of 1st Embodiment. It is a figure which shows how the own vehicle position recognition part 122 recognizes the relative position and posture of the vehicle M with respect to the traveling lane L1. It is a figure which shows how the target track is generated based on a recommended lane. It is a figure for demonstrating the process by the vehicle interior condition acquisition unit 150. It is a figure which shows an example of the content which is output to the outside of a vehicle. It is a figure which shows an example of the movement of the character string shown in the image 300F and 300L. It is a figure for demonstrating the determination content of the person who wants to get on board by the person who wants to get on board 170. It is a figure which shows an example of the inquiry screen displayed at the time of boarding. It is a figure which shows an example of the inquiry screen which is displayed at the time of determination of person information. It is a figure which shows an example of the information about the planned stop position which is output to the outside of a vehicle. It is a figure which shows an example of the information output to the outside of a vehicle at the time of a follow-up run. It is a flowchart which shows an example of the vehicle control processing of 1st Embodiment. It is a block diagram of the vehicle system 2 of the 2nd Embodiment. It is a flowchart which shows an example of the vehicle control processing of 2nd Embodiment.

[First Embodiment]
Hereinafter, the vehicle control system, the vehicle control method, and the vehicle control program of the first embodiment will be described with reference to the drawings. In the first embodiment, it is assumed that the vehicle control system is applied to the autonomous driving vehicle. Autonomous driving means, for example, driving a vehicle by automatically controlling at least one of acceleration / deceleration or steering of the vehicle.

[overall structure]
FIG. 1 is a configuration diagram of the vehicle system 1 of the first embodiment. The vehicle on which the vehicle system 1 is mounted (hereinafter referred to as vehicle M) is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or an electric motor. It is a combination of these. The electric motor operates by using the electric power generated by the generator connected to the internal combustion engine or the electric power generated by the secondary battery or the fuel cell.

The vehicle system 1 includes, for example, a camera (imaging unit) 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a navigation device 50, and an MPU. (Micro-Processing Unit) 60, vehicle sensor 70, driving controller 80, vehicle interior camera 90, automatic driving control unit 100, traveling driving force output device 200, braking device 210, steering device 220. To be equipped. These devices and devices are connected to each other by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted or another configuration may be added.

In the first embodiment, the "vehicle control system" includes, for example, an HMI 30 and an automatic driving control unit 100. The HMI 30 is an example of an "output unit". The interface control unit 160 is an example of a “control unit”. Further, the outside world recognition unit 121 is an example of the "recognition unit". The boarding applicant determination unit 170 is an example of the “determination unit”. Further, the combination of the first control unit 120 and the second control unit 140 is an example of the "automatic operation control unit".

The camera 10 is, for example, a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). One or a plurality of cameras 10 are attached to an arbitrary position of the vehicle M on which the vehicle system 1 is mounted. When photographing the front, the camera 10 is attached to the upper part of the front windshield, the back surface of the rearview mirror, and the like. When photographing the rear, the camera 10 is attached to the upper part of the rear windshield, the back door, or the like. When taking a side image, the camera 10 is attached to a door mirror or the like. The camera 10 periodically and repeatedly images the periphery of the vehicle M, for example. The camera 10 may be a stereo camera.

The radar device 12 radiates radio waves such as millimeter waves around the vehicle M, and detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and orientation) of the object. One or a plurality of radar devices 12 may be attached to any position of the vehicle M. The radar device 12 may detect the position and velocity of the object by the FMCW (Frequency Modulated Continuous Wave) method.

The finder 14 is a lidar (Light Detection and Ranging or Laser Imaging Detection and Ranging) that measures scattered light with respect to the irradiation light and detects the distance to the target. One or more of the finder 14s may be attached to any part of the vehicle M.

The object recognition device 16 performs sensor fusion processing on the detection results of a part or all of the camera 10, the radar device 12, and the finder 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic operation control unit 100.

The communication device 20 communicates with other vehicles existing in the vicinity of the vehicle M by using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or a wireless base. Communicates with various server devices via stations. Further, the communication device 20 communicates with a terminal device owned by a person outside the vehicle.

The HMI 30 presents various information to the occupants in the vehicle and accepts input operations by the occupants. The HMI 30 includes, for example, an in-vehicle device 31. The in-vehicle device 31 is, for example, various display devices, a touch panel, a speaker, a microphone, a buzzer, a switch, a key, and the like.

In addition, the HMI 30 presents information to the outside of the vehicle. In this case, the HMI 30 includes, for example, an external display 32, an external speaker 33, and the like.

The vehicle external speaker 33 outputs sound to a predetermined range outside the vehicle. The vehicle external speaker 33 may output sound having directivity in a predetermined direction.

The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a routing unit 53, and the first map information 54 is stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Holds. The GNSS receiver identifies the position of the vehicle M based on the signal received from the GNSS satellite. The position of the vehicle M may be specified or complemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 70. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partially or wholly shared with the above-mentioned HMI 30. The route determination unit 53 uses, for example, a route (for example, a purpose) from the position of the vehicle M specified by the GNSS receiver 51 (or an arbitrary position input) to the destination input by the occupant using the navigation HMI 52. (Including information on waypoints when traveling to the ground) is determined with reference to the first map information 54. The first map information 54 is, for example, information in which a road shape is expressed by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The route determined by the route determination unit 53 is output to the MPU 60. Further, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the route determined by the route determination unit 53. The navigation device 50 may be realized by, for example, the function of a terminal device such as a smartphone or a tablet terminal owned by the user. Further, the navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and acquire the route returned from the navigation server.

The MPU 60 functions as, for example, a recommended lane determination unit 61, and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determination unit 61 divides the route provided by the navigation device 50 into a plurality of blocks (for example, divides the route every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 for each block. Determine the recommended lane. The recommended lane determination unit 61 determines which lane to drive from the left. The recommended lane determination unit 61 determines the recommended lane so that the vehicle M can travel on a reasonable traveling route to proceed to the branch destination when there is a branching point, a merging point, or the like on the route.

The second map information 62 is more accurate map information than the first map information 54. The second map information 62 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. Further, the second map information 62 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. Road information includes information indicating the type of road such as highways, toll roads, national roads, and prefectural roads, the number of lanes on the road, the area of the emergency parking zone, the width of each lane, the slope of the road, and the position of the road (longitudinal). , Latitude, three-dimensional coordinates including height), curvature of lane curves, positions of lane confluences and branch points, signs provided on roads, and the like. The second map information 62 may be updated at any time by accessing another device using the communication device 20.

The vehicle sensor 70 includes a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an orientation sensor that detects the direction of the vehicle M, and the like.

The driving operator 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel and other operators. A sensor for detecting the amount of operation or the presence or absence of operation is attached to the operation operator 80, and the detection result is the automatic operation control unit 100, or the traveling driving force output device 200, the brake device 210, and the steering device. It is output to one or both of 220.

The vehicle interior camera 90 images the upper body centering on the face of the occupant seated in the driver's seat. The captured image of the vehicle interior camera 90 is output to the automatic driving control unit 100.

[Automatic operation control unit]
The automatic driving control unit 100 includes, for example, a first control unit 120, a second control unit 140, an in-vehicle status acquisition unit 150, an interface control unit 160, a ride applicant determination unit 170, and a carpool settlement unit 180. Be prepared. The first control unit 120, the second control unit 140, the vehicle interior status acquisition unit 150, the interface control unit 160, the ride applicant determination unit 170, and the carpool settlement unit 180 are CPUs (Central Processing Units), respectively. It is realized by executing a program (software) by a processor such as. In addition, some of the functional units of the first control unit 120, the second control unit 140, the vehicle interior status acquisition unit 150, the interface control unit 160, the ride applicant determination unit 170, and the shared ride settlement unit 180, which will be described below, or All may be realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or by collaboration between software and hardware. good.

The first control unit 120 includes, for example, an outside world recognition unit 121, a vehicle position recognition unit 122, and an action plan generation unit 123.

The outside world recognition unit 121 recognizes states such as the position, speed, and acceleration of surrounding vehicles based on the information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16. The position of the peripheral vehicle may be represented by a representative point such as the center of gravity or a corner of the peripheral vehicle, or may be represented by an area represented by the outline of the peripheral vehicle. The "state" of the peripheral vehicle may include the acceleration or jerk of the peripheral vehicle, or the "behavioral state" (eg, whether or not the vehicle is changing lanes or is about to change lanes).

Further, the outside world recognition unit 121 may recognize the positions of guardrails, utility poles, parked vehicles, people such as pedestrians, and other objects in addition to peripheral vehicles.

The own vehicle position recognition unit 122 recognizes, for example, the lane in which the vehicle M is traveling (traveling lane), and the relative position and posture of the vehicle M with respect to the traveling lane. The own vehicle position recognition unit 122 uses, for example, a road marking line pattern (for example, an array of solid lines and broken lines) obtained from the second map information 62 and a road around the vehicle M recognized from an image captured by the camera 10. The traveling lane is recognized by comparing with the pattern of the lane marking. In this recognition, the position of the vehicle M acquired from the navigation device 50 and the processing result by the INS may be added.

Then, the own vehicle position recognition unit 122 recognizes, for example, the position and posture of the vehicle M with respect to the traveling lane. FIG. 2 is a diagram showing how the own vehicle position recognition unit 122 recognizes the relative position and posture of the vehicle M with respect to the traveling lane L1. The own vehicle position recognition unit 122 has, for example, an angle θ formed by the deviation OS of the reference point (for example, the center of gravity) of the vehicle M from the center CL of the traveling lane and the line connecting the center CL of the traveling lane in the traveling direction of the vehicle M. Is recognized as the relative position and orientation of the vehicle M with respect to the traveling lane L1. Instead of this, the own vehicle position recognition unit 122 may recognize the position of the reference point of the vehicle M with respect to any side end of the traveling lane L1 as the relative position of the vehicle M with respect to the traveling lane. .. The relative position of the vehicle M recognized by the own vehicle position recognition unit 122 is provided to the recommended lane determination unit 61 and the action plan generation unit 123.

The action plan generation unit 123 generates an action plan for the vehicle M to automatically drive to the destination or the like. For example, the action plan generation unit 123 determines the events to be sequentially executed in the automatic driving control so as to drive in the recommended lane determined by the recommended lane determination unit 61 and to respond to the surrounding conditions of the vehicle M. do. The events in the automatic driving of the first embodiment include, for example, a constant-speed traveling event in which the vehicle travels in the same traveling lane at a constant speed, a lane change event in which the traveling lane of the vehicle M is changed, an overtaking event in which the vehicle in front is overtaken, and a preceding driving. Follow-up driving event that follows the vehicle, merging event that joins the vehicle at the merging point, branching event that causes the vehicle M to run in the desired direction at the branch point of the road, emergency stop event that causes the vehicle M to make an emergency stop, automatic driving There is a handover event for switching to manual operation after finishing. In addition, during the execution of these events, actions for avoidance may be planned based on the surrounding conditions of the vehicle M (existence of surrounding vehicles and pedestrians, lane narrowing due to road construction, etc.).

The action plan generation unit 123 generates a target track on which the vehicle M will travel in the future. The target trajectory includes, for example, a velocity element. For example, a target orbit is generated as a set of target points (orbit points) for which a plurality of future reference times should be set for each predetermined sampling time (for example, about 0 commas [sec]) and the reference times should be reached. NS. Therefore, when the distance between the track points is wide, it is shown that the vehicle travels at high speed in the section between the track points.

FIG. 3 is a diagram showing how a target track is generated based on the recommended lane. As shown, the recommended lanes are set to be convenient for traveling along the route to the destination. When the action plan generation unit 123 approaches a predetermined distance before the recommended lane switching point (may be determined according to the type of event), the action plan generation unit 123 activates a lane change event, a branch event, a merging event, and the like. If it becomes necessary to avoid an obstacle during the execution of each event, an avoidance trajectory is generated as shown in the figure.

The action plan generation unit 123 generates, for example, a plurality of target trajectory candidates, and selects the optimum target trajectory that matches the route to the destination at that time based on the viewpoint of safety and efficiency. Further, the action plan generation unit 123 generates a target trajectory in consideration of the processing results of, for example, the vehicle interior condition acquisition unit 150, the interface control unit 160, and the boarding applicant determination unit 170. This will be described later.

The second control unit 140 includes, for example, a travel control unit 141. The travel control unit 141 controls the travel driving force output device 200, the brake device 210, and the steering device 220 so that the vehicle M passes the target trajectory generated by the action plan generation unit 123 on time. ..

The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling the vehicle to the drive wheels. The traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU (Electronic Control Unit) that controls them. The ECU controls the above configuration according to the information input from the travel control unit 141 or the information input from the operation controller 80.

The brake device 210 includes, for example, a brake caliper, a cylinder that transmits flood pressure to the brake caliper, an electric motor that generates flood pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the travel control unit 141 or the information input from the operation controller 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism for transmitting the oil pressure generated by the operation of the brake pedal included in the operation operator 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and controls the actuator according to the information input from the travel control unit 141 or the information input from the operation operator 80 to transmit the oil pressure of the master cylinder to the cylinder. It may be an electronically controlled hydraulic brake device. Further, the brake device 210 may be provided with a plurality of systems of brake devices in consideration of safety.

The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor according to the information input from the travel control unit 141 or the information input from the operation controller 80, and changes the direction of the steering wheel.

[Vehicle control for passengers who wish to board]
Hereinafter, the vehicle control for getting the person who wants to get on the vehicle in the first embodiment will be described. The vehicle M of the first embodiment outputs information to the outside of the vehicle by interface control, which will be described later, based on, for example, an in-vehicle condition and predetermined conditions. Further, the vehicle M of the first embodiment is not ineligible for boarding by determining whether or not the person outside the vehicle is ineligible for boarding when it is determined that the person outside the vehicle is ineligible for boarding. In this case, stop control is performed to allow the person who wishes to board the vehicle to board the vehicle. Further, the vehicle M of the first embodiment performs the carpool settlement when the occupant who has been carpooled gets off.

[In-car situation]
The vehicle interior status acquisition unit 150 acquires the vehicle interior status or vehicle interior information. FIG. 4 is a diagram for explaining processing by the vehicle interior condition acquisition unit 150. In the example of FIG. 4, the vehicle M includes an external display 32, an interior camera 90, and a seat S. The vehicle external display 32 includes, for example, a front display 32F of the vehicle M, a right side display 32R, a left side display 32L, and a rear display 32B.

The front display 32F is, for example, a light transmissive liquid crystal panel formed on at least a part of the windshield. The front display 32F ensures forward visibility from the driver and displays an image visible to a person present in front of the vehicle. Further, each of the right side display 32R, the left side display 32L, and the rear display 32B is a light transmissive liquid crystal panel formed on at least a part of the glass provided in each direction, similarly to the front display 32F. .. It is assumed that the right side display 32R and the left side display 32L are formed on the side window of the rear seat in the vehicle M, but the present invention is not limited to this, and the right side display 32R and the left side display 32L may be formed on the side window of the front seat, and the front seat and It may be formed on both rear seats.

The vehicle external display 32 is provided on at least a part of the glass of the vehicle M as described above, but instead (or in addition), it is provided on the outer body portion of the vehicle M. May be done.

Further, in the example of FIG. 4, the vehicle interior camera 90 is provided at a position where a part or all of the seats S1 to S4 on which the occupant is seated can be imaged. In the following description, for convenience, it is assumed that the position, angle of view, etc. of the vehicle interior camera 90 are fixed. Therefore, the vehicle interior condition acquisition unit 150 knows in advance which seat of the vehicle M is reflected in the position (coordinates) on the captured image of the vehicle interior camera 90.

The vehicle interior condition acquisition unit 150 acquires an image captured by the vehicle interior camera 90, analyzes the acquired image, and seats the occupant in which of the seats S1 to S4 in the vehicle M. Determine if. For example, the vehicle interior condition acquisition unit 150 determines whether or not a face region including facial feature information (for example, eyes, nose, mouth, and facial contour) is present in the captured image. Further, when it is determined that the face region exists, the vehicle interior condition acquisition unit 150 seats the occupant in which of the seats S1 to S4 based on the position (center position) of the face region existing in the captured image. Determine if you are doing it.

Further, when the load sensors are provided in each of the seats S1 to S4, the vehicle interior condition acquisition unit 150 seats the occupant in the seat when the load value from each load sensor is equal to or more than the threshold value. It may be determined that there is.

Further, the vehicle interior condition acquisition unit 150 analyzes the hairstyle, clothes, face shape and color of the occupant seated in the seat from the captured image of the vehicle interior camera 90, and based on the analysis result, the occupant Gender may be estimated. For example, when the occupant's hair is long and the lip color is red, the vehicle interior condition acquisition unit 150 determines that the occupant is a woman. Further, the in-vehicle condition acquisition unit 150 may accept input of information regarding the gender of the occupant by using the in-vehicle device 31 when the occupant is on board. The vehicle interior condition acquisition unit 150 may acquire the male-female ratio of the occupants based on the acquired information on the gender of each occupant, for example. In the example of FIG. 4, when the occupant P1 is male and the occupant P2 is female, the male-female ratio is 1: 1.

Then, the in-vehicle condition acquisition unit 150 calculates the remaining number of people who can get on the vehicle M based on the total number of seats S1 to S4 and the number of seats (the number of occupants) in which the occupants are seated. In the example of FIG. 4, the vehicle interior condition acquisition unit 150 grasps that the occupants P1 and P2 are seated in the seats S1 and S3 among the seats S1 to S4. Further, the in-vehicle condition acquisition unit 150 grasps that the remaining number of passengers who can get on the vehicle M is two because the occupants are seated in two of the four seats.

In addition, the vehicle interior status acquisition unit 150 acquires information on the vehicle interior equipment set in the vehicle M. The information on the in-vehicle equipment is, for example, information on whether or not a charging facility for charging the terminal device is provided and whether or not a humidifying facility for humidifying the inside of the vehicle is provided. Information about the equipment in the vehicle may be stored in a storage device such as an HDD or a flash memory (not shown) in the automatic driving control unit 100, for example. The information about the in-vehicle equipment may be preset, for example, at the time of shipment from the factory, and may be updated when the equipment is attached to or removed from the vehicle M.

[Interface control]
The interface control unit 160 uses at least one of the vehicle exterior display 32 and the vehicle exterior speaker 33 to output information toward the outside of the vehicle. The information is, for example, content such as an image displayed on the vehicle exterior display 32 and audio output from the vehicle exterior speaker 33. The information presented by the content is, for example, information for soliciting a ride. The information presented by the content is, for example, in-vehicle information obtained from the in-vehicle status acquisition unit 150. For example, the information presented by the content is information regarding whether or not the vehicle M can be boarded. Further, the information presented by the content may be information on the number of people who can board the vehicle M. In addition, the information presented by the content may be information on the in-vehicle equipment or the male-female ratio of the occupants acquired by the in-vehicle situation acquisition unit 150.

Further, the information presented by the content may be information related to the travel plan of the vehicle M. The information regarding the travel plan of the vehicle M includes, for example, at least one of the destination or the waypoint of the vehicle M. By outputting the waypoints, people with the same destination can ride together halfway. The interface control unit 160 may appropriately combine each of the information presented by the above-mentioned contents and output the information to the outside of the vehicle.

FIG. 5 is a diagram showing an example of content output toward the outside of the vehicle. When the outside world recognition unit 121 recognizes the person P3, the interface control unit 160 outputs the content using the vehicle exterior display 32 in the direction visible from the position of the person P3. In the example of FIG. 5, images 300F and 300L relating to the destination and the number of people who can board the vehicle M are displayed on the front display 32F and the left side display 32L of the vehicle M traveling in the traveling lane L1. Further, the interface control unit 160 may blink the images 300F and 300L, or may display the images in different colors during the day and at night.

Further, the interface control unit 160 uses the vehicle external speaker 33 to output sound having the same content as the information shown in the image 300L. Further, the interface control unit 160 may output music or an alarm that attracts the attention of the surroundings by using the external speaker 33.

Further, the interface control unit 160 may display the character strings shown in the images 300F and 300L while moving them in order from the beginning of the characters.

FIG. 6 is a diagram showing an example of movement of the character string shown in the images 300F and 300L. In the example of FIG. 6, the interface control unit 160 moves the image 300F displayed on the front display 32F in the direction of arrow D1 and the image 300L displayed on the left side display 32L in the direction of arrow D2. The interface control unit 160 repeatedly displays the images 300F and 300L.

Further, the interface control unit 160 controls the direction and display speed for moving the images 300F and 300L based on the walking direction and walking speed of the person recognized by the outside world recognition unit 121.

For example, when the interface control unit 160 uses the left side display 32L to display the image 300L, the interface control unit 160 displays the image 300L while moving the image 300L in the direction opposite to the walking direction of the person P3. Further, the speed of moving the display of the image 300L is preferably the same as the walking speed of the person P3. As a result, the interface control unit 160 can make it easier for the person P3 to visually recognize the image 300L. In addition, the person P3 can recognize that the vehicle M is aware of himself / herself.

Further, the interface control unit 160 instructs the action plan generation unit 123 to decelerate the traveling speed of the vehicle M based on the traveling speed of the person P3 when outputting the images 300F and 300L to the person P3. You may. For example, the interface control unit 160 can make it easier for the person P3 to visually recognize the images 300F and 300L by traveling the vehicle M at a speed equal to or close to the traveling speed of the person P3.

Further, when there are a plurality of persons recognized by the outside world recognition unit 121, the interface control unit 160 causes the external display 32 to output the image 300, for example, for the person recognized first. Further, the interface control unit 160 may output the image 300 on the external display 32 for the person closest to the vehicle M.

[Predetermined conditions]
The predetermined conditions for outputting the content to the outside of the vehicle are, for example, (1) the traveling position of the vehicle M, (2) the traveling speed of the vehicle M, (3) the movement of a person outside the vehicle, and (4) the vehicle M. It is a condition regarding the number of people who can board the train. The interface control unit 160 outputs the content to the outside of the vehicle when all the set conditions are satisfied. Hereinafter, each of (1) to (4) will be specifically described.

(1) Traveling position of vehicle M When the interface control unit 160 is traveling in a predetermined section, for example, based on the position information of the vehicle M recognized by the own vehicle position recognition unit 122, the interface control unit 160 is traveling. Output content outside the vehicle. The section may be set at the time of shipment from the factory, or may be set by an occupant or the like. Further, in the section setting, a setting prohibited section such as an expressway may be set.

(2) Traveling speed of vehicle M The interface control unit 160 outputs content to the outside of the vehicle, for example, when the traveling speed of vehicle M is equal to or less than a threshold value. The threshold value may be preset for each road or may be set by the occupant. As a result, the interface control unit 160 can suppress the output of the content to the outside of the vehicle in a situation where a person cannot be boarded, for example, on a highway. In addition, a person outside the vehicle can easily grasp the content output to the vehicle traveling at low speed. By outputting the content when traveling at a low speed, the vehicle M can be smoothly stopped when a person who wants to board the vehicle is to be boarded.

(3) Operation of a person outside the vehicle The interface control unit 160 may output the content to the outside of the vehicle, for example, when it is estimated that the person outside the vehicle is raising his / her hand. For example, the interface control unit 160 analyzes the image captured by the camera 10 and raises the hand by pattern matching between the contour shape of the person included in the captured image and the contour shape of the person who raised the hand set in advance. Estimate the person who is. As a result, the interface control unit 160 can output the content to a person who is likely to be a rider.

(4) Number of People Who Can Get in the Vehicle M The interface control unit 160 may output the content to the outside of the vehicle when, for example, the number of people who can get in the vehicle M is 1 or more. As a result, the interface control unit 160 can suppress the output of the content when it is full.

In addition to the above (1) to (4), can the interface control unit 160 output the content to the occupant of the vehicle M toward the outside of the vehicle by using the in-vehicle device 31 of the HMI 30? The content may be output to the outside of the vehicle when an inquiry is made as to whether or not the occupant receives an input to the effect that the content may be output. As a result, the interface control unit 160 can prevent the interface control unit 160 from outputting the content for soliciting carpooling, for example, in response to the request of the occupant who does not want to share the carpooling.

[Judgment of applicants for boarding]
The boarding applicant determination unit 170 determines whether or not the person recognized by the outside world recognition unit 121 is a boarding applicant when the content is output to the outside of the vehicle by the interface control unit 160. do. FIG. 7 is a diagram for explaining the determination contents of the boarding applicant by the boarding applicant determination unit 170. In the example of FIG. 7, the vehicle M, the persons P4 to P6, and the terminal devices 400-1 and 400-2 possessed by the persons P4 and P5 (hereinafter, the "terminal device 400" is not described separately. (Abbreviated as) indicates the server device 500. The vehicle M, the terminal device 400, and the server device 500 communicate with each other via the network NW. The network NW is, for example, WAN (Wide Area Network), LAN (Local Area Network), or the like.

The terminal device 400 is, for example, a smartphone or a tablet terminal. The terminal device 400 has a function of communicating with a vehicle M existing in the vicinity or communicating with a server device 500 via a wireless base station by using a cellular network, a Wi-Fi network, Bluetooth, DSRC, or the like.

The server device 500 manages the traveling position, the situation, and the like of one or more vehicles. The server device 500 is, for example, one information processing device. Further, the server device 500 may be a cloud server composed of one or more information processing devices.

In the boarding applicant determination unit 170, for example, when the terminal device 400-1 of the person P4 outside the vehicle notifies the information that the person wishes to board the vehicle, the person P4 recognized by the outside world recognition unit 121 wants to board the vehicle. Judged as a person. In the example of FIG. 7, the person P4 uses the terminal device 400-1 to output a signal indicating that he / she wants to board the vehicle to the surroundings. The surrounding is the communicable range defined by the communication standard. The vehicle M receives the signal from the terminal device 400-1 by the communication device 20. The boarding applicant determination unit 170 recognizes a person near the vehicle M by the outside world recognition unit 121 based on the signal received from the terminal device 400-1, and determines that the recognized person P4 is a boarding applicant. ..

Further, the boarding applicant determination unit 170 is a person recognized by the outside world recognition unit 121 when the terminal device 400-2 indirectly notifies the information that the passenger wishes to board the vehicle via the server device 500. Is determined to be a ride applicant. In the example of FIG. 7, the person P5 uses the terminal device 400-2 to transmit information indicating that he / she wants to board the vehicle and the position information of the terminal device 400-2 to the server device 500 via the network NW. do. Based on the information received from the terminal device 400-2, the server device 500 extracts the vehicle M traveling closest to the position of the terminal device 400-2, and the server device 500 extracts the vehicle M who wants to board the extracted vehicle M. Information indicating that the above is true and the position information of the terminal device 400-2 are transmitted. Based on the information received from the server device 500, the boarding applicant determination unit 170 determines that the person P5 near the position of the terminal device 400-2 is a boarding applicant.

Further, the boarding applicant determination unit 170 analyzes the image captured by the camera 10, and when it is determined that the person included in the captured image is raising his / her hand, determines that the person is a boarding applicant. May be good. In the example of FIG. 7, the person P6 is raising his hand. Therefore, the boarding applicant determination unit 170 determines that the person P6 is a boarding applicant by analyzing the captured image by the camera 10.

[Determining whether the person who wants to board is not suitable for boarding]
Further, when the boarding applicant determination unit 170 determines that the person recognized by the outside world recognition unit 121 is a boarding applicant, whether or not the boarding applicant is ineligible for boarding based on the person information. May be determined.

For example, the ride applicant determination unit 170 analyzes the image captured by the camera 10, and when there is contour shape of a pet such as a dog or cat, or pet facial feature information in the vicinity of the ride applicant, the ride request is desired. Determines that a person has a pet. In this case, the ride applicant determination unit 170 determines that the ride applicant is carrying a pet such as a dog or cat, and the occupant refuses to board the pet companion. Judge the person who wants to board as a person who is not eligible for boarding.

Further, the ride applicant determination unit 170 analyzes the image captured by the camera 10, and when the movement of the ride applicant is swaying and unnatural, and the complexion is red, it is determined that the ride applicant is drunk. You may judge. Further, when the vehicle sensor 70 is provided with an alcohol detection sensor, the ride applicant determination unit 170 may determine drunkenness based on the detection result of the alcohol detection sensor for the breath exhaled by the occupant applicant. When it is determined that the ride applicant is in a drunken state, the ride applicant determination unit 170 may determine the ride applicant as a person who is not suitable for boarding.

Further, when the ride applicant determination unit 170 analyzes the image captured by the camera 10 and determines that the ride applicant is in a state of having or smoking a cigarette, the ride applicant is a smoker. It may be determined that. Further, when the vehicle sensor 70 is provided with an odor detection sensor, the ride applicant determination unit 170 may determine the smoker based on the detection result of the odor detection sensor for the breath exhaled by the occupant applicant. When the ride applicant determination unit 170 determines that the ride applicant is a smoker and the occupant refuses to board the smoker, the ride applicant determination unit 170 determines that the ride applicant is ineligible for boarding. You may.

Further, the ride applicant determination unit 170 analyzes the image captured by the camera 10, and when it is determined that the ride applicant is a dangerous person such as having a weapon or the like, the ride applicant is ineligible for boarding. It may be determined as a person.

In addition, the boarding applicant determination unit 170 may store information on persons who the occupants do not want to ride together in advance, and if the boarding applicant satisfies the conditions, it may determine that the person is not suitable for boarding. Further, the interface control unit 160 displays an inquiry screen on the touch panel of the in-vehicle device 31 when the occupant is on board or when the person information of the occupant is acquired, and the occupant does not want to share the ride from the answer to the inquiry. Personal information may be acquired.

FIG. 8 is a diagram showing an example of an inquiry screen displayed at the time of boarding. In the example of FIG. 8, a screen example displayed on the touch panel 31A of the in-vehicle device 31 is shown. The touch panel 31A is installed at a predetermined position in front of each seat in the vehicle M, for example. The interface control unit 160 uses the touch panel 31A to display a screen that allows the occupant of the vehicle M to select a person who does not want to ride together from the preset person information. In the example of FIG. 8, GUI (Graphical User Interface) objects such as "pet companion", "smoker", and "drunk person" are displayed on the screen of the touch panel 31A. Further, the interface control unit 160 outputs the person information associated with at least one GUI object selected by the occupant to the boarding applicant determination unit 170. As a result, the boarding applicant determination unit 170 can determine whether or not the boarding applicant is ineligible for boarding as described above.

Further, the interface control unit 160 may display an inquiry screen for the person information on the touch panel 31A at the timing when the boarding applicant determination unit 170 determines the person information of the person who wishes to board, and make an inquiry to the occupant.

FIG. 9 is a diagram showing an example of an inquiry screen displayed at the time of determining the person information. The interface control unit 160 displays the person information of the person who wants to board the vehicle M on the screen of the touch panel 31A, and inquires to the occupant of the vehicle M whether or not the person may be boarded. For example, when the ride applicant determination unit 170 determines that the ride applicant is carrying a pet, the interface control unit 160 determines whether or not the pet companion may be shared as shown in FIG. The inquiry screen is displayed on the touch panel 31A. Further, the interface control unit 160 displays a GUI object on the screen for permitting or denying the rider, and outputs the result selected by the occupant to the rider determination unit 170. As a result, the boarding applicant determination unit 170 can determine whether or not the boarding applicant is ineligible for boarding as described above.

Further, the interface control unit 160 may notify the occupant by voice of the same information as the information shown on the screen described above by the speaker of the in-vehicle device 31, and output the answer obtained from the microphone to the boarding applicant determination unit 170. good. Further, the interface control unit 160 may notify the occupant by combining the screen display and the voice output.

The interface control unit 160 may store the information once inquired and prevent the same inquiry from being repeated. Further, the interface control unit 160 may have the server device 500 manage information about a person who does not want to ride in a carpool for each occupant. In this case, the boarding applicant determination unit 170 associates the identification information such as the occupant's face recognition result or the occupant ID with the information about the person who does not want to ride together, and registers the information in the server device 500 via the communication device 20. Further, the interface control unit 160 acquires the identification information of the occupant when the occupant is on board, inquires from the communication device 20 to the server device 500, and receives information from the server device 500 regarding the person who does not want to ride together corresponding to the occupant. get.

When the boarding applicant determination unit 170 determines that the boarding applicant is an ineligible person for boarding, the interface control unit 160 controls to reject the boarding of the boarding applicant. Specifically, the interface control unit 160 locks the door of the vehicle M, or uses the vehicle exterior display 32 and the vehicle exterior speaker 33 to notify the outside of the vehicle of boarding refusal. As a result, the boarding applicant determination unit 170 can prevent an unqualified person from boarding the vehicle M.

[Stop control]
When the boarding applicant determination unit 170 determines that the boarding applicant is not an unqualified person for boarding (a qualified person), the action plan generation unit 123 gives an instruction to stop the vehicle M in the vicinity of the person. Output to. The action plan generation unit 123 generates a target track for stopping according to an instruction from the boarding applicant determination unit 170, and outputs the generated target track to the travel control unit 141. As a result, the vehicle M can be stopped in the vicinity of the person who wishes to board the vehicle.

Further, when the vehicle M is stopped, the interface control unit 160 may output information indicating that the vehicle is stopped to the outside of the vehicle by using at least one of the external display 32 or the external speaker 33. Further, the interface control unit 160 may output information about a point (scheduled stop position) where the person who wants to get on the vehicle is to be boarded to the outside of the vehicle by using at least one of the external display 32 or the external speaker 33.

FIG. 10 is a diagram showing an example of information regarding a planned stop position output toward the outside of the vehicle. For example, when the person who wants to board the vehicle is in a parking-prohibited section such as near a pedestrian crossing or a bus stop, the vehicle M cannot stop near the person who wants to board the vehicle. Therefore, the interface control unit 160 acquires the planned stop position based on the target trajectory generated by the action plan generation unit 123, and provides information on the acquired planned stop position to at least the external display 32 or the external speaker 33. Use one of them and present it to those who wish to board.

In the example of FIG. 10, a person P6 determined to be a ride applicant by the boarding applicant determination unit 170 is near the pedestrian crossing. In this case, the interface control unit 160 uses the front display 32F to display the image 310F regarding the planned stop position. Image 310F contains information such as "stops 15 m ahead". As a result, the person P6 can easily grasp when the vehicle M stops to put himself / herself and the position where the vehicle M stops.

The interface control unit 160 receives the destination of the person P6 using the in-vehicle device 31 after the person P6 is boarded, and the received destination is a route when traveling to a preset destination. In the case of the ground, the action plan generation unit 123 is made to generate an action plan for stopping the vehicle M at the destination of the person P6.

Further, the interface control unit 160 uses the external display 32 based on the positional relationship with another vehicle in which the vehicle M is following and traveling, for example, when the following traveling is executed while traveling to the destination. The displayed content and position may be changed.

FIG. 11 is a diagram showing an example of information output to the outside of the vehicle during follow-up traveling. In the example of FIG. 11, vehicles M-1 to M-3 are a series of vehicle groups performing follow-up traveling. Any of the vehicles M-1 to M-3 corresponds to the vehicle M described above.

The action plan generation unit 123 executes a follow-up running event that follows the preceding running vehicle to run when there is a preceding running vehicle during running. When the follow-up running is started, the interface control unit 160 uses the communication device 20 to perform vehicle-to-vehicle communication with the surrounding vehicles, and from the information obtained from each peripheral vehicle, among the vehicles M in which the vehicle M is following the running. , Determine which vehicle is running. Further, when the vehicle M is the preceding vehicle or the last vehicle in the series of vehicles M-1 to M-3 that are following and traveling, the interface control unit 160 follows along with the information regarding the destination of the vehicle M. Outputs information about driving toward the outside of the vehicle.

In the example of FIG. 11, when the vehicle M is the leading vehicle (vehicle M-1) among the vehicles that are following and traveling, the interface control unit 160 displays the destination of the vehicle M and the beginning of the following traveling on the front display 32F. An image 320F indicating that the vehicle is a vehicle is output. Further, when the vehicle M is the last vehicle (vehicle M-3) among the vehicles following the vehicle M, the interface control unit 160 displays the rear display 32B at the destination of the vehicle M and the last vehicle following the vehicle M. An image 320B indicating that there is is output.

As a result, the occupants of vehicles in the vicinity of the vehicles M-1 to M-3 can visually recognize the destination of the vehicle and the head and tail of a series of vehicles traveling following the vehicle. Therefore, when the own vehicle is made to follow the trailing end or is made to overtake, it is possible to realize appropriate running while being aware of the following running vehicle.

[Carpool settlement]
The carpool settlement unit 180 calculates the cost for each occupant based on conditions such as the number of carpools, the section, the distance, and the actual cost (fuel cost, highway fee) when a plurality of people ride in the vehicle M. For example, the carpool settlement unit 180 divides the total amount by the number of carpoolers so that each occupant can reach the destination at a low cost. Further, the carpool settlement unit 180 may present the settlement result or the like to the occupant using the in-vehicle device 31 when the occupant gets off.

Further, the carpool settlement unit 180 may calculate the points for the shared occupants instead of calculating the amount of money. The calculated amount of money and points may be settled on the spot, or may be transmitted to the server device 500 shown in FIG. 7 via the communication device 20.

When the calculated calculated amount of money or points is transmitted to the server device 500, the server device 500 manages the amount of money or points for each occupant. As a result, the occupants can settle the amount of money used each month, and can use the accumulated points when they are synergistic, or get benefits such as exchanging points for products etc. Can be done.

[Vehicle control processing]
Hereinafter, an example of various vehicle controls by the vehicle system 1 of the first embodiment will be described. FIG. 12 is a flowchart showing an example of the vehicle control process of the first embodiment. In the example of FIG. 12, vehicle control in the case of carpooling with respect to the vehicle M in which the occupant is already on the vehicle will be described. The process of FIG. 12 is executed every time, for example, the carpooling operation is executed.

First, the navigation device 50 has already accepted the settings of the occupants (step S100). Next, the action plan generation unit 123 generates an action plan for the vehicle M to automatically drive to the destination or the like (step S102). Next, the travel control unit 141 travels the vehicle M based on the generated action plan (step S104).

Next, the action plan generation unit 123 determines whether or not the vehicle M has arrived at the destination (step S106). If the vehicle has not arrived at the destination, the vehicle interior status acquisition unit 150 acquires the status inside the vehicle M (step S108). The situation in vehicle M includes at least information about the number of people who can board vehicle M.

Next, the interface control unit 160 determines whether or not to output information to the outside of the vehicle based on a predetermined condition (step S110). When outputting information to the outside of the vehicle, the interface control unit 160 outputs information on at least the number of people who can get into the vehicle by using at least one of the outside display 32 and the outside speaker 33 (step S112).

Next, the boarding applicant determination unit 170 determines whether or not there is a boarding applicant (step S114). When there is a person who wants to board, the boarding person determination unit 170 acquires the person information of the person who wants to board (step S116). Next, the boarding applicant determination unit 170 determines whether or not the boarding applicant is a person who is not suitable for boarding (step S118). If the person who wishes to board the vehicle is a person who is not suitable for boarding, the interface control unit 160 controls the boarding refusal (step S120) and returns to the process of step S104. If the person who wants to board the vehicle is not a person who is not suitable for riding, the action plan generation unit 123 generates a target track for stopping the vehicle, and stops the vehicle M based on the generated target track (step S122). ), After boarding the rider, the process returns to step S104.

Further, in step S106, when arriving at the destination, the carpool settlement unit 180 determines whether or not there is a carpool (step S124). If there is a carpooler, the carpooling settlement unit 180 performs the carpooling settlement for the occupant (step S126). This ends this flowchart.

As described above, according to the first embodiment, the vehicle control system can easily realize carpooling of vehicles by outputting information on whether or not the vehicle can be boarded outside the vehicle. Specifically, according to the first embodiment, a person outside the vehicle is output by outputting information on the number of people who can get in the vehicle, information on the vehicle's travel plan, in-vehicle equipment, and the gender ratio of the occupants. You can easily select the vehicle you want to ride. Further, according to the first embodiment, control regarding carpooling can be performed within a predetermined section. In addition, when traveling on a highway or the like, it is possible to prevent control regarding carpooling, and safe driving can be realized.

Further, according to the first embodiment, it is possible to make the occupants of the surrounding vehicles visually recognize the beginning and the end of the series of vehicles that are following the vehicle. Therefore, it is possible to realize appropriate running when the own vehicle is made to follow the trailing end or to be overtaken. Further, according to the first embodiment, it is possible to easily determine the person who wants to board the vehicle by the notification from the terminal device. Further, according to the first embodiment, it is possible to easily determine the person who wants to board the vehicle by raising the hand of the person.

In the first embodiment, the occupant who first gets on the vehicle M sets the destination and controls the shared ride in the automatic driving for the destination, but the present invention is not limited to this. Instead, the shared ride may be controlled by unmanned driving. In this case, for example, the server device 500 sets the patrol route to the vehicle M, and the information regarding the patrol route of the vehicle M is output by using the vehicle exterior display 32 and the vehicle exterior speaker 33. Thereby, the vehicle system 1 of the first embodiment can be applied to, for example, an unmanned taxi, an unmanned bus, or the like.

[Second Embodiment]
Next, the vehicle control system, the vehicle control method, and the vehicle control program of the second embodiment will be described. In the second embodiment, it is assumed that the vehicle control system is applied to a vehicle that is not an autonomous driving vehicle. In the following description, the same configuration blocks and reference numerals will be assigned to the same configurations as those in the first embodiment, and specific description thereof will be omitted here.

[overall structure]
FIG. 13 is a configuration diagram of the vehicle system 2 of the second embodiment. The vehicle system 2 includes a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI 30, a driving operator 80, a vehicle interior camera 90, a driving control unit 600, and the like. It includes a traveling driving force output device 200, a braking device 210, and a steering device 220. These devices and devices are connected to each other by a multiplex communication line such as a CAN communication line, a serial communication line, a wireless communication network, or the like. The configuration shown in FIG. 13 is merely an example, and a part of the configuration may be omitted or another configuration may be added.

In the second embodiment, the "vehicle control system" includes, for example, an HMI 30 and a driving control unit 600.

[Operation control unit]
The operation control unit 600 includes, for example, an in-vehicle condition acquisition unit 650, an interface control unit 660, a ride applicant determination unit 670, and a carpool settlement unit 680. The vehicle interior status acquisition unit 650, the interface control unit 660, the ride applicant determination unit 670, and the carpool settlement unit 680 are each realized by executing a program (software) by a processor such as a CPU. Some or all of the functional units of the vehicle interior status acquisition unit 650, the interface control unit 660, the ride applicant determination unit 670, and the carpool settlement unit 680 may be realized by hardware such as LSI, ASIC, and FPGA. However, it may be realized by the collaboration of software and hardware.

The in-vehicle condition acquisition unit 650, the interface control unit 660, the ride applicant determination unit 670, and the carpool settlement unit 680 are assigned to the in-vehicle condition acquisition unit 150, the interface control unit 160, the ride applicant determination unit 170, and the carpool settlement unit 180, respectively. Equivalent to.

[Vehicle control processing]
Hereinafter, an example of various vehicle controls by the vehicle system 2 of the second embodiment will be described. FIG. 14 is a flowchart showing an example of the vehicle control process of the second embodiment. In the example of FIG. 14, vehicle control in the case of carpooling with respect to the vehicle M which has already been driven to the destination by the driving of the occupant will be described. The process of FIG. 14 is executed every time, for example, the carpooling operation is executed.

First, the driving control unit 600 determines whether or not the vehicle M has arrived at the destination (S200). If the vehicle has not arrived at the destination, the vehicle interior status acquisition unit 650 acquires the status inside the vehicle M (step S202).

Next, the interface control unit 660 determines whether or not to output information to the outside of the vehicle based on a predetermined condition (step S204). When outputting information to the outside of the vehicle, the interface control unit 660 outputs information on at least the number of people who can get into the vehicle by using at least one of the outside display 32 and the outside speaker 33 (step S206).

Next, the boarding applicant determination unit 670 determines whether or not there is a boarding applicant (step S208). When there is a person who wants to board, the boarding person determination unit 670 acquires the person information of the person who wants to board (step S210). Next, the boarding applicant determination unit 670 determines whether or not the boarding applicant is a person who is not suitable for boarding (step S212). If the person who wishes to board the vehicle is a person who is not suitable for boarding, the interface control unit 660 controls the boarding refusal (step S214) and returns to the process of step S200. If the person who wishes to board the vehicle is not a person who is not suitable for boarding, the interface control unit 660 uses the in-vehicle device 31 to notify the occupant who is driving the vehicle M that the person who wishes to board the vehicle exists (step). S216). In this case, the interface control unit 660 may output an alarm from, for example, a speaker, or may output to the display device that there is a person who wants to board the vehicle. As a result, the vehicle M can be stopped at a position where there is a person who wants to board the vehicle by driving the occupant. After boarding the rider, the process returns to step S200.

Further, in step S200, when arriving at the destination, the carpool settlement unit 680 determines whether or not there is a carpool (step S218). If there is a carpooler, the carpooling settlement unit 180 performs the carpooling settlement for the occupant (step S220). This ends this flowchart.

As described above, according to the second embodiment, the vehicle control system can easily realize carpooling with respect to a vehicle for manual driving. Thereby, the vehicle system 2 of the second embodiment can be applied to, for example, a taxi or a bus in which a driver exists.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added.

1, 2 ... Vehicle system, 10 ... Camera, 12 ... Radar device, 14 ... Finder, 16 ... Object recognition device, 20 ... Communication device, 30 ... HMI, 31 ... In-vehicle equipment, 32 ... External display, 33 ... Car External speaker, 50 ... Navigation device, 60 ... MPU, 70 ... Vehicle sensor, 80 ... Driving operator, 90 ... Vehicle interior camera, 100 ... Automatic driving control unit, 120 ... First control unit, 121 ... External world recognition unit, 122 ... Vehicle position recognition unit, 123 ... Action plan generation unit, 140 ... Second control unit, 141 ... Travel control unit, 150, 650 ... Vehicle status acquisition unit, 160, 660 ... Interface control unit, 170, 670 ... Ride request Person determination unit, 180, 680 ... Shared settlement unit, 200 ... Driving drive force output device, 210 ... Brake device, 220 ... Steering device, 400 ... Terminal device, 500 ... Server device, 600 ... Operation control unit, M ... Vehicle

Claims (9)

An output unit that outputs information to the outside of the vehicle,
An interior camera that captures the interior of the vehicle and an interior camera
And information including the position and sex of the occupant seated on the seat that is present before Symbol passenger compartment based on the information relating to a face included in the image captured by the vehicle interior camera, and information about the vehicle equipment is set to the vehicle a vehicle condition acquisition unit that acquires a vehicle status,
Information indicating whether is possible or not boarded the vehicle situation and the vehicle acquired by the vehicle condition acquisition unit, a control unit to output to the output unit,
Vehicle control system with. Based on the face area included in the image captured by the vehicle interior camera, the vehicle interior condition acquisition unit acquires the position of the occupant seated in any of the plurality of seats existing in the vehicle interior, and at the same time, obtains the position of the occupant. The gender of the occupant is estimated based on at least one of the occupant's hairstyle, clothing, face shape, and color included in the image.
The vehicle control system according to claim 1. A recognition unit that recognizes people around the vehicle,
Further provided with a determination unit for determining whether or not the person recognized by the recognition unit is ineligible for boarding.
The determination unit determines whether or not the person recognized by the recognition unit is a person who wants to board, and when it is determined that the person is a person who wants to board, the determination unit is based on the person information of the person who wants to board. Determining whether or not the person who wishes to board the vehicle is ineligible for boarding.
The vehicle control system according to claim 1 or 2. Further provided with an imaging unit that images the surroundings of the vehicle,
The determination unit analyzes the image captured by the imaging unit, and based on the movement of the ride applicant included in the image obtained as the analysis result, whether or not the ride applicant is ineligible for boarding. To judge whether
The vehicle control system according to claim 3. The determination unit acquires the person information set by the occupant who is already on board and does not want to ride together, and based on the acquired person information and the person information of the person who wants to ride the vehicle recognized by the recognition unit. Determine if the person wishing to board is an ineligible person for boarding,
The vehicle control system according to claim 3 or 4. It is equipped with an interface control unit that outputs information to the occupants of the vehicle.
The interface control unit is an output inquiring whether or not the occupant may ride the ride applicant together at the timing when the determination unit determines that the person recognized by the recognition unit is a ride applicant. And
The determination unit determines whether or not the applicant for boarding is ineligible for boarding based on the input result of the occupant with respect to the output.
The vehicle control system according to any one of claims 3 to 5. The vehicle controls to refuse the boarding of the person when the determination unit determines that the person is not suitable for boarding.
The vehicle control system according to any one of claims 3 to 6. In-vehicle computer
The interior of the vehicle is imaged by the camera inside the vehicle.
Acquires the information including location and gender of occupant seated on the seat that is present before Symbol passenger compartment based on the information relating to a face included in the captured image and information about vehicle equipment is set to the vehicle as a vehicle status,
Acquired the vehicle status and information indicating whether available or not boarded on the vehicle, and outputs toward the outside by the output unit,
Vehicle control method. For in-vehicle computers
The interior of the vehicle is imaged by the camera inside the vehicle.
And information including the position and sex of the occupant seated on the seat that is present before Symbol passenger compartment based on the information relating to a face included in the captured image, to acquire the information about the vehicle equipment is set to the vehicle as a vehicle status ,
Information indicating whether is possible or not boarded on the acquired vehicle conditions and the vehicle, is output to the outside by the output unit,
Vehicle control program.

Images