JP6933330B1 - Self-driving car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous driving vehicle capable of promptly and accurately responding to an accident after the own vehicle collides with the outside. SOLUTION: In an autonomous vehicle that can automatically travel without the need for driver's operation, an imaging unit that images the surroundings of the vehicle, a collision detection unit that detects a collision between the vehicle and the outside, and a collision detection unit. When the human body recognition unit that recognizes the human body based on the image captured by the imaging unit and the collision detection unit detect a collision with an object and the human body recognition unit recognizes the human body lying on the road, the own vehicle It has a control unit that automatically moves its own vehicle so that it is located between the human body and another vehicle approaching the human body. In addition, the video, position, time, etc. at that time are transmitted to a predetermined destination. [Selection diagram] Fig. 3

Description

The present invention relates to an automobile, and more particularly to an autonomous vehicle that automatically responds after contact with the outside while traveling.

In recent years, the development of automatic driving technology for automobiles has been accelerated, and the technology has been combined with car navigation technology, advanced wireless communication technology, AI technology, etc., and has reached a level at which human operation is almost unnecessary. Patent Document 1 discloses a technique for safely evacuating an automatically driven vehicle when an abnormality is detected.

Japanese Unexamined Patent Publication No. 2020-203587

The technique described in Patent Document 1 finds an object in front of a road while an autonomous vehicle is automatically traveling, and the type of the object, that is, an adult or a child, or a building. It recognizes the existence of the object, detects the position and moving speed of the object, and determines how far the object should be kept from the vehicle when traveling by detouring based on this information. .. However, this technology is not premised on a collision between the own vehicle and the outside, and also bypasses an object on the road ahead of the own vehicle, and is intended to rescue a person after an accident. No.

An object of the present invention is to safely and accurately protect a person who has fallen on the road due to the accident when the self-driving car on which he / she rides collides with a bicycle or a person.

In the autonomous driving vehicle of the present invention according to claim 1, in the autonomous driving vehicle that automatically performs the driving operation of the driver , the image pickup unit that images the surroundings of the own vehicle and the collision between the own vehicle and the outside are detected. a collision detecting section, and the body recognizing unit recognizes the human body for the video which the imaging unit has captured the collision detection unit detects a collision with an object, if the human body recognition unit recognizes a human body lying on the road, It has a control unit that automatically moves and stops the own vehicle so that the own vehicle is located between the human body and another vehicle approaching the human body.

With this configuration, for example, when a person or a person riding a bicycle collides with a person and the person cannot move while lying on the road, the person does not collide with another vehicle approaching the person again. By moving and stopping so that it is located between the vehicle and another vehicle, it is possible to protect the human body and save lives from a traffic accident.

Further, the autonomous driving vehicle of the present invention according to claim 2 further has a distance detection unit that detects the distance between the own vehicle and a surrounding object, and the control unit is recognized by the distance detection unit. It controls to move and stop the own vehicle while maintaining a predetermined distance from the human body.

With this configuration, it is possible to safely move the vehicle to a position that protects the person from other vehicles approaching the vehicle without colliding with the person lying on the road again after the collision with the vehicle.

Further, the autonomous driving vehicle of the present invention according to claim 3 further has a transmission unit for transmitting an image imaged by the imaging unit, and the control unit is the recognized human body imaged by the imaging unit. And the image showing the movement route of the own vehicle after the recognition of the human body are automatically transmitted to a predetermined destination.

With this configuration, the situation of collision between the own vehicle and the person and the fact that the own vehicle moves without colliding with the person again and that the own vehicle is currently stopped to protect the person are notified in the video. Therefore, the contacted party can take prompt and appropriate measures in the above situation.

Further, in the autonomous driving vehicle of the present invention according to claim 4, in the autonomous driving vehicle that automatically performs the driving operation of the driver, the image pickup unit that images the surroundings of the own vehicle and the collision between the own vehicle and the outside occur. The collision detection unit to detect, the human body recognition unit that recognizes the human body about the image captured by the imaging unit, the collision detection unit detects the collision with an object, and the human body recognition unit lies on the road in the oncoming lane. When the vehicle is recognized, the vehicle has a control unit that automatically moves the vehicle over the oncoming lane and stops the vehicle at a position between the human body and another vehicle approaching the human body.

With this configuration, for example, when a vehicle collides with a person or a person riding a bicycle and the person cannot move while lying on the road, the vehicle does not collide with another vehicle approaching the person again. When the vehicle moves so that it is located between the person and another vehicle, the vehicle and the person should not collide again based on the images captured by the image pickup unit and the distance detection unit and the detected distance. Since it is possible to move safely and accurately, it is possible to surely prevent another collision with the own vehicle and save the person from a collision accident with another vehicle.

The self-driving car of the present invention can safely and accurately protect a person who has fallen on the road due to the accident when the self-driving car on which he / she rides collides with a bicycle or a person.

It is a functional block diagram in embodiment of the self-driving car of this invention. It is an operation flowchart in the Example of the self-driving car of this invention. It is a traveling explanatory drawing in the Example of the automatic driving vehicle of this invention. It is a traveling explanatory drawing in the Example of the automatic driving vehicle of this invention.

Hereinafter, embodiments of the autonomous driving vehicle of the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiments.

(Example)
With reference to FIG. 1, the configuration and the like in the embodiment of the autonomous driving vehicle of the present invention will be described in detail. In the autonomous driving vehicle of the present embodiment, the driving unit A including the accelerator unit 102 for driving in basic driving and the engine unit 101 controlled by the accelerator unit, the steering unit 104 for steering, and the steering drive control for controlling the accelerator unit 104. The steering unit B including the unit 103, the braking unit C including the brake unit 106 for braking the own vehicle and the brake control unit 105 for controlling the steering unit B, and the light unit to be turned on to illuminate the front of the own vehicle when traveling at night. It has 107, a direction indicator unit 108 that indicates the direction in which the vehicle is traveling, and a light emitting unit D that includes an emergency lamp unit 109 that blinks in an emergency.

Further, the self-driving car is provided with a manual driving function, an automatic driving function, a car navigation function and the like. Therefore, regarding the automatic driving function of the autonomous driving vehicle, the control unit 125 including the ECU (CPU) and the like automatically operates the accelerator unit 102, the brake unit 106, the steering wheel (steering unit) 104, the direction indicator unit 108, and the like. It is automatically controlled by the operation function unit 111. That is, in the autonomous driving vehicle, a traveling route is set by the car navigation function unit 110, and along the route by the automatic driving function unit 111, the imaging unit (camera unit) 114 and / or the distance detection unit (radar unit) 116. It can run automatically. Further, the automatic driver may be an automatic driving vehicle having a so-called auto cruising function, which travels while maintaining a certain distance from the other vehicle immediately before the vehicle. Therefore, the driver can take his / her hand off the steering wheel during automatic driving.

The image pickup unit (camera unit) 114 captures the entire surroundings of the autonomous driving vehicle, but can mainly capture images immediately before, immediately after, and behind the own vehicle. In addition, the camera unit 114 can also acquire images immediately before and / or immediately after the collision of the own vehicle. The captured image is stored and stored in the storage unit 115. Further, the distance detection unit (radar, sonar) 116 measures the distance to the object outside the vehicle, and mainly measures the distance to the object on the entire surface, the rear side, and the side surface of the own vehicle.

In addition, the object detection unit 111 detects the presence or absence of an object on the road. Further, the emergency lamp unit 112 is a so-called hazard lamp, which blinks in an emergency situation such as after an accident.

The collision detection unit 117 uses hydraulic sensors attached to the front, rear, and side surfaces of the vehicle, and the sensors are divided into front left and right, side surfaces, and rear left and right of the vehicle, and when the vehicle comes into contact or collides, A collision is detected by fluctuating the oil pressure of the oil pressure sensor. Further, the clock unit 118 receives or independently detects and calculates the current time by the receiving unit 120 described later. The reception of the receiving unit includes a call by a telephone, a mail reception, an image reception, and the like. The position detected by the position detection unit 119 is based on the position information of the own vehicle obtained by the car navigation function unit 110 using GPS. Therefore, the position information is latitude / longitude, a name and address on a map, an actual image, or the like.

The transmission unit 121 transmits information and the like acquired by the clock unit 118, the position detection unit 119, the camera unit 114, and the like. This transmission also includes voice transmission, mail transmission, and image transmission in a call. Further, the destination list in the transmission by the transmission unit 121 is stored in the storage unit 115 (not shown). Here, the destination is a police station, a fire station, an insurance company, an acquaintance, or the like. Further, the human body recognition unit 122 recognizes whether or not the object of the image is a human body based on the acquired image. Further, the receiving unit 120 obtains a wide variety of information via the Internet, wireless communication, and the like. In addition, the transmission unit 121 can make a call (call) of a telephone, and can make a mutual voice call together with the reception unit.

The display unit 123 and the speaker unit 124 are combined to form a notification unit. Further, the operation mode switching unit 113 switches between the manual operation mode and the automatic operation mode by the driver in both directions.

Next, the operation of the autonomous driving vehicle in the embodiment will be described in detail with reference to FIG. In step 201, the driver sets a destination and a waypoint by the car navigation function unit 110. As a result, the car navigation function unit 110 automatically searches for a traveling route. After that, the driver sets the operation mode to the automatic operation mode by the operation mode switching unit 113, and the own vehicle starts the automatic operation by the automatic operation function unit 111. Next, in step 202, the collision detection unit 117 detects whether or not the own vehicle has detected a collision.

Here, referring to FIG. 3, when the own vehicle A travels at the position A1 and then collides with the person P who rides the bicycle that jumps out from the right side at the position A2, the collision detection unit 117 is set in step 202. Upon detecting this collision, the own vehicle A temporarily stops at the position A3 in step 203. Here, the clock unit 118 detects or calculates the collision time by the collision detection by the collision detection unit 117 in step 202. At the same time, the position detection unit 119 detects or acquires the collision position of the own vehicle at the time of collision.

Next, in a state where the own vehicle is stopped at the position A3, the wide range imaging function of the imaging unit 114 is activated to take an image of the entire surroundings of the own vehicle. In step 204, the front, rear, and sides of the own vehicle are imaged by this imaging, and the object detection unit 112 detects the presence or absence of an object on the road in the image.

Next, in step 205, the object detection unit 112 detects whether or not the object is on the oncoming lane in the above image. If it is detected that the object is in the oncoming lane, in step 206, the imaging unit 114 images the object again, and the human body recognition unit 122 recognizes whether or not the object is a human body. If the object is recognized as a human body, in step 207, the position detection unit 119 and the distance detection unit 116 detect the position of the own vehicle and the position of the human body, and the detection result is used to determine a predetermined distance D from the human body. While holding it, move to the position A4 in front of the human body. The imaging unit 114 takes an image of the surroundings of the own vehicle when the vehicle moves, and stores the image in the storage unit 115.

Next, in step 208, the own vehicle stops at a predetermined distance D (for example, 5 meters) from the human body (position A4). After stopping at the position A4, the own vehicle automatically operates the emergency lamp unit 109 to notify another approaching vehicle that an emergency situation is occurring. In step 203, the emergency lamp unit may start blinking. Further, while the own vehicle is stopped, the imaging unit 114 again performs a close-up image of the human body, and the image is stored in the storage unit 115. Further, the transmission unit 121 automatically transmits the video stored in the storage unit 115 to a predetermined transmission destination after the vehicle has stopped. The transmitted video includes images before and after the collision between the vehicle and a person, a close-up image of a lying person, an image of the vehicle moving, an image of a person after a stop, and the like.

Next, referring to FIG. 4, the own vehicle collides with the bicycle on which the person P rides at the position B3 from the position B1 via the position B2, and the collision detection unit 117 detects the collision (step 202). ), When the vehicle suddenly stops at position B3 (step 203), the emergency lamp 109 blinks to detect an object on the road (step 204), and it is detected that the object is not in the oncoming lane but in the driving lane of the own vehicle. If so (step 205: NO), in step 211, the human body recognition unit 122 detects whether or not the object on the road is a human body, and if it is detected as a human body (step 212), the human body. The own vehicle stops after a predetermined distance D. At the same time as the vehicle stops, the emergency lamp unit (hazard lamp) 109 automatically lights up to notify other vehicles of an emergency situation.

Further, in the stopped state of the own vehicle, the imaging unit 114 captures a close-up detailed image of the human body and stores it in the storage unit 115. Next, in step 210, the transmission unit 121 automatically transmits the video to a predetermined transmission destination. The video includes images before and after the collision between the own vehicle and the person P, and a close-up detailed image of the human body.

If the object is recognized as not a human body in step 211, the process proceeds to step 213, and the imaging unit 114 captures a close-up detailed image of the object and stores it in the storage unit 115. do. Next, in step 210, the transmission unit 121 automatically transmits the video to a predetermined transmission destination.

In steps 207 and 212, when the human body recognition unit 122 recognizes a person who has fallen on the road, or when the fallen state continues for a predetermined time, the control unit 125 is moved to the nearest position by the car navigation function unit 110. It is also possible to automatically search for an ambulance hospital and automatically contact the transmission unit 110 to call an ambulance immediately.

When contacting the emergency hospital, the clock unit 118 may describe the current time and the position detection unit 119 on the transmitted image, or the position detection unit 119 may notify the hospital by e-mail or the like. Further, as described above, the operation mode switching unit 113 can automatically switch from the automatic operation to the manual operation by stopping the vehicle in order to protect the person who has stopped and fell down.

The present invention relates to an autonomous vehicle capable of automatic driving, and in particular, the present invention relates to an autonomous vehicle that automatically responds after contact with the outside during traveling, and therefore has high industrial applicability.

110 Car navigation function unit 111 Automatic driving function unit 112 Object detection unit 113 Operation mode switching unit 114 Imaging (camera) unit 116 Distance detection unit 117 Collision detection unit 120 Reception unit 121 Transmission unit 122 Human body recognition unit

Claims (4)

In an autonomous vehicle that automatically performs the driving operation of the driver
An imaging unit that captures the surroundings of the vehicle and
A collision detection unit that detects a collision between your vehicle and the outside,
A human body recognition unit that recognizes the human body with respect to the image captured by the imaging unit,
When the collision detection unit detects a collision with an object and the human body recognition unit recognizes a human body lying on the road, the vehicle is located between the human body and another vehicle approaching the human body. A control unit that automatically moves and stops the vehicle,
Self-driving car with. In the self-driving car according to claim 1.
Furthermore, it has a distance detection unit that detects the distance between the vehicle and surrounding objects.
The control unit is an autonomous vehicle that is controlled by the distance detection unit to move and stop the own vehicle while maintaining a predetermined distance from the recognized human body. In the self-driving car according to claim 1.
Further, it has a transmission unit for transmitting the image captured by the imaging unit.
The control unit is an autonomous vehicle that automatically transmits an image of the recognized human body captured by the imaging unit and an image showing a movement route of the own vehicle after the recognition of the human body to a predetermined transmission destination . In an autonomous vehicle that automatically performs the driving operation of the driver
An imaging unit that captures the surroundings of the vehicle and
A collision detection unit that detects a collision between your vehicle and the outside,
A human body recognition unit that recognizes the human body with respect to the image captured by the imaging unit,
When the collision detection unit detects a collision with an object and the human body recognition unit recognizes a human body lying on the road in the oncoming lane, the vehicle is automatically moved from the currently traveling lane to the oncoming lane. , A control unit that stops the vehicle at a position between the human body and another vehicle approaching the human body,
Automatic driving vehicles with.

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