JP7153377B2 - Self-driving cars and programs for self-driving cars - Google Patents

Description

The present invention relates to an autonomous vehicle and a program for an autonomous vehicle.

2. Description of the Related Art Various anti-theft systems and anti-theft devices have been proposed to prevent vehicle theft. For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2013-147202) and Patent Document 2 (Japanese Patent Application Laid-Open No. 2013-126197) disclose that if authentication cannot be performed using a passcode or the like, it is impossible to drive a car. It is disclosed to prevent vehicle theft of an automobile by doing so. In addition, Patent Document 3 (Japanese Patent Application Laid-Open No. 2002-225677) and Patent Document 4 (Japanese Patent Application Laid-Open No. 2011-116145) disclose that the theft of an automobile is prevented by preventing a criminal from getting into the driver's seat. It is disclosed to prevent

In addition, in order to help identify the culprit in case of vehicle theft, there is also an invention for recording an image of the culprit and recording the voice of the culprit. 2001-322533) and Patent Document 6 (Japanese Unexamined Patent Publication No. 2000-305136).

JP 2013-147202 A JP 2013-126197 A JP-A-2002-225677 JP 2011-116145 A JP-A-2001-322533 JP-A-2000-305136

Conventional anti-theft devices and anti-theft systems prevent vehicles from being stolen by controlling the vehicle so that it cannot run or by preventing thieves (thieves) from getting into the vehicle. , the emphasis is placed on the prevention of theft. However, if the password is known by a car thief, or if the mechanism that prevents the car from running is released or destroyed, the car cannot be stolen.

In addition, the inventions of Patent Documents 5 and 6 can be used as proof of elucidation of criminals and evidence that the captured criminal is a vehicle thief, but they can be used directly. It is not the kind of technology that would help us to arrest and arrest criminals in real time. Conventionally, there have been no proposals for anti-theft systems or anti-theft devices for automobiles intended to arrest or apprehend criminals.

As described above, conventionally, there are no effective measures against automobile theft, including the arrest of criminals and arrest of criminals.

By the way, recently, self-driving cars that can automatically travel while avoiding obstacles without the driver's accelerator operation, brake operation, and steering operation (steering wheel operation) have appeared. This self-driving car also requires effective anti-theft measures, but conventionally, as described above, there are no effective anti-theft measures.

An object of the present invention is to provide an automatic driving vehicle that prevents vehicle theft by making use of the characteristics of automatic driving, and that is also effective in arresting and apprehending criminals.

In order to solve the above problems, the invention of claim 1 is
An automated driving vehicle having a manual driving mode and an automated driving mode,
a first switching means for switching from the manual operation mode to the automatic operation mode;
a second switching means for switching from the automatic operation mode to the manual operation mode;
a first biometric information acquiring means for acquiring biometric information of a passenger;
a second biometric information acquiring means for acquiring biometric information of a specific person whose biometric information is registered in advance;
Based on the biometric information of the passenger acquired by the first biometric information acquisition means and the biometric information of the specific person acquired by the second biometric information acquisition means, whether the passenger is the specific person a judgment means for judging whether or not
When the determining means determines that the passenger is the specific person, and the own vehicle is in the automatic driving mode, the switching to the manual driving mode by the second switching means is invalidated or disabled. a control means for switching to the automatic driving mode by the first switching means when the own vehicle is in the manual driving mode;
locking means for locking the doors and/or windows of the own vehicle so that they cannot be opened and closed based on the identification that the passenger is the specific person;
an external imaging unit that captures an image of the exterior of the vehicle;
with
By photographing the police notebook with the external imaging unit and confirming the police notebook by image recognition, the unlocked state of the door and/or the window that cannot be opened and closed by the lock means is released.
To provide an automatic driving vehicle characterized by:

According to the automatic driving vehicle of the invention of claim 1 having the above configuration, when the passenger is determined to be a specific person whose biometric information is registered in advance, the first switching means switches to the automatic driving mode. , to disable or disable switching to the manual operation mode by the second switching means.

Therefore, the self-driving car according to the present invention can move in the self-driving mode with a specific person, such as a wanted criminal, on board, and head to a theft destination such as a police station. Therefore, it becomes possible for a police officer to arrest a wanted criminal who is riding in his/her own vehicle, which is effective in arresting and apprehending criminals.

According to the present invention, it is possible to provide an automatic driving vehicle that is effective in arresting criminals and apprehending criminals by taking advantage of the characteristics of automatic driving.

1 is a block diagram showing a hardware configuration example of an embodiment of an automatic driving vehicle according to the present invention; FIG. FIG. 2 is a diagram used to explain part of the hardware configuration example of FIG. 1; It is a figure which shows a part of flowchart for demonstrating an example of the flow of the processing operation of embodiment of the self-driving car by this invention. It is a figure which shows a part of flowchart for demonstrating an example of the flow of the processing operation of embodiment of the self-driving car by this invention. It is a figure which shows a part of flowchart for demonstrating an example of the flow of the processing operation of embodiment of the self-driving car by this invention. It is a figure which shows a part of flowchart for demonstrating an example of the flow of the processing operation of embodiment of the self-driving car by this invention. 1 is an image diagram of an embodiment of an anti-theft system for an automatic driving vehicle according to the present invention; FIG. 1 is a diagram showing a configuration example of an overview of an embodiment of an anti-theft system for an automatic driving vehicle according to the present invention; FIG. FIG. 4 is a sequence diagram for explaining an example of processing operations in the anti-theft system for an automatic driving vehicle according to the present invention;

[First Embodiment]
A first embodiment of the present invention is a case where anti-theft processing control is performed only by an automatic driving vehicle. FIG. 1 is a block diagram showing a hardware configuration example of an electronic control circuit unit 10 of an automatic driving vehicle 1 according to the first embodiment. In addition, the automatic driving vehicle 1 of this embodiment is an example in the case of an electric vehicle. However, the illustration of the battery is omitted in FIG.

Further, the automatic driving vehicle 1 of this embodiment has an automatic driving mode and a manual driving mode. The manual driving mode is a mode in which the vehicle can travel according to the driver's accelerator operation, brake operation, shift lever operation, and steering operation (steering wheel operation), like a normal vehicle that is not an automatic vehicle. In addition, the automatic driving mode is a driving mode in which the automatic driving vehicle 1 itself automatically avoids obstacles and changes course without the driver operating the accelerator, the brake, the shift lever, or the steering. be.

Normally, the driver of the automated driving vehicle can switch the automated driving vehicle running in the manual driving mode to the automated driving mode by performing a predetermined operation through a touch panel, for example, and can , when the driver operates the accelerator, the brake, the shift lever, or the steering, the system automatically returns to the manual operation mode. However, as will be described later, the self-driving vehicle 1 of this embodiment is configured to be controlled so that it can only run in the self-driving mode when the theft state of the self-vehicle is detected.

As shown in FIG. 1, the electronic control circuit unit 10 provides a control unit 101 including a microcomputer via a system bus 100, a wireless communication processing unit 102, a radar 103, various sensors 104, camera group 105, GPS (Global Positioning System) receiver 106, current location confirmation unit 107, surrounding moving object recognition unit 108, audio output unit 109, motor drive control unit 110, steering drive control unit 111, touch panel display unit 112, car A navigation (hereinafter abbreviated as car navigation) function unit 113, a door lock control unit 114, a passenger authentication unit 115, a theft detection processing unit 116, and a manual/automatic operation mode switching control unit 117 are connected.

A speaker 121 is connected to the audio output unit 109 . A motor drive unit 122 is connected to the motor drive control unit 110 . A steering drive unit 123 is connected to the steering drive control unit 111 .

A car navigation database 124 is connected to the car navigation function unit 113 . A door lock drive mechanism unit 125 is connected to the door lock control unit 114 . A passenger authentication information memory 126 is connected to the passenger authentication unit 115 . The theft detection processing unit 116 is connected to a destination memory 127 for theft. A manual operation detection unit 128 is connected to the manual/automatic operation mode switching control unit 117 .

In this example, the wireless communication processing unit 102 is a police agency to which the automatic driving vehicle 1 of the first embodiment is moved when it is stolen (there are police organizations, security organizations, and security organizations that differ depending on the country. For example, In Japan, there are police stations, police boxes, police stations, and in the United States, there are state police, county police, city/town/village police, county sheriff's bureaus, sheriff's offices, etc. (hereinafter collectively referred to as police stations, etc.), or , and other predetermined locations. In this embodiment, assuming that the mobile phone network is used for contacting the destination, the owner of the self-driving vehicle 1 treats the vehicle as a mobile phone terminal and concludes a contract with a mobile phone company. , the subscriber telephone number of the mobile phone is assigned to the automatic driving vehicle 1, and the wireless communication processing unit 102 performs communication using the subscriber telephone number as the calling party telephone number.

The wireless communication processing unit 102 also includes a telephone number memory in which the subscriber telephone number (mobile telephone number) of the mobile telephone terminal capable of wirelessly communicating with the automatic driving vehicle is registered. The wireless communication processing unit 102 cooperates with the control unit 101 to automatically make a call to the mobile phone terminal of the stored mobile phone number, and has a function of executing a predetermined process as described later. ing.

The radar 103 is for measuring the distance to vehicles, pedestrians, obstacles, etc. existing around the vehicle of the automatic driving vehicle, and is composed of a laser radar, a millimeter wave radar, or the like. A laser radar is embedded, for example, in the ceiling or near a bumper, and a millimeter wave radar is provided, for example, in the front and rear parts of a vehicle. Both laser radar and millimeter wave radar may be provided, or only one of them may be provided. Other radars such as quasi-millimeter wave radar may also be used.

Various sensor groups 104 include an open/close detection sensor that detects the opening and closing of doors and windows, a sensor that detects whether a seat belt is worn, and a seating sensor that detects whether a passenger is seated in a seat such as a driver's seat or a front passenger's seat. In addition to these, it consists of various sensors to acquire information that will assist automatic driving. Various sensors for acquiring information that assists autonomous driving include, for example, vibration sensors for detecting vehicle and tire vibrations, rotation speed sensors for detecting tire rotation speeds, and direction detection sensors. Geomagnetic sensors, acceleration sensors for detecting acceleration, gyro sensors (gyroscopes) for detecting angles and angular velocities, and the like are included. The various sensor group 104 also includes a sound sensor (microphone) that picks up the voice of the passenger in the vehicle and the surrounding sound of the self-driving vehicle.

The camera group 105 includes one to a plurality of cameras that capture the interior of the autonomous vehicle 1 and one to a plurality of cameras that capture the surroundings of the autonomous vehicle 1 . A camera that captures the interior of a vehicle is attached to, for example, a rear-view mirror (rear view mirror, room mirror) installed between the driver's seat and the passenger's seat, and in addition to a camera that captures the face image of the person sitting in the driver's seat, It includes cameras for capturing facial images of passengers sitting in front passenger seats and rear seats. In addition, the cameras for capturing the surroundings of the automatic driving vehicle 1 are, for example, two cameras (stereo cameras) that are attached to the left and right sides of the rearview mirror and mainly capture the left front and right front of the automatic driving vehicle 1. In addition, cameras attached to the door mirrors or fender mirrors of the automatic driving vehicle 1 for photographing the left and right sides and the rear, and attached around the rear license plate and tail lamps to photograph the rear of the automatic driving vehicle 1. It also includes a camera, an omnidirectional camera (360-degree camera) and a fish-eye camera that are attached to the roof and take wide-angle pictures of the surroundings.

GPS receiving section 106 receives radio waves from GPS satellites, detects the current position of the vehicle, and supplies information on the detected current position to current position confirmation section 107 .

Since the accuracy of the position detected by the radio waves from the GPS satellites is poor, the current position confirmation unit 107 uses not only information on the current position detected by the GPS reception unit 106 but also one to a plurality of sensors included in the various sensor groups 104. By using the sensor and radar 103, captured images of the camera group 105, and the like, and performing processing based on, for example, Bayesian theory, the current position is detected and confirmed with higher accuracy.

Surrounding moving object grasping unit 108 uses radar 103 and images captured by camera group 105 to grasp moving objects around the own vehicle. The surrounding moving body grasping unit 108 also grasps surrounding obstacles and moving bodies by performing processing based on Bayesian theory or the like.

The automatic driving vehicle 1 acquires various information acquired by the radar 103, the various sensor groups 104, the camera group 105, and the GPS receiving unit 106 in the current location confirmation unit 107 and the surrounding moving object grasping unit 108, that is, from human eyes and ears. Information corresponding to information is processed by Bayesian theory, etc. Based on this, the control unit 101 performs intelligent information processing (artificial intelligence) and control (artificial intelligence) such as changing the course of the own vehicle and avoiding obstacles. .

The voice output unit 109 has a built-in memory, although not shown, for storing voice message data to be emitted to the outside, and a voice synthesizer that converts the voice message data read out from the memory into an analog voice signal. and a DA converter. Then, the audio output unit 109 supplies the audio message selected by the control of the control unit 101 to the speaker 121 and emits it as audio to the outside. As will be described later, if the suspected thief (suspected thief, thief) is on board, the voice message to be stored may be "theft is being transported", "theft is on board" or " Please call 911."

Under the control of the control unit 101, the motor drive control unit 110 controls the supply of a drive signal to the motor drive unit 122 of the automatic driving vehicle 1 configured by the electric vehicle of this embodiment, and the automatic driving vehicle 1 start of running, acceleration/deceleration of running speed, stop of running, etc.

Under the control of the control unit 101, the steering drive control unit 111 controls the supply of a drive control signal to the steering drive unit 123 of the automatic driving vehicle 1 of this embodiment, thereby controlling the course change of the automatic driving vehicle 1. to do

The display unit 112 with a touch panel has a display panel such as an LCD (Liquid Crystal Display) on which a touch panel capable of touch input with a finger is superimposed. A display image including software buttons (including keyboard character input buttons) is displayed on the display screen of the LCD under the control of the control unit 101 . When the touch panel of display unit 112 with touch panel detects a finger touch on a software button displayed on the display screen, the touch panel transmits the touch to control unit 101 . The control unit 101 receiving this is configured to execute control processing corresponding to the software button.

The car navigation function unit 113 is a function unit for guiding so as to assist the automatic driving vehicle 1 to move to a designated destination based on the map stored in the car navigation database 124 and the route guidance data. is. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing in the manual driving mode and the automatic driving mode.

In other words, in the manual operation mode, the car navigation function unit 113 displays the route to the destination on the display screen of the display unit 112 with touch panel. Displays an image that superimposes the vehicle position, moves the vehicle position (current position) on the map as the vehicle moves, and places where route guidance is required, such as intersections and junctions on the route. to provide voice guidance.

On the other hand, in the automatic driving mode, when the current position of the vehicle is away from the route to the destination, the car navigation function unit 113 notifies the control unit 101 of information on the separation direction and distance, and is on the route to the destination, the control unit 101 is notified of direction change instruction information along the route before an intersection or a fork on the route as the vehicle moves. make sure to Based on the information notified from the car navigation function unit 113, the confirmation result of the current location confirmation unit 107, and the grasping result of the surrounding moving object grasping unit 108, the control unit 101 follows the route as instructed. The motor driving unit 122 is controlled through the motor driving control unit 110 and the steering driving unit 123 is controlled through the steering driving control unit 111 so as to move along the course of . Therefore, the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode allows the automatic driving vehicle 1 to move to the destination even when no passengers are present.

In this embodiment, the car navigation function unit 113 has a function of searching for facilities and equipment corresponding to a specified keyword in the vicinity of the current location (peripheral search function). This peripheral search data is also stored in the car navigation database 124 . It should be noted that the surrounding area search data is not stored in the car navigation database 124, but the car navigation function unit 113 transmits the surrounding area search request including the keyword and the current position information via the wireless communication processing unit 102 on the Internet. may be sent to a search site, and peripheral search results centered on the current position may be obtained from the search site.

The door lock control unit 114 controls the door lock drive mechanism unit 125 connected thereto to control the locked state of opening and closing of all the doors for passengers of the automatic driving vehicle 1 . That is, the door lock control unit 114 causes the door lock driving mechanism unit 125 to lock the door so that the door is not opened while the automatic driving vehicle 1 is moving. In a normal state that is not a stolen state, when the door lock control unit 114 receives a door unlock operation input from a predetermined button operation or a wireless key while the automatic driving vehicle 1 is stopped, the door is closed and locked. is released to allow the door to be opened and closed by a door opening/closing operation unit (not shown).

In this embodiment, as will be described later, the door lock control unit 114 receives a control instruction from the control unit 101 and controls the door lock drive mechanism unit 125 when it detects that the vehicle is stolen. , even when the vehicle is stopped, the doors are automatically locked so that the doors of the vehicle cannot be opened and closed, and even if a predetermined button operation or a door unlocking operation input such as a wireless key is received. , the door closed lock state is not released. The door closed and locked state in this stolen state can be confirmed by, for example, photographing a police notebook presented by a police officer with a camera, or through the wireless communication processing unit 102, as described later. It is configured to be unlocked only when a predetermined special condition is cleared, such as when an unlock instruction including a predetermined password is received through a telephone terminal.

Although illustration is omitted, a window lock control unit and a window lock drive mechanism unit are further provided, and under the control of the control unit 101, locking and unlocking of the window are controlled in the same manner as the door. That is, when the theft state of the own vehicle is detected, the control unit 101 locks the windows of the own vehicle so that the windows cannot be opened or closed.

The passenger authentication unit 115 performs authentication processing of a passenger who is permitted to drive the automatic driving vehicle 1 of this embodiment. In the automatic driving vehicle 1 of this embodiment, a facial image, which is biometric information of the passenger, is used as information for authentication of the passenger who can drive. That is, the face images of the passengers permitted to drive the automatic driving vehicle 1 are registered in advance and stored in the passenger authentication information memory 126 . In this case, only when it is confirmed that the authentication information determined by the owner of the automatic driving vehicle 1, such as an ID and a password, has been input through the touch panel of the display unit 112 with a touch panel. To permit registration of face images of passengers permitted to drive. Therefore, in the passenger authentication information memory 126, the facial image of the owner of the automatic vehicle 1 is stored, and the facial images of the passengers who are permitted to drive by the owner of the automatic vehicle 1 are stored.

The number of passengers permitted to drive by the owner of the self-driving vehicle 1 may be one or more, including the owner himself/herself. Also, one or more face images may be registered in advance for one passenger who is permitted to drive. In the case of a plurality of images, for example, facial images with different facial expressions, different facial angles, different dates and times, etc. can be registered. If the person wears eyeglasses, sunglasses, or a hat, it is preferable to register face images of both wearing and not wearing. By registering a plurality of face images, it is possible to reduce the probability that the owner himself/herself is not erroneously authenticated (authentication omission probability). On the other hand, in the case of only one registration, a facial image with a specific facial expression (for example, smiling) or a specific angle (for example, straight ahead) may be registered. This reduces the probability of erroneously authenticating a person other than the owner as the owner (erroneous authentication probability). Of course, it is also possible to register a plurality of face images with specific facial expressions and specific angles to reduce both the authentication omission probability and the authentication error probability. In this embodiment, multiple facial images are registered and stored in advance.

Note that the passenger authentication information memory 126 also stores an ID and a password registered by the owner of the self-driving vehicle 1 .

The passenger authentication unit 115 acquires the face image of the passenger who got into the automatic driving vehicle 1 from the camera group 105, compares it with the face image stored in the passenger authentication information memory 126, and identifies the passenger. When it is determined that the face image matches one of the face images stored in the passenger authentication information memory 126, the driver of the automatic vehicle 1 is permitted to drive.

When the face image of the passenger does not match any of the face images stored in the passenger authentication information memory 126, the passenger authentication unit 115 recognizes the ID and password of the owner of the self-driving vehicle 1. After confirming the input of the ID and password, it is determined that the registration is for a passenger newly permitted to drive the automatic driving vehicle 1, and the face image of the passenger is stored in the passenger authentication information memory 126. store in addition to That is, in this embodiment, for the registration of a passenger who is newly permitted to drive the automatic driving vehicle 1, the owner of the automatic driving vehicle 1 sets the authentication information registered in the passenger authentication information memory 126. It is necessary to enter information (ID and password in this example), and if this authentication information cannot be confirmed, it is not possible to register a new passenger who is permitted to drive the automatic driving vehicle 1.

Then, the passenger authentication unit 115 determines that the face image of the passenger does not match any of the face images stored in the passenger authentication information memory 126 and the authentication information of the owner of the self-driving vehicle 1 For example, when the ID and password are not entered, the theft detection processing unit 116 is notified of the authentication result indicating that the authentication failed.

In addition, in this embodiment, the passenger authentication unit 115 stores the face image of the passenger whose authentication failed as a suspected thief in an area of the passenger authentication information memory 126 that is separate from the authentication information. make me remember. This facial image of the suspected thief can be read out and used as criminal identification material if the suspect is a thief.

The theft detection processing unit 116 detects that the vehicle is stolen and notifies the control unit 101 of the fact that the vehicle is stolen when receiving an authentication result indicating that the passenger has not been authenticated from the passenger authentication unit 115 .

When the control unit 101 detects the notification that the vehicle is stolen, the control unit 101 controls the door lock drive mechanism unit 125 through the door lock control unit 114 to lock the doors. The suspected thief is confined in the self-driving vehicle 1 by this door closed and locked state. In addition, when the suspected thief is wearing a seat belt in the seat, the seat belt may be controlled so as to be locked so as not to be removed. A suspected thief may be detained by providing a mechanism that automatically binds or secures the legs and torso from under the seat or from the backrest.

When the control unit 101 detects a notification that the vehicle is stolen, the control unit 101 controls the manual/automatic driving mode switching control unit 117 so that the suspected thief who is a passenger can operate the accelerator, the brake, The system is controlled so that even if the shift lever or steering wheel is operated, it cannot be switched to the manual operation mode. In addition, input operations such as designation and change of destinations in the automatic operation mode are also disabled. In addition, in the automatic driving mode, the manual/automatic driving mode switching control unit 117 behaves as if it has received an input operation such as specifying or changing a destination by the driver, so that the suspected thief who is a passenger is notified by the police. Transfer to a police station or other destination may be made unnoticed.

The manual driving operation detection unit 128 is operation detection means for detecting accelerator operation, brake operation, shift lever operation, and steering operation by the passenger (driver). When the vehicle is not stolen, the manual/automatic driving mode switching control unit 117 controls the driver's accelerator operation, brake operation, and shift operation in the manual driving operation detection unit 128 in the automatic driving mode, as described above. Upon receipt of a lever operation or steering operation detection notification, control is performed to switch from the automatic operation mode to the manual operation mode.

On the other hand, when the manual/automatic driving mode switching control unit 117 receives a detection notification that the vehicle is stolen from the theft detection processing unit 116, the automatic driving vehicle 1 is forcibly switched to the automatic driving mode. Along with the switching, detection notification of accelerator operation, brake operation, shift lever operation, and steering operation by the driver in the manual driving operation detection unit 128 is invalidated so that the automatic driving mode is continuously maintained.

Then, the theft detection processing unit 116 refers to the theft destination memory 127 to determine the destination in the automatic driving mode at the time of theft. In this embodiment, the owner of the self-driving vehicle 1 pre-registers and stores in the theft destination memory 127 the destinations at the time of theft with the order of priority determined. The theft detection processing unit 116 searches the theft destinations stored in the theft destination memory 127 in order of priority, and determines a destination that can be reached within a predetermined time (for example, one hour) from the current position. make it

In this way, the reason for determining the destination that can be reached within a predetermined time from the current position is that if the destination is too far away, there is a high risk of trouble if a thief is on board. , to minimize the risk of such troubles occurring. Also, if the destination is too far away, the battery level of the electric vehicle may be insufficient (gasoline shortage in the case of a gasoline vehicle). In this case, the predetermined time is set to be shorter than the time that the vehicle can travel with the current battery level (or gasoline level). For example, if the remaining battery capacity is equivalent to 40 minutes, the predetermined time is set to 30 minutes.

Instead of a destination that can be reached within a predetermined time, a place within a predetermined distance range (for example, within 10 km) from the current location may be determined as the destination.

The above-mentioned time setting within a predetermined time from the current position and distance setting within a predetermined distance range are set at the time of shipment from the manufacturer of the automatic driving vehicle 1 or at the time of sale at the dealer, but the owner of the automatic driving vehicle 1 Alternatively, a passenger who is permitted to drive by the owner may be allowed to change the set time and set distance.

If a destination that can be reached within a predetermined time (or within a predetermined distance range) is not stored in the theft destination memory 127, the theft detection processing unit 116 causes the car navigation function unit 113 to search the surrounding area for a police station or the like. , and the police station or the like found as a result of the search is determined as the destination at the time of theft. Then, when the theft detection processing unit 116 determines the theft destination, the vehicle is automatically driven to the determined theft destination.

If a police station or the like that can be reached within a predetermined time (or within a predetermined distance range) cannot be found by searching the surrounding area, the vehicle is notified to the emergency contact point and waits without moving the vehicle. Examples of the contact information for emergency calls include telephone numbers for emergency calls to police agencies, e-mail addresses for emergency calls, and the like.

The telephone number for emergency reporting to the police agency is a telephone number for reporting to the local police agency in the event of a crime such as theft, and differs depending on the country. For example, dial 110 in Japan, China and Indonesia, dial 911 in the United States and Canada, and dial 112 in the Netherlands and Sweden. Calling the telephone numbers for emergency calls to these police agencies to make a report is hereinafter collectively referred to as a 110 call.

In addition, if the battery level of the electric vehicle is low at the time the theft is detected (in the case of a gasoline vehicle, the gasoline level is low), the system will search for a destination to avoid running out of battery (running out of gasoline) while traveling. Instead, the driver may immediately call 110 and wait without moving the vehicle.

FIG. 2 shows an example of the stored contents of destination memory 127 at the time of theft. As shown in FIG. 2, as the registration information of the destination at the time of theft, the priority, the attribute of the destination at the time of theft, the address of the destination at the time of theft, the contact telephone number of the destination at the time of theft, and the owner of the self-driving car 1, It is input by an administrator or the like and stored. Also, the contact e-mail address of the destination at the time of theft may be stored.

The attribute of the destination at the time of theft is, for example, "police station near home", "police station near company", "nearest police station, etc." , is entered directly. The address is entered by the owner or administrator of the self-driving vehicle 1, but it may not be possible to enter it depending on the attribute of the destination at the time of theft, so it is an optional item. For example, if the attribute of the destination at the time of theft is "nearest police station, etc.", the address will differ depending on the current position of the self-driving vehicle 1, so the address is not input. The same applies to the contact phone number.

When the address of the destination at the time of theft is entered, the latitude and longitude position information corresponding to the address is obtained from the car navigation database 124 or via the Internet, and stored in the destination at the time of theft memory 127. keep it. This location information is used when calculating the theft destination and the distance or arrival time from the current location.

As for the "nearest police station, etc.", it may be possible to acquire the address and location information, as well as the telephone number and e-mail address of the contact point, as a result of the surrounding search.

After the theft detection processing unit 116 has determined the destination in the event of theft as described above, the contact telephone number can be acquired before or after the automatic operation is started. to call the destination at the time of theft. Then, the theft detection processing unit 116 generates a message including information such as the vehicle type, body color, license plate number, that the vehicle is in a stolen state, and how many minutes it will take to arrive at the location. Then, the message is converted to synthesized speech by speech synthesis and sent to the contact. The time "after how many minutes" in the message "after how many minutes you are scheduled to arrive at the place" is acquired by the theft detection processing section 116 requesting the car navigation function section 113 . The car navigation function unit 113 can calculate the estimated time of arrival at the destination at the time of theft from the route and distance from the current position of the own vehicle to the destination at the time of theft. The theft detection processing unit 116 acquires the calculated time from the car navigation function unit 113 and generates the message.

As described above, the theft detection processing section 116 for realizing the function of generating a message to be sent to the destination in case of theft and transmitting it as a transmitted voice includes message generating means and voice synthesizing means. The message generating means writes in its internal memory, for example, ``The thief is moving towards you. I will be arriving there later.”, insert the time obtained from the car navigation function unit 113 into the blank ( ) of “( ) minutes later”, and send it to the destination at the time of theft. complete the message. Then, the theft detection processing unit 116 converts the completed text message into synthesized speech by the speech synthesizing means, and transmits the synthesized speech as transmitted speech to the destination at the time of theft.

In this way, if it is possible to make a phone call in advance to, for example, the police station, which is the destination at the time of theft, when the automatically driven vehicle 1 in the stolen state arrives, a police officer or the like will be on standby. It is hoped that the perpetrators will be easily apprehended and secured.

Further, the theft detection processing unit 116 calls 110 when it is not possible to contact the destination at the time of theft. For that case, the message generating means of the theft detection processing unit 116 will say, "The thief is driving an automatic car. The current position is near ( ) and is moving toward ( ). This car is , a white sedan, and the license plate number is Shinagawa A○○○○." Based on the obtained current position, the current location name acquired by the car navigation function unit 113 is inserted, and the determined destination at the time of theft is inserted into the blank ( ) of "moving toward ( )", and 110 call is made. Complete the message to include in the . Then, the theft detection processing unit 116 converts the completed text message into synthesized speech by the speech synthesizing means, and transmits the synthesized speech as the transmitted speech to the emergency number 110. Note that the message may include the latitude/longitude position information acquired by the GPS receiving unit 106 .

When the 110th call is made, it is assumed that a police car may chase the moving vehicle. Therefore, in this embodiment, when the theft detection processing unit 116 detects (determines) that a police car is following the vehicle after calling 911, the vehicle is pulled over to the shoulder of the road and stopped. make it In this case, the patrol car's own vehicle is tracked by detecting an image captured by the cameras of the camera group 105 and the sound of the police car's siren by a microphone, which is a sound sensor in the various sensor group 104. do. In addition, the theft detection processing unit 116 picks up a call from a police car, ``Stop the white sedan in Shinagawa, please stop.'' The vehicle may be controlled to stop on the road shoulder or the like.

Note that the description of the present embodiment applies not only to police cars but also to police vehicles in general. For example, the police vehicle chasing your vehicle may be a police car, a police motorcycle, or both a police car and a police motorcycle. In this embodiment, the police car will be described for simplicity.

The theft detection processing unit 116 includes voice recognition means for recognizing the siren of a police car and recognizing a voice call from the police car. If the voice recognition means has a language understanding function, it can follow voice instructions from the patrol car. For example, follow the call from the police car, "Turn left at the intersection and stop." You can enter and park. Of course, the same response can be made not only to the patrol car when calling 110 but also to the patrol car.

As described above, when the vehicle arrives at a police station or the like, or when it detects that a police car is being pursued and stops on the shoulder of the road, the control unit 101 captures, for example, a police notebook presented by a police officer with a camera, and performs image recognition. By confirming the police notebook, the door lock state is released, and the door can be opened and closed by the police officer.

In addition, even when the owner of the automatic driving vehicle 1 sends a door close unlock instruction including a predetermined password to the automatic driving vehicle 1 through a mobile phone terminal, the control unit 101 of the automatic driving vehicle 1 receives the password is confirmed, the door closed lock state is released.

Note that the theft detection processing unit 116 does not call 110 only when the destination at the time of theft cannot be contacted. 110 call may be made. Furthermore, even if the destination at the time of theft is the police station, etc., and contact can be made, in order to ensure the arrest or arrest of the criminal, a call to 110 may be made at the same time.

The phone call to the destination in case of theft and the 110 call are made in a state where the voice of the call cannot be heard by the passenger. As a result, the suspected thief sitting in the driver's seat can contact the police station or the like without being noticed.

As described above, the electronic control circuit unit 10 of the automatic driving vehicle 1 is configured. Among the blocks shown in FIG. Each processing function of the control unit 110, the steering drive control unit 111, the car navigation function unit 113, the door lock control unit 114, the passenger authentication unit 115, the theft detection processing unit 116, and the manual/automatic driving mode switching control unit 117 is controlled. The unit 101 can be implemented as software processing.

[Example of flow of processing operation in automatic driving vehicle 1]
[Example of the flow of theft detection in the automatic driving car 1]
3 and 4 are flowcharts for explaining an example of the flow of detection of theft in the self-driving vehicle 1 configured as described above. 3 and 4, the processing in each step in the flowcharts of FIGS. , steering drive control unit 111, car navigation function unit 113, door lock control unit 114, passenger authentication unit 115, theft detection processing unit 116, and manual/automatic driving mode switching control unit 117 are realized as software processing. It is explained as a case where

When the automatic driving vehicle 1 is powered on, the process starts from the start in FIG. First, the control unit 101 monitors the output of the driver's seat seating sensor in the various sensor group 104 to determine whether or not a passenger is seated in the driver's seat of the vehicle (step S1). When it is determined that the passenger is not seated, another process is executed (step S2), and then the process returns to step S1. It should be noted that determination of whether or not a passenger is seated in the driver's seat can be performed by monitoring the output of the driver's seat seating sensor, or by using a camera in the camera group 105 for photographing the passenger in the driver's seat. can be determined by monitoring the captured image of

In step S1, when it is determined that a passenger is seated in the driver's seat, the control unit 101 acquires captured image information from a camera of the camera group 105 that captures the passenger in the driver's seat. A face image of the passenger is extracted from the captured image information and temporarily stored in a buffer memory (not shown) (step S3).

Next, the control unit 101 compares the face image of the passenger temporarily stored in the buffer memory with the face image stored in the information memory for passenger authentication 126, and the matching face image is used for passenger authentication. It is determined whether or not the passenger is a registrant by checking whether the information is in the information memory 126 (step S4). In this step S4, when it is determined that the passenger is a registered person, the control unit 101 permits driving (including automatic driving) by the registered person, and shifts to a processing routine for normal driving of the automatic driving vehicle 1. (Step S9).

Further, when it is determined in step S4 that the passenger is not a registered driver, a message "You are not registered as a driver" is displayed on the display screen of the display unit 112 with touch panel, and an unregistered driver is displayed. Wait for input of authentication information for registration (step S5).

Then, the control unit 101 determines whether or not the input of authentication information consisting of an ID and a password has been accepted (step S6). The ID and password set by the owner are compared with each other, and it is determined whether or not the authentication is OK based on whether or not they match (step S7).

When it is determined in step S7 that the authentication is OK, the control unit 101 stores the face image of the passenger temporarily stored in step S3 in the passenger authentication information memory 126 to register the passenger. (Step S8). Next, the control unit 101 proceeds to step S9, permits driving (including automatic driving) by the registrant, and shifts to a processing routine for normal driving.

When it is determined in step S6 that the input of the authentication information consisting of the ID and password has not been received, the control unit 101 displays the message "You are not registered as a driver" on the display screen, for example. After that, it is determined whether or not a preset predetermined time or more, for example, two minutes or more has passed (step S11 in FIG. 4).

When it is determined in step S11 that the predetermined time or more has not elapsed, the control unit 101 determines that the operation of the cancel button (cancel operation) displayed on the display screen of the display unit 112 with a touch panel, for example, is performed by the passenger. It is determined whether or not the cancel button has been operated (step S12), and when it is determined that the cancel button has not been operated, the process returns to step S6.

Further, when it is determined in step S12 that the cancel button has been operated, the control unit 101 turns off the power of the automatic driving vehicle 1 to disable the driving of the automatic driving vehicle 1 (step S13). Then, the control unit 101 terminates this processing routine.

Even when the cancel button is operated, the face image of the passenger temporarily stored in step S3 is stored in the passenger authentication information memory 126 as the face image of the unsuccessful registration person, and the face image of the unsuccessful registration person is stored. The owner of the self-driving vehicle 1 may be notified that the image is stored in the passenger authentication information memory 126 . In that case, the owner of the self-driving vehicle 1 can read out the face image of the registration failure person from the passenger authentication information memory 126 and confirm the suspected thief. That is, when the facial image of the registration failure person is that of a person unknown to the owner of the automatic driving vehicle 1, the person can be reported to the police station or the like as a suspected thief.

Note that stopping the automatic driving vehicle 1 by turning off the power increases the risk of the suspected thief escaping, which is undesirable, so the operation of the cancel button can be disabled.

In step S11, when it is determined that the predetermined time or more has elapsed, the control unit 101 determines that the passenger is a suspected thief and the vehicle is in a stolen state, and closes and locks the doors. The detection of the accelerator operation, the brake operation, the shift lever operation, and the steering operation by the manual driving operation detection unit 128 is disabled, and control is performed so that only automatic driving can be performed (step S14). Then, the control unit 101 proceeds to a theft-time movement processing routine (step S15).

Further, when it is determined in step S7 in FIG. 3 that the authentication is not OK, the control unit 101 determines whether or not it is the predetermined time, for example, the third time that the authentication has been NG instead of OK (see FIG. 4). (step S16), when it is determined that the predetermined number of times has not been reached, a message prompting re-input of the authentication information is displayed on the display screen of the display unit 112 with the touch panel (step S17), and the process proceeds to step S6 in FIG. to wait for input of authentication information.

Then, when it is determined in step S16 that the authentication has been NG instead of OK for the predetermined number of times, the control unit 101 advances the process to step S14 and determines that the vehicle is stolen. , the door is closed and locked, and detection of accelerator operation, brake operation, shift lever operation, and steering operation by the manual operation detection unit 128 is disabled, and control is performed so that only automatic operation can be performed. Then, the control unit 101 advances the process to step S15, and shifts to the movement processing routine at the time of theft.

[Example of the flow of movement processing at the time of theft in the automatic driving vehicle 1]
An example of the flow of the movement processing when stolen in step S15 in FIG. 4 described above will be described with reference to the flow charts in FIGS. 5 and 6. FIG. 5 and 6, the control unit 101 also controls the current location confirmation unit 107, the surrounding moving object grasping unit 108, the voice output unit 109, the motor drive control unit 110, the steering drive control unit 111, and the like. , the car navigation function unit 113, the door lock control unit 114, the passenger authentication unit 115, the theft detection processing unit 116, and the manual/automatic operation mode switching control unit 117 are realized as software processing. do.

First, the control unit 101 designates the destination in case of theft having the highest priority in the information stored in the destination in case of theft memory 127 (step S21). Next, the control unit 101 determines whether or not the information on the destination at the time of theft having the n-th priority is stored in the destination at the time of theft memory 127 (step S22).

In step S22, when it is determined that the data of the destination in case of theft with the n-th priority is stored, the control unit 101 determines that the destination in case of theft with the n-th priority is registered with only the attribute and the address. (and position information of latitude and longitude) are not stored (step S23).

In step S23, when it is determined that only the attribute is registered for the destination at the time of theft with the n-th priority, and the address (and position information of latitude and longitude) is not stored, the control unit 101 Attributes such as a police station are found by searching around the current position, and the address and latitude/longitude position information is acquired (step S24). When the search target is a police station or the like, various police organizations, for example, in Japan, any one of a police station, a police box, and a police station is detected.

Smaller police agencies (police boxes and police stations in Japan) may not have police officers on patrols, so priority should be given to larger police agencies (police stations in Japan). can be detected. Information on small police agencies with no resident police officers or one or two police officers with a high probability of absence can be stored in a database or obtained from a predetermined site on the Internet. It may be possible to take steps to lower the priority of smaller police agencies.

Then, the control unit 101 calculates the arrival time from the current position to the destination at the time of theft of the priority n from the position information of the address and the position information of the current position of the own vehicle (step S25).

Also, when it is determined in step S23 that the address (and latitude/longitude location information) in addition to the attribute is stored for the n-th priority destination during theft, the control unit 101 also performs the processing. advances to step S25 to calculate the arrival time from the current position to the destination at the time of theft of the n-th priority from the position information of the address and the position information of the current position of the own vehicle.

After step S25, the control unit 101 determines whether or not it is possible to arrive at the destination from the current location within a predetermined time based on the arrival time obtained in step S25 (step S26). ).

In this step S26, when it is determined that it is not possible to arrive at the destination from the current location within a predetermined time, the control unit 101 sets n=n+1 and selects the next stolen vehicle from the stolen destination memory 127 as n=n+1. After specifying to read the time destination (step S27), the process returns to step S22, and the processes after step S22 are repeated.

When it is determined in step S26 that the destination can be reached from the current location within a predetermined time, the control unit 101 reads out the theft destination from the theft destination memory 127, or Automatic operation is started with the stolen destination found as a result of the surrounding search as a destination (step S28).

Further, when it is determined in step S22 that the data of the destination at the time of theft with the n-th priority is not stored, that is, the destination at the time of theft memory 127 does not store an appropriate destination at the time of theft for the present location. When it is determined, the control unit 101 searches for the nearest police station or the like by perimeter search, sets the police station or the like of the search result as the destination, and starts automatic driving (step S29).

After step S28 or step S29, the control unit 101 determines whether or not the contact information of the set destination, which is the telephone number in this example, is known (step S31 in FIG. 6). When it is determined that it is, a call is made to the destination (step S32). Then, the control unit 101 determines whether or not the destination has responded to the outgoing call (step S33). Information about the own vehicle such as features, information about the current position, destination, estimated time of arrival at the destination, etc., are communicated by telephone using synthesized speech (step S34).

Then, the control unit 101 continues the automatic operation and moves to the set destination (step S35). Then, the control unit 101 determines whether or not the own vehicle has arrived at the destination (step S36), and when it determines that the vehicle has not arrived, returns the process to step S35, and repeats the processes after step S35. When it is determined that the vehicle has arrived at the destination, the vehicle is stopped and a voice message such as "theft is being transported" or "theft is on board" is output from the speaker 121 to indicate that the suspected thief is in the vehicle. A sound is emitted (step S37). Alternatively, the notification may be made by sounding a horn or blinking a light so as to alert people outside.

If the destination is a police station or the like, the police officer can approach the automated driving vehicle 1 and, for example, read the police notebook with a camera to open the door and arrest or arrest a suspected thief riding in the vehicle. can be secured.

In step S31, when it is determined that the set destination contact information, in this example, the telephone number, is not known, and in step S33, when the called destination is absent or busy, the incoming call is answered. When it is determined not to do so, the control unit 101 calls 110 (step S38), information about the vehicle such as the number and characteristics of the vehicle, current position information, destination, and estimated time of arrival at the destination. etc., by synthesized voice (step S39).

Then, the control unit 101 determines whether or not a police car has tracked the vehicle (step S40), and when it determines that the vehicle has been tracked, the vehicle automatically pulls over to the shoulder and stops (step S41). In step S41, if the voice call from the patrol car can be recognized by voice, the vehicle can be stopped at an appropriate road shoulder or parking lot according to the voice instruction.

Further, when it is determined in step S40 that the patrol car is not following the vehicle, the vehicle automatically moves to the set destination (step S42). Then, the control unit 101 determines whether or not the own vehicle has arrived at the destination (step S43), and when it determines that the vehicle has not arrived, returns the processing to step S40, and repeats the processing after step S40. When it is determined that the vehicle has arrived at the destination, the process proceeds to step S37 to stop the vehicle and indicate that the suspected thief is in the vehicle by saying, for example, "transporting the thief" or "riding the thief". A voice message is emitted from a speaker 121.例文帳に追加

[Effects of the first embodiment]
As described above, when the self-driving car 1 of the above-described embodiment detects that the self-driving car 1 is in a stolen state, the self-driving car 1 automatically drives the self-driving car and moves to a destination such as a police station. Therefore, the vehicle can be moved to a police station or the like with the suspected thief on board. As a result, it is possible to prevent theft of the self-driving car, and it is also effective in arresting criminals and apprehending criminals.

When the self-driving vehicle 1 of the above-described embodiment detects that the vehicle is stolen, the doors and windows are closed and locked so that the criminal is confined in the vehicle. It can be reliably transferred to a police station or the like.

In addition, when the self-driving car 1 of the above-described embodiment detects that the self-driving car is in a stolen state, manual driving by the suspected thief is prohibited, and the passenger can specify the destination in the self-driving mode. Since changes, etc., are invalidated, and only movement in automatic driving mode to a designated destination such as a police station is allowed, the criminal can be reliably transferred to the police station or the like.

In addition, since the self-driving car is not in a stopped state but is traveling at high speed, it is possible to prevent the suspected thief from breaking the window glass and jumping out from there and escaping.

[Modification of First Embodiment]
In the above-described first embodiment, an example of an automatic driving vehicle that has both an automatic driving mode and a manual driving mode is described. This invention can be constructed. In this case, since the automatic operation mode is always set, switching between the manual operation mode and the automatic operation mode does not exist. Therefore, the control for switching from the manual operation mode to the automatic operation mode and the control for switching from the automatic operation mode to the manual operation mode are not necessary in the above description. Of course, an automatic driving vehicle without manual driving does not have the manual/automatic driving mode switching control unit 117 and the manual driving operation detection unit 128 . Also, the accelerator pedal, brake pedal, shift lever, steering wheel, etc. required for manual operation may be omitted. However, to ensure safety, a brake pedal (brake button, touch panel input or voice input corresponding to brake may be provided) may be provided so that only brake operation can be handled manually.

In addition, in the above-described first embodiment, after starting movement by automatic operation, contact is made to the set destination, but before starting movement by automatic operation, contact the set destination You may make it

In addition, although the contact to the destination is made by telephone, the contact may be made by facsimile (fax), e-mail, or a communication application such as LINE.

In the above-described first embodiment, when the autonomous vehicle 1 arrives at its destination, a voice message indicating that the suspected thief is in the vehicle is emitted. A voice message such as that a suspected thief is on board or "Please call 911" may be emitted to the outside.

Further, as shown in FIG. 7, a display 130 consisting of an LCD (Liquid Crystal Display) is provided on, for example, the door of the automatic driving vehicle 1 to detect a theft state and detect a suspected thief 131 in the automatic driving vehicle. 1, the display screen of the display 130 displays a text message such as "The thief is being transported", "The thief is on board", or "Please call 110". good too. The display 130 may be provided on the side window, the windshield, or the rear glass, or an LED (Light Emitting Diode) may be provided instead of the LCD to inform the outside of the theft state. good. In addition, a voice message may be emitted to the outside in conjunction with the display of the text character message.

In the above-described first embodiment, the self-driving car 1 determines whether the vehicle is stolen based on whether the passenger, particularly the person in the driver's seat, is a registered person. However, the determination of whether or not it is in a stolen state is not limited to this case.

For example, the theft detection processing unit 116 detects a predetermined When it is detected that the vehicle has moved more than the distance, it may be detected that the vehicle is stolen. Further, when abnormal sensor data such as large vibration data or acceleration data, which does not appear when the vehicle is stopped or when the vehicle is normally running, it may be detected that the vehicle is stolen. This is based on the assumption that the self-driving vehicle 1 is lifted by heavy equipment such as a crane truck or a tow truck, and is stolen without being put into operation.

In the above-described first embodiment, when the passenger is not a registered person, the authentication information is checked. Then, it may be detected that the own vehicle is in a stolen state.

In addition, if the passenger is wearing a balaclava, etc., and it is difficult to authenticate the face image, it is determined that the passenger may be a suspected thief, and the eyes are carefully authenticated. Alternatively, passengers may be asked to remove their balaclavas to reveal their faces. Further, it is possible to immediately determine that the passenger is a suspected thief and detect that the vehicle is stolen.

The place where the vehicle was parked before the theft can also be used as the destination at the time of theft. In that case, the self-driving car will return to the place where it was parked before the theft with the suspected thief in it. may Further, when the current position of the automatic driving car is the place where it was parked before the theft, the car may not be moved, the door may be closed and locked, and a call to 911 may be made.

In addition, in the above-described first embodiment, the notification of theft from the autonomous vehicle 1 to the owner of the autonomous vehicle 1 was not described, but "The car has been stolen. and is being transferred to the ○△ police station.” Of course, it is also good. In addition, if it is difficult to move even if theft is detected, it will contact the owner's communication terminal such as a mobile phone terminal, saying, "My car has been stolen, but I can't move from here now." may be entered.

Further, in the above-described first embodiment, the automatic driving vehicle 1 contacts the destination by telephone or the like, but there may be a case where the contact is not made. In this case, the automatic driving vehicle 1 may contact a communication terminal such as a mobile phone terminal of the owner of the vehicle, and the owner may contact the destination or call 110.

[Second embodiment]
In the above-described first embodiment, the anti-theft processing control is performed only by the automatic driving vehicle 1, but even when the automatic driving vehicle 1 determines that there is an abnormality, the automatic driving vehicle 1 For example, an acquaintance of the owner of the car is trying to drive. In that case, the theft of the self-driving car 1 can be determined more reliably by the intervention of the owner. In addition, there are many cases where the owner of the self-driving car 1 recognizes that the self-driving car 1 parked at a predetermined location has disappeared and detects the theft. For example, the self-driving car 1 parked in the parking lot of the service area disappears while the owner of the self-driving car 1 is eating, or the self-driving car parked in the parking lot of the shopping center The car 1 is lost while the owner of the self-driving car 1 is shopping. The second embodiment assumes such a case.

FIG. 8 is a diagram for explaining an outline of an anti-theft system for an automatic driving vehicle according to the second embodiment. That is, the second embodiment is a configuration of a system consisting of an automatic driving vehicle 2 and a communication terminal capable of wireless communication possessed by the owner 3 of the automatic driving vehicle 2, for example, a high-performance mobile phone terminal 4 called a smartphone. becomes. In this second embodiment, the automatic driving vehicle 2 and the mobile phone terminal 4 are capable of wireless communication with each other through a communication network consisting of a mobile phone network and the Internet. In the automatic driving vehicle 2, the telephone number and e-mail address of the mobile phone terminal 4 of the owner 3 are registered in advance as a destination to report abnormalities and the like. An application program for supporting anti-theft of the automatic driving vehicle 2 is downloaded from a predetermined site of the automatic driving vehicle 2 and stored in advance in the mobile phone terminal 4 . Although the mobile phone terminal 4 is used in this embodiment, a fixed phone terminal or a personal computer can also be used. Also, in case the owner 3 cannot be contacted, the phone number or e-mail address of the family member of the owner 3 may be registered as backup contact information.

The automatic driving vehicle 2 of this embodiment has substantially the same configuration as the automatic driving vehicle 1 of the first embodiment shown in FIG. 1 embodiment. Also, the configuration of the wireless communication processing unit 102 is different from that of the first embodiment.

The wireless communication processing unit 102 of the automatic driving vehicle 2 of the second embodiment is a telephone in which the subscriber telephone number (mobile telephone number) of the mobile telephone terminal 4 capable of wireless communication with the automatic driving vehicle 2 is registered. It has a number memory. In cooperation with the control unit 101, the wireless communication processing unit 102 automatically transmits a call to the mobile phone terminal 4 having the stored mobile phone number, and has a function of performing notification as described later, and a function of It has a function of automatically responding to an incoming call from the mobile phone terminal 4 with the specified mobile phone number and executing a predetermined process to be described later.

In this second embodiment, when the owner 3 notifies the self-driving car 2 through the mobile phone terminal 4 that the self-driving car 2 is in a stolen state, the self-driving car 2 recognizes it. make it

In addition, in the example of the second embodiment below, the method of setting the destination is also different from that of the first embodiment. By sending it, the automatic driving car 2 recognizes the moving destination at the time of theft.

As described above, there are two cases (first example and second example) in which the owner 3 notifies the automatic driving vehicle 2 that the automatic driving vehicle 2 is in a stolen state. That is, in the first example, as shown in FIG. 8, the mobile phone terminal 4 of the owner 3 receives an abnormality detection notification from the self-driving car 2, the owner 3 checks the contents of the abnormality, and This is the case where a notification indicating whether or not the vehicle is stolen (hereinafter referred to as a theft notification) is sent from the mobile phone terminal 4 to the self-driving vehicle 2 as a check result. In a second example, the owner 3 detects that the self-driving car 2 is gone without receiving an anomaly notification from the self-driving car 2, and notifies the self-driving car 2 of the state of theft. be. In the case of the second example, the theft notification is not the theft notification, but the theft notification.

In the example of FIG. 8, the owner 3 designates a police station or the like 5 as a destination in case of theft, and the self-driving car 2 moves to the designated police station or the like 5 by automatic driving. is shown. In this second embodiment as well, it is the same as the first embodiment that switching to the door closed lock state, the window closed lock state, and the manual operation mode cannot be performed during movement when theft occurs. Processing operations are performed substantially in the same manner as in the first embodiment.

FIG. 9 shows the electronic control circuit part of the self-driving car 2 in the anti-theft system for the self-driving car of the second embodiment (hereinafter, only the self-driving car 2 is described for simplicity) and the owner 3's mobile phone. 4 shows a sequence diagram of an example of communication with the telephone terminal 4. FIG. The example of FIG. 9 is the case of the first example in which the owner 3 notifies the self-driving car 2 that the self-driving car 2 has been stolen.

That is, first, the self-driving vehicle 2 detects whether or not an abnormality has occurred in its own vehicle. The anomaly detection means can be realized, for example, with substantially the same configuration as the theft detection means of the first embodiment (see FIG. 1). In this case, the passenger authentication unit 115 acquires the face image of the passenger who got into the automatic driving vehicle 2 from the camera group 105 and compares the acquired face image with the face stored in the passenger authentication information memory 126 . The images are compared and referenced to determine whether or not they match. When the passenger's facial image does not match any of the facial images stored in the passenger authentication information memory 126, the passenger authentication unit 115 returns the authentication result indicating that the passenger could not be authenticated. A detection processing unit (not shown) is notified. Based on this notification, the abnormality detection processing unit detects that the own vehicle is in an abnormal state. Such abnormality detection processing by comparing face images may be performed at any time, but is preferably performed when it is determined that a passenger is seated in the driver's seat, as in the case of the theft detection means.

In the case of theft detection, it is preferable to tighten the judgment accuracy of the authentication result and make a definitive judgment as to whether or not the authentication was successful. It is preferable to detect as an anomaly when there is even a slight suspicion, even if it is difficult to detect.

In the second embodiment, unlike the first embodiment, even if the abnormality detection is an unreliable and uncertain judgment, the final judgment of theft can be entrusted to the owner. At the same time as preventing leakage, it is possible to prevent erroneous determination of theft. Therefore, if a matching face image does not exist and the passenger cannot be authenticated as in the first embodiment, the passenger is requested to enter the ID and password, and the authentication is confirmed again. Even if there is no operation, there is no particular problem.

The abnormality that can be detected by the abnormality detection means is not limited to this example. For example, it can detect suspicious situations such as when a passenger is difficult to authenticate, or when a passenger is wearing a balaclava, or when the vehicle is not being driven but has traveled more than a specified distance. Alternatively, when detecting abnormal sensor data that does not appear when the vehicle is stopped or during normal running, these can be detected as abnormalities in the vehicle.

When detecting an abnormality in the own vehicle, the abnormality detection processing unit transmits a notification of the abnormality to the mobile phone terminal 4 of the owner 3 as a registered destination. This notification of abnormality is accompanied by a notification of the current state of the automatic driving vehicle 2 . The information about the current status of the self-driving car 2 includes the face image of the passenger when a passenger who is not a registered person is detected. When it is detected that the vehicle has moved more than this, image information of the surroundings of the own vehicle is included. Further, current position information such as the latitude and longitude of the own vehicle may be included.

It should be noted that the report of the abnormality may be made by telephone, and the report of the current state of the automatic driving vehicle 2 may be made by e-mail with an attached image. As for the report of the abnormality, when the passenger is suspicious, a synthesized voice is sent, and when the movement is suspicious, a synthetic voice is sent.

The mobile phone terminal 4 that has received the report of the abnormality and the report of the current state of the automatic driving vehicle 2 displays the face image of the passenger on its display screen, and displays the image around the automatic driving vehicle 2 . A software button is displayed on the display screen for allowing the owner 3 to input the result of confirming whether or not the vehicle has been stolen.

The owner 3 looks at the displayed image on the display screen of the mobile phone terminal 4 to check whether or not there has been theft, and inputs the check result through the software button on the display screen of the mobile phone terminal 4 . That is, if the face image on the display screen is that of an unknown person, it is determined that the person has been stolen. Also, if the image of the surroundings is an image of the autonomous vehicle 2 hanging in mid-air, an image of being towed by a tow truck, or an image of being put on a trailer, the vehicle may be stolen. state. The mobile phone terminal 4 notifies the self-driving car 2 of the check result of whether or not the owner 3 has been stolen.

The self-driving vehicle 2, which has received the check result of whether or not the owner 3 has been stolen, analyzes the received check result and determines whether the check result indicates a stolen state or not. do. As a result of the determination, when it is determined that the vehicle is not in a stolen state, the automatic driving vehicle 2 remains in the state as it is without performing the processing at the time of theft.

In addition, when it is determined that the vehicle is stolen as a result of the determination of the check result, the automatic driving vehicle 2 closes and locks the doors and windows, and prohibits manual operation by the passenger (prohibits switching to the manual operation mode). ). Then, the automatic driving vehicle 2 sends to the mobile phone terminal 4 a request for an instruction of a destination at the time of theft.

Based on the instruction input by the owner 3, the mobile phone terminal 4 sends an instruction notification of a destination such as a police station to the automatic driving vehicle 2. In this case, the mobile phone terminal 4 has a destination candidate memory with the same data content as the theft destination memory 127 of the automatic driving vehicle 2, and automatically stores information on the destination selected from the destination candidate memory. Send to driver car 2. In this case, the destination information to be sent may be only the identification information, and the automatic driving vehicle 2 reads the destination specified by the identification information from the theft destination memory 127 and specifies it.

Note that the destination instruction notification is not limited to this method, and text information such as "□□ police station", "△△ police box", "nearest police station, etc." may be notified as it is. In the automatic driving vehicle 2, characters can be recognized, and the destination can be grasped as the recognition result.

Then, after sending the instruction notification of the destination, the mobile phone terminal 4 automatically calls 110. The report information to be sent to the police station or the like at the time of the 110 call may be directly communicated by the owner 3 by telephone with the police station or the like, or may be previously carried by the owner 3 as in the case of the first embodiment. A report message may be stored in the telephone terminal 4, converted into synthesized speech, and sent to a police station or the like. In this example, the 110 call includes a message requesting that the mobile phone terminal 4 be contacted by the police station or the like when the self-driving car 2 arrives at the destination, and the mobile phone terminal 4 phone number is also included.

The automatically driven vehicle 2 that has received the destination instruction notification moves toward the instructed destination by automatic operation.

Then, when the automatic driving vehicle 2 arrives at the destination, it notifies the mobile phone terminal 4 of the fact. This notification may be made by synthesized speech over the phone, or may be notified by e-mail. Moreover, you may notify by communication applications, such as LINE.

If the destination is a police station or the like, a telephone call will be sent from the police station or the like to notify the arrival of the self-driving car 2 in response to the request for arrival notification included in the 110 call. 3 informs through the mobile phone terminal 4 that the door closed lock state of the automatic driving vehicle 2 is to be released. After that, the owner 3 sends a door close unlock instruction to the automatic driving vehicle 2 through the mobile phone terminal 4 . Therefore, the automatic driving vehicle 2 that receives this door closed lock release instruction releases the door closed lock state. Therefore, the police officer can open and close the door of the automatic driving car 2 from the outside, and can arrest or secure the suspected thief riding in the car.

[Effect of Second Embodiment]
It goes without saying that the second embodiment, which has the configuration and operation described above, can also obtain the same effects as those of the first embodiment. According to the second embodiment, the theft state of the self-driving car 2 can be detected more reliably by the owner confirming the theft state of the self-driving car 2. It is possible to reduce misjudgment in the case of judging the state.

Further, according to the second embodiment, the owner can detect the theft state of the self-driving car 2 and notify the self-driving car 2, so that the self-driving car 2 itself can Vehicle theft can be prevented even if it cannot be detected.

[Modification of Second Embodiment]
In the above-described second embodiment, as in the above-described first embodiment, an example of an automatic driving vehicle having both an automatic driving mode and a manual driving mode is described. The present invention can be configured even in a non-autonomous vehicle.

In the above-described second embodiment, the owner of the automatic driving vehicle 2 sets the destination by notifying the automatic driving vehicle 2 through the mobile phone terminal. Also, the self-driving vehicle 2 itself may set the destination in the event of theft in the same manner as in the first embodiment.

In addition, in the above-described second embodiment, the owner 3 of the automatic driving vehicle 2 confirms and notifies the theft state of the automatic driving vehicle 2, but it is not limited to this, and the administrator of the automatic driving vehicle 2 or Management company can do it. For example, when many automated driving vehicles such as transportation companies, home delivery companies, bus companies, taxi companies, etc. Theft notification and moving destination notification can be made. The moving destination is not limited to a police station or the like, and may be set to a company's head office, head office, branch office, or branch office. If the destination is set to the company's head office, head office, branch office, or branch office, call 110 to have the police come to the head office, head office, branch office, or branch office to inspect the scene and arrest or secure the criminal.

In addition, if a police officer finds a self-driving car that should be detained, such as a self-driving car driven by a criminal who is on the run or on the run, or a self-driving car that has been reported stolen, the license plate etc. Identify contact information such as a phone number for contacting the autonomous vehicle, contact the autonomous vehicle using that contact information (e.g. phone number), establish a communication state with the autonomous vehicle, and , a notification of the detection of the theft, and a notification of a predetermined point (a place where a police vehicle such as a patrol car or a police motorcycle can rush) or a destination such as a predetermined police station may be sent. In this way, the self-driving car will move to the notified destination with the doors and windows closed and locked so that the criminal on board cannot escape, so it will wait at the notified predetermined place. A police officer who used to be in a self-driving car can arrest or detain a criminal who is riding in a self-driving car.

[Other embodiments or modifications]
In the above-described embodiment, if the suspected thief breaks the window and escapes from the moving car while being transported by the automatic driving car 1 or the automatic driving car 2, the camera group 105 The self-driving car will call 110 with image information such as the face image of the suspected thief and the positional information of the location where the suspected thief escaped. can be

Further, when there is no police officer at the police station or the like to which the vehicle is moving, the automatic driving vehicle 1 or the automatic driving vehicle 2 may search another nearby police station or the like. Of course, the robot may wait at the police station or the like at the destination without moving.

In the above-described embodiment, the theft state and the abnormal state are detected based on the detection of a suspicious passenger, the suspicious movement of the own vehicle, and the detection of abnormal sensor data. When it is detected that the automatic driving vehicle 1 or 2 is traveling on a suspicious route that is not the route normally used by a person, it is detected that the vehicle is suspected of being stolen or is traveling abnormally, and the first embodiment In the case of the second embodiment, the owner may be notified of the abnormality.

Further, in the above-described embodiment, the theft detection means and the abnormality detection means detect the theft state of the self-driving car 1 and the abnormal state of the self-driving car 2 based on face authentication (comparison result of face images). However, detection of theft state and abnormal state is not limited to this. For example, the driver of the self-driving car 1 or the self-driving car 2 undergoes biometric authentication such as voiceprint authentication, fingerprint authentication, iris authentication, and vein pattern authentication, and based on the authentication result, the theft state or abnormal state is detected. You may make it The authentication is not limited to biometric authentication, and may be confirmation of name, address, date of birth, ID, password, mobile phone terminal phone number, e-mail address, and the like. Further, by combining these various types of authentication, the authentication of the driver of the automatic driving vehicle 1 or the automatic driving vehicle 2 may be strengthened, and based on the authentication result, theft state or abnormal state may be detected. .

In the above-described embodiments, the theft detection means, the abnormality detection means, various authentications, etc. were performed by the self-driving car 1 or the self-driving car 2, or the owner 3. may be provided with a function of connecting to the Internet and performed in the cloud.

In the above-described embodiment, when the self-driving car 1 or the self-driving car 2 determines that the vehicle is stolen, it enters the self-driving mode. It is controlled so that it does not take and switch to manual operation mode. However, assuming that the automatic driving mode is locked by mistake when the passenger is not a thief, a passenger who is not a thief, such as the owner, performs a predetermined operation to automatically drive the vehicle. The locked state of the mode may be released to switch to the manual operation mode. In this case, the predetermined operation for canceling the automatic driving mode includes biometric authentication such as fingerprint authentication of the owner, personal identification number, password, voice recognition (a secret word may be recognized together), and speaker recognition. , facial recognition, gesture recognition, etc., and combinations thereof can also be used.

Further, in the above-described embodiment, in an automatic driving vehicle that does not have a manual driving mode, control is performed so that input operations such as specifying or changing a destination by a passenger are disabled. However, assuming that the input operation is invalidated by mistake when the passenger is not a thief, a passenger who is not a thief such as the owner performs a predetermined operation to prevent the input operation from being disabled. You may enable it to cancel an invalid state.

When this invention is used by a rental car company, the face image of the driver who uses the rental car is registered as a temporary owner at the time of departure. A driver who uses a rental car is recognized as a legitimate user by facial recognition while using the rental car. If the rental car is used by someone other than this driver, face authentication will not be performed, so theft will be detected. When the rental car is returned, the registered face image of the driver is erased and the owner's qualification is lost. When theft is detected in this rental car, the driver who is the temporary owner is contacted, and the rental car company is also contacted. Drivers who use rental cars can also register biometric information such as fingerprints, irises, vein patterns, and voice (voiceprints) in addition to registering face images, and perform biometric authentication using the biometric information. When the rental car is returned, the registered biological information of the driver is erased. Furthermore, it is also possible to issue a temporary ID card and password to the driver who uses the rental car and return them when the rental car is returned. Also, these can be used in combination. Furthermore, the present invention can also be applied to car sharing in which a plurality of members share a specific car, as in the case of rental cars.

The present invention can be applied not only to vehicle theft of an automatic driving vehicle, but also to vandalism. In this case, even if the passenger does not sit in the driver's seat, when an intruder is discovered by an in-vehicle camera, the face image of the intruder captured by the in-vehicle camera is used as the registered face image. compare. If the face image of the intruder is not registered, it is detected that the vehicle is broken (detected as being stolen), the doors and windows are closed and locked, and the vehicle is transported to a destination such as a police station by automatic driving.

Furthermore, the present invention can also be applied to the arrest of criminals whose face images are available, such as wanted criminals. The self-driving car cooperates with the cloud, that is, obtains the face image of the criminal, such as a wanted criminal, from a predetermined site on the Internet, and the face image of the perpetrator matches the face image of the passenger of the self-driving car. In such a case, it is possible to detect the state of theft, automatically lock the doors and windows, and transfer the vehicle to a police station or the like. In this case, even if the passenger is the owner of a self-driving car or a registered passenger such as a passenger who is permitted to drive by the owner, invalidate it and forcibly transfer it to a police station, etc. can be done.

In addition, in the case of criminals whose fingerprints are available instead of face images, similar measures can be taken by fingerprint authentication. If this embodiment is applied by a rental car company in cooperation with the police, when a wanted criminal uses a rental car, the rental car will identify the wanted criminal and transfer it to a predetermined police station. It has the effect of increasing the possibility of arresting criminals and arresting criminals in the area.

In addition, the face image of the driver of an autonomous vehicle while driving is photographed by a camera of a surveillance camera system installed on the road, such as an automatic speed control device, and the photographed face image is prepared in advance. If it matches the face image of the culprit, it can be assumed that the vehicle has been stolen, and the self-driving car can be notified to that effect. Upon receiving the notification of the theft, the automatically driven vehicle enters the closed door lock state and the closed window lock state, and automatically moves to a destination such as a police station by automatic driving. In this case, in order for the surveillance camera system to obtain the contact information (notification address) of the automated driving vehicle based on the number of the license plate, for example, from an Internet site, It is advisable to register the number of the driver's car and the information of the contact (notification destination).

By doing so, it is possible to increase the possibility of arresting or apprehending a criminal whose face image and fingerprints are known, such as a wanted criminal.

In the above-described embodiment, when it is detected that the vehicle is stolen, the vehicle is transferred to a predetermined police station or the nearest police station. In such a case, the person may be transferred to the police station, etc. with jurisdiction. Also, instead of a police station or the like, a transport area dedicated to stolen vehicles may be provided and the vehicle may be transported there.

In addition, if the self-driving car of a company that manages and operates many self-driving cars, such as transportation companies, delivery companies, bus companies, taxi companies, and rental car companies, is detected to be stolen, Alternatively, the stolen vehicle may be transferred to a dedicated transfer area provided by the company.

In addition, the country or municipality in which the vehicle is driving can be identified by using the GPS provided by the autonomous vehicle. If the country or local government is known, information on various police agencies corresponding to the specified country or local government and emergency call phone numbers that differ depending on the country or local government can be obtained, enabling processing specialized for that country or local government.

This invention can be applied not only to ordinary automobiles and light automobiles, but also to trucks, buses, taxis, tractors, dump trucks, bulldozers, excavators, forklifts, crane trucks, tow trucks, single-person automobiles, motorcycles, electric bicycles, and electric vehicles. It can also be applied to an assist bicycle or the like. Furthermore, it can be applied to ships, aircraft, helicopters, and the like.

Further, although the automatic driving vehicle in the above embodiment is an electric vehicle, the present invention can be applied to a gasoline vehicle, a hybrid vehicle, a fuel cell vehicle, or other driving system vehicles.

DESCRIPTION OF SYMBOLS 1, 2... Self-driving car, 10... Electronic control circuit part, 104... Various sensor groups, 105... Camera group, 106... GPS receiving part, 107... Current position confirmation part, 112... Display part with touch panel, 113... Car navigation function part , 114 door lock control unit 115 passenger authentication unit 116 theft detection processing unit 117 manual/automatic operation mode switching control unit

Claims (63)

An automated driving vehicle having a manual driving mode and an automated driving mode,
a first switching means for switching from the manual operation mode to the automatic operation mode;
a second switching means for switching from the automatic operation mode to the manual operation mode;
a first biometric information acquiring means for acquiring biometric information of a passenger;
a second biometric information acquiring means for acquiring biometric information of a specific person whose biometric information is registered in advance;
Based on the biometric information of the passenger acquired by the first biometric information acquisition means and the biometric information of the specific person acquired by the second biometric information acquisition means, whether the passenger is the specific person a judgment means for judging whether or not
The determination means determines that the passenger is the specific person.In caseand disabling or disabling switching to the manual operation mode by the second switching means when the own vehicle is in the automatic operation mode, and when the own vehicle is in the manual operation mode, the first A control means for switching to the automatic operation mode by the switching means of 1;
locking means for locking the doors and/or windows of the own vehicle so that they cannot be opened and closed based on the identification that the passenger is the specific person;
an external imaging unit that captures an image of the exterior of the vehicle;
with
By photographing the police notebook with the external imaging unit and confirming the police notebook by image recognition, the unlocked state of the door and/or the window that cannot be opened and closed by the lock means is released.
An automatic driving car characterized by An automated driving vehicle having a manual driving mode and an automated driving mode,
a first switching means for switching from the manual operation mode to the automatic operation mode;
a second switching means for switching from the automatic operation mode to the manual operation mode;
a first biometric information acquiring means for acquiring biometric information of a passenger;
a second biometric information acquiring means for acquiring biometric information of a specific person whose biometric information is registered in advance;
Based on the biometric information of the passenger acquired by the first biometric information acquisition means and the biometric information of the specific person acquired by the second biometric information acquisition means, whether the passenger is the specific person a judgment means for judging whether or not
The determination means determines that the passenger is the specific person.In case, when the own vehicle is in the automatic operation mode, the switching to the manual operation mode by the second switching means is disabled or disabled, and when the own vehicle is in the manual operation mode, the first A control means for switching to the automatic operation mode by the switching means of 1;
a call detection means for detecting a voice call to the own vehicle by the police vehicle;
voice recognition means for recognizing voice;
with
When the voice call is detected, the voice is recognized, and the behavior of the own vehicle is determined based on the voice recognition result.
An automatic driving car characterized by A lock means for locking the doors and/or windows of the vehicle so that they cannot be opened and closed based on the fact that the passenger is the specific person,
The lock means locks the doors and/or windows of the vehicle so that they cannot be opened and closed, and releases the locked state when a predetermined release condition of the lock means is cleared.
The automatic driving vehicle according to claim 2, characterized by: Equipped with a means of communication with the outside,
The control means disables or disables switching to the manual operation mode by the second switching means even when receiving a notification from the outside that the passenger is the specific person through the communication means. 4. The automatic driving vehicle according to any one of claims 1 to 3, wherein when the own vehicle is in the manual driving mode, the first switching means switches to the automatic driving mode. The communication means receives a notification from a surveillance camera system installed on the road,
The surveillance camera system determined that the passenger was the specific person based on the result of comparison between the face image of the vehicle passenger captured by the surveillance camera and the face image of the specific person including the wanted criminal. 5. The self-driving vehicle according to claim 4 , wherein the notification is sent when a An automated driving vehicle having a manual driving mode and an automated driving mode,
a first switching means for switching from the manual operation mode to the automatic operation mode;
a second switching means for switching from the automatic operation mode to the manual operation mode;
a first biometric information acquiring means for acquiring biometric information of a passenger;
a second biometric information acquiring means for acquiring biometric information of a specific person whose biometric information is registered in advance;
Based on the biometric information of the passenger acquired by the first biometric information acquisition means and the biometric information of the specific person acquired by the second biometric information acquisition means, whether the passenger is the specific person a judgment means for judging whether or not
The determination means determines that the passenger is the specific person.In caseand disabling or disabling switching to the manual operation mode by the second switching means when the own vehicle is in the automatic operation mode, and when the own vehicle is in the manual operation mode, the first A control means for switching to the automatic operation mode by the switching means of 1;
a communication means for receiving notifications from surveillance camera systems installed on roads;
with
The surveillance camera system determines that the passenger is the specific person based on the results of comparison between the face image of the vehicle passenger captured by the surveillance camera and the face image of the specific person including the wanted criminal. when the notification is sent;
The control means disables or disables switching to the manual operation mode by the second switching means even when receiving a notification from the monitoring camera system through the communication means that the passenger is the specific person. When the host vehicle is in the manual operation mode, the first switching means switches to the automatic operation mode.
An automatic driving car characterized by A lock means for locking the doors and/or windows of the vehicle so that they cannot be opened and closed based on the fact that the passenger is the specific person,
The lock means locks the doors and/or windows of the vehicle so that they cannot be opened and closed, and releases the locked state when a predetermined release condition of the lock means is cleared.
The automatic driving vehicle according to claim 6, characterized in that: Destination determination means for determining a destination of the specific person in the automatic driving mode when the passenger is the specific person;
car navigation means having a function of guiding movement to a specified destination;
with
The control means controls the car navigation means to move to the destination determined by the destination determination means as the designated destination. The self-driving car according to any one of the above. A destination storage unit that stores the destination in the automatic driving mode when the passenger is the specific person,
The automatic driving vehicle according to claim 8 , wherein the destination determination means determines the destination stored in the destination storage unit as the destination in the automatic driving mode. a plurality of prioritized destinations are stored in the destination storage unit;
10. The automatic driving vehicle according to claim 9 , wherein the destination determination means searches the destination storage unit in order of priority to determine the destination. A current position detection means is provided,
9. The destination determining means searches the destination storing unit to determine the destination that can be reached within a predetermined time from the current position detected by the current position detecting means. 11. The self-driving car according to 10 . 12. The automatic driving vehicle according to claim 11 , wherein if the destination that can be reached within the predetermined time is not found, an emergency call contact is notified and the vehicle is kept on standby without being moved. . When an attribute of the destination is stored as the destination in the destination storage unit without including position information, the destination determining means selects a destination that matches the attribute and is currently selected as the destination. Automatic driving according to any one of claims 9 to 12 , wherein a destination that can be reached within a predetermined time from the position or a destination that exists within a predetermined distance range from the current position is determined as the destination. car. When the determined contact information of the destination is obtainable, the contact information of the destination is used to notify the destination of information for recognizing the own vehicle through wireless communication means. 14. The self-driving vehicle according to any one of claims 8 to 13 , further comprising means for notifying that the Having a function of calculating time information about the estimated time of arrival at the destination,
15. The automatic driving vehicle according to claim 14 , wherein the information to be notified to the destination by the notification means includes time information about estimated arrival time to the destination. 16. The automatic driving vehicle according to claim 14 or 15 , wherein if the destination could not be notified, a call to 110 is made. Equipped with search means for searching the vicinity of the current position,
17. The automatic driving vehicle according to any one of claims 8 to 16 , wherein said destination determining means determines the nearest police station searched by said searching means as said destination. The control means controls the navigation means so that input operation for specifying or changing the destination cannot be performed in the navigation means when the passenger is determined to be the specific person. The automatic driving vehicle according to any one of claims 8 to 17 . The control means invalidates the input operation for specifying or changing the destination in the navigation means when the passenger is determined to be the specific person, but the input operation for specifying or changing the destination is disabled. 19. The automatic driving vehicle according to any one of claims 8 to 18 , wherein the navigation means is controlled so as to behave as if an operation has been accepted. The destination is a police agency and has confirmation means for confirming a police officer,
20. The vehicle according to any one of claims 8 to 19 , characterized in that when it arrives at the police agency and the police officer cannot be confirmed by the confirmation means, it waits without moving. The self-driving car described in . 21. The automatic vehicle according to any one of claims 8 to 20 , wherein said destination determining means determines said destination based on the remaining amount of battery, gasoline and/or fuel of said autonomous vehicle. driving car. An automated driving vehicle having a manual driving mode and an automated driving mode,
a first switching means for switching from the manual operation mode to the automatic operation mode;
a second switching means for switching from the automatic operation mode to the manual operation mode;
a first biometric information acquiring means for acquiring biometric information of a passenger;
a second biometric information acquiring means for acquiring biometric information of a specific person whose biometric information is registered in advance;
Based on the biometric information of the passenger acquired by the first biometric information acquisition means and the biometric information of the specific person acquired by the second biometric information acquisition means, whether the passenger is the specific person a judgment means for judging whether or not
The determination means determines that the passenger is the specific person.In caseand disabling or disabling switching to the manual operation mode by the second switching means when the own vehicle is in the automatic operation mode, and when the own vehicle is in the manual operation mode, the first A control means for switching to the automatic operation mode by the switching means of 1;
Destination determination means for determining a destination of the specific person in the automatic driving mode when the passenger is the specific person;
car navigation means having a function of guiding movement to a specified destination;
with
The control means causes the car navigation means to move to the destination determined by the destination determination means as the designated destination,
The destination is a police agency and has confirmation means for confirming a police officer,
If the police officer cannot be confirmed by the confirmation means when arriving at the police agency, another nearby police agency is searched for.
An automatic driving car characterized by A destination storage unit that stores the destination in the automatic driving mode when the passenger is the specific person,
The automatic driving vehicle according to claim 22 , wherein the destination determination means determines the destination stored in the destination storage unit as the destination in the automatic driving mode. a plurality of prioritized destinations are stored in the destination storage unit;
24. The automatic driving vehicle according to claim 23 , wherein the destination determination means searches the destination storage unit in order of priority to determine the destination. A current position detection means is provided,
23. The destination determination means searches the destination storage unit to determine the destination that can be reached within a predetermined time from the current position detected by the current position detection means. 24. The self-driving car according to 24. 26. The automatic driving vehicle according to claim 25 , wherein if the destination that can be reached within the predetermined time is not found, an emergency call contact is notified and the vehicle is kept on standby without moving. . When an attribute of the destination is stored as the destination in the destination storage unit without including position information, the destination determining means selects a destination that matches the attribute and is currently selected as the destination. Automatic driving according to any one of claims 23 to 26 , wherein a destination that can be reached within a predetermined time from the position or a destination that exists within a predetermined distance range from the current position is determined as the destination. car. When the determined contact information of the destination is obtainable, the contact information of the destination is used to notify the destination of information for recognizing the own vehicle through wireless communication means. 28. The automatic driving vehicle according to any one of claims 22 to 27 , further comprising means for notifying that the Having a function of calculating time information about the estimated time of arrival at the destination,
29. The automatic driving vehicle according to claim 28 , wherein the information to be notified to the destination by the notifying means includes time information about estimated time of arrival at the destination. 30. The automatic driving vehicle according to claim 28 or 29 , wherein if the destination could not be notified, a call to 110 is made. Equipped with search means for searching the vicinity of the current position,
31. The automatic driving vehicle according to any one of claims 22 to 30 , wherein said destination determining means determines the nearest police station searched by said searching means as said destination. The control means controls the navigation means so that input operation for specifying or changing the destination cannot be performed in the navigation means when the passenger is determined to be the specific person. The automatic driving vehicle according to any one of claims 22-31 . The control means invalidates the input operation for specifying or changing the destination in the navigation means when the passenger is determined to be the specific person, but the input operation for specifying or changing the destination is disabled. 33. The automatic driving vehicle according to any one of claims 22 to 32 , wherein said navigation means is controlled so as to behave as if it has accepted an operation. 34. The automatic vehicle according to any one of claims 22 to 33 , wherein said destination determining means determines said destination based on the remaining amount of battery, gasoline and/or fuel of said automatic driving vehicle. driving car. Equipped with a means of communication with the outside,
The control means disables or disables switching to the manual operation mode by the second switching means even when receiving a notification from the outside that the passenger is the specific person through the communication means. 35. The automatic driving vehicle according to any one of claims 22 to 34 , wherein when the own vehicle is in the manual driving mode, the first switching means switches to the automatic driving mode. The communication means receives a notification from a surveillance camera system installed on the road,
The surveillance camera system determined that the passenger was the specific person based on the result of comparison between the face image of the vehicle passenger captured by the surveillance camera and the face image of the specific person including the wanted criminal. 36. The self-driving vehicle of claim 35 , wherein the notification is sent when a A lock means for locking the doors and/or windows of the vehicle so that they cannot be opened and closed based on the fact that the passenger is the specific person,
The lock means locks the doors and/or windows of the vehicle so that they cannot be opened and closed, and releases the locked state when a predetermined release condition of the lock means is cleared.
The automatic driving vehicle according to any one of claims 22 to 36, characterized by: a mobile phone function unit;
means for receiving, through the mobile phone function unit, an instruction of a destination of the specific person in the automatic driving mode when the passenger is the specific person;
with
The destination determination means determines the destination indicated by the destination instruction received through the mobile phone function unit as the destination of the specific person in the automatic driving mode,
The control means causes the car navigation means to move to the destination determined by the destination determination means as the designated destination.
The automatic driving vehicle according to any one of claims 8 to 37, characterized by: a mobile phone function unit;
means for receiving, through the mobile phone function unit, an instruction of a destination of the specific person in the automatic driving mode when the passenger is the specific person;
car navigation means having a function of guiding movement to a specified destination;
with
The control means controls the car navigation means to move to the destination indicated by the destination instruction received through the mobile phone function unit. The self-driving car described in. The control means switches the vehicle to the automatic driving mode by the first switching means when the vehicle is in the manual driving mode when the passenger is determined to be the specific person by the determining means. 40. The automatic driving vehicle according to any one of claims 1 to 39, wherein the switching to the manual driving mode by the second switching means is disabled or disabled. The automatic driving vehicle according to any one of claims 1 to 40, wherein said specific person is a wanted criminal. A biometric information storage unit that stores the biometric information of the specific person,
42. The automatic driving vehicle according to any one of claims 1 to 41 , wherein said second biometric information acquisition means acquires biometric information of said specific person from said information storage unit. 43. The automated system according to any one of claims 1 to 42 , wherein said second biometric information acquisition means acquires biometric information of said specific person from a predetermined site on the Internet in cooperation with a cloud. driving car. The automatic driving vehicle according to any one of claims 1 to 43 , wherein said biometric information is a facial image or a fingerprint. A passenger imaging unit that shoots the passenger,
45. The automatic driving vehicle according to claim 44 , wherein said first biometric information acquiring means acquires, as said biometric information, a facial image of said passenger captured by said passenger imaging section. A passenger imaging unit that shoots the passenger,
Image information of the specific person captured by the passenger imaging unit when the specific person escapes from the own vehicle during movement in the automatic driving mode when the passenger is the specific person. is sent to a police agency. Equipped with position information acquisition means,
47. The self-driving car according to claim 46 , wherein information on the location where the suspected thief escaped is sent to a police agency. In the automatic operation lock mode in which switching to the manual operation mode is disabled or disabled by the first switching means or the second switching means, a predetermined release condition of the automatic operation lock mode is cleared. 48. The automatic driving vehicle according to any one of claims 1 to 47 , wherein switching to the manual driving mode is enabled or enabled when Equipped with a notification means for notifying the state of the vehicle by text/image and/or sound,
Based on the fact that the passenger is identified as the specific person, the notification means indicates that the specific person, including a wanted criminal, is on board and/or requests that an emergency contact be notified. 49. The automatic driving vehicle according to any one of claims 1 to 48 , characterized in that it notifies. Equipped with a reporting means for reporting to emergency contact information,
50. The method according to any one of claims 1 to 49 , characterized in that, based on the fact that said passenger is said to be said specific person, said reporting means is controlled to report to said contact point for emergency reporting. The self-driving car described in . The second switching means switches from the automatic driving mode to the manual driving mode by detecting at least one of a passenger's accelerator operation, brake operation, shift lever operation, and steering operation. The automatic driving vehicle according to any one of claims 1 to 50 . Based on the determination that the passenger is the specific person, the passenger's accelerator operation, brake operation, shift lever operation and/or steering operation are disabled or disabled. 52. The self-driving vehicle of any of Claims 51 . A self-driving vehicle capable of temporary use,
The automatic driving vehicle according to any one of claims 1 to 52 , wherein the temporarily available automatic driving vehicle is a rental car provided by a rental car company. 54. The self-driving vehicle of claim 53 , wherein the temporary use user and/or the rental car company are notified that the passenger has been determined to be the specific person. A self-driving vehicle capable of temporary use,
The self-driving car according to any one of claims 1 to 54 , wherein the self-driving car that can be temporarily used is an self-driving car provided by a car sharing company. A means for locking the seat belt worn by the passenger based on the fact that the passenger is identified as the specific person is provided. The self-driving car according to any one of the above. 57. The automatic vehicle according to any one of claims 1 to 56 , further comprising a mechanism for binding or fixing the passenger based on the fact that the passenger is identified as the specific person. driving car. theft detection means for detecting that the vehicle is in a stolen state and/or receiving means for receiving a notification that the vehicle is in a stolen state;
When the subject vehicle is in the automatic driving mode when the theft detection means detects the theft state or when the receiving means receives the notification of the theft state. Disables or disables switching to the manual operation mode by the second switching means, and switches to the automatic operation mode by the first switching means when the own vehicle is in the manual operation mode. a control means;
The automatic driving vehicle according to any one of claims 1 to 57 , comprising: When the own vehicle is in the manual driving mode, the control means switches to the automatic driving mode by the first switching means and disables or disables switching to the manual driving mode by the second switching means. 59. The self-driving vehicle of claim 58 , enabling. Equipped with manual operation mode and automatic operation modetogether with an external imaging unit that captures the exterior of the vehicleComputers in self-driving cars,
a first switching means for switching from the manual operation mode to the automatic operation mode;
a second switching means for switching from the automatic operation mode to the manual operation mode;
a first biometric information acquiring means for acquiring biometric information of a passenger;
a second biometric information acquiring means for acquiring biometric information of a specific person whose biometric information is registered in advance;
Based on the biometric information of the passenger acquired by the first biometric information acquisition means and the biometric information of the specific person acquired by the second biometric information acquisition means, whether the passenger is the specific person Judgment means for judging whether or not
The determination means determines that the passenger is the specific person.In caseand disabling or disabling switching to the manual operation mode by the second switching means when the own vehicle is in the automatic operation mode, and when the own vehicle is in the manual operation mode, the first Control means for switching to the automatic operation mode by the switching means of 1,
Locking means for locking the doors and/or windows of the vehicle so that they cannot be opened and closed based on the fact that the passenger is the specific person;
A means for unlocking a door and/or a window that cannot be opened and closed by the lock means by photographing the police notebook with the external imaging unit and confirming the police notebook by image recognition;
Program for self-driving cars to function as A computer equipped with an automatic driving car having a manual driving mode and an automatic driving mode,
a first switching means for switching from the manual operation mode to the automatic operation mode;
a second switching means for switching from the automatic operation mode to the manual operation mode;
a first biometric information acquiring means for acquiring biometric information of a passenger;
a second biometric information acquiring means for acquiring biometric information of a specific person whose biometric information is registered in advance;
Based on the biometric information of the passenger acquired by the first biometric information acquisition means and the biometric information of the specific person acquired by the second biometric information acquisition means, whether the passenger is the specific person judgment means for judging whether or not
The determination means determines that the passenger is the specific person.In caseand disabling or disabling switching to the manual operation mode by the second switching means when the own vehicle is in the automatic operation mode, and when the own vehicle is in the manual operation mode, the first Control means for switching to the automatic operation mode by the switching means of 1,
a call detection means for detecting a voice call to the own vehicle by a police vehicle;
voice recognition means for recognizing the voice when the detection means detects the voice call;
determination means for determining the behavior of the own vehicle based on the voice recognition result of the voice recognition means;
Program for self-driving cars to function as A computer equipped with an automatic driving car having a manual driving mode and an automatic driving mode,
a first switching means for switching from the manual operation mode to the automatic operation mode;
a second switching means for switching from the automatic operation mode to the manual operation mode;
a first biometric information acquiring means for acquiring biometric information of a passenger;
a second biometric information acquiring means for acquiring biometric information of a specific person whose biometric information is registered in advance;
Based on the biometric information of the passenger acquired by the first biometric information acquisition means and the biometric information of the specific person acquired by the second biometric information acquisition means, whether the passenger is the specific person judgment means for judging whether or not
The determination means determines that the passenger is the specific person.In case, when the own vehicle is in the automatic operation mode, the switching to the manual operation mode by the second switching means is disabled or disabled, and when the own vehicle is in the manual operation mode, the first Control means for switching to the automatic operation mode by the switching means of 1,
communication means for receiving notifications from surveillance camera systems installed on roads;
program for self-driving cars to function asand
The surveillance camera system determines that the passenger is the specific person based on the results of comparison between the face image of the vehicle passenger captured by the surveillance camera and the face image of the specific person including the wanted criminal. when the notification is sent;
The control means disables or disables switching to the manual operation mode by the second switching means even when receiving a notification from the monitoring camera system through the communication means that the passenger is the specific person. When the host vehicle is in the manual operation mode, the first switching means switches to the automatic operation mode.
A program for an automatic driving car characterized by . A computer equipped with an automatic driving car having a manual driving mode and an automatic driving mode,
a first switching means for switching from the manual operation mode to the automatic operation mode;
a second switching means for switching from the automatic operation mode to the manual operation mode;
a first biometric information acquiring means for acquiring biometric information of a passenger;
a second biometric information acquiring means for acquiring biometric information of a specific person whose biometric information is registered in advance;
Based on the biometric information of the passenger acquired by the first biometric information acquisition means and the biometric information of the specific person acquired by the second biometric information acquisition means, whether the passenger is the specific person Judgment means for judging whether or not
The determination means determines that the passenger is the specific person.In caseand disabling or disabling switching to the manual operation mode by the second switching means when the own vehicle is in the automatic operation mode, and when the own vehicle is in the manual operation mode, the first Control means for switching to the automatic operation mode by the switching means of 1,
Destination determination means for determining the destination of the specific person in the automatic driving mode when the passenger is the specific person,
car navigation means having a function of guiding movement to a specified destination;
program for self-driving cars to function asand
The control means causes the car navigation means to move to the destination determined by the destination determination means as the designated destination,
The destination is a police agency and has confirmation means for confirming a police officer,
If the police officer cannot be confirmed by the confirmation means when arriving at the police agency, another nearby police agency is searched for.
A program for an automatic driving car characterized by .

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