JP7843529B2 - Autonomous vehicles and programs for autonomous vehicles - Google Patents

Description

This invention relates to an autonomous vehicle capable of self-driving and a program for such an autonomous vehicle.

Using a mobile phone to make calls or send emails while driving is dangerous because it distracts the driver. Therefore, the Road Traffic Act stipulates that drivers must refrain from such actions, and penalties are imposed for violations. This applies not only to mobile phones, but also to other portable devices such as game consoles or laptop computers that require the driver to intently stare at the screen while driving.

Against this backdrop, inventions for mobile devices such as cell phones whose use is restricted inside automobiles, and inventions for communication systems that restrict the use of mobile devices by drivers inside automobiles, have been provided for some time (see, for example, Patent Document 1 (Japanese Patent Publication No. 10-322440) and Patent Document 2 (Japanese Patent Publication No. 2007-258988), etc.).

Japanese Patent Application Publication No. 10-322440 Japanese Patent Publication No. 2007-258988

However, not all mobile phones and other portable devices have features that restrict their use inside a car, nor are systems with such features standard equipment in automobiles. Furthermore, mobile phones and systems with such usage restrictions are costly and unnecessary for those who do not have a driver's license.

Therefore, currently, portable devices without the aforementioned usage restrictions are often brought into vehicles, and ensuring strict adherence to the Road Traffic Act relies solely on the drivers' morality.

However, when a call comes in on a mobile phone while driving, there are times when you might feel tempted to answer it. This is especially true if you are waiting for an urgent call. In such cases, if you are driving on a regular road, you can pull over to the shoulder of the road to answer the call. However, if you are driving on a highway, pulling over to the shoulder is actually more dangerous.

To address the above-mentioned problems and prevent traffic accidents caused by drivers using mobile devices while driving, we propose an autonomous vehicle. This proposal aims to provide the functions that such an autonomous vehicle should possess.

To solve the above problems, the invention of claim 1 is:
In an autonomous vehicle equipped with a manual driving mode in which the vehicle is driven based on the driver's actions and an autonomous driving mode in which the vehicle is driven autonomously,
An input operation detection means for detecting the driver's input operation for creating an email or message using the functions of a mobile device,
In the manual driving mode, when the input operation detection means detects an input operation by the driver to create an email or message using the functions of the portable device, a mode switching means switches from the manual driving mode to the automatic driving mode,
The present invention provides an autonomous vehicle characterized by being equipped with the following features.

According to the autonomous vehicle of claim 1 with the above configuration, when the input operation detection means detects that the driver has performed an input operation to compose an email or message using the functions of a mobile device while driving in manual driving mode, the mode switching means switches from manual driving mode to autonomous driving mode. This allows the driver to compose an email or message with peace of mind.

According to this invention, when the driver performs an input operation, such as creating an email or message using a mobile device, via the input operation detection means while driving in manual driving mode, the system switches from manual driving mode to automatic driving mode. Therefore, the driver can confidently perform the input operation for creating emails or messages.

This is a block diagram showing an example of the configuration of the electronic control circuit section of the first embodiment of the autonomous vehicle according to this invention. This figure is used to illustrate an example of the processing operation of a first embodiment of an autonomous vehicle according to this invention. This figure shows a flowchart illustrating an example of the processing operation of the electronic control circuit section of the first embodiment of the autonomous vehicle according to this invention. This figure shows a flowchart illustrating an example of the processing operation of the electronic control circuit section of the first embodiment of the autonomous vehicle according to this invention. This figure shows a flowchart illustrating another example of the processing operation of the electronic control circuit section of the first embodiment of the autonomous vehicle according to this invention. This figure shows a flowchart illustrating a modified example of the processing operation of the electronic control circuit section of the first embodiment of the autonomous vehicle according to this invention. This is a block diagram showing an example of the configuration of the electronic control circuit section of a second embodiment of an autonomous vehicle according to this invention. This figure is used to illustrate an example of processing operation of a second embodiment of an autonomous vehicle according to this invention. This figure shows a flowchart illustrating an example of the processing operation of the electronic control circuit section of a second embodiment of an autonomous vehicle according to this invention. This is a block diagram showing an example of the configuration of the electronic control circuit section of a third embodiment of an autonomous vehicle according to this invention.

[First Embodiment]
Figure 1 is a block diagram showing an example of the hardware configuration of the electronic control circuit unit 10 of the autonomous vehicle 1 according to the first embodiment. In this embodiment, the autonomous vehicle 1 is an example of an electric vehicle. However, the battery is not shown in Figure 1.

Furthermore, the autonomous vehicle 1 of this embodiment is equipped with both an autonomous driving mode and a manual driving mode. The manual driving mode allows the vehicle to operate in accordance with the driver's accelerator pedal, brake pedal, shift lever, and steering wheel operations, just like a normal automobile. The autonomous driving mode, on the other hand, is a driving mode in which the autonomous vehicle 1 automatically (autonomously) changes course while avoiding obstacles, even without the driver's input on the accelerator pedal, brake pedal, shift lever, or steering wheel.

Under normal circumstances, the driver of the autonomous vehicle 1 can switch from manual driving mode to autonomous driving mode by, for example, a predetermined operation via a touch panel. Furthermore, if the driver operates the accelerator pedal, brake pedal, shift lever, or steering wheel while driving in autonomous driving mode, the vehicle is configured to automatically return to manual driving mode. However, as described later, in this embodiment, when the autonomous vehicle 1 is forcibly switched from manual driving mode to autonomous driving mode, the operation to return to manual driving mode will be invalidated unless predetermined conditions described later are met, and the vehicle will be controlled to maintain driving in autonomous driving mode.

As shown in Figure 1, the electronic control circuit unit 10 is connected to the control unit 101, which is equipped with a computer, via the system bus 100. The connected units include: motor drive control unit 102, steering drive control unit 103, manual/automatic driving mode switching control unit 104, manual driving operation detection unit 105, radar 106, camera group 107, various sensor group 108, surrounding moving object detection unit 109, current position detection unit 110, display unit 111, touch panel 112, car navigation (hereinafter abbreviated as car navigation) function unit 113, driver action analysis detection unit 114, forced automatic driving mode switching determination unit 115, incoming call notification detection unit 116, clock unit 117, and audio output unit 118.

The motor drive control unit 102 is connected to the motor drive unit 121. The steering drive control unit 103 is connected to the steering drive unit 122. The car navigation function unit 113 is connected to the car navigation database 123. The incoming call notification detection unit 116 is connected to the microphone 124, and the audio output unit 118 is connected to the speaker 125.

The motor drive control unit 102, under the control of the control unit 101, controls the supply of drive signals to the motor drive unit 121 of the autonomous vehicle 1, which is configured as an electric vehicle in this embodiment, thereby controlling the start of driving, driving speed control, driving stop, etc., of the autonomous vehicle 1.

The steering drive control unit 103, under the control of the control unit 101, controls the supply of drive control signals to the steering drive unit 122 of the autonomous vehicle 1 in this embodiment, thereby controlling the changing direction of the autonomous vehicle 1.

The manual/automatic driving mode switching control unit 104 controls the driving mode of the automatic driving vehicle 1 to switch between manual driving mode, automatic driving mode, and the forced automatic driving mode described later, in response to selection input via the touch panel 112.

The manual driving operation detection unit 105 receives information on the driver's operation of the accelerator pedal, brake pedal, shift lever, and steering wheel, and supplies this manual driving operation information to the manual/automatic driving mode switching control unit 104.

When the autonomous vehicle 1 is in manual driving mode, the manual driving operation control unit 104 supplies manual driving operation information from the manual driving operation detection unit 105 to the motor drive control unit 102 and the steering drive control unit 103, controlling the motor drive unit 121 and the steering drive unit 122 according to the driver's pedal operations, shift lever operations, and steering operations.

Furthermore, when the autonomous vehicle 1 is in autonomous driving mode (including forced autonomous driving mode), the manual/autonomous driving mode switching control unit 104 supplies autonomous driving operation information generated by the control unit 101 based on the outputs of the radar 106, camera group 107, various sensor groups 108, and surrounding moving object detection unit 109 to the motor drive control unit 102 and steering drive control unit 103, as described later, to control the motor drive unit 121 and steering drive unit 122 according to the autonomous driving operation information. In autonomous driving mode (including forced autonomous driving mode), the car navigation function unit 113 searches for a route from the current location to a destination set by the driver, and controls the vehicle to travel along the searched route.

Furthermore, in this embodiment, the manual/automatic driving mode switching control unit 104, upon receiving the decision result from the forced automatic driving mode switching determination unit 115 (described later), also performs control to automatically switch from manual driving mode to automatic driving mode against the driver's will—that is, against the driver's selection and setting of the driving mode.

To distinguish it from the normal automatic driving mode selected and set by the user via the touch panel 112, etc., this automatically driven mode after being forcibly switched will be referred to in this specification as the "forced automatic driving mode."

In a normal autonomous driving mode (not a forced autonomous driving mode), if the driver operates the accelerator pedal, brake pedal, shift lever, or steering wheel while the vehicle is driving in autonomous driving mode, the manual/autonomous driving mode switching control unit 104 will automatically switch the driving mode of the autonomous vehicle 1 back to manual driving mode based on the detection information of that manual driving operation.

However, when the driving mode of the autonomous vehicle 1 is in forced autonomous driving mode, even if the driver operates the accelerator pedal, brake pedal, shift lever, or steering wheel, the manual/autonomous driving mode switching control unit 104 invalidates the manual driving operation information and maintains the forced autonomous driving mode.

The radar 106 is used to measure the distance to objects surrounding the autonomous vehicle 1, and consists of a laser radar and a millimeter-wave radar, among others. The laser radar is embedded, for example, in the roof or near the bumper, while the millimeter-wave radar is installed, for example, at the front and rear of the vehicle. The vehicle may be equipped with both laser radar and millimeter-wave radar, or only one of them.

The camera group 107 includes one or more cameras for capturing images inside the autonomous vehicle 1 and one or more cameras for capturing images of the surrounding area outside the autonomous vehicle 1. The cameras capturing images inside the vehicle include, for example, cameras mounted on the rearview mirror (rearview mirror, rearview mirror) between the driver's and passenger's seats, or on the upper part of the front windshield, to capture the actions of the person (driver) sitting in the driver's seat, as well as cameras for capturing the actions of passengers sitting in the passenger seat and rear seats. The cameras capturing images of the surrounding area include, for example, two cameras (stereo cameras) mounted on the left and right sides of the rearview mirror, primarily capturing the left and right front of the autonomous vehicle 1, as well as cameras mounted on, for example, the door mirrors or fender mirrors of the autonomous vehicle 1 to capture the left and right sides, and cameras capturing the rear of the autonomous vehicle 1.

The sensor group 108 includes various sensors such as open/close detection sensors for detecting the opening and closing of doors and windows, sensors for detecting seat belt fastening, and seat occupancy sensors for detecting when an occupant is seated in a seat such as the driver's or passenger's seat, as well as various sensors for acquiring information that assists in autonomous driving. Examples of sensors for acquiring information that assists in autonomous driving include vibration sensors for detecting vibrations of the vehicle and tires, rotation speed sensors for detecting the rotation speed of the tires, geomagnetic sensors for detecting direction, acceleration sensors for detecting acceleration, and gyro sensors (gyroscopes) for detecting angle and angular velocity.

The surrounding moving object detection unit 109 uses the radar 106 and images captured by the camera group 107 to detect moving objects around the vehicle. The surrounding moving object detection unit 109 detects surrounding obstacles and moving objects by, for example, performing processing based on Bayesian theory.

The current position detection unit 110 detects the vehicle's current position by receiving radio waves from GPS satellites. Because the accuracy of the position detected by radio waves from GPS satellites is poor, the current position detection unit 110 uses not only the current position information detected by GPS radio waves, but also one or more sensors included in the various sensor group 108, as well as radar 106 and images captured by the camera group 107. Furthermore, it performs processing based on, for example, Bayesian theory, to detect and confirm the current position with higher accuracy.

In autonomous driving mode, the autonomous vehicle 1 processes various information, such as location information acquired from the radar 106, camera group 107, various sensor groups 108, and GPS radio waves, using Bayesian theory. This information corresponds to information obtained from human eyes and ears. Based on this, the control unit 101 performs intelligent information processing (artificial intelligence) and control (artificial intelligence) to generate autonomous driving operation information, such as changing the vehicle's course and avoiding obstacles.

The display unit 111 is, for example, an LCD (Liquid Crystal Display). The touch panel 112 is configured by superimposing a touch sensor, capable of finger touch input, onto the display screen of the LCD display unit 111. The display screen of the display unit 111 displays an image including software buttons (including keyboard character input buttons) based on the control unit 101. When the touch panel 112 detects a finger touch on a software button displayed on the screen, it transmits the touch to the control unit 101. The control unit 101, upon receiving this, is configured to execute control processing corresponding to the software button.

The car navigation function unit 113 is a function unit that assists the autonomous vehicle 1 in moving to a designated destination based on maps and route guidance data stored in the car navigation database 123. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing in manual driving mode and autonomous driving mode.

In other words, in manual driving mode, the car navigation function unit 113 displays an image on the display screen of the display unit 111 that overlays the vehicle's current position, as detected by the current position detection unit 110, onto a map that explicitly displays the route to the destination. Furthermore, as the vehicle moves, the vehicle's position (current position) on the map moves, and voice guidance is provided at intersections, junctions, and other points along the route where route guidance is necessary. This is the same as a normal car navigation function.

On the other hand, in autonomous driving mode, the car navigation function unit 113 notifies the control unit 101 of the direction and distance of the vehicle's current position when it is off the route to the destination. When the vehicle is on the route to the destination, it notifies the control unit 101 of instructions to change the direction of travel along the route before intersections and junctions along the route, as the vehicle moves. Based on the information notified from the car navigation function unit 113, the current position confirmation results from the current position detection unit 110, and the detection results from the surrounding moving object recognition unit 109, the control unit 101 controls the motor drive unit 121 via the motor drive control unit 102 and generates autonomous driving operation information to control the steering drive unit 122 via the steering drive control unit 103, so that the vehicle moves along the route as instructed. Therefore, with route guidance to the destination provided by the car navigation function unit 113 and the control unit 101 in autonomous driving mode, the autonomous vehicle 1 can travel to its destination even when there are no passengers.

The driver action analysis and detection unit 114 analyzes the image information captured by the camera that photographs the driver among the camera group 107. In this example, it specifically detects whether or not the driver picked up a portable device, in this example, a mobile phone terminal. The detection result of the driver's action is then supplied to the forced automatic driving mode switching determination unit 115.

In this embodiment, the forced automatic driving mode switching determination unit 115 determines whether to switch the automatic driving vehicle 1 to forced automatic driving mode and also determines whether to deactivate the forced automatic driving mode, based on the detection output of an incoming call notification from the incoming call notification detection unit 116, which is transmitted by a mobile phone terminal (mobile phone terminal 2 in Figure 1) brought into the automatic driving vehicle 1, and the detection result of the driver's actions from the driver action analysis detection unit 114.

The microphone 124 connected to the incoming call notification detection unit 116 is for capturing sounds (voice and vibration) inside the vehicle. The incoming call notification detection unit 116 detects incoming call notifications from the mobile phone terminal 2, such as ringtones, ringtone melodies, and vibrations, from the audio signals captured by the microphone 124, and notifies the control unit 101 of the detection result.

The clock unit 117 provides time information (year, month, day, hour, minute, second) and also functions as a timer for measuring time.

The audio output unit 118, although not shown in the diagram, incorporates a memory for storing voice message data to be broadcast externally, as well as a voice synthesizer and D-A converter to convert the voice message data read from the memory into an analog audio signal. The audio output unit 118 then supplies the voice message selected by the control unit 101 to the speaker 125, broadcasting it externally as voice. The voice messages to be stored include, as will be described later, notification messages for switching driving modes such as "Switched to automatic driving mode," and "Switched to manual driving mode," as well as notification messages prompting destination setting when switching to automatic driving mode.

As described above, the electronic control circuit unit 10 of the autonomous vehicle 1 is configured as follows. However, among the blocks shown in Figure 1, the following processing functions can be implemented by the control unit 101 as software processing: motor drive control unit 102, steering drive control unit 103, manual/autonomous driving mode switching control unit 104, surrounding moving object detection unit 109, current position detection unit 110, car navigation function unit 113, driver action analysis detection unit 114, forced autonomous driving mode switching determination unit 115, incoming call notification detection unit 116, and voice output unit 118.

[Example of the operation of switching the driving mode in the autonomous vehicle 1 of the first embodiment]
In an autonomous vehicle 1 equipped with the electronic control circuit unit 10 described above, if the driver uses a portable device brought into the vehicle while driving in manual driving mode, the system will automatically switch from manual driving mode to forced autonomous driving mode.

Several examples of situations in which the vehicle can switch from manual driving mode to forced automatic driving mode, and the processing operations of the electronic control circuit unit 10 of this embodiment of the autonomous vehicle in those situations, are described below.

<Example 1: When the mobile device is a mobile phone terminal and a notification of an incoming call is received>
Figure 2(A) shows a situation in which driver 3 has brought a mobile phone terminal 2 (e.g., a mobile phone, a smartphone) into the autonomous vehicle 1 and is driving the autonomous vehicle 1 in manual driving mode with the mobile phone terminal 2 placed, for example, on the dashboard 4. In Figure 2(A), 5 is the steering wheel, and 107a is a camera from the camera group 107 that is installed above the front windshield, to the side of the rearview mirror 6, in order to capture the driver's actions.

In the state shown in Figure 2(A), when a call (including a video call) is received on the mobile phone terminal 2, in this example, the ringtone is emitted, and the driver 3 is notified of the incoming call. Then, in this example, the autonomous vehicle 1 immediately switches from manual driving mode to forced autonomous driving mode, and the driver is notified of this. Therefore, the driver 3 can confidently pick up the mobile phone terminal 2 on the dashboard 4, as shown in Figure 2(B), take both hands off the steering wheel 5, and answer the call to make a conversation.

Next, an example of the processing flow in the electronic control circuit unit 10 at this time will be described. Figure 3 is a flowchart illustrating an example of the processing flow in the electronic control circuit unit 10 of the autonomous vehicle 1 of this embodiment when an incoming call notification is received from the mobile phone terminal 2. In the following explanation, the processing at each step in the flowchart of Figure 3 will be described assuming that the control unit 101 implements the following processing functions as software processing: motor drive control unit 102, steering drive control unit 103, manual/autonomous driving mode switching control unit 104, surrounding moving object detection unit 109, current position detection unit 110, car navigation function unit 113, driver action analysis detection unit 114, forced autonomous driving mode switching determination unit 115, incoming call notification detection unit 116, and voice output unit 118. The same applies to the flowcharts illustrating other examples below.

First, the control unit 101 monitors the audio information picked up by the microphone 124 to determine whether or not it has detected an incoming call notification from the mobile phone terminal 2 (step S1). In this case, the detection of an incoming call notification from the mobile phone terminal 2 is performed by detecting the ringtone, ring melody, or vibration of the incoming call, as described above. The ringtone and ring melody are pre-registered in the electronic control circuit unit 10, and the function unit of the incoming call notification detection unit 116 of the control unit 101 can detect the match between the registered audio data and the audio data picked up by the microphone 124. Similarly, the vibration of the incoming call is also registered and can be detected by similar match detection.

If, in step S1, it is determined that no incoming call notification has been detected, the control unit 101 performs other processing (step S2), and after that processing, returns to step S1.

Furthermore, when step S1 determines that an incoming call notification has been detected, the control unit 101 determines whether the driving mode of the autonomous vehicle 1 is manual driving mode or not (step S3). If step S3 determines that the driving mode is autonomous driving mode and not manual driving mode, then the control unit 101 returns to step S1, as it is possible to respond to the incoming call and have a safe conversation.

In step S3, if the control unit 101 determines that the driving mode is manual driving mode, it switches the driving mode to forced automatic driving mode and notifies the driver of this by, for example, emitting a message through the speaker 125 (step S4).

Next, the control unit 101 monitors the image information captured by the camera 107a and analyzes the captured image information to determine whether the driver picked up the mobile phone terminal 2 and performed an action to answer an incoming call (step S5).

In step S5, if the control unit 101 determines that the driver has not taken any action to answer the incoming call, it determines whether the incoming call notification from the mobile phone terminal 2 has disappeared (step S6). If it determines that the incoming call notification has not disappeared, it returns to step S5.

When the control unit 101 determines in step S6 that the incoming call notification has disappeared, it switches from forced automatic driving mode to normal automatic driving mode (step S7), waits for detection of manual driving operations such as the accelerator pedal, brake pedal, shift lever, and steering wheel (step S8), and when manual driving operations are detected in step S8, switches from automatic driving mode to manual driving mode and notifies the driver by broadcasting a message to that effect, for example, through the speaker 125 (step S9). After step S9, the control unit 101 returns to step S1 and repeats the process from step S1 onward.

In step S5, when the control unit 101 determines that the driver has taken action to answer an incoming call, it executes the car navigation function start process, sets the destination, and starts the car navigation function (step S10). Details of this car navigation function start process in step S10 will be described later.

Next, the control unit 101 controls the system to maintain the forced automatic driving mode even if it detects manual driving operation (step S11). Then, the control unit 101 monitors the image information captured by the camera 107a, analyzes the captured image information, and determines whether the driver has ended a call using the mobile phone terminal 2, placed the mobile phone terminal 2 somewhere, and placed their hands on the steering wheel, thereby enabling manual driving (step S12).

The determination process in step S12 is an example of an termination detection means for detecting the event of the driver ending the use of a mobile device's functions. In the determination in step S12, in addition to determining whether the driver places their hands on the steering wheel, it may also determine whether the driver ends a call using the mobile phone terminal 2 and places the mobile phone terminal 2 somewhere.

If step S12 determines that the system is not in a state where manual operation is possible, step S12 is continued, and the system waits for the system to become ready for manual operation. If step S12 determines that the system is ready for manual operation, the control unit 101 proceeds to step S7, executes the processes from step S7 onward, and returns the system to manual operation mode.

Next, an example of the car navigation function startup process in step S10 of the flowchart in Figure 3 will be explained with reference to Figure 4.

The control unit 101 displays a screen for setting the destination in automatic driving mode on the display unit 111, and simultaneously emits an audio message from the speaker 125 prompting the driver to set the destination (step S21). At this time, if a destination for automatic driving mode is pre-set, the display unit 111 displays a message indicating this and asking if the destination is acceptable. The driver then confirms this via the touch panel 112. If no destination is pre-set, the driver sets the destination by specifying it on the map displayed on the display screen via the touch panel 112, or by inputting the name of the destination location.

The control unit 101 waits for the destination to be set (step S22). When it determines that the destination has been set, it displays route candidates from the current location to the set destination on the display screen (step S23). Next, the control unit 101 monitors the operation input of the touch panel 112 and determines whether the selection of a route to be used has been completed from the route candidates to the destination displayed on the display screen (step S24). Then, when it determines in step S24 that the selection of a route to be used has been completed, the control unit 101 starts navigation for route guidance in automatic driving mode (step S25).

As described above, according to this embodiment, as shown in Figure 2, when a call is received on the mobile phone terminal 2 while the driver 3 is in the autonomous vehicle 1 with the mobile phone terminal 2 and driving in manual mode, the autonomous vehicle 1 automatically switches from manual mode to forced autonomous mode, and the autonomous vehicle 1 enters a state of safe driving in forced autonomous mode. Therefore, the driver can confidently take their hands off the steering wheel 5, pick up the mobile phone terminal 2, answer the call, and make a call.

Furthermore, in the above-described embodiment, if the driver does not respond to the incoming call notification and the notification ends, the system detects a manual driving operation and returns to manual driving mode. Therefore, the driver can easily return to manual driving mode by performing a manual driving operation when not answering an incoming call.

Furthermore, in the above-described embodiment, when the system switches to forced automatic driving mode, a screen prompting the driver to set a destination in the car navigation system is automatically displayed, the destination is accepted, and the car navigation system is started. Therefore, even if the driver answers an incoming call on the mobile phone terminal 2 and makes a call, the autonomous vehicle 1 will reliably move to the destination desired by the driver.

<Example 2: When the portable device is a mobile phone terminal and you are making a phone call>
As shown in Figure 2(A), even when the driver 3 brings the mobile phone terminal 2 into the autonomous vehicle 1 and places it, for example, on the dashboard 4, and is driving the autonomous vehicle 1 in manual driving mode, the autonomous vehicle 1 in this embodiment is configured to allow safe communication based on the call to be made using the mobile phone terminal 2.

In other words, in this embodiment, when driver 3 picks up the mobile phone terminal 2 on the dashboard 4 and takes both hands off the steering wheel 5 to attempt to make a call, as shown in Figure 2(B), the system detects this operation by analyzing the image information of driver 3 captured by camera 107a. Based on this detection, the autonomous vehicle 1 switches from manual driving mode to forced autonomous driving mode, and this is communicated to driver 3. Therefore, driver 3 can confidently pick up the mobile phone terminal 2 on the dashboard 4, take both hands off the steering wheel 5, and make a call, as shown in Figure 2(B).

The flow of processing operations in the electronic control circuit unit 10 at this time will be explained with reference to the flowchart in Figure 5.

First, the control unit 101 determines whether the driving mode of the autonomous vehicle 1 is manual driving mode or not (step S31). If, in step S31, it determines that the driving mode is autonomous driving mode and not manual driving mode, it proceeds to the processing routine for autonomous driving mode (step S32).

In step S31, when it is determined that the driving mode is manual driving mode, the control unit 101 monitors the image information captured by the camera 107a, analyzes the captured image information, and determines whether the driver 3 has taken the action of picking up the mobile phone terminal 2 to make a call (step S33).

If, in step S33, the control unit 101 determines that the driver 3 has not taken the mobile phone terminal 2, it performs other processing (step S34), and once that processing is complete, it returns to step S33.

In step S33, when the control unit 101 detects that the driver 3 has picked up the mobile phone terminal 2, it switches the driving mode to forced automatic driving mode and notifies the driver 3 of this by, for example, emitting a message through the speaker 125 (step S35).

Next, the control unit 101 executes the car navigation function startup process, sets the destination, and starts the car navigation function (step S36). This car navigation function startup process in step S36 is the same as the process described using Figure 4.

Next, the control unit 101 controls the system to maintain the forced automatic driving mode even if it detects manual driving operation (step S37). Then, the control unit 101 monitors the image information captured by the camera 107a, analyzes the captured image information, and determines whether the driver 3 has ended a call using the mobile phone terminal 2, placed the mobile phone terminal 2 somewhere, and placed their hands on the steering wheel 5, thereby enabling manual driving (step S38). If step S38 determines that the driver is not yet in a state where manual driving is possible, step S38 is continued until the driver becomes ready for manual driving.

Then, in step S38, when the control unit 101 determines that manual driving is possible, it switches from forced automatic driving mode to normal automatic driving mode (step S39), waits for detection of manual driving operations such as the accelerator pedal, brake pedal, shift lever, and steering wheel (step S40), and when it detects manual driving operations in step S40, it switches from automatic driving mode to manual driving mode and notifies the driver 3 of this by, for example, emitting a message through the speaker 125 (step S41). After step S41, the control unit 101 returns to step S33 and repeats the processing from step S33 onward.

As described above, according to this embodiment, when driver 3 enters the autonomous vehicle 1 with a mobile phone terminal 2 and is driving in manual driving mode, and it becomes necessary to make a call using the mobile phone terminal 2, the autonomous vehicle 1 automatically switches from manual driving mode to forced autonomous driving mode when driver 3 picks up the mobile phone terminal 2 to make a call. In forced autonomous driving mode, the autonomous vehicle 1 operates safely in accordance with traffic laws regarding the handling of mobile devices inside the vehicle. Therefore, driver 3 can confidently take their hands off the steering wheel 5, pick up the mobile phone terminal 2, make a call, and make a conversation.

In the first embodiment, the vibration upon receiving a call was detected by a microphone, but it may be detected by a vibration sensor or pressure sensor, not just a microphone.

<Modified form of the first embodiment>
<A variation of the first example>
In the first example described above, upon detecting an incoming call notification on a mobile phone terminal, the driving mode of the autonomous vehicle 1 is immediately switched to forced autonomous driving mode, taking into consideration the assumption that the driver will answer the call and the need to safely pick up the mobile phone terminal. In other words, in the first example, the incoming call notification is an event that triggers the start of using the functions of the mobile device, and by detecting this, the system switches to forced autonomous driving mode.

Therefore, if the driver does not answer an incoming call, the system temporarily enters forced automatic driving mode, and the driver's manual driving operations are disabled until the incoming call notification disappears. Consequently, although rare, if the driver attempts manual driving operations such as accelerating, braking, or steering to make a turn or change lanes while the mobile phone notification is displayed, these operations will be disabled, potentially creating a dangerous situation.

The modification of the first example described below avoids the above problem by, in addition to the incoming call notification, making the driver picking up the mobile device a trigger event for initiating the use of the mobile device's functions.

Figure 6 is an example of a flowchart illustrating the processing flow in a modified version of this first example.

In other words, in the example shown in Figure 6, first, the control unit 101 monitors the audio information picked up by the microphone 124, in the same manner as in the first example described above, to determine whether or not it has detected an incoming call notification from the mobile phone terminal 2 (step S51).

If, in step S51, it is determined that no incoming call notification has been detected, the control unit 101 performs other processing (step S52), and after the processing is completed, returns to step S51.

Furthermore, when the control unit 101 determines in step S51 that an incoming call notification has been detected, it determines whether the driving mode of the autonomous vehicle 1 is manual driving mode or not (step S53). If, in step S53, it determines that the driving mode is autonomous driving mode and not manual driving mode, then the control unit 101 returns to step S51, as it is possible to respond to the incoming call and have a safe conversation.

In step S53, if the control unit 101 determines that the driving mode is manual driving mode, it monitors the image information captured by the camera 107a, analyzes the captured image information, and determines whether the driver picked up the mobile phone terminal 2 and performed the action of picking up the mobile phone terminal 2 to answer an incoming call (step S54).

In step S54, if the control unit 101 determines that the driver has not taken the mobile phone terminal 2 to answer the incoming call, it determines whether the incoming call notification from the mobile phone terminal 2 has disappeared (step S55). If it determines that the incoming call notification has not disappeared, it returns to step S54. If it determines in step S55 that the incoming call notification has disappeared, the control unit 101 returns to step S51.

Then, in step S54, when the control unit 101 determines that the driver has picked up the mobile phone terminal 2 to answer an incoming call, it switches the driving mode to forced automatic driving mode and notifies the driver by, for example, emitting a message through the speaker 125 (step S56).

Next, the control unit 101 executes the car navigation function startup process described using Figure 4, sets the destination, and starts the car navigation function (step S57). Then, the control unit 101 controls the vehicle to maintain the forced automatic driving mode even if manual driving operation is detected (step S58).

The control unit 101 then monitors the image information captured by the camera 107a, analyzes the image information, and determines whether the driver has ended a call using the mobile phone terminal 2, placed the mobile phone terminal 2 somewhere, and placed their hands on the steering wheel, thereby enabling manual driving (step S59). If step S59 determines that the driver is not yet in a state where manual driving is possible, step S59 is continued, and the system waits for the driver to become ready for manual driving.

Then, in step S59, when the control unit 101 determines that manual driving is possible, it switches from forced automatic driving mode to normal automatic driving mode (step S60), waits for detection of manual driving operations such as the accelerator pedal, brake pedal, shift lever, and steering wheel (step S61), and when it detects manual driving operations in step S61, it switches from automatic driving mode to manual driving mode and notifies the driver of this by emitting a message, for example, through the speaker 125 (step S62). After step S62, the control unit 101 returns to step S51 and repeats the processing from step S51 onwards.

As described above, this modified version of the first example not only detects an incoming call notification, but also confirms that the driver picks up the mobile phone to answer the call before switching to forced automatic driving mode. Therefore, the driver's manual driving operations are not invalidated even while an incoming call notification is displayed. Consequently, if the driver performs manual driving operations such as turning left or right or changing lanes while an incoming call notification is displayed on the mobile phone, these operations are considered valid. After performing the necessary manual driving operations, if the driver picks up the mobile phone to answer the call, the driving mode switches to forced automatic driving mode, allowing the driver to answer the call and talk with peace of mind.

<Other variations of the first example>
In the first example and its modifications described above, the mobile device was a mobile phone terminal, and the function described was the incoming telephone communication. However, it is not limited to the incoming telephone communication; it can also be applied to the incoming (receiving) of email (including the function to receive short messages and text messages) provided by the mobile phone terminal. Furthermore, this invention is also applicable to the incoming (receiving) of information via other communication functions provided by mobile devices such as mobile phone terminals, such as internet telephones, microblogs such as Twitter®, instant messengers such as LINE, SNS (Social Networking Service), electronic bulletin boards, and other communication services via the internet. Moreover, the mobile device is not limited to a mobile phone terminal. Regarding email and other communication services, the autonomous vehicle 1 detects the received notification corresponding to the incoming notification.

<A variation of the second example>
In the second example described above, the mobile device was a mobile phone terminal, and the function described was the outgoing telephone call. However, this invention is not limited to outgoing telephone calls; it can also be applied to sending emails (including the short message sending function) provided by mobile phone terminals. Furthermore, this invention is applicable to sending information via internet communication services such as internet telephones, microblogs like Twitter®, instant messengers like LINE, SNS, and electronic bulletin boards. In addition, in the case of email and message communication, this invention is applicable not only to receiving and sending emails, but also during input operations such as composing emails or messages, where attention may be distracted, potentially leading to dangerous driving, such as staring at the display screen or deep in thought. Of course, this invention is also applicable during browsing operations such as checking emails or messages. Moreover, the mobile device is not limited to mobile phone terminals.

Furthermore, in this second example, the portable device may not have communication capabilities but may have a display screen that the driver might focus on for input or viewing, such as a game console, e-book reader/viewer, DVD (Digital Versatile Disc) player or memory player, or portable television. Alternatively, the portable device may be a tablet, PDA (Personal Digital Assistant), or laptop computer with a display screen. Even in these cases, the driver's action of picking up the portable device triggers the use of its functions, so the processing flow shown in Figure 6 can be applied directly.

[Second Embodiment]
In the first embodiment described above, the mobile phone terminal 2, as an example of a portable device, had no electrical connection to the electronic control circuit unit 10 of the autonomous vehicle 1, and the functions of the mobile phone terminal 2 were performed by the user (driver) interacting with the mobile phone terminal 2.

In the second embodiment, the autonomous vehicle 1A includes a mobile phone interface unit in its electronic control circuit unit 10A that electrically connects to a mobile phone terminal 2 brought into the vehicle. The telephone communication functions of the mobile phone terminal 2 are realized through display on the display screen of the display unit 111 of the electronic control circuit unit 10A and through operation reception functions via the touch panel 112.

Figure 7 is a block diagram showing an example of the configuration of the electronic control circuit unit 10A of the autonomous vehicle 1A of this second embodiment. Parts identical to those of the electronic control circuit unit 10 of the autonomous vehicle 1 of the first embodiment described above are denoted by the same reference numerals, and their detailed descriptions are omitted.

As is clear from comparing Figure 1 and Figure 7, the electronic control circuit unit 10A of the autonomous vehicle 1A in the second embodiment does not include the incoming call notification detection unit 116 of the electronic control circuit unit 10 in the first embodiment. Instead, it includes a mobile phone interface unit 116A. Furthermore, the electronic control circuit unit 10A does not include the voice output unit 118 of the electronic control circuit unit 10 in the first embodiment; instead, it includes a voice interface unit 118A. The other configurations of the electronic control circuit unit 10A of the autonomous vehicle 1A in the second embodiment are the same as those of the electronic control circuit unit 10 in the first embodiment.

As shown in Figure 8(A), the dashboard 4 of the autonomous vehicle 1A in the second embodiment is provided with a storage pocket 116Ap for storing a mobile phone terminal 2 in a predetermined location within the driver's reach. The driver can secure the mobile phone terminal 2, which they have brought into the vehicle, by inserting it into the storage pocket 116Ap.

In this example, the electrical connection between the mobile phone terminal 2 and the mobile phone interface unit 116A of the electronic control circuit unit 10A is made wirelessly, for example, using a short-range wireless standard such as Bluetooth®. Of course, instead of a wireless connection, the mobile phone terminal 2 and the electronic control circuit unit 10A may also be electrically connected by connecting the USB (Universal Serial Bus) terminal on the mobile phone terminal 2 to the USB terminal on the mobile phone interface unit 116A using a USB cable.

Furthermore, in this second embodiment, the electronic control circuit unit 10A, along with the mobile phone interface unit 116A and the control unit 101, is configured to receive control signals from the mobile phone terminal 2 and perform processing for incoming calls and outgoing calls.

In other words, the electronic control circuit unit 10A receives a control signal from the mobile phone terminal 2 and includes the function of an incoming call detection circuit. Based on the incoming call detection result, it has the function of displaying the incoming call (incoming call notification) on the display screen 111D of the display unit 111, as shown in Figure 8(B), or supplying a ringtone to the speaker 125A via the voice interface unit 118A and emitting the sound to notify the user of the incoming call.

Then, as shown in Figure 8(B), the control unit 101 displays a software button 112a for answering an incoming call and a software button 112b for ending a call on the incoming call notification display screen 111D. When a user (driver, etc.) touches these buttons 112a or 112b, the control unit 101 detects the operation via the touch panel 112 and performs processing corresponding to the operated button 112a or 112b.

When a user (such as a driver) presses the call answer button 112a, the control unit 101 generates a call path with the caller via the mobile phone terminal 2, enabling hands-free calling using the microphone 124A connected to the voice interface unit 118A as the transmitter and the speaker 125A connected to the voice interface unit 118A as the receiver. Furthermore, when the user (such as a driver) presses the end button 112b, the control unit 101 controls the mobile phone terminal 2 to disconnect the call path and end the call.

Furthermore, as shown in Figure 8(C), in the standby state (not receiving an incoming call notification), the control unit 101 displays a software button 112c for making a call and a software button 112d for accessing a predetermined website via the internet on the display screen 111D. When a user (driver, etc.) touches these buttons 112c or 112d, the touch panel 112 detects the operation and notifies the control unit 101. Upon receiving this notification, the control unit 101 performs processing corresponding to the operated button 112c or 112d.

When a user (driver, etc.) operates the call button 112c, the control unit 101 displays a call screen on the display screen 111D, accepts the user's selection of the recipient, and controls the mobile phone terminal 2 to initiate a call to the specified recipient. After confirming the recipient's response, it generates a call path with the recipient, enabling hands-free calling using the microphone 124A and speaker 125A connected to the voice interface unit 118A.

Furthermore, when the user (driver, etc.) operates the end button 112c, the control unit 101 controls the display screen 111D to display a browser screen so that the user can access a designated website on the internet via the mobile phone terminal 2 and receive services from that website.

In this second embodiment, although mobile phone calls can be made hands-free and are therefore permitted under the Road Traffic Act, the driver's attention is somewhat distracted during calls. Furthermore, when making phone calls, sending emails, or accessing the internet, it is necessary to operate the system via the touch panel 112 while viewing the display screen 111D. Therefore, the system switches from manual driving mode to forced automatic driving mode to enhance safety.

In this second embodiment, the trigger for the driver to start using the functions of the portable device is detected by whether or not the driver touches the software buttons 112a to 112d displayed on the display screen 111D of the display unit 111. That is, in this second embodiment, the control unit 101 analyzes the image information captured by the camera 107a to determine whether or not the driver has made an action to touch the software buttons 112a to 112d displayed on the display screen 111D, and also determines via the touch panel 112 whether or not any of those software buttons 112a to 112d were actually touched. Then, when the control unit 101 determines that the driver has made an action to touch the software buttons 112a to 112d displayed on the display screen 111D, and that any of the software buttons 112a to 112d were actually touched, it automatically switches from manual driving mode to forced automatic driving mode.

Furthermore, the reason why the detection of events triggering the driver to initiate the use of a mobile device's functions is not limited to detecting only touch operations on any of the software buttons 112a to 112d, but also includes detecting the driver's actions, is that, for example, if a passenger in the front passenger seat operates those buttons and uses the functions of the mobile phone terminal 2, it is considered that this would not significantly affect the driver's manual driving.

[Example of the operation of switching the driving mode in the autonomous vehicle 1A of the second embodiment]
An example of the processing flow in the electronic control circuit unit 10A of the autonomous vehicle 1A of the second embodiment will be explained with reference to the flowchart in Figure 9.

First, the control unit 101 determines whether the driving mode of the autonomous vehicle 1 is manual driving mode or not (step S71). If, in step S71, it determines that the driving mode is autonomous driving mode and not manual driving mode, it proceeds to the processing routine for autonomous driving mode (step S72).

In step S71, when it is determined that the driving mode is manual driving mode, the control unit 101 monitors the image information captured by the camera 107a, analyzes the captured image information, and determines whether the driver attempted to touch the software button 112c or 112d to make a call, and whether a touch operation of either the software button 112c or 112d was detected via the touch panel 112 (step S73).

In step S73, if the driver touches either the software button 112c or 112d to initiate a call, and the control unit 101 detects that either the software button 112c or 112d has been touched via the touch panel 112, the control unit 101 switches the driving mode to forced automatic driving mode and notifies the driver by, for example, emitting a message through the speaker 125A (step S74).

Next, the control unit 101 executes the car navigation function startup process, sets the destination, and starts the car navigation function (step S75). This car navigation function startup process in step S75 is the same as the process explained using Figure 4.

Next, the control unit 101 controls the system to maintain the forced automatic driving mode even if it detects a manual driving operation (step S76). The control unit 101 then detects that the driver has performed an operation to terminate a function (such as a phone call, email, or internet connection) on the display screen 111D via the touch panel 112. It also monitors the image information captured by the camera 107a, analyzes the captured image information, and determines whether the driver performed such a termination operation and subsequently placed their hands on the steering wheel, thus enabling manual driving (step S77). If step S77 determines that the driver is not yet in a state where manual driving is possible, step S77 is continued, and the system waits for the driver to become manual.

Then, in step S77, when the control unit 101 determines that manual driving is possible, it switches from forced automatic driving mode to normal automatic driving mode (step S78), waits for detection of manual driving operations such as the accelerator pedal, brake pedal, shift lever, and steering wheel (step S79), and when it detects manual driving operations in step S79, it switches from automatic driving mode to manual driving mode and notifies the driver by emitting a message to that effect, for example, through speaker 125A (step S80). After step S80, the control unit 101 returns to step S73 and repeats the processing from step S73 onward.

In step S73, if the control unit 101 determines that the driver has not touched the software button 112c or 112d to initiate a call, or that it has not detected that either the software button 112c or 112d has been touched, the control unit 101 determines whether an incoming call has been detected (step S81). If it determines that no incoming call has been detected, the process returns to step S73.

Then, in step S81, when it is determined that an incoming call has been detected, the control unit 101 monitors the image information captured by the camera 107a, analyzes the captured image information, and determines whether the driver attempted to touch the software button 112a to answer the incoming call, and whether the touch operation of the software button 112a was detected through the touch panel 112 (step S82).

In step S82, if the control unit 101 determines that the driver is attempting to touch the software button 112a to answer an incoming call, and that the touch operation of the software button 112a has been detected via the touch panel 112, the control unit 101 proceeds to step S74 and repeats the process from step S74 onward.

Furthermore, if in step S82 the control unit 101 determines that the driver has not attempted to touch the software button 112a to answer an incoming call, or that it has not detected a touch operation of the software button 112a via the touch panel 112, the control unit 101 returns to step S73 and repeats the process from step S73 onward.

As described above, according to this embodiment, when the driver is operating in manual driving mode and takes action to make a phone call, send an email, or make a call to an internet site, or takes action to respond to an incoming phone call or email, the autonomous vehicle 1A automatically switches from manual driving mode to forced autonomous driving mode, and the autonomous vehicle 1A enters a state of safe driving in forced autonomous driving mode. Therefore, the driver can confidently take their hands off the steering wheel and perform actions such as making and receiving phone calls and emails, and even receiving various services via the internet by focusing on the display screen.

[Modified example of the second embodiment]
Furthermore, in this second embodiment, the detection of an event that triggers the driver to start using the functions of the portable device may not be limited to detecting the driver's operation of the software buttons 112a to 112d on the display screen 111D, but may also include detecting whether the driver's hands are off the steering wheel. For example, if the driver operates the software buttons 112a to 112d on the display screen 111D and takes both hands off the steering wheel, the system may switch to forced automatic driving mode. However, if the driver operates the software buttons 112a to 112d but does not take at least one hand off the steering wheel, the system may maintain manual driving mode and not switch to forced automatic driving mode.

[Third Embodiment]
This third embodiment is a case in which the electronic control circuit unit of the autonomous vehicle itself has the functionality of a mobile phone terminal. In other words, in this third embodiment, the autonomous vehicle 1B has the functionality of a mobile phone as one of its own functions, provided by the electronic control circuit unit 10B.

Figure 10 is a block diagram showing an example of the configuration of the electronic control circuit unit 10B of the autonomous vehicle 1B of this third embodiment. Parts identical to those of the electronic control circuit unit 10 of the autonomous vehicle 1 of the first embodiment described above are denoted by the same reference numerals, and their detailed descriptions are omitted.

As is clear from comparing Figure 1 and Figure 10, the electronic control circuit unit 10B of the autonomous vehicle 1B in the third embodiment does not include the incoming call notification detection unit 116 of the electronic control circuit unit 10 in the first embodiment, but instead includes a mobile phone function unit 116B. A microphone 124B and a speaker 125B for hands-free calling are connected to the mobile phone function unit 116B. The other configurations of the electronic control circuit unit 10B of the autonomous vehicle 1B in the third embodiment are the same as those of the electronic control circuit unit 10 in the first embodiment.

The mobile phone function unit 116B provides the functions of the mobile phone terminal 2. This third embodiment differs only in that the functions of the mobile phone terminal 2 are located within the electronic control circuit unit 10B; otherwise, it operates in exactly the same manner as the second embodiment described above, and achieves the same effects and benefits.

Furthermore, a modified example of the third embodiment can be constructed in the same manner as a modified example of the second embodiment, and similar effects and advantages can be obtained.

Note that a car phone may also be used instead of a mobile phone.

[Other embodiments or museums]
In the above embodiment, the system switches from forced automatic driving mode to normal automatic driving mode before switching to manual driving mode. However, it is also possible to configure the system to switch directly from forced automatic driving mode to manual driving mode once the driver has finished using the functions of their portable device.

This invention can be applied not only to regular automobiles and light vehicles, but also to trucks, buses, taxis, tractors, dump trucks, excavators, forklifts, and even single-person vehicles and motorcycles.

Furthermore, although the autonomous vehicle in the above-described embodiment was an electric vehicle, this invention is also applicable to gasoline-powered vehicles, hybrid vehicles, and vehicles with other drive systems.

1, 1A, 1B…Autonomous driving vehicle; 10, 10A, 10B…Electronic control circuit unit; 104…Manual/automatic driving mode switching control unit; 107…Camera group; 111…Display unit; 112…Touch panel; 113…Car navigation function unit; 114…Driver action analysis detection unit; 115…Forced automatic driving mode switching determination unit; 116…Incoming call notification detection unit

Claims (18)

In an autonomous vehicle equipped with a manual driving mode in which the vehicle is driven based on the driver's actions and an autonomous driving mode in which the vehicle is driven autonomously,
An input operation detection means for detecting the driver's input operation for creating an email or message using the functions of a mobile device,
In the driving state in the manual driving mode, when the input operation detection means detects an input operation by the driver to create an email or message using the functions of the portable device, a mode switching means switches from the manual driving mode to the automatic driving mode,
An autonomous vehicle characterized by being equipped with the following features. The autonomous vehicle according to claim 1, characterized in that it incorporates the functions of the aforementioned portable device as functions of the vehicle itself. The autonomous vehicle according to claim 1 or 2, characterized in that the creation of the email or message includes the use of email, short message service, X (formerly Twitter®), LINE, SNS, and electronic bulletin boards. The autonomous vehicle according to any one of claims 1 to 3, characterized in that the aforementioned portable device is a mobile phone terminal, smartphone, tablet, PDA (Personal Digital Assistant), or notebook computer. The aforementioned automatic driving modes include a normal automatic driving mode that can be switched to the manual driving mode by a predetermined operation by the driver, and a forced automatic driving mode in which switching to the manual driving mode is not possible.
The autonomous vehicle according to any one of claims 1 to 4, characterized in that the mode switching means switches from the manual driving mode to the forced automatic driving mode. The system includes termination detection means for detecting the end of the driver's input operation for creating an email or message using the functions of the aforementioned mobile device,
The autonomous vehicle according to claim 5, characterized in that when the termination detection means detects the termination of the input operation, the forced automatic driving mode is switched to the normal automatic driving mode or the manual driving mode. The system includes termination detection means for detecting the end of the driver's input operation for creating an email or message using the functions of the aforementioned mobile device,
The autonomous vehicle according to any one of claims 1 to 6, characterized in that when the termination detection means detects the termination of the input operation, the autonomous driving mode is switched to the manual driving mode. It is equipped with a navigation system that guides the vehicle toward a set destination,
When the mode switching means switches from the manual driving mode to the automatic driving mode, the system includes a designation means that inquires about the destination from the driver or passenger and accepts the destination specified in response to the inquiry.
The autonomous vehicle according to any one of claims 1 to 7, characterized in that the navigation means guides the vehicle toward the destination specified by the designation means. It is equipped with a navigation system that guides the vehicle toward a set destination,
The autonomous vehicle according to any one of claims 1 to 7, characterized in that when the mode switching means switches from the manual driving mode to the automatic driving mode , the navigation means guides the vehicle toward a preset destination. When the mode switching means switches from the manual driving mode to the automatic driving mode, the system includes an inquiry means for asking the driver or passenger whether the pre-set destination is acceptable.
The autonomous vehicle according to claim 9, wherein, if the inquiry means indicates that the pre-set destination is acceptable, the navigation means guides the vehicle toward the pre-set destination. The aforementioned inquiry means, if the pre-set destination is unsuitable, includes a designation means that inquires about the destination from the driver or passenger and accepts the designation of a destination in response to that inquiry.
The autonomous vehicle according to claim 10, characterized in that the navigation means guides the vehicle toward the destination specified by the designation means. The navigation means includes a presentation means for presenting route candidates,
When the mode switching means switches from the manual driving mode to the automatic driving mode, the selection means presents route candidates to the driver or passenger using the presentation means and accepts the selection of one route from among the route candidates.
The autonomous vehicle according to claim 8 or 11, characterized in that the navigation means guides the vehicle toward the destination specified by the designation means, using the route selected by the selection means. The navigation means includes a presentation means for presenting route candidates,
When the mode switching means switches from the manual driving mode to the automatic driving mode, the selection means presents route candidates to the driver or passenger using the presentation means and accepts the selection of one route from among the route candidates.
The autonomous vehicle according to claim 9 or 10, characterized in that the navigation means guides the vehicle toward the pre-set destination using the route selected by the selection means. The autonomous vehicle according to any one of claims 1 to 13, characterized in that the mode switching means notifies the driver by voice that the mode has been switched from the manual driving mode to the automatic driving mode. The vehicle is equipped with the communication functions of the aforementioned portable device as a function of the vehicle itself,
The system comprises a shooting means and an image analysis means having a function to analyze the actions taken by the driver to make a call using the communication function or actions to respond to an incoming call or reception received by the communication function, based on the image captured by the shooting means.
The autonomous vehicle according to any one of claims 1 to 14, wherein the mode switching means also switches from the manual driving mode to the autonomous driving mode when the captured image analysis means detects an action by the driver to make a call using the communication function or an action to respond to an incoming call or reception received by the communication function while the vehicle is in the manual driving mode. The system comprises a shooting means and an image analysis means that analyzes whether the driver has taken both hands off the steering wheel based on the image captured by the shooting means.
The autonomous vehicle according to any one of claims 1 to 15, characterized in that the mode switching means switches from the manual driving mode to the autonomous driving mode when the captured image analysis means detects that the driver has taken both hands off the steering wheel while driving in the manual driving mode.
Equipped with a means of filming,
The autonomous vehicle according to any one of claims 1 to 16, characterized in that the input operation detection means detects the driver's input operation of creating an email or message using the functions of the mobile device based on the captured image taken by the shooting means. A computer in an autonomous vehicle equipped with a means of taking pictures, and equipped with a manual driving mode in which the vehicle is driven based on the driver's actions, and an autonomous driving mode in which the vehicle is driven autonomously,
Input operation detection means for detecting the driver's input operation for creating an email or message using the functions of a mobile device.
In the driving state in the manual driving mode, when the input operation detection means detects an input operation by the driver to create an email or message using the functions of the portable device, a mode switching means switches from the manual driving mode to the automatic driving mode.
A program for autonomous vehicles to function as such.