JP7202725B2 - Mobile terminals, automobiles and communication systems, and programs for mobile terminals and automobiles - Google Patents

Description

TECHNICAL FIELD The present invention relates to a mobile terminal that wirelessly communicates with a vehicle, a vehicle that wirelessly communicates with the mobile terminal, and a communication system that includes the mobile terminal and the vehicle, and more particularly to a system that contributes to traffic safety for those who carry the mobile terminal. The present invention also relates to a mobile terminal program and a vehicle program.

In recent years, automobiles with an automatic driving mode that enables autonomous driving without driver's driving operation have appeared (for example, see Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2012-48563)). As for this type of vehicle, in addition to those that can switch between manual driving mode and automatic driving mode, self-driving cars that only have an automatic driving mode, and self-driving cars that can drive autonomously without people will appear. Conceivable.

Autonomous driving in this type of vehicle's autonomous driving mode is currently subject to many restrictions, such as being permitted only in places and environments where safety can be easily ensured. It is assumed that it will be possible to run.

When it becomes possible for cars with automatic driving mode to travel freely on public roads, cars that can only be driven manually (manual specification cars) and cars with automatic driving mode (for convenience, the following explanation has automatic driving mode) Automobiles will be referred to as self-driving cars) will travel on the same road at the same time.

In the case of a manual vehicle, it is unavoidable that the driver does not strictly observe traffic regulations or behaves in an unpredictable manner. It is expected that traffic laws will be strictly observed and that obstacles will be avoided. That is, it is predicted that a manual vehicle and an automatic driving vehicle will take different driving modes.

Therefore, if it is possible to know whether the vehicles driving around are manual vehicles or self-driving vehicles, pedestrians, drivers, and vehicles (self-driving vehicles) themselves can determine the movement and behavior of those vehicles. It is expected that it will be useful for traffic safety, such as preventing accidents, by predicting traffic accidents and increasing the possibility of ensuring safety and paying attention to one's own behavior and driving. . In other words, if you know whether the car you are driving is a manual car or a self-driving car, you can refer to it when determining your actions and behavior, which is preferable from the viewpoint of traffic safety.

Therefore, for example, in Patent Document 2 (Japanese Patent Application Laid-Open No. 2015-228152), by inter-vehicle communication between vehicles, the operating mode of the own vehicle is the automatic driving mode or the manual driving mode. A system has been proposed in which the operation modes of other vehicles in the vicinity of the own vehicle can be grasped. According to the technique of Patent Document 2, it is possible to increase or decrease the attention paid to other vehicles in the vicinity of the own vehicle according to the grasped operation mode, which is convenient.

JP 2012-48563 A JP 2015-228152 A

By the way, the technique disclosed in Patent Document 2 allows vehicles to communicate with each other while running to learn about each other's operation modes, and to drive safely by referring to the known operation modes. None have been proposed to enable communication between a person and a vehicle to contribute to traffic safety.

For example, when a pedestrian crosses a pedestrian crossing, it is common to confirm that the car has stopped in front of the pedestrian crossing before crossing. If there is a pedestrian trying to cross the pedestrian crossing, it is an obligation under the traffic law to stop the vehicle in front of the pedestrian crossing, but in practice, there are vehicles that do not stop. The reality is that there are many. For this reason, some people cannot wait for the car to stop and try to forcefully cross the road, which often makes it difficult to ensure traffic safety.

If the car is equipped with an autonomous driving mode that enables autonomous driving without the driver's driving operation, as mentioned above, it will run on the road in compliance with traffic laws, so it will , it can be expected to stop whenever there is a pedestrian. Therefore, if it is determined which car is operating in the automatic driving mode, the driver can wait for the car to stop in front of the pedestrian crossing and safely cross the street.

Pedestrians, however, cannot discern which cars are operating in the automatic driving mode from their appearance. As a result, the pedestrian may become frustrated and end up making a dangerous crossing.

Also, in places where there is no pedestrian crossing, even a car operating in the automatic driving mode does not necessarily stop so that pedestrians who want to cross have priority over the crossing. This is because the vehicle cannot determine whether the pedestrian is about to cross or is simply standing there.

Not only pedestrians, but also people using wheelchairs or bicycles can be said to be similar to the pedestrians described above.

SUMMARY OF THE INVENTION In view of the above points, an object of the present invention is to ensure that pedestrians, wheelchair users, and bicycle riders can safely cross roads.

In order to solve the above problems, the invention of claim 1 is
A communication system having a mobile terminal carried by a person vulnerable to traffic safety, and a vehicle having a function of wirelessly communicating with the mobile terminal and having a manual driving mode and an autonomous driving automatic driving mode,
The mobile terminal is
communication request sending means for sending a wireless communication request including information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety to the vehicle;
The automobile is
when receiving the wireless communication request from the mobile terminal and detecting that the wireless communication request includes information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety; and switching means for switching to the automatic driving mode when the own vehicle is in the manual driving mode.

In the invention of claim 1 having the above configuration, the mobile terminal transmits a wireless communication request including information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety. When the automobile receives a wireless communication request from a mobile terminal and detects that the wireless communication request includes information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety, If the own vehicle is in the manual driving mode, it is switched to the automatic driving mode.

Therefore, if the person carrying the mobile terminal is vulnerable in terms of traffic safety, the car is forcibly switched from the manual driving mode to the automatic driving mode so that it can respond to wireless communication requests. be.

In the communication system according to the present invention, when the person carrying the mobile terminal is vulnerable in terms of traffic safety, the vehicle is forcibly switched to the automatic driving mode even if the vehicle is in the manual driving mode, and wireless communication is performed. It is effective in being made to correspond to the request.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the outline|summary of an example of embodiment of the communication system by this invention. 1 is a block diagram showing a configuration example of an embodiment of a mobile terminal that constitutes an embodiment of a communication system according to the present invention; FIG. 3 is a functional block diagram of main parts of the mobile terminal in the example of FIG. 2; FIG. 1 is a block diagram showing a configuration example of an electronic control circuit unit of an embodiment of an automobile constituting an embodiment of a communication system according to the present invention; FIG. FIG. 5 is a functional block diagram of a main part of an electronic control circuit unit of the automobile in the example of FIG. 4; 3 is a diagram showing a flowchart for explaining an example of a processing operation of the mobile terminal in the example of FIG. 2; FIG. FIG. 7 is a diagram showing part of a flowchart for explaining an example of a detailed flow of part of the processing in the flowchart of FIG. 6; FIG. 7 is a diagram showing part of a flowchart for explaining an example of a detailed flow of part of the processing in the flowchart of FIG. 6; FIG. 7 is a diagram showing part of a flowchart for explaining an example of a detailed flow of part of the processing in the flowchart of FIG. 6; FIG. 5 is a diagram showing part of a flowchart for explaining an example of processing operation of the electronic control circuit unit of the automobile in the example of FIG. 4 ; FIG. 5 is a diagram showing part of a flowchart for explaining an example of processing operation of the electronic control circuit unit of the automobile in the example of FIG. 4 ; FIG. 5 is a diagram showing part of a flowchart for explaining an example of processing operation of the electronic control circuit unit of the automobile in the example of FIG. 4 ; FIG. 10 is a diagram for explaining an example of behavior of a vehicle based on a vehicle communication request with respect to a carrier's behavior schedule; FIG. 10 is a diagram for explaining an example of behavior of a vehicle based on a vehicle communication request with respect to a carrier's behavior schedule;

Embodiments of a communication system according to the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an overview of a configuration example of a communication system according to this embodiment.

The communication system of this embodiment consists of a mobile terminal 1 and a car 2 . The mobile terminal 1 and the car 2 have a function of wirelessly communicating with each other. The automobile 2 has an automatic driving mode in which autonomous driving is possible.

Wireless communication between the mobile terminal 1 and the automobile 2 is performed by directly exchanging radio waves, light, and the like. Of course, it also includes those involving a base station, such as an access point in the case of Wi-Fi (registered trademark) communication, to create a communication path. The wireless communication range may be limited to a range of, for example, several hundred meters. Behavior (hereinafter referred to as behavior schedule), for example, crossing the road or turning right or left, is transmitted from the mobile terminal 1 to the automobile 2 by wireless communication prior to actual execution, and the automobile 2 behaves according to the behavior schedule, For example, it may be within a range in which it is possible to transmit a pause or the like to the mobile terminal 1 side and execute the behavior.

In this example, the mobile terminal 1 is a high-performance mobile phone terminal called a smart phone. In this example, the mobile terminal 1 can be connected to a navigation support server device 5 through a communication network 4 including the Internet and a mobile phone network. It is possible to receive so-called pedestrian navigation or bicycle navigation services. It is also possible to receive a wheelchair navigation service exclusively for wheelchair users. In the wheelchair navigation service, in addition to crossing the road and turning left and right as in the case of pedestrians and cyclists of able-bodied people, it is also possible to travel over steps peculiar to wheelchair users ( It takes time), so that the behavior can be performed safely, guidance services such as calling attention before such steps are provided. there is

Then, the mobile terminal 1 sends a vehicle-to-vehicle communication request to the vehicle 2 in response to an instruction operation from the carrier 3 . Further, in this embodiment, pedestrian navigation, bicycle navigation, and wheelchair navigation services provided by the navigation support server device 5 need to cross roads, turn left or right, and step When the bearer 3 must behave in a manner that is dangerous for the carrier 3 in relation to the vehicle 2, such as traveling over a section, the route guidance service sends a vehicle-to-vehicle communication request to the vehicle 2 prior to the behavior. is configured to run

That is, when the navigation support server device 5 receives a service request for pedestrian navigation on the communication network 4 from the mobile terminal 1, based on the departure point, the destination, and the necessary waypoint included in the service request, Information on a recommended route is generated, and a route guidance service along the recommended route is provided to the carrier 3 through the mobile terminal 1.例文帳に追加In this case, the navigation support server device 5 of this embodiment includes information on the position and area to which the vehicle-to-vehicle communication request should be sent to the vehicle 2 in the recommended route information. In the case of an area, setting is made so that a vehicle-to-vehicle communication request is sent when entering the area or just before entering the area. The portable terminal 1 executes the process of transmitting the request for communication with the vehicle in accordance with the process control by this route guidance service.

On the other hand, in this embodiment, the automobile 2 has a manual driving mode and an automatic driving mode capable of autonomous driving as described above. In this embodiment, the automobile 2 is switched to the manual operation mode as the automatic operation mode by the driver operating the steering wheel, stepping on the accelerator pedal, stepping on the brake pedal, etc. A normal automatic operation mode. and a forced automatic operation mode in which the automatic operation mode is continued without being switched to the manual operation mode even if the above operation is performed.

When the vehicle 2 of this embodiment receives a vehicle communication request from the mobile terminal 1, it determines whether the vehicle is running in the automatic driving mode or in the manual driving mode. However, if the vehicle is running in the automatic driving mode, it responds to a request for communication with the vehicle from the mobile terminal 1 and generates a wireless communication path. Further, if the vehicle is running in the manual driving mode, it is determined whether or not the driver has set to prohibit switching to the automatic driving mode. A radio channel is generated in response to the vehicle communication request.

Then, the vehicle 2 receives information on the behavior schedule of the carrier 3 sent from the mobile terminal 1 through the generated wireless communication channel, determines whether the vehicle will participate in the behavior schedule, and determines whether the vehicle participates in the behavior schedule. When it is determined not to do so, it sends a reply to that effect to the mobile terminal 1 and disconnects the wireless communication channel. The mobile terminal 1 receives and analyzes the information returned from the car 2, confirms that the own car is not involved in the behavior schedule of the carrier 3, and disconnects the wireless communication path.

Further, when the automobile 2 determines that it is involved in the behavior schedule of the carrier 3, it switches its own vehicle to the forced automatic driving mode, and decides to give priority to the behavior schedule of the carrier 3 of the portable terminal 1. , to control it to run. Then, the vehicle 2 sends the current position information of the vehicle and information for visually recognizing the vehicle to the portable terminal 1, and notifies that the behavior that prioritizes the behavior schedule of the carrier 3 will be executed in the automatic driving mode. is sent back to the mobile terminal 1.

The mobile terminal 1 receives the information of the reply from the car 2, analyzes it, displays the analysis result on the display screen, and notifies the carrier 3 by voice. That is, based on the current position information from the vehicle 2 and the identification information for visually recognizing the own vehicle, the mobile terminal 1 determines the position of the vehicle 2 that gives priority to the behavior schedule of the carrier 3 and the identification information. A display based on the information is displayed on the display screen to notify the carrier 3, and the carrier 3 is notified of the behavior of the car 2 in the automatic driving mode by the display screen and/or voice. It should be noted that for the visually or hearing impaired, notification or notification may be provided by vibration. In this case, it is necessary to set in advance so that the identification information and the like can be identified by the vibration pattern.

Therefore, the carrier 3 of the portable terminal 1 can confirm the existence of the vehicle 2 that will stop for the action plan such as crossing the road on the display screen. 2 can recognize that it behaves in the automatic driving mode. Therefore, the wearer 3 can predict the stop of the car 2, wait for it, and safely carry out the behavior schedule.

Further, in this embodiment, when the vehicle 2 receives the vehicle communication request from the mobile terminal 1, the vehicle 2 is running in the manual driving mode and the driver requests switching to the automatic driving mode. When it is determined that the setting to the effect that it is not permitted is made, a wireless communication path is once generated with the mobile terminal 1, and the information on the behavior schedule of the carrier 3 sent from the mobile terminal 1 is received. , determines whether or not the own vehicle participates in the behavior schedule, and when it determines that it does not participate, returns that fact to the portable terminal 1 and disconnects the wireless communication path.

Further, when the vehicle 2 determines that it is involved in the behavior schedule of the carrier 3, the vehicle 2 transmits the current position information of the vehicle, the traveling speed and direction information of the vehicle, and the identification information for visually recognizing the vehicle. Along with sending it to the mobile terminal 1, it sends to the mobile terminal 1 that it is impossible to behave according to the behavior schedule, and then disconnects the wireless communication path. In this embodiment, the identification information of the own vehicle includes driver attribute information (sex, age, nationality, driving history, etc.) prestored in the vehicle 2 .

The mobile terminal 1 receives the information of the reply from the car 2, analyzes it, displays the analysis result on the display screen, and notifies the carrier 3 by voice. That is, based on the current position information from the vehicle 2 and the identification information for visually recognizing the own vehicle, the mobile terminal 1 determines the position of the vehicle 2 that gives priority to the behavior schedule of the carrier 3 and the identification information. A display based on the information is displayed on the display screen to notify the carrier 3, and the carrier 3 is notified of the behavior of the car 2 in the automatic driving mode by the display screen and/or voice.

As described above, in this embodiment, even if the driver of the automobile 2 does not allow switching from the manual driving mode to the automatic driving mode, when the automobile 2 is involved in the behavior schedule of the wearer 3, the display screen Since the vehicle in the manual driving mode can be confirmed by the voice and the driver's attributes, the carrier 3 can respond to the vehicle 2 in the manual driving mode according to the information obtained from the vehicle 2. It is convenient to be able to pay attention with attention. For example, when the attribute of the driver is an elderly person or the driver has a short driving history, it is possible to enhance safety by increasing the degree of attention to the automobile 2 in the manual driving mode.

Note that the automobile 2 may not have the manual driving mode and may have only the automatic driving mode (including the forced automatic driving mode).

The configurations and operations of the mobile terminal 1 and the vehicle 2 in the communication system according to this embodiment will be described in more detail below.

[Configuration example of mobile terminal 1]
FIG. 2 is a block diagram showing a hardware configuration example of the mobile terminal 1 of this embodiment. The mobile terminal 1 of this embodiment has a configuration in which each unit described later is controlled by a control unit 101 having a computer, for example.

The control unit 101 includes a mobile phone communication unit 102, a voice input/output unit 103, a display control unit 104, an operation input unit interface 105, a current position detection unit 106, and a carrier attribute storage unit via the system bus 100. 107, a vehicle-to-vehicle radio communication unit 108, a vehicle-to-vehicle communication control processing unit 109, a map data storage unit 110, a route search guidance unit 111, and a voice recognition unit 112 are connected.

The mobile phone communication unit 102 communicates through a base station of a mobile phone network, and can execute a normal mobile phone terminal telephone communication function and a cloud access function via the Internet.

A microphone 121 and a speaker 122 are connected to the voice input/output unit 103 . Under the control of the control unit 101, the voice input/output unit 103 operates so that the microphone 121 functions as a transmitter and the speaker 122 functions as a receiver when telephone communication is performed through the mobile phone communication unit 102. . Also, under the control of the control unit 101, the voice input/output unit 103 sends voice information of voice picked up by the microphone 121 to the voice recognition unit 112 for voice recognition. In addition, the voice input/output unit 103 also performs processing for outputting a predetermined voice message generated as described later through the speaker 122 under the control of the control unit 101 .

A display unit 123 such as an LCD is connected to the display control unit 104 . Further, the operation input unit interface 105 is connected to an operation input unit 124 configured by a touch sensor overlaid on the display screen of the LCD constituting the display unit 123 . On the display screen of the LCD that constitutes the display unit 123, an input screen for starting a pedestrian navigation application or a bicycle navigation application by the wearer, an input screen for a departure point, a destination, a transit point, and the like are displayed. An operation input unit 124 consisting of a touch sensor detects operations to software buttons included in those input screens, and transmits the detected operation input unit interface 105 to the control unit 101 . The control unit 101 performs processing according to an operation input from the operation input unit 124 .

The current position detection unit 106 receives radio waves from GPS (Global Positioning System) satellites and information from mobile phone base stations, detects the current position of the mobile terminal 1, and detects the detected current position data (latitude, , longitude and height data) are transferred to the control unit 101 . A current position detection unit 106 assists detection of the current position of the mobile terminal 1 using a gyro, a geomagnetic sensor, or the like.

The attribute information previously input by the user is stored in the carrier attribute storage unit 107 . As this attribute information, the carrier's nationality, sex, age, chronic disease, etc. are registered and stored. The wearer attribute storage unit 107 stores the stride length and walking speed (average value) of the wearer, the movement speed (average value) when riding in a wheelchair, and the running speed (average value) when riding a bicycle. may be The walking speed, wheelchair moving speed, and running speed when riding a bicycle are obtained by obtaining the distance from changes in the current position detected by the current position detection unit 106 every predetermined time, and dividing the distance by the predetermined time. , and stored in the carrier attribute storage unit 107 . As for the wheelchair, not only the moving speed but also the performance of the wheelchair differ depending on whether it is a manual wheelchair or an electric wheelchair. You may make it memorize|store in the part 107. FIG. The presence or absence of a caregiver or an attendant can also be stored in the carrier attribute storage unit 107 .

The vehicle-to-vehicle wireless communication unit 108 is a communication unit for wirelessly communicating with the vehicle 2 . The vehicle-to-vehicle communication control processing unit 109 controls wireless communication with the vehicle 2 through the vehicle-to-vehicle wireless communication unit 108 . The vehicle-to-vehicle communication control processing unit 109 will be described in detail later.

General-purpose map data is stored in the map data storage unit 110 in advance, or map data corresponding to the current position detected by the current position detection unit 106 is obtained from the navigation support server device 5 through the mobile phone communication unit 102. and stored.

The route search guidance unit 111 is a processing unit configured by an application software program downloaded from the navigation support server device 5 in advance, and cooperates with the navigation support server device 5 to provide services such as pedestrian navigation and bicycle navigation. to run.

That is, the route search guide unit 111 cooperates with the navigation support server device 5 to perform a route search and route guidance (guidance) for walking navigation from the departure point set by the carrier 3 to the destination.

For example, when the voice recognition function is selected through the operation input unit 124 from the function menu of the mobile terminal 1, the voice recognition unit 112 receives the voice signal of the voice picked up by the microphone 121 under the control of the control unit 101. , executes the speech recognition and returns the recognition result to the control unit 101 . The control unit 101 controls to execute the processing instructed by the speech recognition result.

The mobile terminal 1 is configured as described above. Among the processing blocks shown in FIG. Each processing function of the route search guidance unit 111 and the voice recognition unit 112 can be realized as software processing performed by the control unit 101 executing a program.

[Regarding the processing function of the vehicle-to-vehicle communication control processing unit 109]
FIG. 3 is a diagram showing functions executed by the vehicle-to-vehicle communication control processing unit 109 as functional blocks. That is, the vehicle communication control processing unit 109 includes a transmission trigger monitoring unit 1091, a vehicle communication request unit 1092, a communication path generation management unit 1093, a transmission information generation transmission unit 1094, a reply information reception analysis unit 1095, A vehicle behavior notification unit 1096 and a confirmation notification transmission unit 1097 are provided.

When pedestrian navigation, bicycle navigation, or wheelchair navigation is not executed, the transmission trigger monitoring unit 1091 detects a communication request operation from the carrier 3 through the operation input unit 124, and uses it as a request for communication with the vehicle. This is detected as a call origination trigger, and the detection result is notified to the vehicle communication request section 1092 . Further, when pedestrian navigation or bicycle navigation is being executed, the transmission trigger monitoring unit 1091 detects a request for vehicle communication from the navigation application as a transmission trigger for the vehicle communication request, and The vehicle communication requesting unit 1092 is notified of the detection result.

The vehicle communication request unit 1092 sends a vehicle communication request through the vehicle wireless communication unit 108 based on the detection of the transmission trigger by the transmission trigger monitoring unit 1091 .

The communication path generation management unit 1093 generates and manages a wireless communication path between the mobile terminal 1 and the vehicle 2 . That is, the response from the vehicle to the vehicle communication request sent by the vehicle communication request unit 1092 is monitored, and when the response is detected, a radio communication path is generated, and an end event occurs for the generated radio communication path. The wireless communication path is terminated when a termination event is detected. In the following description, the other vehicle that sends a response to the vehicle-to-vehicle communication request and creates a wireless communication path will be referred to as a responding vehicle.

The transmission information generating and transmitting unit 1094 generates and transmits transmission information to be transmitted to the response vehicle through the wireless communication path. In this embodiment, the transmission information includes the current position information of the mobile terminal 1, the information about the behavior planned by the carrier 3, and whether the carrier 3 is walking, moving in a wheelchair, or riding a bicycle. information, attribute information of the carrier 3, and the like. At this time, the transmission information generating and transmitting unit 1094 may include information on the walking speed, information on the wheelchair moving speed, information on the bicycle running speed, and information on the moving direction in the transmission information. good. The walking speed, wheelchair moving speed, and bicycle running speed can be obtained by calculating the moving distance within a predetermined time based on the time change of the current position detected by the current position detection unit 106 .

The reply information reception analysis unit 1095 receives and analyzes the reply information from the response vehicle. As the reply information from the response vehicle, as will be described later, information as to whether or not the response vehicle is involved in the behavior schedule of the carrier 3, information regarding the behavior schedule of the carrier 3 when the response vehicle is involved, This includes information on the behavior of the response vehicle in the automatic driving mode, identification information for visually recognizing the response vehicle, its current position information, and the like. The reply information reception analysis unit 1095 transmits the analysis result to the communication path generation management unit 1093 and the vehicle behavior notification unit 1096 .

When receiving from the reply information reception analysis unit 1095 the analysis result indicating that the response vehicle is involved in the behavior schedule of the carrier 3, the communication channel generation management unit 1093 maintains the wireless communication channel. When receiving an analysis result that the response vehicle is not involved in the behavior schedule of the carrier 3, the wireless communication generated with the response vehicle is cut off, and a request for communication with the vehicle is sent again. , to the vehicle communication request unit 1092 .

The vehicle behavior notifying unit 1096, when the response vehicle is involved in the behavior schedule of the carrier 3, is sent as an analysis result from the reply information reception analysis unit 1095, the behavior performed by the response vehicle in the automatic driving mode, The identification information for visually recognizing the answering vehicle is notified to the carrier through the display screen of the display unit 123 or as a voice through the speaker 122 . Further, the vehicle behavior notification unit 1096 displays the current position of the response vehicle on the map based on the current position of the response vehicle sent as the analysis result from the reply information reception analysis unit 1095, and displays the position. The mobile person 3 is notified. Then, after completing the process of notifying the carrier 3, the vehicle behavior notifying section 1096 notifies the confirmation notification transmitting section 1097 of the fact.

When the confirmation notification transmission unit 1097 receives notification from the vehicle behavior notification unit 1096 that the notification processing for the carrier 3 has ended, it transmits a confirmation notification that the behavior has been confirmed to the response vehicle. This confirmation notification may be sent after receiving confirmation operation from the carrier 3 . That is, in that case, when the confirmation notification transmission unit 1097 receives notification from the vehicle behavior notification unit 1096 that the notification process to the carrier 3 has been completed, the confirmation notification transmission unit 1097 confirms whether or not the carrier 3 has been confirmed. An inquiry is made through the display screen of the display unit 123 and through the speaker 122, and a confirmation response operation corresponding to the inquiry is waited for. After confirming that the confirmation response operation by the carrier 3 has been received, the confirmation notification transmission unit 1097 transmits the confirmation notification to the response vehicle.

[Example of electronic control circuit of automobile 2]
FIG. 4 is a diagram showing an example hardware configuration of an electronic control circuit unit 20 of an automobile 2 as an embodiment of the automobile according to the present invention. The vehicle 2 of this embodiment is an example of an electric vehicle. However, the illustration of the battery is omitted in FIG.

In addition, the automobile 2 of this embodiment has an automatic driving mode in which the behavior of the own vehicle is autonomously executed, and a manual driving mode. The manual driving mode is a mode in which the vehicle can travel according to the driver's accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (steering wheel operation), like a normal non-automatic vehicle. In addition, in the automatic driving mode, the vehicle 2 itself automatically (autonomously) avoids obstacles and changes course without the driver operating the accelerator pedal, the brake pedal, the shift lever, or the steering wheel. This is a driving mode that

The driver of the automobile 2 can switch the automobile 2 running in the manual driving mode to the automatic driving mode by performing a predetermined operation through a touch panel 212, which will be described later. The automobile 2 is configured to automatically return to the manual operation mode when a predetermined operation such as an accelerator pedal operation, a brake pedal operation, a shift lever operation, or a steering operation is performed.

As described above, the automobile 2 of this embodiment is set in the automatic driving mode in which the driver performs a predetermined operation in addition to the normal automatic driving mode that automatically returns to the manual driving mode when a predetermined operation is performed. It has a forced automatic operation mode that continues the automatic operation mode even if the

As shown in FIG. 4, the electronic control circuit unit 20 provides a wireless communication unit 202, a motor drive control unit 203, a steering drive control unit 204, an operation mode switching control unit 205, and a Radar group 206, camera group 207, sensor group 208, surrounding situation grasping unit 209, current position detecting unit 210, display unit 211, touch panel 212, car navigation function unit 213, vehicle information storage unit 214, running speed and direction detecting unit 215 , clock unit 216, terminal communication control processing unit 217, behavior control unit 218, and voice input/output unit 219 are connected.

A motor drive unit 221 is connected to the motor drive control unit 203 . A steering drive unit 222 is connected to the steering drive control unit 204 . A manual driving operation detection unit 223 is connected to the driving mode switching control unit 205 . A car navigation database 224 is connected to the car navigation function unit 213 . Furthermore, a microphone 225 and a speaker 226 are connected to the audio input/output unit 219 .

The control unit 201 is configured by mounting a computer and controls the entire automobile 2 .

The wireless communication unit 202 is for communicating with the mobile terminal 1, and is normally in reception standby mode. As will be described later, when the wireless communication unit 202 receives a vehicle communication request in the reception standby mode according to the control of the terminal communication control processing unit 217, the wireless communication unit 202 communicates with the mobile terminal 1 that has transmitted the vehicle communication request. It operates to perform wireless communication through a wireless communication path generated between. Details of the terminal communication control processing unit 217 will be described later.

Under the control of the control unit 201, the motor drive control unit 203 controls the supply of a drive signal to the motor drive unit 221 of the vehicle 2 constituted by the electric vehicle of this embodiment, so that the vehicle 2 starts running, It controls running speed control (including brake control and accelerator control), running stop, and the like.

Under the control of the control unit 201, the steering drive control unit 204 controls the supply of a drive control signal to the steering drive unit 222 of the vehicle 2 of this embodiment so as to control the course change of the vehicle 2. do.

The driving mode switching control unit 205 performs control to switch the driving mode of the automobile 2 between the manual driving mode and the normal automatic driving mode according to the selection operation input through the touch panel 212 . In addition, the operation mode switching control unit 205 also performs processing for switching to the forced automatic operation mode and processing for canceling the forced automatic operation mode according to control instructions from the terminal communication control processing unit 217 .

The manual driving operation detection unit 223 receives operation information of accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation by the driver, and supplies the manual driving operation information to the driving mode switching control unit 205 .

When the automobile 2 is in the manual driving mode, the driving mode switching control unit 205 supplies the manual driving operation information from the manual driving operation detection unit 223 to the motor drive control unit 203 and the steering drive control unit 204, and controls the motor drive. 221 and the steering drive unit 222 are controlled according to the driver's pedal operation, shift lever operation, and steering operation (steering wheel operation).

In addition, when the automobile 2 is in the normal automatic driving mode or the forced automatic driving mode, the driving mode switching control unit 205 outputs the radar group 206, the camera group 207, the sensor group 208, and the surrounding situation grasping unit 209 as described later. Automatic driving operation information generated by the control unit 201 based on is supplied to the motor driving control unit 203 and the steering driving control unit 204, and the motor driving unit 221 and the steering driving unit 222 are driven and controlled by the automatic driving operation information do. In the automatic driving mode and the forced automatic driving mode, the car navigation function unit 213 searches for a route from the current position to the destination (destination) set by the driver, etc., and travels along the searched route. controlled to

In addition, in the case of a fully automated driving vehicle equipped with only an automatic driving mode without a manual driving mode, the driving mode switching control unit 205 has a switching function between the manual driving mode and the normal automatic driving mode, and the manual driving operation detection unit 223 is , of course not. In addition, 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.

The radar group 206 is for measuring the distance to people and objects existing around the automobile 2, and is composed of a laser radar (lidar), a millimeter wave radar, and 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 submillimeter wave radar and microwave radar may also be used. In addition, sonic or ultrasonic sonar (not shown) can be used for purposes similar to radar.

The camera group 207 corresponds to the camera group 207 of the first embodiment. and one or more cameras that take pictures.

The sensor group 208 includes an open/close detection sensor for detecting opening/closing of a door or a window, a sensor for detecting whether a seat belt is worn, a seat sensor for detecting whether a passenger is seated in a seat such as a driver's seat or a passenger's seat, and the like. In addition, it consists of a human sensor (infrared sensor) that detects people in the vicinity outside the vehicle and various sensors that acquire information to 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. In this embodiment, the sensor group 208 also includes sensors for detecting blinking of the right turn signal, left turn signal (direction indicator), hazard lamps (emergency flashing lights), etc., and lighting of backlights, brake lights, etc. ing.

The surrounding situation grasping unit 209 uses the radar group 206, the sensor group 208, and the images captured by the camera group 207 to detect moving objects (including people) around the own vehicle, the number of lanes on the road, and the travel of the own vehicle. Be aware of your surroundings, such as middle lanes, uphills, and downhills. The surrounding situation grasping unit 209 grasps surrounding obstacles and moving objects by performing processing based on, for example, Bayesian theory. Information about the surrounding environment, surrounding obstacles, and moving objects grasped by the surrounding situation grasping unit 209 is processed by the terminal communication control processing unit 217 and the behavior control unit 218, which will be described later, to comply with traffic laws and ensure safety. used to determine behavior.

Further, in this embodiment, the surrounding situation grasping unit 209 has a function of recognizing traffic signs and traffic signs from images captured by the camera group 207 around the own vehicle. The traffic signs and traffic signs recognized by the surrounding situation grasping unit 209 are used by the behavior control unit 218, which will be described later, to behave in accordance with traffic laws.

The current position detector 210 receives radio waves from GPS satellites and detects the current position of the vehicle. In order to further improve the accuracy of the position detected by the radio waves from the GPS satellites, the current position detection unit 210 detects not only the current position information detected by the reception of the radio waves from the GPS satellites, but also the one included in the sensor group 208. - Multiple sensors, radar group 206, captured images of camera group 207 (with navigation function), etc. are also used, and by performing processing based on, for example, Bayesian theory, the current position is detected and confirmed with higher accuracy. I'm trying

In the normal automatic driving mode and the forced automatic driving mode, the automobile 2 acquires by receiving radio waves from the radar group 206, the camera group 207, the sensor group 208, and the GPS satellite in the current position detection unit 210 and the surrounding situation grasping unit 209. Various types of information such as positional information, that is, information corresponding to information obtained from human eyes and ears are processed by Bayesian theory or the like. Intelligent information processing (AI (artificial intelligence)) and control (AI (artificial intelligence)) are performed to generate automatic driving operation information. Then, based on the generated automatic driving operation information, the motor drive control unit 203 drives the motor drive unit 221, and the steering drive control unit 204 drives the steering drive unit 222, thereby performing autonomous movement control. . Therefore, in this embodiment, the autonomous movement control means includes the control unit 201, the radar group 206, the camera group 207, the sensor group 208, the surrounding situation grasping unit 209, the current position detection unit 210, the motor drive control unit 203, the motor It is composed of a drive unit 221, a steering drive control unit 204, a steering drive unit 222, and a car navigation function unit 213, which will be described later.

The display unit 211 is, for example, an LCD (Liquid Crystal Display). The touch panel 212 is provided by superimposing a touch sensor capable of touch input with a finger on the display screen of the display unit 211 made up of an LCD. A display image including software buttons (including keyboard character input buttons) is displayed on the display screen of the display unit 211 under the control of the control unit 201 . When the touch panel 212 detects a finger touch on the software button displayed on the display screen, the touch panel 212 transmits the touch to the control unit 201 . The control unit 201 receiving this is configured to execute control processing corresponding to the software button. Note that the software buttons may be handled by using a separate keyboard or the like.

A car navigation database 224 connected to the car navigation function unit 213 stores domestic maps and route guide data in advance. The car navigation function unit 213 is a function unit that guides the vehicle 2 to a specified destination based on the map stored in the car navigation database 224 and the route guidance data. . The car navigation function unit 213 performs a route search based on the departure point, waypoint, destination, and search conditions set and input by the user (driver or passenger), creates route guidance data, and generates route guidance data. Route guidance processing is performed using the data. In this embodiment, the car navigation function unit 213 is configured to perform slightly different route guidance processing in manual operation mode and automatic operation mode (normal automatic operation mode and forced automatic operation mode).

That is, in the manual operation mode, the car navigation function unit 213 displays the route to the destination, which is detected and confirmed by the current position detection unit 210, on the display screen of the display unit 211. In addition to displaying an image superimposed on the position of the vehicle on the map, the position of the vehicle (current position) on the map is moved as the vehicle moves, and route guidance such as intersections and junctions on the route is displayed. Provide voice guidance where necessary. This is the same as the normal car navigation function.

On the other hand, in the automatic driving mode (normal automatic driving mode and forced automatic driving mode), when the current position of the vehicle is away from the route to the destination, the car navigation function unit 213 provides information on the direction and distance of the separation. is notified to the behavior control unit 218, which will be described later. The behavior control unit 218 is notified of direction change instruction information along the route direction.

Under the control of the control unit 201, the behavior control unit 218 is based on the information notified from the car navigation function unit 213, the current position confirmation result of the current position detection unit 210, and the grasping result of the surrounding situation grasping unit 209. , to control the motor drive section 221 through the motor drive control section 203 and to control the steering drive section 222 through the steering drive control section 204 so that the vehicle moves on the route as instructed. to generate automated driving operation information. Therefore, even when the passenger is unmanned, the car 2 can reach the destination by the route guidance to the destination by the car navigation function unit 213 and the control unit 201 in the automatic driving mode (normal automatic driving mode and forced automatic driving mode). can move.

In addition, in this embodiment, the car navigation function unit 213, in the automatic operation mode (normal automatic operation mode and forced automatic operation mode), blinks the direction indicator when turning right or left, and hazards such as emergency stop. The route guidance data also includes indicator control information about the point at which the lamp blinks and information on the blinking indicator (left indicator, right indicator, or both). Based on the indicator control information included in the route guidance data, the behavior control unit 218 executes blinking control of the indicated indicator at the position where the current position becomes the indicator control point.

Note that the indicator control information is not limited to the information on the blinking point and the information on the blinking indicator, and may be the information on the lighting point and the indicator to be lit. For example, the backlight (reversing light) lighting (white lighting) when backing up, the brake light (brake light) lighting (red lighting) when braking, etc. Indicator control information for brake lights or both) may also be included in the route guidance data. As in the case of flashing control, the behavior control unit 218 controls the lighting of the indicated indicator at the position where the current position becomes the indicator control point based on the indicator control information included in the route guidance data. to run.

The host vehicle information storage unit 214 stores mode information including information on whether or not the host vehicle is provided with an automatic driving mode (normal automatic driving mode and forced automatic driving mode), and distinguishes the host vehicle from other vehicles and visually identifies the host vehicle. It stores own vehicle information including information for specifying the own vehicle for the purpose. This self-vehicle information is input by an operator and stored at the manufacturing plant of the automobile 2 . Also, when the automobile 2 is sold, it is input and stored by the seller at a store such as a dealer. Of course, the input of own vehicle information by a worker or a seller may be direct input or download input from a predetermined server such as an automobile company. Furthermore, when the own vehicle information is entered after the sale of the automobile 2, it is entered and stored by the owner or user of the automobile 2, or by the manager or management company.

In this example, the mode information stored in the own vehicle information storage unit 214 is whether the vehicle is a manual vehicle or an automated driving vehicle equipped with an automatic driving mode. It includes information such as which type among multiple types such as a type that can switch between and, a type that has a forced automatic operation mode, a type that only has an automatic operation mode, and a type that can operate unmanned. In addition, if it is possible to identify the source, level of AI (Artificial Intelligence) installed in and used in self-driving cars, such as the developer and version, etc., such information may be included as the own vehicle information. In the case of AI, in general, it evolves through learning and improves safety and driving performance, so there is a high correlation between driving time and distance and safety and driving performance that rely on AI. Therefore, the travel time and travel distance may be included as the own vehicle information. Note that AI may be implemented as hardware such as an LSI or implemented as software. Further, information on manufacturers and performance of the radars, cameras, and sensors used in the radar group 206, camera group 207, and sensor group 208 may be included as vehicle information.

The identification information stored in the vehicle information storage unit 214 for distinguishing the vehicle 2 from other vehicles and identifying it visually includes not only information different from other vehicles, but also the specifications of the vehicle 2. It goes without saying that information such as Examples of vehicle information stored in the vehicle information storage unit 214 include country code (which country the vehicle belongs to), manufacturer (automobile company), vehicle type, vehicle name, body color, engine displacement, driving force, and so on. Type (gasoline vehicle, PHV (Plug-in Hybrid Vehicle), EV (Electric Vehicle), fuel cell vehicle, etc.), presence or absence of automatic driving mode, number of passengers, license plate number, general vehicle or special vehicle (ambulance, fire engine, etc.) Automobiles, police cars, taxis, buses, etc.) or other manufacturer options (manufacturers can freely set).

In this embodiment, the vehicle information storage unit 214 registers and stores the attribute information of the driver who gets into the vehicle. In this embodiment, the attribute information of the driver is registered (inputted) by the driver such as gender, age, nationality, driving history, etc., is associated with the identification information of the driver, and is stored in the vehicle information storage unit 214. remembered. In this example, the identification information of the driver is face image information of the driver. In this embodiment, the control unit 201 of the vehicle 2 captures the face image of the driver using the camera that captures the driver's seat in the camera group 207, A person sitting in the driver's seat recognizes which of the drivers stored in the own vehicle information storage unit 214 by comparing the face image, which is the identification information of the person. I'm trying Of course, if the self-driving vehicle is a fully automated vehicle, unmanned driving is possible, so there is no driver and driver attribute information is not required.

The traveling speed and direction detection unit 215 detects the vehicle 2 from the sensor output of the speed sensor of the sensor group 208 or from the position change of the current position detected by the current position detection unit 210 during the time change from the clock unit 216. , and the traveling direction of the vehicle 2 is detected from sensor outputs of the acceleration sensor, the gyro sensor, and the azimuth sensor of the sensor group 208 .

The clock unit 216 generates time information such as year, month, day, hour, minute, and second. The time information is used for detection of traveling speed in the traveling speed and direction detection unit 215 . Also, the position of the carrier 3, the position of the vehicle, the speed and direction of movement of the carrier 3 by walking, the speed and direction of movement by bicycle, and the speed and direction of movement of the vehicle are taken into consideration. The time information is also used when determining whether or not the own vehicle is involved in the behavior schedule when the mobile terminal 1 requests communication with the vehicle.

The terminal communication control processing unit 217 uses the wireless communication unit 202 in this embodiment to control reception standby operation and operation when receiving a vehicle communication request from the mobile terminal 1 . This terminal communication control processing unit 217 will be described in detail later.

The behavior control unit 218 controls execution of behavior of the own vehicle in the automatic driving mode. That is, in the automatic driving mode, the automobile 2 of this embodiment should be at the current position detected by the current position detection unit 210 according to the route guidance information to the destination determined by the route search by the car navigation function unit 213. Run while executing the behavior. The behavior control unit 218 is a functional unit that determines the behavior that the vehicle 2 should take at the current position detected by the current position detection unit 210 based on the route guidance information, and controls the execution of the behavior.

Further, in the automobile 2 of this embodiment, when the behavior to be performed at that time is determined by the terminal communication control processing unit 217 as will be described later, the behavior control unit 218 to be preferentially executed.

The audio input/output unit 219 takes in an audio signal of the surrounding audio picked up by the microphone 225, and supplies an audio signal for informing the driver or the like to the speaker 226 to emit sound. In this embodiment, of the surrounding sounds picked up by the microphone 225, for example, the sound of the siren of an emergency vehicle (ambulance, fire engine, police car, etc.) can It is used in decision processing, and in this case as well, the behavior is decided so that priority is given to emergency vehicle travel. In this embodiment, a necessary message voice signal to be notified to the driver is generated by the control unit 201, the terminal communication control processing unit 217, etc., and the message voice signal is emitted through the speaker 226. FIG.

The electronic control circuit unit 20 of the automobile 2 is configured as described above. Among the processing blocks shown in FIG. The control unit 201 executes programs for each of the processing functions of the status grasping unit 209, the current position detection unit 210, the car navigation function unit 213, the traveling speed and direction detection unit 215, the terminal communication control processing unit 217, and the behavior control unit 218. It can be realized as software processing performed by

[Configuration example of terminal communication control processing unit 217]
FIG. 5 is a functional block diagram for explaining the processing functions of the terminal communication control processing unit 217. As shown in FIG. That is, in this embodiment, the terminal communication control processing unit 217 includes, as functional units, a communication request reception monitoring unit 2171, a communication path generation management unit 2172, a reception information analysis unit 2173, a behavior determination unit 2174, and a reply It is composed of an information generation/transmission unit 2175 and a confirmation notification reception confirmation unit 2176 .

The communication request reception monitoring unit 2171 constantly monitors the reception of the vehicle communication request from the mobile terminal 1, and when confirming the reception of the vehicle communication request, the reception confirmation is displayed together with the driving mode information of the own vehicle at that time. , to the communication path generation management unit 2172 .

The communication path generation management unit 2172 generates and manages a wireless communication path with the mobile terminal 1 while considering the driving mode of the own vehicle.

The received information analysis unit 2173 analyzes the information sent from the mobile terminal 1 through the generated wireless communication channel, and determines the current position of the person 3 carrying the mobile terminal 1, whether the person is walking or riding a bicycle, A behavior schedule to be executed is recognized and transmitted to the behavior determination unit 2174 .

The behavior determining unit 2174 determines whether or not the own vehicle is involved in the scheduled behavior that the person 3 carrying the portable terminal 1 is about to execute. The management unit 2172 is notified. The communication path generation management unit 2172 notifies the mobile terminal 1 through the wireless communication path that the own vehicle is not involved in the behavior schedule that the carrier 3 is about to execute, and disconnects the wireless communication path.

Further, when the behavior determination unit 2174 determines that the vehicle is involved in the behavior schedule that the person 3 who carries the mobile terminal 1 is going to execute, the vehicle is in the manual driving mode and the driver performs the automatic operation. It is determined whether or not the switching to the operation mode has been rejected, and if it has been determined that it has been rejected, it is notified to the reply information generation/transmission section 2175 .

At this time, the reply information generating/transmitting unit 2175 notifies the mobile terminal 1 through the wireless communication path that the mobile terminal 1 cannot perform the behavior corresponding to the scheduled behavior of the mobile terminal 1, and also informs the mobile terminal 1 of the current position of the vehicle, the traveling speed and Information on the direction of travel, identification information for making the vehicle visible, and driver attribute information are transmitted to the mobile terminal 1 through a wireless communication path. After the transmission, the reply information generation/transmission section 2175 transmits the communication path connection request to the communication path generation/management section 2172 . Upon receiving this communication path connection request, the communication path generation manager 2172 disconnects the wireless communication path with the mobile terminal 1 .

Further, when the behavior determination unit 2174 determines that the vehicle is involved in the behavior schedule that the person 3 who carries the mobile terminal 1 is going to execute, the vehicle is in the manual driving mode and the driver performs the automatic operation. If switching to the driving mode is permitted, or if the vehicle is in the automatic driving mode when receiving the vehicle communication request from the mobile terminal 1, the vehicle is switched to the forced automatic driving mode. , a behavior that prioritizes the behavior schedule of the carrier 3 is determined, the determined behavior is executed by the behavior control unit 218, and information on the determined behavior is transmitted to the reply information generation/transmission unit 2175.

At this time, the reply information generation/transmission unit 2175 generates information on the behavior that prioritizes the behavior schedule of the carrier 3 determined by the behavior determination unit 2174, information on the current position of the own vehicle, information on the traveling speed and the traveling direction, and information on the vehicle. Identification information for identifying the vehicle by visual recognition is transmitted to the mobile terminal 1 through a wireless communication path.

The confirmation communication reception confirmation unit 2176 sends the mobile terminal 1 information on the behavior that prioritizes the behavior schedule of the carrier 3 determined by the behavior determination unit 2174 and the current position of the vehicle to the mobile terminal 1 by the reply information generation/transmission unit 2175 . , the information on the traveling speed and direction, and the identification information for visually identifying the own vehicle are transmitted, and then the confirmation notification about the behavior of the own vehicle sent from the mobile terminal 1 is received. When it is confirmed, the confirmation notification is transferred to the behavior control unit 218 so as to surely prompt the determined behavior to be executed.

[Example of processing operations of mobile terminal 1 and car 2]
6 to 9 are flowcharts showing an example of the processing operation flow of the mobile terminal 1 of this embodiment. 10 to 12 are flowcharts showing an example of the flow of processing operations of the automobile 2 of the embodiment described above. Hereinafter, an example of the flow of processing operations of the mobile terminal 1 and the automobile 2 will be described with reference to these flowcharts.

In the following description, in the mobile terminal 1, the control unit 101 includes the processing blocks shown in FIG. Each processing function of the processing unit 109, the route search guidance unit 111, and the voice recognition unit 112 will be described as realization as software processing performed by executing a program. In the automobile 2, the control unit 201 includes the processing blocks shown in FIG. A case where each processing function of the detection unit 210, the car navigation function unit 213, the traveling speed and direction detection unit 215, the terminal communication control processing unit 217, and the behavior control unit 218 is realized as software processing performed by executing a program. explain.

<Example of processing operation of mobile terminal 1>
FIG. 6 is a flowchart for explaining an example of the overall flow of processing operations mainly executed by the vehicle-to-vehicle communication control processing unit 109 of the mobile terminal 1 . As described above, in the following description, it is assumed that each step is executed by the control unit 101 of the mobile terminal 1 . In the example described below, the mobile terminal 1 will be described as being compatible with pedestrian navigation and bicycle navigation, but it goes without saying that it can also be configured so as to be compatible with wheelchair navigation as described above. .

The control unit 101 determines whether pedestrian guidance navigation (hereinafter, navigation is abbreviated as navigation) is in operation in the mobile terminal 1 (step S101). When determining that the pedestrian guidance navigation is not in operation, the control unit 101 determines whether or not the bicycle navigation is in operation (step S102). When it is determined in step S102 that the bicycle navigation is not in operation, the control unit 101 determines whether or not the carrier 3 has input a request for communication with the vehicle through the operation input unit 124 (step S103). Then, when it is determined in step S103 that the input operation for the vehicle communication request has not been performed, the control unit 101 returns the processing to step S101, and repeats steps S101 and subsequent steps.

When it is determined in step S101 that the pedestrian guidance navigation is in operation, the control unit 101 detects the current position (step S104), and the detected current position is set in the pedestrian guidance navigation. It is determined whether or not the vehicle communication request transmission trigger position is reached (step S105). When it is determined in step S105 that the vehicle communication request transmission trigger position is not reached, the control unit 101 returns the process to step S101 and repeats the processes after step S101.

Further, when it is determined in step S105 that the vehicle communication request origination trigger position is reached, the control unit 101 executes a vehicle communication process (step S108), the flow of which is shown in FIGS. ), and when the end is confirmed (step S109), the process returns to step S101, and the process after step S101 is repeated.

Further, when it is determined in step S102 that the bicycle navigation is in operation, the control unit 101 detects the current position (step S106), and the detected current position is used for the communication with the vehicle set in the bicycle navigation. It is determined whether or not it is at the origination trigger position of the request (step S107). When it is determined in step S107 that the vehicle communication request transmission trigger position is not reached, the control unit 101 returns the process to step S101 and repeats the processes after step S101.

Further, when it is determined in step S107 that the vehicle communication request origination trigger position is reached, the control unit 101 executes the vehicle communication processing, the flow of which is shown in FIG. 7 and FIG. ), and when the end is confirmed (step S109), the process returns to step S101, and the process after step S101 is repeated.

If the mobile terminal 1 is also compatible with wheelchair navigation, the current position is detected, and whether or not the detected current position is the position that triggers the transmission of the vehicle communication request set in the wheelchair navigation. or not, and according to the result of the determination, the same processing as in the case of pedestrian navigation or bicycle navigation is performed.

Further, when it is determined in step S103 that an input operation for requesting communication with a vehicle has been performed, the control unit 101 executes a communication with vehicle process, the flow of which is shown in FIGS. 7 and 8 (described later) (step S108). After confirming the end of the process (step S109), the process returns to step S101, and the processes after step S101 are repeated.

Next, an example of the process flow of the vehicle communication process in step S108 of FIG. 6 will be described with reference to FIGS. 7 and 8. FIG.

The control unit 101 transmits a vehicle communication request through the vehicle wireless communication unit 108 (step S111), and determines whether or not response information from the vehicle in response to the vehicle communication request has been received (step S112). When it is determined in step S112 that the response information from the vehicle has not been received, the control unit 101 does not generate a wireless communication channel and displays on the display screen of the display unit 123 that there is no vehicle with which communication is possible. At the same time, it is notified by voice through the speaker 122 (step S113). Of course, by not displaying on the display screen of the display unit 123, it may be notified that there is no communicable vehicle. Then, the control unit 101 terminates this processing routine.

Further, when it is determined in step S112 that the response information from the vehicle has been received, the control unit 101 creates a wireless communication path with the responding vehicle (hereinafter referred to as the response vehicle) (step S114). . Then, the control unit 101 generates transmission information including position information on the current location of the mobile terminal 1, information on whether the mobile terminal 1 is walking or riding a bicycle, and information on the behavior schedule of the carrier 3, It is transmitted to the answering vehicle through the wireless communication channel (step S115). At this time, in step S115, as described above, the transmission information generated includes the walking speed information, the wheelchair moving speed information, or the bicycle running speed information of the wearer 3 as well as the moving direction information. It may be included in the transmission information.

The control unit 101 then receives reply information from the response vehicle and analyzes the contents of the reply information (step S116). Then, the control unit 101 determines whether or not the response vehicle is involved in the behavior schedule of the carrier 3 (step S117), and when it is determined not to be involved, disconnects the wireless communication path generated in step S114 ( Step S121 in FIG. 8). Then, the control unit 101 resends the vehicle communication request (step S122), determines whether or not response information has been received from the vehicle (step S123), and when it determines that the response information has been received, proceeds to the processing shown in FIG. 7, and repeats the processing after step S114.

Further, when it is determined in step S123 that the response information from the vehicle is not received, the fact that the vehicle 2 corresponding to the behavior schedule of the carrier 3 does not exist is displayed through the display screen of the display unit 123 and voiced through the speaker 122. (step S124). Of course, by not displaying on the display screen of the display unit 123, it may be notified that there is no communicable vehicle. Then, the control unit 101 terminates this processing routine.

Further, when it is determined in step S117 that the response vehicle participates in the behavior schedule of the carrier 3, the control unit 101 determines whether or not the response vehicle behaves in accordance with the behavior schedule of the carrier 3. (Step S118).

When it is determined in step S118 that the response vehicle does not behave in accordance with the behavior schedule of the carrier 3, the control unit 101 instructs the response vehicle to behave in accordance with the behavior schedule of the carrier 3. The display screen of the display unit 123 notifies the wearer 3, and the speaker 122 notifies the wearer 3 by voice (step S119). That is, in step S119, even if the responding vehicle does not behave in accordance with the behavior schedule of the carrier 3, the reply information of the responding vehicle includes the current location information of the responding vehicle and the identifying information of the responding vehicle. information, the driver's attribute information, and the information about the traveling speed and traveling direction are sent. The position and movement of the responding vehicle are displayed, and the identification information is notified to the carrier 3 on the display screen and/or through the speaker 122 .

As a result, although the vehicle does not give priority to the behavior schedule that the wearer 3 is trying to execute, the wearer 3 learns of the existence of the vehicle that is involved in his/her behavior schedule and that the vehicle is Since it is possible to know where the driver is currently, what kind of car, and what kind of attribute the driver is driving, it is possible to execute one's behavior schedule while paying attention to the car. become able to.

Of course, the reply information of the response vehicle can also include information as to whether the response vehicle is an emergency vehicle (ambulance, fire engine, police car, etc.). If the response vehicle is an emergency vehicle, by notifying the wearer 3 of this on the display screen and/or through the speaker 122, the wearer 3 does not give priority to the behavior schedule that he or she is about to execute. , the movement of the emergency vehicle can be prioritized, and after the emergency vehicle has passed, one's behavior schedule can be executed.

After this step S119, the control unit 101 advances the process to step S121 in FIG. The process (processes after step S122) for enabling the response of the vehicle that behaves in response to is repeated. Although the current position of the responding vehicle is no longer sent due to the disconnection of the wireless communication path, the speed and direction of travel are still being sent. It is possible to continue to display the car on the map by calculating the movement position.

Further, when it is determined in step S118 that the response vehicle will behave in accordance with the behavior schedule of the carrier 3, the control unit 101 determines whether the response vehicle will behave in accordance with the behavior schedule of the carrier 3. The behavior of the response vehicle is displayed through the display screen of the display unit 123, and the carrier 3 is notified by voice through the speaker 122, and the information of the response vehicle is displayed through the display screen and announced by voice through the speaker 122 (step S120). Since the reply information of the responding vehicle includes the current position information of the responding vehicle, information for identifying the responding vehicle, attribute information of the driver, and information on the running speed and direction, this step is performed. At S120, based on the information, the control unit 101 displays the position and movement of the responding vehicle on the map displaying its own position, and displays the specifying information on the display screen. / Or the information is notified to the wearer 3 through the speaker 122 .

As a result, the wearer 3 learns of the existence of the car that gives priority to the behavior schedule that he/she is going to execute, where the car is currently, and what kind of car it is. Since it is possible to know how the car will behave, it becomes possible to safely carry out one's behavior schedule while paying attention to the car.

After completing the notification to the carrier 3 in this step S120, the control unit 101 transmits a confirmation notification to the response vehicle (step S131 in FIG. 9). In addition, as described above, this confirmation notification may of course be performed after confirmation operation from the carrier 3 in response to the notification to the carrier 3 .

Next, the control unit 101 determines whether or not execution of the planned behavior of the wearer 3 has ended (step S132). The end of execution of the behavior schedule of the wearer 3 is determined by whether or not the wearer 3 has passed through the position where the behavior schedule is performed or a predetermined area. When it is determined in step S132 that the execution of the planned behavior of the carrier 3 has not ended, the control unit 101 detects the information on the current location of the mobile terminal 1 detected by the current location detection unit 106, Based on the information on the current position of the responding vehicle 2 received through the wireless communication unit 108, the position of the own terminal displayed on the display screen of the display unit 123 and the position of the responding vehicle are updated (step S133). Then, the control unit 101 returns the process to step S132, and repeats the process after step S132.

When it is determined in step S132 that execution of the scheduled behavior of the carrier 3 has ended, the control unit 101 transmits a notification of completion of the behavior of the carrier to the response vehicle through the wireless communication channel (step S134). Then, the control unit 101 disconnects the wireless communication path with the response vehicle (step S135), and terminates this processing routine.

[Example of processing operation of car 2]
10 to 12 are flowcharts showing an example of the flow of processing operations mainly executed by the terminal communication control processing unit 217 of the automobile 2 of this embodiment. As described above, in the following description, the execution subject of each step is assumed to be the control section 201 of the electronic control circuit section 20 of the automobile 2 .

The control unit 201 determines whether or not the reception of the vehicle communication request from the mobile terminal 1 is detected (step S201), and when it determines that the reception is not detected, executes other processing (step S202). After the processing ends, the processing returns to step S201, and the processing after step S201 is repeated.

In step S201, when it is determined that the reception of the vehicle communication request from the mobile terminal 1 has been detected, the control unit 201 sends response information to the vehicle communication request to the mobile terminal 1 that has transmitted the vehicle communication request. , a communication path is generated with the mobile terminal 1 (step S203).

After step S203, the control unit 201 receives and analyzes the behavior schedule information of the carrier 3 from the mobile terminal 1 (step S204). Then, the control unit 201 determines from the analysis result whether or not the behavior schedule of the carrier 3 indicated by the behavior schedule information from the mobile terminal 1 is involved in (affects) the behavior of the own vehicle (step S205). ).

When it is determined in step S205 that the behavior schedule of the wearer 3 indicated by the behavior schedule information does not affect the behavior of the own vehicle (there is no influence), the control unit 201 indicates that the behavior schedule of the wearer 3 is not involved. is transmitted to the mobile terminal 1 (step S206), the wireless communication channel is then disconnected (step S207), and this processing routine ends.

In step S205, when it is determined that the behavior schedule of the wearer 3 indicated by the behavior schedule information is related to (affects) the behavior of the own vehicle, the control unit 201 controls the automatic driving mode in which the own vehicle has only the automatic driving mode. It is determined whether or not it is a car (step S211 in FIG. 11).

When it is determined in step S211 that the own vehicle is not an automatic driving vehicle having only an automatic driving mode, the control unit 201 determines whether or not the automatic driving mode is in progress (step S212). When it is determined in step S212 that the automatic operation mode is not in progress, the control unit 201 determines whether switching to the automatic operation mode is permitted (step S213). In this step S213, for example, the driver is asked, "Since there is a communication request from the mobile terminal 1, is it OK to switch to the automatic driving mode?" determine whether or not the person has responded. In addition, when the setting input of whether or not to permit switching to the automatic driving mode is performed in advance by the driver on the automobile 2, the setting input is referred to, and the switching to the automatic driving mode is performed. Determines whether switching is permitted.

Further, when it is determined in step S213 that switching to the automatic driving mode is not permitted (the driver refuses to switch), the control unit 201 determines that the behavior corresponding to the behavior schedule of the wearer 3 cannot be performed. (step S214), information to that effect, information on the current position of the vehicle, information on the traveling speed and direction, identification information for making the vehicle visible, and attributes of the driver. , and transmits it to the mobile terminal 1 through the wireless communication path (step S215). Next, the control unit 201 disconnects the wireless communication channel (step S216) and terminates this processing routine.

Then, in step S211, when it is determined that the vehicle is an automatic driving vehicle having only an automatic driving mode, and when it is determined in step S212 that the vehicle is in the automatic driving mode, in step S213, the automatic driving mode is determined. When it is determined that switching to the driving mode is permitted, the control unit 201 switches the host vehicle to the forced automatic driving mode and notifies the driver to that effect through the speaker 226 (step S221 in FIG. 12).

Then, the control unit 201 determines the behavior of the own vehicle corresponding to the behavior schedule of the carrier (step S222), and information on the determined behavior of the own vehicle (including that the behavior is executed in the forced automatic driving mode). ), information on the current position of the vehicle, information on the speed and direction of travel, and identification information for making the vehicle visible, and transmits a request for communication with the vehicle. It is sent to the mobile terminal 1 that has come (step S223).

Then, the control unit 201 waits for reception of a confirmation notification from the mobile terminal 1 (step S224), and when it determines that the confirmation notification has been received, the control unit 201 notifies the behavior control unit 218 to execute the determined behavior of the own vehicle. (step S225).

Next, the control unit 201 waits for reception of a behavior execution end notification from the mobile terminal 1 (step S226), and disconnects the wireless communication path with the mobile terminal 1 when determining that the execution end notification has been received. (step S227). Then, the control unit 201 cancels the prohibition of switching to the manual driving mode (step S228), and informs the driver of the end of the behavior processing through communication with the terminal through the display screen of the display unit 211 and by the sound produced by the speaker 226. is notified (step S229). Then, the control unit 201 terminates this processing routine.

[Another example of communication control]
In the above-described embodiment, the mobile terminal 1 and the vehicle 2 communicate one-to-one. It is also possible to allow the mobile terminal 1 to acquire reply information from the car 2 .

That is, in this example, the mobile terminal 1 transmits a vehicle communication request by broadcast or multicast, and waits for access of reply information from the vehicle 2 after the transmission is completed. In this case, the vehicle communication request includes the current location information of the mobile terminal 1 and information on the behavior schedule of the mobile terminal 1 . The vehicle 2 that receives the vehicle communication request determines whether or not the vehicle is involved in the carrier's behavior schedule, and when it is determined that the vehicle is involved, generates reply information, and sends the reply information to the portable terminal. 1 is transmitted to the portable terminal 1 until it acquires it.

The portable terminal 1 notifies the carrier 3 of each of the reply information from the automobile sent in response to the request for communication with the automobile. In this case, on the map displayed on the display screen of the mobile terminal 1, the position of each vehicle that has sent the reply information is displayed together with the identification information.

In this way, the mobile terminal 1 receives reply information from all of the vehicles involved in the behavior schedule of the carrier 3 included in the vehicle-to-vehicle communication request, and informs the carrier 3 of the behavior of each vehicle. can be notified.

Further, in the case of the above-described embodiment, only the positions of vehicles that are capable of wireless communication with the mobile terminal 1 are displayed on the map. It is possible to notify the wearer 3 of the position of a vehicle without any function, including its characteristics (attributes).

That is, the reply information from the vehicle in response to the request for communication with the vehicle from the mobile terminal 1 includes captured images of the front, rear, left, and right surroundings of the vehicle captured by the camera group of the vehicle, and is transmitted to the mobile terminal 1 . The portable terminal 1 analyzes the received photographed image, recognizes the automobile included in the photographed image, and estimates the recognized position of the automobile from the current position and traveling direction of the automobile that sent the photographed image. In this case, if there are a plurality of vehicles capable of wireless communication, the mobile terminal 1 recognizes the images taken from the multiple vehicles and the current position of the vehicle that sent the images. and the traveling direction, it is possible to more accurately detect the position of a vehicle that does not have a wireless communication function.

The mobile terminal 1 displays the position of the detected car without a wireless communication function on the map in addition to the car 2, so that the carrier 3 can grasp the traffic situation around him/herself and will be able to execute the behavior schedule of

[Example of vehicle behavior based on a request for vehicle-to-vehicle communication with respect to the carrier's behavior schedule]
In the following explanation, for the sake of convenience, it is assumed that all automobiles have the terminal communication control processing section 217 of the embodiment. Since the mobile terminal 1 of the embodiment cannot communicate with a vehicle that is not equipped with the terminal communication control processing unit 217, the vehicle determines its behavior in accordance with the behavior schedule of the user. Try to exclude it from the target vehicle.

In the example of FIG. 13, when the carrier 3 carrying the mobile terminal 1 is walking along the right side of the road 7, the action of crossing the side road 6 ahead in the direction of travel is performed. This is the case as planned. In the example of FIG. 13, there are three automobiles 2A, 2B, and 2C traveling on the road 7 with the direction of travel being the same as the direction of travel of the wearer 3 .

In this case, when the mobile terminal 1 held by the carrier 3 transmits a request for communication with the vehicle at a predetermined position in front of the side road 6, the request for communication with the vehicle is sent to the three vehicles 2A. , 2B and 2C are all receivable and each responds to create a radio channel. However, since the automobile 2A is already traveling through the side road 6, it will not be involved in the planned behavior of the carrier 3 to cross the side road 6. to disconnect the wireless communication path. In addition, since the vehicle 2C traveling on the overtaking lane side of the two-lane road 7 is scheduled to pass the position of the side road 6 and proceed straight ahead, similarly It does not participate in the behavior schedule of traversing. Therefore, the car 2C also sends a notification to the mobile terminal 1 that it will not be involved in the behavior schedule of the carrier 3, and disconnects the wireless communication channel.

Car 2B is planning to turn left from road 7 to enter shunt 6 in this example. For this reason, the automobile 2B is determined to be involved in the behavior schedule of the carrier 3, and in this example, the vehicle 2B turns left to the side of the side road 6, for example, so as to give priority to crossing the side road 6 in the forced automatic driving mode. It decides to wait until the crossing of the carrier 3 is completed, and returns to the mobile terminal 1 the fact, the position of the own vehicle, and the information for specifying the own vehicle.

Then, the portable terminal 1 notifies the wearer 3 that the car 2B will give priority to the behavior schedule of the wearer 3 through the display screen and the speaker, and also informs the wearer 3 where the car 2B is currently running. It notifies what characteristics the vehicle has when visually recognizing it. Therefore, the carrier 3 holding the mobile terminal 1 can safely cross the side road 6 while visually recognizing the vehicle 2B and confirming its movement and behavior.

In the example of FIG. 14, a mobile person 3 carrying a mobile terminal 1 goes out from between buildings BL1 and BL2 to the side of a one-lane road 8 and crosses a pedestrian crossing from the left side to the right side in FIG. This is an example of a case where the behavior is scheduled. In this example, road 8 has a pedestrian crossing road sign but no traffic light. Three vehicles 2D, 2E, 2F are running on the right lane 8R of the road 8, and two vehicles 2G, 2H are running on the left lane 8L.

In the example of FIG. 14, the mobile terminal 1 can send out a vehicle communication request by, for example, broadcasting, and can sequentially acquire all the replies from the plurality of vehicles 2 .

In this case, when the mobile terminal 1 held by the mobile person 3 between the building BL1 and the building BL2 sends a request for communication with the vehicle, the request for communication with the vehicle is sent to five vehicles 2D, All of 2E, 2F, 2G and 2H are receivable and each responds to create a radio channel. However, since the automobile 2F is traveling at a position where it has already passed the pedestrian crossing, it will not be involved in the planned behavior of the carrier 3 to cross the pedestrian crossing. to disconnect the wireless communication path.

Also, the vehicle 2E running in the right lane 8R of the road 8 and the vehicle 2G running in the left lane 8L are involved in the behavior plan of the carrier 3 crossing, but they are too close to the pedestrian crossing. Then, the portable terminal 1 judges that it cannot stop in front of the pedestrian crossing unless it brakes suddenly, and sends reply information including the fact that the mobile terminal 1 cannot behave so as to give priority to the behavior schedule of the carrier 3. and then disconnect the wireless communication channel.

The vehicle 2E running on the right lane 8R of the road 8 and the vehicle 2G running on the left lane 8L are involved in the behavior schedule of the carrier 3 crossing, and are involved in the behavior schedule of the carrier 3. It judges that the corresponding behavior can be given priority, returns reply information including that effect to the mobile terminal 1, and then disconnects the wireless communication path.

The mobile terminal 1 in this example acquires reply information from all five vehicles 2D, 2E, 2F, 2G, and 2H. Since the received reply information includes the current position of each of the automobiles 2D, 2E, 2F, 2G, and 2H, the identification information, and the traveling speed and traveling direction information, the mobile terminal 1 displays each of the automobiles 2D, 2E, 2F, 2G and 2H on the map of the display screen using them. Further, the mobile terminal 1 also notifies the wearer 3 of the behavior of the wearer 3 when crossing each car through the display screen and/or through the speaker 122 .

Therefore, while referring to the display screen of the mobile terminal 1 and the notification by the sound emitted from the speaker 122, the wearer 3 can safely execute the behavior plan of crossing the pedestrian crossing that he/she intends to do. . Of course, it is not limited to the behavior plan of crossing the pedestrian crossing, it is also the behavior plan of crossing the road without a pedestrian crossing, and the behavior plan of passing in places where it is difficult to predict the movement of the car such as the entrance and exit of the parking lot and the roundabout of the station. You can apply it and safely execute these behavioral schedules that you are about to do.

[Other embodiments or modifications]
Note that the car 2 may stop the above functions in consideration of the case where the car 2 does not want to respond to the car communication request from the carrier 3 as much as possible for reasons such as urgent business. You may make it comprise so that it may. In this case, when receiving the request, the automobile 2 transmits to the portable terminal 1 that it cannot meet the request, and disconnects the communication path.

In the above-described embodiment, when the automobile receives a request for communication with the automobile from the mobile terminal 1 and the automobile is being driven in the manual driving mode, the driver is permitted to switch to the automatic driving mode. If the permission is not obtained, the vehicle communication request is not responded to. However, if the carrier 3 such as a pedestrian is an elderly person, a person with an infant, a disabled person, a wheelchair user, an elementary school student or a child who has not yet entered elementary school, it is always necessary to , the vehicle 2 may be configured to respond to vehicle-to-vehicle communication requests.

In other words, even while driving in manual driving mode, forcibly switch to normal automatic driving mode or forced automatic driving mode in response to vehicle communication requests from those vulnerable in traffic safety without asking the driver, It is configured to give priority to the behavior schedule of the vulnerable person in terms of traffic safety. In this case, the vehicle communication request includes the vulnerable person information as attribute information of the requesting carrier 3 so that the vehicle can confirm it.

Further, when the vehicle receives a vehicle communication request from a predetermined number of mobile terminals of two or more within a predetermined short time (for example, within 30 seconds), while the vehicle is driving in the manual driving mode, Even if the driver has not previously permitted the switch to automated driving mode, from the perspective of safety, the system is forcibly switched to normal automated driving mode or forced automated driving mode, and responds to vehicle communication requests. You may make it comprise the motor vehicle 2 to.

DESCRIPTION OF SYMBOLS 1... Portable terminal, 2... Automobile, 3... Carrying person, 20... Electronic control circuit unit of automobile, 106... Current position detection unit, 108... Automobile wireless communication unit, 109... Automobile communication control processing unit, 202... Wireless Communication unit 205 Operation mode switching control unit 210 Current position detection unit 217 Terminal communication control processing unit 218 Behavior control unit

Claims (60)

A communication system having a mobile terminal carried by a person vulnerable to traffic safety, and a vehicle having a function of wirelessly communicating with the mobile terminal and having a manual driving mode and an autonomous driving automatic driving mode,
The mobile terminal is
communication request sending means for sending a wireless communication request including information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety to the vehicle;
The automobile is
when receiving the wireless communication request from the mobile terminal and detecting that the wireless communication request includes information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety; and a switching means for switching to the automatic driving mode when the own vehicle is in the manual driving mode. The mobile terminal is
current position detecting means for detecting the current position of the terminal;
a radio channel generating means for generating a radio channel with the vehicle responding to the radio communication request;
Information on the behavior plan of the carrier, including position information of the current position of the terminal detected by the current position detecting means, is transmitted to the automobile through the radio channel generated by the radio channel generating means. a transmitting means for
notification means for notifying the carrier of the information of the responding vehicle based on the reply information from the responding vehicle;
The communication system of claim 1, comprising: The automobile is
means for generating the wireless communication path in response to the wireless communication request from the mobile terminal;
receiving means for receiving information about the behavior schedule of the carrier from the mobile terminal through the generated wireless communication path;
Participation determination means for determining whether or not the vehicle is involved in the behavior schedule of the bearer based on the information about the behavior schedule of the bearer from the mobile terminal;
reply means for transmitting reply information to the portable terminal through the wireless communication path when the involvement determination means determines that the own vehicle is involved in the behavior schedule of the carrier;
3. The communication system of claim 2, comprising: 4. The communication system according to claim 3, wherein the information about the behavior schedule of the carrier includes information while the carrier is walking, moving in a wheelchair, or riding a bicycle. 5. The method according to claim 3, wherein the information about the carrier's behavior schedule includes walking speed information, wheelchair moving speed information, or bicycle running speed information. Communications system. The information on the behavior schedule of the carrier includes information on the direction of movement while the carrier is walking, information on the direction of movement while the carrier is moving in a wheelchair, or information on the direction of movement while riding a bicycle. The communication system according to any one of claims 3 to 5. 7. The information about the behavior schedule of the carrier includes behavior schedule notification information for notifying the behavior schedule of the carrier that affects the behavior of the vehicle. a communication system according to any one of the preceding paragraphs. When the involvement determination means determines that the vehicle is involved in the behavior schedule of the carrier notified by the behavior schedule notification information, the vehicle behavior of the vehicle prioritizes the behavior schedule of the carrier. and including the determined behavior of the own vehicle in the reply information and transmitting it to the portable terminal;
The notification means of the mobile terminal, when the reply information from the vehicle includes the behavior of the own vehicle corresponding to the behavior schedule of the carrier, notifies the behavior of the vehicle corresponding to the behavior schedule. The communication system according to claim 7, wherein the carrier is notified. The reply information from the vehicle includes information on the current position of the vehicle,
The notification means of the portable terminal displays the position of the terminal and the position of the car on a display screen based on the current position of the terminal detected by the current position detection means and the current position of the car. The communication system according to any one of claims 3 to 8, characterized in that is displayed. The reply information from the automobile includes characteristic information of the automobile,
10. The communication system according to any one of claims 3 to 9, wherein said notification means of said mobile terminal notifies said carrier of said characteristic information of said vehicle. The communication system according to any one of claims 3 to 10, wherein the notification means of the mobile terminal notifies the carrier by vibration. 11. The communication system according to claim 10, wherein the notification means of the mobile terminal notifies the carrier by vibration, and sets the pattern of the vibration according to the characteristic information of the vehicle. When the involvement determination means determines that the vehicle does not participate in the behavior schedule of the carrier, the vehicle notifies the portable terminal of that effect and disconnects the wireless communication path. The communication system according to any one of claims 3 to 12, wherein When the mobile terminal receives a notification from the car indicating that it will not be involved in the behavior schedule of the carrier, the mobile terminal disconnects the wireless communication path and then retransmits the wireless communication request. A communication system according to claim 13. The reply information from the automobile includes information indicating that the automobile is an emergency vehicle,
15. The communication according to any one of claims 3 to 14, wherein the mobile terminal comprises notification means for notifying the carrier that the vehicle that has sent the reply information is an emergency vehicle. system. The automatic operation mode includes a normal automatic operation mode in which the driver performs a predetermined operation to switch to the manual operation mode, and a forced operation mode in which the driver does not switch to the manual operation mode even if the driver performs the predetermined operation. including automatic driving mode and
The switching means switches from the manual operation mode to the normal automatic operation mode,
Any one of claims 3 to 15, characterized in that, when the involvement determining means determines that the own vehicle is involved in the behavior schedule of the carrier, the normal automatic driving mode is switched to the forced automatic driving mode. a communication system according to any one of the preceding paragraphs. The automatic operation mode includes a normal automatic operation mode in which the driver performs a predetermined operation to switch to the manual operation mode, and a forced operation mode in which the driver does not switch to the manual operation mode even if the driver performs the predetermined operation. including automatic driving mode and
The communication system according to any one of claims 1 to 16, wherein the switching means switches from the manual operation mode to the forced automatic operation mode. When the mobile terminal does not respond to the wireless communication request by the communication request sending means, the mobile terminal notifies the carrier that there is no vehicle capable of responding to the carrier's behavior schedule. The communication system according to any one of claims 1 to 17, characterized by: 19. The communication system according to claim 18, wherein the mobile terminal makes the notification by vibrating to notify that there is no vehicle that can handle the situation. The mobile terminal is
receiving means for receiving a transmission request operation by a carrier carrying the own terminal for the wireless communication request to the vehicle;
The communication according to any one of claims 1 to 19, wherein said communication request sending means sends said wireless communication request to said vehicle when said receiving means receives said sending request operation. system. The mobile terminal comprises a carrier attribute storage unit that stores information indicating that the carrier is vulnerable in terms of traffic safety as attribute information of the carrier,
The communication request transmitting means transmits the wireless communication request using the information stored in the carrier attribute storage section and indicating that the person is vulnerable in terms of traffic safety. 21. A communication system according to any of Clauses 20. Claims 1 to 21, characterized in that the vulnerable persons in terms of traffic safety include any of the elderly, persons accompanying infants, persons with disabilities, persons using wheelchairs, elementary school students or pre-elementary school children. A communication system according to any of the preceding claims. The mobile terminal is
navigation means for performing pedestrian, wheelchair and/or bicycle route guidance;
Route guidance execution determination means for determining whether the route guidance by the navigation means is being executed;
with
The communication request transmitting means, when the route guidance execution determination means determines that the route guidance is not being executed, and when the reception means receives a transmission request from the carrier, sends the request to the vehicle. When it is determined that the route guidance is being executed, it is determined that the route guidance data of the navigation means has reached the position or area where the radio communication request is to be made. 23. The communication system according to any one of claims 1 to 22, wherein a wireless communication request is sent to the vehicle when the vehicle is in the vehicle. 24. The communication system according to any one of claims 1 to 23, wherein said mobile terminal transmits said wireless communication request to said vehicle by means of one-to-one communication, broadcast or multicast. a mobile terminal carried by a person vulnerable to traffic safety; and a vehicle having a function of wirelessly communicating with the mobile terminal and having a manual driving mode and an automatic driving mode capable of autonomous driving, wherein the vehicle is equipped with the mobile terminal. receiving a wireless communication request from a terminal and detecting that the wireless communication request includes information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety; is in the manual operation mode, the mobile terminal in a communication system comprising switching means for switching to the automatic operation mode,
A mobile terminal, comprising communication request sending means for sending the wireless communication request including information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety to the vehicle. current position detecting means for detecting the current position of the terminal;
a radio channel generating means for generating a radio channel with the vehicle responding to the radio communication request;
Information on the behavior plan of the carrier, including position information of the current position of the terminal detected by the current position detecting means, is transmitted to the automobile through the radio channel generated by the radio channel generating means. a transmitting means for
notification means for notifying the carrier of the information of the responding vehicle based on the reply information from the responding vehicle;
26. The mobile terminal of claim 25, comprising: 27. The mobile terminal according to claim 26, wherein the information about the behavior schedule of the carrier includes information while the carrier is walking, moving in a wheelchair, or riding a bicycle. 28. The method according to claim 26 or 27, wherein the information about the carrier's behavior schedule includes walking speed information, wheelchair moving speed information, or bicycle running speed information. mobile terminal. The information on the behavior schedule of the carrier includes information on the direction of movement while the carrier is walking, information on the direction of movement while the carrier is moving in a wheelchair, or information on the direction of movement while riding a bicycle. The mobile terminal according to any one of claims 26 to 28. The information about the behavior schedule of the carrier includes behavior schedule notification information for notifying the behavior schedule of the carrier that affects the behavior of the automobile. A mobile terminal according to any one of the above. When the involvement determination means determines that the vehicle is involved in the behavior schedule of the carrier notified by the behavior schedule notification information, the vehicle behavior of the vehicle prioritizes the behavior schedule of the carrier. and including the determined behavior of the own vehicle in the reply information and transmitting it to the portable terminal;
When the return information from the vehicle includes the behavior of the own vehicle corresponding to the behavior schedule of the carrier, the notification means informs the carrier of the behavior of the vehicle corresponding to the behavior schedule. 31. The mobile terminal of claim 30, wherein the mobile terminal notifies the The reply information from the vehicle includes information on the current position of the vehicle,
The notification means displays the position of the terminal and the position of the vehicle on a display screen based on the current position of the terminal detected by the current position detection means and the current position of the vehicle. The mobile terminal according to any one of claims 26 to 31, characterized by: The reply information from the automobile includes characteristic information of the automobile,
The portable terminal according to any one of claims 26 to 32, wherein said notification means notifies said characteristic information of said vehicle to said carrier. 34. The portable terminal according to any one of claims 26 to 33, wherein said notification means notifies said carrier by vibration. 34. The mobile terminal according to claim 33, wherein said notification means notifies said carrier by vibration, and sets said vibration pattern according to characteristic information of said automobile. Claims 26 to 30, characterized in that, when a notification is received from the automobile to the effect that the vehicle does not participate in the behavior schedule of the carrier, the radio communication request is resent after disconnecting the radio communication path. Item 36. The mobile terminal according to any one of Items 35 to 35. The reply information from the automobile includes information indicating that the automobile is an emergency vehicle,
37. The portable terminal according to any one of claims 26 to 36, further comprising notifying means for notifying the carrier that the automobile that sent the reply information is an emergency vehicle. When there is no vehicle that has responded to the wireless communication request by the communication request sending means, the carrier is notified that there is no vehicle that can correspond to the behavior schedule of the carrier. The mobile terminal according to any one of claims 25 to 37. 39. The portable terminal according to claim 38, wherein the notification is made by vibrating the fact that there is no available vehicle. receiving means for receiving a transmission request operation by a carrier carrying the own terminal for the wireless communication request to the vehicle;
The mobile terminal according to any one of claims 25 to 39, wherein said communication request sending means sends a wireless communication request to said vehicle when said receiving means receives said sending request operation. . A carrier attribute storage unit that stores information indicating that the carrier is vulnerable in terms of traffic safety as attribute information of the carrier,
25. The communication request transmitting means transmits the wireless communication request using the information stored in the carrier attribute storage unit and indicating that the person is vulnerable in terms of traffic safety. 41. The mobile terminal according to any one of items 40. Said vulnerable persons in terms of traffic safety include any one of the elderly, persons accompanied by infants, persons with disabilities, persons using wheelchairs, elementary school students or pre-elementary school children. The mobile terminal according to any one of navigation means for performing pedestrian, wheelchair and/or bicycle route guidance;
Route guidance execution determination means for determining whether the route guidance by the navigation means is being executed;
with
The communication request transmitting means, when the route guidance execution determination means determines that the route guidance is not being executed, and when the reception means receives a transmission request from the carrier, sends the request to the vehicle. When it is determined that the route guidance is being executed, it is determined that the route guidance data of the navigation means has reached the position or area where the radio communication request is to be made. 43. The mobile terminal according to any one of claims 25 to 42, wherein a wireless communication request is sent to said vehicle when said mobile terminal. Navigation that has a function of searching for a recommended route in response to a route search request that includes at least a departure point and a destination, and performs route guidance along the recommended route for pedestrians, wheelchairs, and/or bicycles. have the means to
44. The portable device according to any one of claims 25 to 43, wherein the recommended route information includes information on a position or area to which the wireless communication request should be sent to the vehicle. terminal. The navigation means is set to send out the wireless communication request when the automobile enters an area to which the wireless communication request is to be sent, or before entering the area. 44. The mobile terminal according to 44. As the attribute information of the carrier, the carrier's nationality, sex, age, chronic disease, stride length, walking speed, wheelchair moving speed, bicycle running speed, presence or absence of a caregiver or attendant are stored. 46. The mobile terminal according to any one of claims 25 to 45, further comprising a storage unit. 47. The mobile terminal according to any one of claims 25 to 46, wherein said wireless communication request is sent to said automobile by means of one-to-one communication, broadcast or multicast. a mobile terminal carried by a person vulnerable to traffic safety; and an automobile having a function of wirelessly communicating with the mobile terminal and having a manual driving mode and an automatic driving mode capable of autonomous driving, wherein the mobile terminal The vehicle in a communication system comprising communication request sending means for sending a wireless communication request containing information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety,
When receiving the wireless communication request from the mobile terminal and detecting that the wireless communication request includes information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety, A vehicle, comprising: switching means for switching to the automatic operation mode when the own vehicle is in the manual operation mode. means for generating the wireless communication path in response to the wireless communication request from the mobile terminal;
Participation determination means for determining whether or not the vehicle is involved in the behavior schedule of the bearer based on the information about the behavior schedule of the bearer from the mobile terminal;
reply means for transmitting reply information to the portable terminal through the wireless communication path when the involvement determination means determines that the own vehicle is involved in the behavior schedule of the carrier;
49. A motor vehicle according to claim 48, comprising a . The information about the behavior schedule of the bearer from the mobile terminal includes behavior schedule notification information for notifying the behavior schedule of the bearer that affects the behavior of the car;
determining the behavior of the own vehicle to give priority to the behavior schedule of the carrier when it is determined by the participation determining means that the vehicle is involved in the behavior schedule of the carrier notified by the behavior schedule notification information; 50. The vehicle according to claim 49, wherein the determined behavior of the own vehicle is included in the reply information and transmitted to the portable terminal. Claim 49 or Claim 50, wherein the reply information includes information on the current position of the vehicle, characteristic information on the vehicle, or information on whether or not the vehicle is an emergency vehicle. The car described in . 2. When the involvement determining means determines that the own vehicle does not participate in the behavior schedule of the carrier, it notifies the mobile terminal to that effect and disconnects the wireless communication path. A motor vehicle according to any one of claims 49 to 51. The automatic operation mode includes a normal automatic operation mode in which the driver performs a predetermined operation to switch to the manual operation mode, and a forced operation mode in which the driver does not switch to the manual operation mode even if the driver performs the predetermined operation. including automatic driving mode and
The switching means switches from the manual operation mode to the normal automatic operation mode,
Any one of claims 49 to 52, characterized in that when the involvement determining means determines that the own vehicle is involved in the behavior schedule of the carrier, the normal automatic driving mode is switched to the forced automatic driving mode. the car described in The automatic operation mode includes a normal automatic operation mode in which the driver performs a predetermined operation to switch to the manual operation mode, and a forced operation mode in which the driver does not switch to the manual operation mode even if the driver performs the predetermined operation. including automatic driving mode and
The automobile according to any one of claims 48 to 52, wherein the switching means switches from the manual operation mode to the forced automatic operation mode. Said vulnerable persons in terms of traffic safety include any one of the elderly, persons accompanied by infants, persons with disabilities, persons using wheelchairs, elementary school students or pre-elementary school children. The automobile according to any one of When the own vehicle is in the manual driving mode, the driver is inquired about whether to switch to the automatic driving mode, and the switching means determines whether to switch to the automatic driving mode according to the result of the inquiry. A motor vehicle according to any one of claims 48 to 55, characterized in that it determines: 57. The automobile according to any one of claims 48 to 56, characterized in that the function of processing the wireless communication request can be stopped. Claims 48 to 48, characterized in that, when receiving the wireless communication request from two or more mobile terminals, the switching means forcibly switches from the manual operation mode to the automatic operation mode. 57. A motor vehicle according to any one of 57. a mobile terminal carried by a person vulnerable to traffic safety; and a vehicle having a function of wirelessly communicating with the mobile terminal and having a manual driving mode and an automatic driving mode capable of autonomous driving, wherein the vehicle is equipped with the mobile terminal. receiving a wireless communication request from a terminal and detecting that the wireless communication request includes information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety; is in the state of the manual operation mode, the computer provided in the mobile terminal in the communication system including switching means for switching to the automatic operation mode,
Communication request sending means for sending the wireless communication request including information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety to the vehicle;
A program for mobile terminals to function as a mobile terminal carried by a person vulnerable to traffic safety; and an automobile having a function of wirelessly communicating with the mobile terminal and having a manual driving mode and an automatic driving mode capable of autonomous driving, wherein the mobile terminal A computer provided in the vehicle in a communication system comprising communication request sending means for sending a wireless communication request containing information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety,
when receiving the wireless communication request from the mobile terminal and detecting that the wireless communication request includes information indicating that the person carrying the mobile terminal is vulnerable in terms of traffic safety; , a vehicle program for functioning as switching means for switching to the automatic driving mode when the own vehicle is in the manual driving mode.

Images