WO2020084719A1

WO2020084719A1 - Self-driving vehicle having plurality of seats without seatbelts

Info

Publication number: WO2020084719A1
Application number: PCT/JP2018/039559
Authority: WO
Inventors: 芳紀倉貫; 北斗藤井
Original assignee: ヤマハ発動機株式会社
Priority date: 2018-10-24
Filing date: 2018-10-24
Publication date: 2020-04-30

Abstract

The purpose of the present invention is to provide a self-driving vehicle comprising a plurality of seats without seatbelts, said self-driving vehicle being capable of departing using a novel departure trigger that is not a start button. The number of seats is the same as the seating capacity of the "self-driving vehicle comprising a plurality of seats without seatbelts." A self-driving vehicle control device controls a braking/driving force generator and causes the "self-driving vehicle comprising a plurality of seats without seatbelts" to depart from a stationary state, on the basis of at least either (B), (C), (D), (E), (F), (G), (H), or (I). (B) The number of passengers and the number of seated persons; (C) the number of passengers and the number of people permitted to depart; (D) the number of passengers and the number of seats; (E) the number of passengers and the expected number of passengers; (F) the number of seated persons and the number of seats; (G) the number of seated persons and the expected number of passengers; (H) the number of people permitted to depart and the number of seats; and (I) the number of people permitted to depart and the expected number of passengers.

Description

Self-driving vehicle with multiple seat beltless seats

The present invention relates to an automatic driving vehicle that is equipped with a plurality of seat beltless seats and can travel without driver's operation.

As a conventional self-driving vehicle, the self-driving vehicle (heathrow pod) disclosed in Non-Patent Document 1 is known. There is no driver in the Heathrow pod. Therefore, the Heathrow pod is operated by automatic driving. The Heathrow pod has four seats. Seat belts are not provided on the four seats. Such a heath pod starts when the passenger pushes the start button.

In the technical field of self-driving vehicles equipped with multiple seats without seat belts (seats without seat belts), seats without seat belts that can be launched by a new departure trigger different from the start button are provided. A self-driving vehicle is in demand.

Therefore, an object of the present invention is to provide an autonomous driving vehicle having a plurality of seat beltless seats that can be started by a new start trigger different from the start button.

The present inventor, when considering a new departure trigger for launching an autonomous vehicle having a plurality of seat belt-less seats, has various states of launching an autonomous vehicle of the same type as a heathrow pod. I considered the scene and considered it in detail. A type of autonomous vehicle similar to the Heathrow pod is an autonomous vehicle that includes multiple seat beltless seats. The inventor of the present application, as a result of detailed examination of the departure of the autonomous driving vehicle having such a plurality of seat belt-less seats, has found that the number of types of conditions necessary for the departure increases. Therefore, the inventor of the present application examined means for narrowing down the types of conditions required for departure. As a result, the inventor of the present application sets the number of seats without seat belts equal to the number of seats without seat belts by making the number of seats without seat belts the same as the number of seats without seat belts. I realized that I could squeeze it.

Therefore, the inventor of the present application details the conditions necessary for departure on the premise that the number of seats without seatbelts is the same as the number of seats without seatbelts in an autonomous vehicle equipped with a plurality of seatbeltless seats. investigated. As a result, the inventor of the present application has the necessary conditions for departure when it is premised that the number of seats without a seat belt and the number of seats without a seat belt are the same as the number of seats without the seat belt. As I realized, it was important to count the number of passengers. Further, the inventor of the present application has found that the number of passengers can be summarized into the following five types. The first is the number of passengers, which is the number of passengers in an autonomous vehicle equipped with a plurality of seat belt-less seats. The second is the number of seated passengers, which is the number of passengers seated on a plurality of seatbelt-less seats. The third is the number of passengers permitted to start, which is the number of passengers who have displayed an intention indicating that an autonomous vehicle equipped with a plurality of seat belt-less seats may start from a stopped state. The fourth is the number of seats, which is the number of seats without seat belts. The fifth is the number of passengers scheduled to board, which is the number of passengers declared by passengers before actually boarding, such as when making a reservation.

Therefore, the inventor of the present application presupposes that the number of seats without a seatbelt is the same as the number of seats without a seatbelt in an autonomous vehicle equipped with a plurality of seatbelt-less seats, and the number of seated passengers is reduced. By further combining the number of passengers, the number of passengers seated, the number of persons allowed to leave, the number of seats or the number of passengers scheduled to board, further consideration will be given to the conditions necessary for the departure of an autonomous vehicle equipped with multiple seat belt-less seats. went.

As a result, the inventor of the present application (A), assuming that the number of seats is the same as the seating capacity of the autonomous driving vehicle equipped with a plurality of seat belt-less seats, (B) to (I) It has been found that it is sufficient to determine the departure of an autonomous vehicle equipped with a plurality of seat belt-less seats based on either of them.
(B) Combination of number of passengers and seated persons (C) Combination of number of passengers and permitted number of passengers (D) Combination of number of passengers and number of seats (E) Combination of number of passengers and expected number of passengers (F) Number of seated persons and number of seats (G) Combination of number of seated passengers and scheduled passengers (H) Combination of permitted passengers and number of seats (I) Combination of permitted passengers and expected passengers

When the departure determination is performed based on (B), the passenger capacity of an autonomous vehicle having a plurality of seatbelt-free seats as in (A) and the number of seatbelt-free seats are set to be the same. By doing so, all the passengers who have boarded are seated. Accordingly, (B) the combination of the number of passengers and the number of seated passengers can be a condition necessary for departure.

When the determination of departure is made based on (C), the passenger capacity of an autonomous vehicle having a plurality of seatbelt-free seats, as in (A), is made equal to the number of seatbelt-free seats. By doing so, the number of passengers on board is limited. For example, the number of passengers on board is limited to about 1 to 10. Accordingly, the combination of (C) the number of passengers and the number of persons permitted to start can be set as a condition required for departure.

When the determination of departure is made based on (D), the passenger capacity of an autonomous vehicle having a plurality of seatbelt-free seats, as in (A), is made equal to the number of seatbelt-free seats. By doing so, the number of passengers on board is limited to the number of seats or less. Accordingly, (D) the combination of the number of passengers and the number of seats can be set as a condition necessary for departure.

When the determination of departure is made based on (E), the passenger capacity of an autonomous vehicle having a plurality of seatbelt-free seats as in (A) and the number of seatbelt-free seats are made the same. By doing so, the number of passengers on board is limited. For example, the number of passengers on board is limited to about 1 to 10. Accordingly, (E) the combination of the number of passengers and the expected number of passengers can be set as a condition necessary for departure.

When the determination of departure is made based on (F), the passenger capacity of an autonomous vehicle having a plurality of seatbelt-free seats, as in (A), is made equal to the number of seatbelt-free seats. By doing so, all the passengers in the board will be seated. The number of passengers on board is limited to the number of seats or less. Accordingly, (F) the combination of the number of seated persons and the number of seats can be set as a condition necessary for departure.

When the determination of departure is made based on (G), the passenger capacity of an autonomous vehicle having a plurality of seatbelt-free seats as in (A) and the number of seatbelt-free seats are made the same. By doing so, all the passengers in the board will be seated. The number of passengers on board is limited to the number of seats or less. Accordingly, (G) the combination of the number of seated passengers and the number of scheduled passengers can be set as a condition necessary for departure.

When the determination of departure is made based on (H), the passenger capacity of an autonomous vehicle having a plurality of seatbelt-free seats as in (A) and the number of seatbelt-free seats are set to be the same. By doing so, the number of passengers on board is limited to the number of seats or less. For example, the number of passengers on board is limited to about 1 to 10. Accordingly, (H) the combination of the number of permitted departures and the number of seats can be set as a condition necessary for departure.

When the determination of departure is made based on (I), the passenger capacity of an autonomous vehicle having a plurality of seatbelt-free seats as in (A) and the number of seatbelt-free seats are the same. By doing so, the number of passengers on board is limited. For example, it can be limited to about 1 to 10 people. Accordingly, (I) the combination of the number of persons permitted to leave and the number of persons scheduled to board can be set as a condition required for departure.

As described above, the present invention is based on the premise that the number of seats without seatbelts is the same as the number of seats without seatbelts in an autonomous vehicle equipped with seats without seatbelts. This is the first invention that can be achieved because the inventor of the present application has realized that necessary conditions can be narrowed down.

The present invention adopts the following configurations in order to solve the above problems.

(1) "Automatic vehicle equipped with multiple seat belt-less seats"
The car body,
Wheels supported by the vehicle body,
A steering mechanism that is supported by the vehicle body and that changes the traveling direction of the "autonomous vehicle including a plurality of seat belt-less seats";
Control force for driving the "autonomous vehicle having a plurality of seatbelt-less seats" supported by the vehicle body and braking the "automatic vehicle having a plurality of seatbelt-free seats" A braking / driving force generator that generates power,
A plurality of seats supported by the vehicle body and having no seat belt, wherein a plurality of seats without a seat belt on which passengers are seated;
An automatic driving control device that controls the steering mechanism and the braking / driving force generation device to drive the "automatic driving vehicle having a plurality of seat belt-less seats" by automatic driving without operation of a driver,
Is equipped with
The number of passengers in the "autonomous vehicle equipped with a plurality of seat belt-free seats" is the number of passengers,
The number of passengers seated on the plurality of seats without seat belts is the number of seated passengers,
The "autonomous vehicle equipped with a plurality of seatbelt-free seats" is the number of passengers allowed to depart from the state of intention indicating that the vehicle may depart from a stopped state,
The number of seats without seat belts is the number of seats,
The number of passengers declared by the passengers before actually riding in the "autonomous vehicle equipped with a plurality of seat belt-less seats" is the number of passengers scheduled to board,
(A) The number of seats is the same as the seating capacity of the "autonomous vehicle equipped with a plurality of seats without seat belts",
The automatic driving control device is configured to control the braking / driving force based on at least one of (B), (C), (D), (E), (F), (G), (H), and (I). The generator is controlled to start the "autonomous vehicle equipped with a plurality of seats without seat belts" from the stopped state.
(B) The number of passengers and the number of seated passengers (C) The number of passengers and the number of permitted passengers (D) The number of passengers and the number of seats (E) The number of passengers and the planned number of passengers (F) The number of seated passengers and the above Number of seats (G) The number of seated persons and the number of scheduled passengers (H) The number of permitted passengers and the number of seats (I) The number of permitted passengers and the number of scheduled passengers

According to (1) "Automatic driving vehicle equipped with multiple seat belt-less seats", it is possible to start with a new departure trigger different from the start button. More specifically, in the “autonomous vehicle having a plurality of seatbelt-less seats”, the number of seats is the same as that of the “autonomous vehicle having a plurality of seatbelt-free seats”. That is, an "autonomous vehicle equipped with a plurality of seat belt-less seats" runs while all passengers are seated on the seat belt-less seats. In this case, the number of passengers and the number of seats are the same. Therefore, the automatic driving control device determines, for example, whether all passengers are seated on a plurality of seats without seat belts based on the number of passengers and the number of seated passengers. Thereby, for example, when all passengers are seated on the seats without seat belts, the automatic driving control device can determine to start the "autonomous vehicle equipped with a plurality of seats without seat belts". In this way, the automatic driving control device can determine the departure of the "autonomous driving vehicle including a plurality of seats without seat belts" based on the number of passengers and the number of seated passengers (that is, (B)). . As a result, according to the "self-driving vehicle having a plurality of seat belt-less seats", the vehicle can be started by a new departure trigger different from the start button.

Also, according to (1) "Automatic driving vehicle equipped with multiple seat belt-less seats", it is possible to start with a new departure trigger different from the start button. More specifically, the number of seats for an "autonomous vehicle equipped with multiple seatbelt-less seats" is the same as the number of seats, so it becomes "autonomous vehicle equipped with multiple seatbeltless seats". The number of passengers on board is limited. For example, the number of passengers who board an “autonomous vehicle equipped with a plurality of seat belt-less seats” is limited to about 1 to 10 people. When the number of passengers in an "autonomous vehicle equipped with a plurality of seats without seat belts" is limited to a small number of passengers, the automatic driving control device determines, for example, "multiple It is easy to determine whether or not all the passengers are making an indication that the "autonomous vehicle equipped with a seatbelt-less seat" may start from a stopped state. Therefore, for example, when all passengers have made an indication that "an autonomous vehicle equipped with a plurality of seat belt-less seats" may depart from a stopped state, " It is possible to determine that an "autonomous vehicle equipped with a seat belt-less seat" is started. In this way, the automatic driving control device can determine the departure of the "autonomous driving vehicle having a plurality of seats without seat belts" based on the number of passengers and the number of persons permitted to start (that is, (C)). it can. As a result, according to the "self-driving vehicle having a plurality of seat belt-less seats", the vehicle can be started by a new departure trigger different from the start button.

Also, according to (1) "Automatic driving vehicle equipped with multiple seat belt-less seats", it is possible to start with a new departure trigger different from the start button. More specifically, the passenger capacity of the "autonomous vehicle equipped with a plurality of seat belt-less seats" is the same as the number of seats. That is, an "autonomous vehicle equipped with a plurality of seat belt-less seats" runs while all passengers are seated on the seat belt-less seats. In this case, if the number of passengers is the same as the number of seats, all passengers can sit on a plurality of seat belt-less seats. Therefore, the automatic driving control device determines, for example, whether or not all passengers can sit on a plurality of seats without seat belts based on the number of passengers and the number of seats. Thereby, for example, when all passengers can sit on a plurality of seatbelt-less seats, the automatic driving control device can determine to start the "autonomous vehicle having a plurality of seatbelt-free seats". In this way, the automatic driving control device can determine the departure of the "autonomous driving vehicle including a plurality of seats without seat belts" based on the number of passengers and the number of seats (that is, (D)). . As a result, according to the "self-driving vehicle having a plurality of seat belt-less seats", the vehicle can be started by a new departure trigger different from the start button.

Also, according to (1) "Automatic driving vehicle equipped with multiple seat belt-less seats", it is possible to start with a new departure trigger different from the start button. More specifically, the number of seats for an "autonomous vehicle equipped with multiple seatbelt-less seats" is the same as the number of seats, so it becomes "autonomous vehicle equipped with multiple seatbeltless seats". The number of passengers on board is limited. For example, the number of passengers who board an “autonomous vehicle equipped with a plurality of seat belt-less seats” is limited to about 1 to 10 people. When the number of passengers in an "autonomous vehicle equipped with a plurality of seats without seat belts" is limited to a small number of passengers, the automatic driving control device determines, for example, based on the number of passengers and the expected number of passengers to board the vehicle. It is easy to determine whether all the scheduled passengers have boarded an "autonomous vehicle equipped with multiple seats without seat belts". Therefore, for example, when the passengers get on as scheduled to board and all the passengers scheduled to board get on the "autonomous vehicle equipped with multiple seat belt-less seats", It can be determined that an "autonomous vehicle equipped with a seat without a seat belt" is started. In this way, the automatic driving control device can determine the departure of the "autonomous driving vehicle having a plurality of seats without seat belts" based on the number of passengers and the number of passengers scheduled to board (that is, (E)). it can. As a result, according to the "self-driving vehicle having a plurality of seat belt-less seats", the vehicle can be started by a new departure trigger different from the start button.

Also, according to (1) "Automatic driving vehicle equipped with multiple seat belt-less seats", it is possible to start with a new departure trigger different from the start button. More specifically, the passenger capacity of the "autonomous vehicle equipped with a plurality of seat belt-less seats" is the same as the number of seats. That is, an "autonomous vehicle equipped with a plurality of seat belt-less seats" runs while all passengers are seated on the seat belt-less seats. In this case, when the self-driving vehicle becomes full, the number of seated persons and the number of seats become the same. Therefore, the automatic driving control device determines, for example, whether or not the “autonomous driving vehicle including a plurality of seats without seat belts” is full, based on the number of seated persons and the number of seats. As a result, when the "autonomous driving vehicle equipped with a plurality of seat belt-less seats" becomes full, the automatic driving control device departs a "autonomous driving vehicle equipped with a plurality of seatbelt-less seats". It can be determined to do. In this way, the automatic driving control device can determine the departure of the "automatic driving vehicle having a plurality of seats without seat belts" based on the number of seated persons and the number of seats (that is, (F)). . As a result, according to the "self-driving vehicle having a plurality of seat belt-less seats", the vehicle can be started by a new departure trigger different from the start button.

Also, according to (1) "Automatic driving vehicle equipped with multiple seat belt-less seats", it is possible to start with a new departure trigger different from the start button. More specifically, the passenger capacity of the "autonomous vehicle equipped with a plurality of seat belt-less seats" is the same as the number of seats. That is, an "autonomous vehicle equipped with a plurality of seat belt-less seats" runs while all passengers are seated on the seat belt-less seats. In this case, the number of seated persons is the same as the number of people scheduled to board. Therefore, the automatic driving control device determines, for example, whether or not all passengers scheduled to board have seated on a plurality of seatbelt-free seats, based on the number of seated persons and the number of passengers scheduled to board. Thereby, for example, when the passengers get on as scheduled to board and all the passengers who are scheduled to board are seated on the seats without seat belts, "the seats without seat belts are provided. It can be determined to start an "autonomous vehicle". In this way, the automatic driving control device can determine the departure of the "autonomous driving vehicle having a plurality of seat belt-less seats" based on the number of seated persons and the number of passengers scheduled to board (that is, (G)). it can. As a result, according to the "self-driving vehicle having a plurality of seat belt-less seats", the vehicle can be started by a new departure trigger different from the start button.

Also, according to (1) "Automatic driving vehicle equipped with multiple seat belt-less seats", it is possible to start with a new departure trigger different from the start button. More specifically, the passenger capacity of the "autonomous vehicle equipped with a plurality of seat belt-less seats" is the same as the number of seats. In this case, when the self-driving vehicle becomes full, the self-driving control device, based on the number of persons permitted to start and the number of seats, for example, "the self-driving vehicle including a plurality of seats without seat belts" starts from the stopped state. It is possible to determine whether or not all passengers are indicating that they are willing to do so. As a result, the automatic driving control device, for example, when all passengers perform the intention display indicating that the "autonomous vehicle equipped with a plurality of seat belt-less seats" may depart from the stopped state, It can be determined that an "autonomous vehicle having a plurality of seat belt-less seats" is to be started. As described above, the automatic driving control device can determine the departure of the "autonomous driving vehicle having a plurality of seats without seat belts" based on the number of permitted departures and the number of seats (that is, (H)). it can. As a result, according to the "self-driving vehicle having a plurality of seat belt-less seats", the vehicle can be started by a new departure trigger different from the start button.

Also, according to (1) "Automatic driving vehicle equipped with multiple seat belt-less seats", it is possible to start with a new departure trigger different from the start button. More specifically, the number of seats for an "autonomous vehicle equipped with multiple seatbelt-less seats" is the same as the number of seats, so it becomes "autonomous vehicle equipped with multiple seatbeltless seats". The number of passengers on board is limited. For example, the number of passengers who board an “autonomous vehicle equipped with a plurality of seat belt-less seats” is limited to about 1 to 10 people. If the number of passengers in an "autonomous vehicle equipped with a plurality of seatbelt-free seats" is limited to a small number of passengers, the automatic driving control device may display, for example, "automobile equipped with a plurality of seatbelt-free seats". It is easy to determine whether or not all the passengers scheduled to board the vehicle are indicating that they are willing to leave the "driving vehicle" from the stopped state. Therefore, the automatic driving control device displays, for example, an intention indicating that the passenger gets on as scheduled and that the "autonomous vehicle equipped with a plurality of seats without seat belts" may depart from a stopped state. When all passengers who are planning to board are doing, it can be determined that the "autonomous vehicle equipped with a plurality of seats without seat belts" is started. In this way, the automatic driving control device determines the departure of the "autonomous driving vehicle having a plurality of seatbelt-free seats" based on the permitted number of passengers and the number of passengers scheduled to board (that is, (I)). You can As a result, according to the "self-driving vehicle having a plurality of seat belt-less seats", the vehicle can be started by a new departure trigger different from the start button.

The "autonomous vehicle equipped with a plurality of seatbelt-free seats" in (2) is the "autonomous vehicle equipped with a plurality of seatbelt-free seats" in (1),
A non-contact detection device that detects the internal state of the "autonomous vehicle equipped with a plurality of seat belt-less seats" in a non-contact manner to generate non-contact detection information,
Further equipped,
The automatic driving control device controls the braking / driving force generation device based on the non-contact detection information generated by the non-contact detection device to control the “automatic driving vehicle including a plurality of seat beltless seats”. To start from the stopped state.

According to (2) "Automatic driving vehicle equipped with a plurality of seatbelt-free seats", the non-contact detection device determines that the internal state of the "autonomous driving vehicle equipped with a plurality of seatbelt-free seats" is not Detect by contact. Therefore, the non-contact detection device does not have to be arranged in a place where the passenger can touch. As a result, the degree of freedom in arranging the non-contact detection device increases.

The "autonomous vehicle equipped with a plurality of seatbelt-free seats" in (3) is the "autonomous vehicle equipped with a plurality of seatbelt-free seats" in (2),
The non-contact detection device is an imaging device that images the inside of an “autonomous vehicle equipped with a plurality of seat belt-less seats”,
The automatic driving control device controls the braking / driving force generation device based on the video data generated by the imaging device to start the "automatic driving vehicle including a plurality of seats without seat belts" from a stopped state. Let

According to (3) “Automatic driving vehicle equipped with multiple seat belt-less seats”, the non-contact detection device is an imaging device. The image capturing device captures an image of the inside of an "autonomous vehicle equipped with a plurality of seat belt-less seats". The automatic driving control device can acquire a plurality of pieces of information such as the number of passengers and the number of seated persons based on the video data generated by the imaging device. This eliminates the need to provide a non-contact detection device for each piece of information that the automatic driving control device wants to acquire. As a result, according to (3) “Automatic driving vehicle equipped with a plurality of seat belt-less seats”, the number of non-contact detection devices can be reduced.

The “autonomous vehicle equipped with a plurality of seat belt-less seats” in (4) is the “autonomous vehicle equipped with a plurality of seat belt-less seats” in (3),
The image pickup device is provided in the entrance portion of the “autonomous vehicle including a plurality of seatbelt-free seats”, the plurality of seatbeltless seats, and the “autonomous vehicle including a plurality of seatbeltless seats”. Imaging at least one of the passengers on board.

The "autonomous vehicle equipped with a plurality of seatbelt-free seats" in (5) is the "autonomous vehicle equipped with a plurality of seatbeltless seats" according to any one of (2) to (4). ,
The automatic driving control device is configured to generate the braking / driving force based on at least one of the number of passengers, the number of seated passengers, and the number of people permitted to start, which are acquired by the non-contact detection information generated by the non-contact detection device. The device is controlled to start the "autonomous vehicle equipped with a plurality of seats without seat belts" from the stopped state.

The "autonomous vehicle equipped with a plurality of seat belt-less seats" in (6) is the "autonomous vehicle equipped with a plurality of seat belt-less seats" in (1),
A contact detection device that detects a contact state of a passenger with respect to an object provided in the "autonomous vehicle equipped with a plurality of seat belt-less seats" and generates contact detection information,
Further equipped,
The automatic driving control device controls the braking / driving force generation device based on the contact detection information generated by the contact detection device to stop the "automatic driving vehicle including a plurality of seat belt-less seats". Start from the state.

According to (6) "Automatic driving vehicle equipped with a plurality of seatbelt-less seats", the contact detection device is applied to an object provided in "autonomous driving vehicle equipped with a plurality of seatbelt-less seats". Detect passenger contact status. Such a contact detection device is likely to have a relatively simple structure. Therefore, the structure of the "autonomous vehicle including a plurality of seat belt-less seats" can be simplified.

The "autonomous vehicle equipped with a plurality of seatbelt-less seats" of (7) is the "autonomous vehicle equipped with a plurality of seatbelt-less seats" of (6),
The automatic driving control device controls the braking / driving force generation device based on at least one of the number of passengers, the number of seated passengers, and the number of persons permitted to start, which are acquired by the contact detection information generated by the contact detection device. Then, the "autonomous vehicle having a plurality of seat belt-less seats" is started from the stopped state.

The “autonomous vehicle equipped with a plurality of seatbelt-less seats” of (8) is the “autonomous vehicle equipped with a plurality of seatbeltless seats” of (1),
A contact detection device that detects a contact state of a passenger with respect to an object provided in the "autonomous vehicle equipped with a plurality of seat belt-less seats", and generates contact detection information;
A non-contact detection device that detects the internal state of the "autonomous vehicle including a plurality of seat belt-less seats" in a non-contact manner, and generates non-contact detection information,
Is equipped with
The automatic driving control device controls the braking / driving force generation device based on the contact detection information generated by the contact detection device and the non-contact detection information generated by the non-contact detection device to control the “plurality of A self-driving vehicle equipped with a seat without a seat belt is started from a stopped state.

According to (8) “Automated vehicle equipped with multiple seat belt-less seats”, the automatic driving control device can acquire more types of information from the contact detection information and the non-contact detection information. More specifically, the information that the automatic driving control device can obtain from the contact detection information does not completely match the information that the automatic driving control device can obtain from the non-contact detection information. Therefore, there is information that the automatic driving control device can obtain from the contact detection information and the automatic driving control device cannot obtain from the non-contact detection information. Similarly, there is information that the automatic driving control device can obtain from the non-contact detection information, and the automatic driving control device cannot obtain from the contact detection information. Therefore, the automatic driving control device acquires the contact detection information and the non-contact detection information. Thereby, the automatic driving control device can acquire more kinds of information from the contact detection information and the non-contact detection information.

The "autonomous vehicle equipped with a plurality of seatbelt-free seats" in (9) is the "autonomous vehicle equipped with a plurality of seatbeltless seats" according to any one of (1) to (8). ,
The vehicle body forms a cabin space for accommodating passengers,
The cabin space is formed so as to limit the upright state of passengers.

According to (9) "Automatic vehicle equipped with multiple seat belt-less seats", passengers are encouraged to sit on seats without seat belts. As a result, the "autonomous vehicle equipped with a plurality of seat belt-less seats" can be promptly started.

The “autonomous vehicle equipped with a plurality of seatbelt-less seats” of (10) is the “autonomous vehicle equipped with a plurality of seatbelt-less seats” of any one of (1) to (9) ,
The plurality of seat belt-less seats are configured so that the passengers can be seated at positions where they can talk while looking at each other's faces.

According to (10) "Automatic driving vehicle equipped with multiple seat belt-less seats", passengers can see each other's faces. This encourages the passenger to sit on the seat without the seat belt. As a result, the "autonomous vehicle equipped with a plurality of seat belt-less seats" can be promptly started.

The "autonomous vehicle equipped with a plurality of seatbelt-free seats" in (11) is the "autonomous vehicle equipped with a plurality of seatbelt-free seats" according to any one of (1) to (10). ,
Information provision department that provides information to promote seating of passengers,
Further equipped.

According to (11) "Automated vehicle equipped with multiple seat belt-less seats", passengers are encouraged to sit on seats without seat belts. As a result, the "autonomous vehicle equipped with a plurality of seat belt-less seats" can be promptly started.

The above and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the embodiments of the present invention made in connection with the accompanying drawings.

As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

As used herein, the use of the terms "including," "comprising," or "having" and variations thereof refers to the recited feature, step, operation. , Elements, components, and / or the presence of their equivalents are specified, but may include one or more of steps, acts, elements, components, and / or groups thereof.

Unless defined otherwise, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as commonly used dictionary-defined terms should be construed to have a meaning consistent with the meaning in the context of the relevant technology and this disclosure and are expressly defined herein. Unless stated otherwise, it should not be interpreted in the ideal or overly formal sense.

It is understood that the description of the present invention discloses the number of technologies and processes. Each of these has individual benefits, and each may also be used with one or more, and possibly all, of the other disclosed techniques. Therefore, for the sake of clarity, this description refrains from unnecessarily repeating all possible combinations of individual steps. Nevertheless, the specification and claims should be read with the understanding that all such combinations are within the scope of this invention and claims.

In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that the present invention may be practiced without these specific details. This disclosure is to be considered as illustrative of the invention and is not intended to limit the invention to the particular embodiments illustrated by the following drawings or description.

According to the present invention, it is possible to start with a new departure trigger different from the start button.

FIG. 1 is a side view of an autonomous vehicle 1. FIG. 2 is a perspective view showing the inside of the autonomous driving vehicle 1. FIG. 3 is a flowchart executed by the automatic driving control device 14 during the departure process. FIG. 4 is a flowchart executed by the automatic driving control device 14 of the autonomous driving vehicle 1a during the departure process. FIG. 5 is a flowchart executed by the automatic driving control device 14 of the automatic driving vehicle 1b during the departure process. FIG. 6 is a flowchart executed by the automatic driving control device 14 of the automatic driving vehicle 1c during the departure process. FIG. 7 is a flowchart executed by the automatic driving control device 14 of the autonomous driving vehicle 1d during the departure process. FIG. 8 is a flowchart executed by the automatic driving control device 14 of the autonomous driving vehicle 1e during the departure process. FIG. 9 is a flowchart executed by the automatic driving control device 14 of the automatic driving vehicle 1f during the departure process. FIG. 10 is a flowchart executed by the automatic driving control device 14 of the autonomous driving vehicle 1g during the departure process. FIG. 11 is a side view of the autonomous driving vehicle 1h. FIG. 12 is a top view of the autonomous driving vehicle 1h. FIG. 13 is a diagram showing a first arrangement example. FIG. 14 is a diagram showing a second arrangement example. FIG. 15 is a diagram showing a third arrangement example. FIG. 16 is a diagram showing a fourth arrangement example. FIG. 17 is a diagram showing a fifth arrangement example. FIG. 18 is a diagram showing a sixth arrangement example. FIG. 19 is a diagram showing a seventh arrangement example. FIG. 20 is a diagram showing an eighth arrangement example. FIG. 21 is a diagram showing a ninth arrangement example. FIG. 22 is a diagram showing a tenth arrangement example.

(Embodiment)
[Overall structure of autonomous vehicle]
An overall configuration of an automatic driving vehicle (hereinafter, simply referred to as an automatic driving vehicle) including a plurality of seat belt-less seats according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of an autonomous vehicle 1. In FIG. 1, the automatic driving vehicle 1 is schematically illustrated, and functional blocks are also illustrated. FIG. 2 is a perspective view showing the inside of the autonomous driving vehicle 1. In FIG. 2, the front part of the autonomous driving vehicle 1 is shown.

Hereafter, the forward direction of the autonomous vehicle 1 is defined as the forward direction F. The front direction F coincides with the traveling direction of the autonomous vehicle 1. The rearward direction of the autonomous driving vehicle 1 is defined as a rearward direction B. The left direction of the autonomous driving vehicle 1 is defined as the left direction L. The right direction of the self-driving vehicle 1 is defined as the right direction R. The upward direction of the autonomous driving vehicle 1 is defined as the upward direction U. The downward direction of the autonomous driving vehicle 1 is defined as the downward direction D. The front-rear direction of the autonomous driving vehicle 1 is defined as the front-rear direction FB. The left-right direction of the autonomous driving vehicle 1 is defined as the left-right direction LR. The vertical direction of the autonomous driving vehicle 1 is defined as the vertical direction UD.

In the present specification, the traveling direction of the autonomous driving vehicle 1 is a direction in which the autonomous driving vehicle 1 advances due to rotation of wheels during normal use, and does not include a direction in which the autonomous driving vehicle 1 advances due to temporary reverse rotation of the wheels. . When the autonomous driving vehicle 1 is a switchback-capable vehicle (bi-directional vehicle), it can be changed in the opposite direction by reverse rotation of the wheels.

In the present specification, the axis or member extending in the front-rear direction does not necessarily indicate only the axis or member parallel to the front-rear direction. The shafts and members extending in the front-rear direction include shafts and members that are inclined within a range of ± 45 ° with respect to the front-rear direction. Similarly, the shafts and members extending in the vertical direction include shafts and members that are inclined within a range of ± 45 ° with respect to the vertical direction. The axis or member extending in the left-right direction includes an axis or member inclined in the range of ± 45 ° with respect to the left-right direction.

When the arbitrary two members in this specification are defined as the first member and the second member, the relationship between the arbitrary two members has the following meaning. In the present specification, the phrase "the first member is supported by the second member" means that the first member is attached to the second member immovably with respect to the second member (that is, fixed). And the case where the first member is movably attached to the second member with respect to the second member. The first member being supported by the second member means that the first member is directly attached to the second member, and that the first member is attached to the second member via the third member. Both cases are included.

In this specification, the first member and the second member arranged in the front-rear direction indicate the following states. When the first member and the second member are viewed in a direction perpendicular to the front-rear direction, both the first member and the second member are arranged on an arbitrary straight line indicating the front-rear direction. In the present specification, the first member and the second member, which are arranged in the front-rear direction when viewed from above or below, indicate the following states. When the first member and the second member are viewed in the upward direction or the downward direction, both the first member and the second member are arranged on an arbitrary straight line indicating the front-back direction. In this case, when viewing the first member and the second member in the left direction or the right direction different from the upward direction and the downward direction, one of the first member and the second member is arranged on an arbitrary straight line indicating the front-back direction. It does not have to be done. The first member and the second member may be in contact with each other. The first member and the second member may be separated. The third member may be present between the first member and the second member. This definition also applies to directions other than the front-back direction.

In this specification, the first member being arranged in front of the second member means the following state. At least a part of the first member is arranged in a region through which the second member passes when translating in the forward direction. Therefore, the first member may be accommodated within the area through which the second member moves in parallel in the forward direction, or may protrude from the area through which the second member passes in parallel with the forward direction. Good. In this case, the first member and the second member are lined up in the front-rear direction. This definition also applies to directions other than the front-back direction.

In this specification, the first member being arranged in front of the second member as viewed in the leftward or rightward direction means the following state. The first member and the second member are aligned in the front-rear direction when viewed in the left direction or the right direction. In this definition, the first member and the second member do not have to be aligned in the front-back direction in three dimensions. This definition applies to directions other than the front-back direction.

In this specification, the first member being arranged in front of the second member means the following state. The first member is arranged in the front direction of a plane that passes through the front end of the second member and is orthogonal to the front-rear direction. In this case, the first member and the second member may or may not be lined up in the front-rear direction. This definition also applies to directions other than the front-back direction.

In this specification, unless otherwise specified, each part of the first member is defined as follows. The front part of the first member means the front half of the first member. The rear part of the first member means the rear half of the first member. The left part of the first member means the left half of the first member. The right part of the first member means the right half of the first member. The upper part of the first member means the upper half of the first member. The lower part of the first member means the lower half of the first member. The upper end of the first member means the upper end of the first member. The lower end of the first member means the lower end of the first member. The front end of the first member means the front end of the first member. The rear end of the first member means the rear end of the first member. The left end of the first member means the left end of the first member. The right end of the first member means the right end of the first member. The upper end of the first member means the upper end of the first member and its vicinity. The lower end of the first member means the lower end of the first member and its vicinity. The front end of the first member means the front end of the first member and its vicinity. The rear end of the first member means the rear end of the first member and its vicinity. The left end portion of the first member means the left end of the first member and the vicinity thereof. The right end of the first member means the right end of the first member and its vicinity. The first member means a member that constitutes the autonomous driving vehicle 1.

In the present specification, a configuration (member, space or opening) is formed (positioned or provided) between the first member and the second member in the direction in which the first member and the second member are arranged. It means that there is a configuration between the first member and the second member. However, the configuration may or may not protrude from the first member or the second member in the direction orthogonal to the direction in which the first member and the second member are arranged.

As shown in FIG. 1, the autonomous driving vehicle 1 includes a vehicle body 2, a plurality of wheels 4, a steering mechanism 6, a braking / driving force generating device 7, a plurality of seat beltless seats 12, an automatic driving control device 14, an imaging device 20, and It is equipped with LIDAR (Light Detection and Ranging) 21.

The vehicle body 2 is the vehicle body frame and exterior of the autonomous driving vehicle 1. The vehicle body 2 has a box shape. As a result, the vehicle body 2 forms a cabin space Sp (see FIG. 2). The cabin space Sp is a space for accommodating passengers. An entrance portion 60 is provided on the right surface of the vehicle body 2 as shown in FIG. The entrance portion 60 is an opening for passengers to get on. The passenger may get off from the entrance 60. In FIG. 2, the vehicle body 2 does not have a door for opening and closing the entrance 60. Therefore, the passenger can get on the vehicle body 2 without opening the door. However, the vehicle body 2 may have a door for opening and closing the entrance portion 60.

Also, the cabin space Sp of the autonomous vehicle 1 is formed so as to limit the upright state of passengers. Specifically, the height from the floor surface to the ceiling of the vehicle body 2 is set to a height at which it is difficult for passengers to stand upright in the cabin space Sp. Such a height is lower than the average height of an adult male, for example. The height is the length in the vertical direction UD. In addition, the limitation of the upright state of the passenger may be realized by means other than the height from the floor surface to the ceiling of the vehicle body 2. For example, since the cabin space Sp is narrow, it is not necessary for all passengers who can be seated to ride in the autonomous vehicle 1 unless the passenger sits on a plurality of seatbelt-less seats 12 to be described later.

The plurality of wheels 4 are supported by the vehicle body 2 as shown in FIG. The plurality of wheels 4 can rotate around an axle. The wheel 4 includes a tire and a wheel body that holds the tire. The plurality of wheels 4 include a front left wheel 4FL, a front right wheel 4FR, a rear left wheel 4BL, and a rear right wheel 4BR. The front left wheel 4FL is arranged on the left side and the front side of the vehicle body 2. The front left wheel 4FL can rotate around a front left kingpin shaft (not shown) extending in the up-down direction UD. The front right wheel 4FR is arranged on the right side and the front side of the vehicle body 2. The front right wheel 4FR can rotate about a front right kingpin shaft (not shown) extending in the up-down direction UD. In this way, the front left wheel 4FL and the front right wheel 4FR are steering wheels. The left rear wheel 4BL is arranged on the left side and the rear side of the vehicle body 2. The right rear wheel 4BR is arranged on the right and rear portions of the vehicle body 2.

The steering mechanism 6 is supported by the vehicle body 2. The steering mechanism 6 is a mechanism that steers at least one of the plurality of wheels 4. In the present embodiment, the steering mechanism 6 steers the left front wheel 4FL and the right front wheel 4FR in the left direction L or the right direction R. More specifically, the steering mechanism 6 rotates the left front wheel 4FL around the left front kingpin axis and rotates the right front wheel 4FR around the right front kingpin axis. For example, when the autonomous vehicle 1 turns leftward while moving forward, the steering mechanism 6 rotates the left front wheel 4FL and the right front wheel 4FR counterclockwise when viewed in the downward direction D. For example, when the autonomous driving vehicle 1 turns in the right direction R while moving forward, the steering mechanism 6 rotates the left front wheel 4FL and the right front wheel 4FR clockwise when viewed in the downward direction D. The steering mechanism 6 is composed of, for example, an electric motor, a speed reducer, and a rack and pinion type steering gear mechanism. However, the steering gear mechanism is not limited to the rack and pinion type steering gear mechanism, and may be a recirculated ball type steering gear mechanism or the like.

The braking / driving force generator 7 is supported by the vehicle body 2. The braking / driving force generation device 7 generates a driving force for driving the autonomous driving vehicle 1 and a braking force for braking the autonomous driving vehicle 1. The braking / driving force generation device 7 includes a driving force generation device 8 and a braking force generation device 10. The driving force generation device 8 generates driving force for driving the autonomous vehicle 1. In the present embodiment, the driving force generator 8 rotates the left rear wheel 4BL and the right rear wheel 4BR. Therefore, the left rear wheel 4BL and the right rear wheel 4BR are drive wheels. The driving force generator 8 is, for example, an engine, an electric motor, or the like. Further, the driving force generation device 8 may be a hybrid power source in which an engine and an electric motor are combined. The braking force generation device 10 generates a braking force that brakes the autonomous vehicle 1. The braking force generator 10 converts the kinetic energy of the left front wheel 4FL, the right front wheel 4FR, the left rear wheel 4BL, and the right rear wheel 4BR into heat energy by friction.

A plurality of seats 12 without seat belts are supported by the vehicle body 2. A passenger is seated on the plurality of seats 12 without seat belts. However, the seat belts are not provided to the plurality of seats 12 without seat belts. A seat belt is a belt for restraining a passenger to a seat. The seat belt is, for example, a two-point seat belt, a three-point seat belt, a four-point seat belt, or a six-point seat belt.

The plurality of seats 12 without seat belts are communication sheets. The communication sheet is a seat that allows passengers to sit in a position where they can talk while looking at each other. The communication seat is a seat configured so that a plurality of passengers can sit on it. The communication sheet is, for example, a two-row seat arranged so that passengers can face each other. The communication sheet may be, for example, a sheet arranged in an L shape. The communication sheet may be, for example, a sheet arranged in an angular C shape. The communication sheet may be, for example, a sheet arranged in a rectangular shape. The communication sheet may be seated by one passenger or a plurality of passengers. In the communication sheet, seated passengers may or may not talk while looking at each other's faces. The communication sheet may be a seat that can change between a state in which a plurality of seated passengers face each other and a state in which a plurality of seated passengers face in the same direction. However, the communication sheet does not include a seat fixed in a state where a plurality of seated passengers face only in the same direction.

The plurality of seat belt-less seats 12 includes a seat belt-less left front seat 12FL, a seat belt-less right front seat 12FR, a seat belt-less left rear seat 12BL, and a seat belt-less right rear seat 12BR. As shown in FIG. 2, the left front seat 12FL without a seat belt is arranged in the left part and the front part of the cabin space Sp. The left front seat 12FL without a seat belt is arranged so that the passenger seated on the front left seat 12FL without a seat belt faces the rear direction B. As shown in FIG. 2, the right front seat 12FR without a seat belt is arranged at the right and front of the cabin space Sp. As a result, the left front seat 12FL without a seat belt and the right front seat 12FR without a seat belt are aligned in the left-right direction LR. The front right seat 12FR without the seat belt is arranged so that the passenger seated on the front right seat 12FR without the seat belt faces the rear direction B.

The left rear seat 12BL without a seat belt is arranged on the left side and the rear side of the cabin space Sp. Therefore, the left rear seat 12BL without a seat belt is arranged in the rear direction B of the left front seat 12FL without a seat belt. The left rear seat 12BL without a seat belt is arranged so that the passenger seated on the left rear seat 12BL without a seat belt faces the front direction F. As a result, the passenger seated on the left rear seat 12BL without the seat belt faces the passenger seated on the left front seat 12FL without the seat belt and the passenger seated on the right front seat 12FR without the seat belt. The right rear seat 12BR without a seat belt is arranged on the right side and the rear side of the cabin space Sp. Therefore, the right rear seat 12BR without the seat belt is arranged in the rear direction B of the right front seat 12FR without the seat belt. As a result, the left rear seat 12BL without a seat belt and the right rear seat 12BR without a seat belt are aligned in the left-right direction LR. The right rear seat 12BR without a seat belt is arranged such that a passenger seated on the right rear seat 12BR without a seat belt faces the front direction F. As a result, the passenger seated on the right rear seat 12BR without a seat belt faces the passenger seated on the left front seat 12FL without a seat belt and the passenger seated on the right front seat 12FR without a seat belt.

As mentioned above, the number of seats 12 without seat belts is four. On the other hand, there are four passengers in the autonomous vehicle 1. Therefore, the number of seats 12 without seat belts is the same as the seating capacity of the autonomous driving vehicle 1. That is, the self-driving vehicle 1 travels with all passengers seated on the seats 12 without seat belts. The passenger capacity of the autonomous driving vehicle 1 can be confirmed by the passenger capacity attached to the vehicle body 2 or the passenger capacity described in the manual of the autonomous vehicle 1.

The imaging device 20 is supported by the vehicle body 2. The imaging device 20 is an example of a non-contact detection device that detects the internal state of the autonomous driving vehicle 1 in a non-contact manner and generates non-contact detection information. In the present embodiment, the imaging device 20 is fixed to the center of the ceiling of the vehicle body 2 when viewed in the downward direction D. The imaging device 20 faces the downward direction D. Thereby, the imaging device 20 images the inside of the autonomous driving vehicle 1. In the present embodiment, the image capturing device 20 captures an image of a passenger in the autonomous driving vehicle 1. The imaging device 20 outputs the video data as non-contact detection information to the automatic driving control device 14 (details will be described later).

The LIDAR 21 acquires information around the autonomous driving vehicle 1 (whether there is an obstacle, etc.). The LIDAR 21 irradiates a laser emitting in a pulse shape around the LIDAR 21, and detects scattered light generated in an object around the autonomous driving vehicle 1. Then, the LIDAR 21 calculates the distance from the LIDAR 21 to an object around the autonomous driving vehicle 1 based on the reflection time (time until the reflected light is detected after light emission).

The automatic driving control device 14 is supported by the vehicle body 2. The automatic driving control device 14 controls the steering mechanism 6 and the braking / driving force generating device 7 to drive the automatic driving vehicle 1 by automatic driving without depending on a driver's operation. The automatic driving control device 14 includes a memory, a CPU (Central Processing Unit), etc. (none of which is shown). The memory stores a program for driving the autonomous driving vehicle 1 in autonomous driving. The CPU executes the program stored in the memory. As a result, the CPU controls the steering mechanism 6 and the braking / driving force generation device 7 based on the information acquired by the imaging device 20 and the LIDAR 21 to drive the autonomous driving vehicle 1 to run automatically. In addition, the automatic driving in this specification refers to, for example, Level 4 and Level 5 of the Department of Road Traffic Safety, US Department of Transportation. In the self-driving vehicle 1 according to the present embodiment, in particular, the self-driving control device 14 controls the braking / driving force generation device 7 based on the non-contact detection information (image data) generated by the imaging device 20 to perform automatic driving. The driving vehicle 1 is started from the stopped state.

[Operation of self-driving vehicle]
Next, the operation of the autonomous vehicle 1 will be described with reference to the drawings. Hereinafter, the departure operation of the autonomous vehicle 1 will be described. The departure operation is an operation in which the autonomous vehicle 1 starts from a stopped state. Further, the process performed by the automatic driving control device 14 during the departure operation is referred to as the departure process. FIG. 3 is a flowchart executed by the automatic driving control device 14 during the departure process. In the following, the number of passengers is the number of passengers in the self-driving vehicle 1. The number of seated passengers is the number of passengers seated on the plurality of seats 12 without seat belts.

This process is started when a passenger gets on the autonomous driving vehicle 1 in a stopped state. The imaging device 20 images the inside of the self-driving vehicle 1 to image the passengers inside the self-driving vehicle 1. The imaging device 20 outputs the video data as non-contact detection information to the automatic driving control device 14.

The automatic driving control device 14 acquires the number of passengers on the basis of the non-contact detection information (video data) (step S1). Counting the number of passengers based on the non-contact detection information (video data) can be realized by, for example, “OpenPose” (Carnegie Mellon University https://arxiv.org/pdf/1611.080550.pdf).

Next, the automatic driving control device 14 acquires the number of seated persons based on the non-contact detection information (video data) (step S2). In "OpenPose", the automatic driving control device 14 detects a human joint based on the non-contact detection information (image data). That is, in “OpenPose”, the automatic driving control device 14 can detect the posture of the human based on the non-contact detection information (image data). Therefore, the automatic driving control device 14 can determine whether or not the passenger is seated based on the non-contact detection information (image data). Thereby, the automatic driving control device 14 can count the number of seated persons.

Next, the automatic driving control device 14 determines whether the number of passengers and the number of seated passengers are the same (step S3). That is, the automatic driving control device 14 determines whether all passengers are seated on the seats 12 without seat belts. When the number of passengers and the number of seated passengers are the same, the automatic driving control device 14 determines that the autonomous driving vehicle 1 can be started. Therefore, the process proceeds to step S4. When the number of passengers and the number of seated passengers are not the same, the automatic driving control device 14 determines that the autonomous driving vehicle 1 cannot be started. Therefore, the process returns to step S1. In this case, the autonomous driving vehicle 1 does not start.

When the number of passengers is the same as the number of seated passengers, the automatic driving control device 14 controls the braking / driving force generator 7 to start the autonomous driving vehicle 1 from the stopped state (step S4). With the above operation, the departure process ends. Then, the automatic driving control device 14 executes the automatic driving of the automatic driving vehicle 1. Description of the automatic driving after the departure processing of the autonomous driving vehicle 1 is omitted.

[effect]
(A) According to the self-driving vehicle 1, it is possible to start with a new departure trigger different from the start button. More specifically, the number of seats in the self-driving vehicle 1 is the same as the seating capacity of the self-driving vehicle 1. That is, the self-driving vehicle 1 travels with all passengers seated on the seats 12 without seat belts. In this case, the number of passengers and the number of seats are the same. Therefore, the automatic driving control device 14 determines, for example, whether all the passengers are seated on the seats 12 without seat belts based on the number of passengers and the number of seated passengers. Thereby, the automatic driving control device 14 can determine that the autonomous driving vehicle 1 is to be started, for example, when all passengers are seated on the seats 12 without seat belts. In this way, the automatic driving control device 14 can determine the departure of the autonomous driving vehicle 1 based on the number of passengers and the number of seated passengers. As a result, according to the self-driving vehicle 1, it is possible to start the vehicle by a new departure trigger different from the start button.

(B) According to the autonomous driving vehicle 1, the imaging device 20 is a non-contact detecting device that detects the internal state of the autonomous driving vehicle 1 in a non-contact manner. Therefore, the imaging device 20 does not have to be arranged in a place that can be touched by passengers. As a result, the degree of freedom in arranging the imaging device 20 is increased.

(C) According to the autonomous driving vehicle 1, the imaging device 20 photographs the inside of the autonomous driving vehicle 1. The automatic driving control device 14 can count the number of passengers as well as the number of seated passengers based on the video data captured by the imaging device 20. This eliminates the need for providing a plurality of non-contact detection devices for counting the number of passengers and the number of seated persons. As a result, the self-driving vehicle 1 can reduce the number of non-contact detection devices.

(D) According to the autonomous driving vehicle 1, the cabin space Sp of the autonomous driving vehicle 1 is formed so as to limit the upright state of passengers. As a result, passengers are encouraged to sit on the seats 12 without seat belts. As a result, the self-driving vehicle 1 can be quickly started.

(E) According to the autonomous driving vehicle 1, passengers can see each other's faces. As a result, passengers are encouraged to sit on the seats 12 without seat belts. As a result, the self-driving vehicle 1 can be quickly started.

(First modification)
Hereinafter, an autonomous vehicle 1a according to a first modified example will be described with reference to the drawings. Note that FIG. 1 is used as a side view of the autonomous driving vehicle 1a. FIG. 2 is referred to for a perspective view showing the inside of the autonomous vehicle 1a.

In the self-driving vehicle 1, the braking / driving force generator 7 is controlled based on the number of passengers and the number of seated persons to start the self-driving vehicle 1 from the stopped state. On the other hand, in the self-driving vehicle 1a, the braking / driving force generation device 7 is controlled based on the number of passengers and the number of persons permitted to start the vehicle to start the self-driving vehicle 1a from the stopped state. The departure-permitted number of passengers is the number of passengers who display an intention indicating that the self-driving vehicle 1a may depart from the stopped state.

The structure of the self-driving vehicle 1a is the same as the structure of the self-driving vehicle 1, and thus the description thereof is omitted.

[Operation of self-driving vehicle]
Next, the operation of the autonomous driving vehicle 1a will be described with reference to the drawings. FIG. 4 is a flowchart executed by the automatic driving control device 14 of the autonomous driving vehicle 1a during the departure process.

This process is started when a passenger gets on the autonomous driving vehicle 1a in a stopped state. The image capturing device 20 captures an image of the passenger inside the autonomous vehicle 1a by capturing an image of the inside of the autonomous vehicle 1a. The imaging device 20 outputs the video data as non-contact detection information to the automatic driving control device 14.

The automatic driving control device 14 acquires the number of passengers on the basis of the non-contact detection information (video data) (step S11). Step S11 of FIG. 4 is the same as step S1 of FIG.

Next, the automatic driving control device 14 acquires the number of persons permitted to start the vehicle based on the non-contact detection information (video data) (step S12). In "OpenPose", the automatic driving control device 14 detects a human joint based on the non-contact detection information (image data). That is, in “OpenPose”, the automatic driving control device 14 can detect the posture of the human based on the non-contact detection information (image data). Therefore, the automatic driving control device 14 can determine whether or not the passenger indicates that he / she may depart from the stopped state based on the non-contact detection information (video data). An indication of intention indicating that the autonomous vehicle 1a may depart from a stopped state is, for example, that the passenger is raising both hands or that the passenger is thumbs up. As a result, the automatic driving control device 14 can count the number of persons permitted to start the vehicle.

Next, the automatic driving control device 14 determines whether the number of passengers is the same as the number of persons permitted to start the vehicle (step S13). That is, the automatic driving control device 14 determines whether or not all the passengers are performing the intention display indicating that the autonomous driving vehicle 1a may start from the stopped state. When the number of passengers is the same as the number of people permitted to start, the automatic driving control device 14 determines that the autonomous driving vehicle 1a can be started. Therefore, the process proceeds to step S14. When the number of passengers is not the same as the number of persons permitted to start the vehicle, the automatic driving control device 14 determines that the autonomous driving vehicle 1a cannot be started. Therefore, the process returns to step S11. In this case, the autonomous driving vehicle 1a does not start.

If the number of departures is the same as the number of seats, the automatic driving control device 14 controls the braking / driving force generation device 7 to start the autonomous driving vehicle 1a from the stopped state (step S14). With the above operation, the departure process ends. Then, the automatic driving control device 14 executes the automatic driving of the automatic driving vehicle 1a. Description of automatic driving after the departure process of the autonomous driving vehicle 1a is omitted.

[effect]
(A) According to the self-driving vehicle 1a, the vehicle can be started by a new departure trigger different from the start button. More specifically, the number of passengers in the autonomous driving vehicle 1a is the same as the number of seats, which limits the number of passengers in the autonomous driving vehicle 1a. For example, the number of passengers boarding the autonomous vehicle 1a is limited to about 1 to 10 people. When the number of passengers boarding the autonomous driving vehicle 1a is limited to a small number of people, the autonomous driving control device 14 determines whether the autonomous driving vehicle 1a starts from a stopped state, for example, based on the number of passengers and the number of persons permitted to start. It is easy to determine whether or not all passengers are making an indication of goodness. Therefore, the automatic driving control device 14 can determine that the automatic driving vehicle 1a is to be started when, for example, all passengers are indicating that the automatic driving vehicle 1a may start from the stopped state. In this way, the automatic driving control device 14 can determine the departure of the autonomous driving vehicle 1a based on the number of passengers and the number of persons permitted to start the vehicle. As a result, according to the self-driving vehicle 1a, it is possible to start the vehicle with a new departure trigger different from the start button.

(B) According to the self-driving vehicle 1a, the degree of freedom in arranging the imaging device 20 is high, as in the self-driving vehicle 1.

(C) According to the self-driving vehicle 1 a, the imaging device 20 photographs the inside of the self-driving vehicle 1. The automatic driving control device 14 can count the number of passengers as well as the number of persons permitted to start, based on the video data captured by the imaging device 20. As a result, it is not necessary to provide a plurality of non-contact detection devices for counting the number of passengers and the number of people permitted to leave the vehicle. As a result, the self-driving vehicle 1a can reduce the number of non-contact detection devices.

(D) (e) According to the self-driving vehicle 1a, the self-driving vehicle 1a can be quickly started for the same reason as the self-driving vehicle 1.

(Second modified example)
Hereinafter, an autonomous vehicle 1b according to a second modification will be described with reference to the drawings. Note that FIG. 1 is used as a side view of the autonomous driving vehicle 1b. FIG. 2 is used as a perspective view showing the inside of the autonomous vehicle 1b.

In the self-driving vehicle 1, the braking / driving force generator 7 is controlled based on the number of passengers and the number of seated persons to start the self-driving vehicle 1 from the stopped state. On the other hand, in the autonomous driving vehicle 1b, the braking / driving force generation device 7 is controlled based on the number of passengers and the number of seats to start the autonomous driving vehicle 1b from the stopped state. The number of seats is the number of seats 12 without seat belts. In this embodiment, the number of seats is four.

The self-driving vehicle 1b differs from the self-driving vehicle 1 in that it further includes a storage unit 16. The storage unit 16 stores the number of seats. The storage unit 16 is, for example, a non-volatile memory. The configuration other than the storage unit 16 of the self-driving vehicle 1b is the same as that of the self-driving vehicle 1, and the description thereof will be omitted.

[Operation of self-driving vehicle]
Next, the operation of the autonomous driving vehicle 1b will be described with reference to the drawings. FIG. 5 is a flowchart executed by the automatic driving control device 14 of the automatic driving vehicle 1b during the departure process.

This process is started when a passenger gets on the autonomous driving vehicle 1b in a stopped state. The imaging device 20 images the passenger inside the autonomous vehicle 1b by imaging the inside of the autonomous vehicle 1b. The imaging device 20 outputs the video data as non-contact detection information to the automatic driving control device 14.

The automatic driving control device 14 acquires the number of passengers on the basis of the non-contact detection information (video data) (step S21). Step S21 of FIG. 5 is the same as step S1 of FIG.

Next, the automatic driving control device 14 acquires the number of seats from the storage unit 16 (step S22).

Next, the automatic driving control device 14 determines whether the number of passengers and the number of seats are the same (step S23). In step S23, the automatic driving control device 14 determines, based on the number of passengers and the number of seats, whether all passengers can sit on the seats 12 without seat belts. When the number of passengers is the same as the number of seats, the automatic driving control device 14 determines that the autonomous driving vehicle 1b can be started. Therefore, the process proceeds to step S24. When the number of passengers and the number of seats are not the same, the automatic driving control device 14 determines that the automatic driving vehicle 1b cannot be started. Therefore, the process returns to step S21. In this case, the autonomous driving vehicle 1b does not start.

When the number of passengers is the same as the number of seats, the automatic driving control device 14 controls the braking / driving force generator 7 to start the automatic driving vehicle 1b from the stopped state (step S24). With the above operation, the departure process ends. Then, the automatic driving control device 14 executes the automatic driving of the autonomous driving vehicle 1b. Description of the automatic driving after the departure processing of the autonomous driving vehicle 1b is omitted.

[effect]
(A) According to the self-driving vehicle 1b, it is possible to start with a new departure trigger different from the start button. More specifically, the passenger capacity of the autonomous vehicle 1b is the same as the number of seats. That is, the self-driving vehicle 1b travels while all passengers are seated on the seats 12 without seat belts. In this case, if the number of passengers is the same as the number of seats, all passengers can sit on the seats 12 without seat belts. Therefore, the automatic driving control device 14 determines, for example, whether all passengers can sit on the seats 12 without seat belts, based on the number of passengers and the number of seats. Thereby, the automatic driving control device 14 can determine that the autonomous driving vehicle 1b is to be started, for example, when all passengers can sit on the seats 12 without seat belts. In this way, the automatic driving control device 14 can determine the departure of the autonomous driving vehicle 1b based on the number of passengers and the number of seats. As a result, according to the self-driving vehicle 1b, it is possible to start the vehicle by a new start trigger different from the start button.

(B) According to the self-driving vehicle 1b, the degree of freedom in arranging the imaging device 20 is high, as in the self-driving vehicle 1.

(D) (e) According to the self-driving vehicle 1b, the self-driving vehicle 1b can be promptly started for the same reason as the self-driving vehicle 1.

(Third Modification)
Hereinafter, an autonomous vehicle 1c according to a third modified example will be described with reference to the drawings. Note that FIG. 1 is used as a side view of the autonomous driving vehicle 1c. FIG. 2 is referred to for a perspective view showing the inside of the autonomous driving vehicle 1c.

In the self-driving vehicle 1, the braking / driving force generator 7 is controlled based on the number of passengers and the number of seated persons to start the self-driving vehicle 1 from the stopped state. On the other hand, in the autonomous driving vehicle 1c, the braking / driving force generator 7 is controlled based on the number of passengers and the number of passengers scheduled to board the vehicle, and the autonomous driving vehicle 1c is started from the stopped state. The number of passengers scheduled to board is the number of passengers declared by the passengers before actually boarding the self-driving vehicle 1.

The self-driving vehicle 1c differs from the self-driving vehicle 1 in that it further includes a storage unit 16. The storage unit 16 stores the number of people scheduled to board. The storage unit 16 is, for example, a non-volatile memory. The configuration other than the storage unit 16 of the self-driving vehicle 1c is the same as that of the self-driving vehicle 1, and the description thereof will be omitted.

Here, the acquisition of the number of people scheduled to board by the autonomous driving vehicle 1c will be described. Before getting on the self-driving vehicle 1c, the passenger uses a wireless communication terminal (for example, a smartphone) to transmit the number of people scheduled to board to a server (not shown). The server transmits the number of passengers scheduled to board the self-driving vehicle 1c via the Internet. In the self-driving vehicle 1c, the receiving section (not shown) receives the expected number of passengers and records it in the storage section 16. As a result, the autonomous driving vehicle 1c acquires the number of passengers scheduled to board before the passenger gets on the vehicle. The passenger may use the terminal connected to the wired telecommunication line instead of the wireless communication terminal to transmit the number of passengers scheduled to board to the server. Further, the terminal for transmitting the number of passengers may be a mobile terminal carried by the user or a fixed terminal fixedly arranged at a specific place.

[Operation of self-driving vehicle]
Next, the operation of the autonomous driving vehicle 1c will be described with reference to the drawings. FIG. 6 is a flowchart executed by the automatic driving control device 14 of the automatic driving vehicle 1c during the departure process.

This process is started when a passenger gets on the autonomous driving vehicle 1c in a stopped state. The image capturing device 20 captures an image of the passenger inside the autonomous vehicle 1c by capturing an image of the inside of the autonomous vehicle 1c. The imaging device 20 outputs the video data as non-contact detection information to the automatic driving control device 14.

The automatic driving control device 14 acquires the number of passengers on the basis of the non-contact detection information (video data) (step S31). Step S31 of FIG. 6 is the same as step S1 of FIG.

Next, the automatic driving control device 14 acquires the number of passengers scheduled to board from the storage unit 16 (step S32).

Next, the automatic driving control device 14 determines whether or not the number of passengers and the planned number of passengers are the same (step S33). The automatic driving control device 14 determines whether or not all passengers scheduled to board have boarded the autonomous driving vehicle 1c. When the number of passengers is the same as the expected number of passengers, the automatic driving control device 14 determines that the autonomous driving vehicle 1c can be started. Therefore, the process proceeds to step S34. When the number of passengers and the expected number of passengers are not the same, the automatic driving control device 14 determines that the autonomous driving vehicle 1c cannot be started. Therefore, the process returns to step S31. In this case, the self-driving vehicle 1c does not start.

If the number of passengers is the same as the number of passengers scheduled to board, the automatic driving controller 14 controls the braking / driving force generator 7 to start the automatically driving vehicle 1c from the stopped state (step S34). With the above operation, the departure process ends. Then, the automatic driving control device 14 executes the automatic driving of the automatic driving vehicle 1c. Description of the automatic driving after the departure processing of the autonomous driving vehicle 1c is omitted.

[effect]
According to the self-driving vehicle 1c of (a), it is possible to start with a new departure trigger different from the start button. More specifically, since the seating capacity of the autonomous vehicle 1c is the same as the number of seats, the number of passengers in the autonomous vehicle 1c is limited. For example, the number of passengers in the autonomous vehicle 1c is limited to about 1 to 10 people. When the number of passengers boarding the self-driving vehicle 1c is limited to a small number, the self-driving control device 14 determines, for example, that all the passengers scheduled to board the car will be in the self-driving vehicle 1c based on the number of passengers and the number of passengers scheduled to board. It is easy to determine whether or not you have boarded. Therefore, the automatic driving control device 14 can determine that the autonomous driving vehicle 1c is to be started, for example, when passengers get on according to the scheduled boarding and all passengers scheduled to board get on the autonomous driving vehicle 1c. In this way, the automatic driving control device 14 can determine the departure of the autonomous driving vehicle 1c based on the number of passengers and the number of people scheduled to board. As a result, according to the self-driving vehicle 1c, it is possible to start the vehicle with a new departure trigger different from the start button.

(B) According to the self-driving vehicle 1c, the degree of freedom in arranging the imaging device 20 is high, as in the self-driving vehicle 1.

(D) (e) According to the self-driving vehicle 1c, the self-driving vehicle 1c can be quickly started for the same reason as the self-driving vehicle 1.

(Fourth Modification)
Hereinafter, an autonomous vehicle 1d according to a fourth modified example will be described with reference to the drawings. Note that FIG. 1 is used as a side view of the autonomous driving vehicle 1d. FIG. 2 is referred to for a perspective view showing the inside of the autonomous driving vehicle 1d.

In the self-driving vehicle 1, the braking / driving force generator 7 is controlled based on the number of passengers and the number of seated persons to start the self-driving vehicle 1 from the stopped state. On the other hand, in the self-driving vehicle 1d, the braking / driving force generation device 7 is controlled based on the number of seated persons and the number of seats to start the self-driving vehicle 1d from the stopped state.

The self-driving vehicle 1d differs from the self-driving vehicle 1 in that it further includes a storage unit 16. The storage unit 16 stores the number of seats. The storage unit 16 is, for example, a non-volatile memory. The configuration of the self-driving vehicle 1d other than the storage unit 16 is the same as that of the self-driving vehicle 1, and thus the description thereof is omitted.

[Operation of self-driving vehicle]
Next, the operation of the autonomous driving vehicle 1d will be described with reference to the drawings. FIG. 7 is a flowchart executed by the automatic driving control device 14 of the autonomous driving vehicle 1d during the departure process.

This process is started when a passenger gets on the autonomous driving vehicle 1d in a stopped state. The imaging device 20 images the passenger inside the autonomous driving vehicle 1d by imaging the inside of the autonomous driving vehicle 1d. The imaging device 20 outputs the video data as non-contact detection information to the automatic driving control device 14.

The automatic driving control device 14 acquires the number of seated persons based on the non-contact detection information (video data) (step S41). Step S41 of FIG. 7 is the same as step S2 of FIG.

Next, the automatic driving control device 14 acquires the number of seats (4) from the storage unit 16 (step S42). Step S42 of FIG. 7 is the same as step S22 of FIG.

Next, the automatic driving control device 14 determines whether the number of seated persons and the number of seats are the same (step S43). In step S43, the automatic driving control device 14 determines whether or not the passenger is seated on all the seats 12 without seat belts. When the number of seated persons is the same as the number of seats, the automatic driving control device 14 determines that the autonomous driving vehicle 1d can be started. Therefore, the process proceeds to step S44. When the number of seated persons is not the same as the number of seats, the automatic driving control device 14 determines that the autonomous driving vehicle 1d cannot be started. Therefore, the process returns to step S41. In this case, the autonomous driving vehicle 1d does not start.

When the number of seated persons is the same as the number of seats, the automatic driving control device 14 controls the braking / driving force generation device 7 to start the autonomous driving vehicle 1d from the stopped state (step S44). With the above operation, the departure process ends. Then, the automatic driving control device 14 executes the automatic driving of the automatic driving vehicle 1d. Description of the automatic driving after the departure process of the autonomous driving vehicle 1d is omitted.

[effect]
(A) According to the self-driving vehicle 1d, the vehicle can be started by a new departure trigger different from the start button. More specifically, the seating capacity of the autonomous driving vehicle 1d is the same as the number of seats. That is, the self-driving vehicle 1d travels with all passengers seated on the seats 12 without seat belts. In this case, when the autonomous driving vehicle 1d becomes full, the number of seated persons and the number of seats become the same. Therefore, the automatic driving control device 14 determines, for example, whether or not the autonomous driving vehicle 1d is full, based on the number of seated persons and the number of seats. Thereby, the automatic driving control device 14 can determine that the automatic driving vehicle 1d is to be started when the automatic driving vehicle 1d is full, for example. In this way, the automatic driving control device 14 can determine the departure of the autonomous driving vehicle 1d based on the number of seated persons and the number of seats. As a result, according to the self-driving vehicle 1d, it is possible to start the vehicle by a new start trigger different from the start button.

(B) According to the self-driving vehicle 1d, the degree of freedom in arranging the imaging device 20 is high, as in the self-driving vehicle 1.

(D) (e) According to the self-driving vehicle 1d, the self-driving vehicle 1d can be promptly started for the same reason as the self-driving vehicle 1.

(Fifth Modification)
Hereinafter, an automatic driving vehicle 1e according to a fifth modified example will be described with reference to the drawings. Note that FIG. 1 is used as a side view of the autonomous driving vehicle 1e. FIG. 2 is referred to for a perspective view showing the inside of the autonomous vehicle 1e.

In the self-driving vehicle 1, the braking / driving force generator 7 is controlled based on the number of passengers and the number of seated persons to start the self-driving vehicle 1 from the stopped state. On the other hand, in the autonomous driving vehicle 1e, the braking / driving force generation device 7 is controlled based on the number of seated persons and the number of passengers scheduled to board the vehicle, and the autonomous driving vehicle 1e is started from the stopped state.

The self-driving vehicle 1e differs from the self-driving vehicle 1 in that it further includes a storage unit 16. The storage unit 16 stores the number of people scheduled to board. The storage unit 16 is, for example, a non-volatile memory. The configuration of the self-driving vehicle 1e other than the storage unit 16 is the same as that of the self-driving vehicle 1, and the description thereof will be omitted. Further, the acquisition of the planned boarding number by the autonomous driving vehicle 1e is the same as the acquisition of the planned boarding number by the autonomous driving vehicle 1c, and thus the description thereof will be omitted.

[Operation of self-driving vehicle]
Next, the operation of the autonomous driving vehicle 1e will be described with reference to the drawings. FIG. 8 is a flowchart executed by the automatic driving control device 14 of the autonomous driving vehicle 1e during the departure process.

This process is started when a passenger gets on the autonomous driving vehicle 1e in a stopped state. The imaging device 20 images the passenger inside the autonomous driving vehicle 1e by imaging the inside of the autonomous driving vehicle 1e. The imaging device 20 outputs the video data as non-contact detection information to the automatic driving control device 14.

The automatic driving control device 14 acquires the number of seated persons based on the non-contact detection information (video data) (step S51). Step S51 of FIG. 8 is the same as step S2 of FIG.

Next, the automatic driving control device 14 acquires the planned number of passengers from the storage unit 16 (step S52). Step S52 in FIG. 8 is the same as step S32 in FIG.

Next, the automatic driving control device 14 determines whether or not the number of seated persons and the number of people scheduled to board are the same (step S53). In step S53, the automatic driving control device 14 determines whether or not all passengers who are scheduled to board are seated on the seats 12 without seat belts. When the number of seated passengers is equal to the number of passengers scheduled to board, the automatic driving control device 14 determines that the autonomous driving vehicle 1e can be started. Therefore, the process proceeds to step S54. If the number of seated passengers and the number of passengers scheduled to board are not the same, the automatic driving control device 14 determines that the autonomous driving vehicle 1e cannot be started. Therefore, the process returns to step S51. In this case, the autonomous driving vehicle 1e does not start.

If the number of seated passengers is equal to the number of people expected to board, the automatic driving control device 14 controls the braking / driving force generation device 7 to start the autonomous driving vehicle 1e from the stopped state (step S54). With the above operation, the departure process ends. Then, the automatic driving control device 14 executes the automatic driving of the autonomous driving vehicle 1e. Description of the automatic driving after the departure processing of the autonomous driving vehicle 1e is omitted.

[effect]
(A) According to the self-driving vehicle 1e, the vehicle can be started by a new departure trigger different from the start button. More specifically, the passenger capacity of the autonomous vehicle 1e is the same as the number of seats. That is, the self-driving vehicle 1e travels while all passengers are seated on the seats 12 without seat belts. In this case, the number of seated persons is the same as the number of people scheduled to board. Therefore, the automatic driving control device 14 determines, for example, whether or not all passengers scheduled to board have seated on the seats 12 without seat belts, based on the number of seated persons and the number of passengers scheduled to board. As a result, the automatic driving control device 14 determines to start the autonomous driving vehicle 1e, for example, when passengers board the vehicle as scheduled and all seated passengers are seated on the seats 12 without seat belts. it can. In this way, the autonomous driving control device 14 can determine the departure of the autonomous driving vehicle 1e based on the number of seated persons and the number of people scheduled to board. As a result, according to the self-driving vehicle 1e, it is possible to start the vehicle by a new start trigger different from the start button.

(B) According to the self-driving vehicle 1e, the degree of freedom in the arrangement of the imaging device 20 is high, as in the self-driving vehicle 1.

(D) (e) According to the self-driving vehicle 1e, the self-driving vehicle 1e can be promptly started for the same reason as the self-driving vehicle 1.

(Sixth Modification)
Hereinafter, an automatic driving vehicle 1f according to a sixth modification will be described with reference to the drawings. Note that FIG. 1 is used as a side view of the autonomous driving vehicle 1f. FIG. 2 is referred to for a perspective view showing the inside of the autonomous driving vehicle 1f.

In the self-driving vehicle 1, the braking / driving force generator 7 is controlled based on the number of passengers and the number of seated persons to start the self-driving vehicle 1 from the stopped state. On the other hand, in the self-driving vehicle 1f, the braking / driving force generation device 7 is controlled based on the number of persons allowed to start and the number of seats to start the self-driving vehicle 1f from the stopped state.

The self-driving vehicle 1f differs from the self-driving vehicle 1 in that it further includes a storage unit 16. The storage unit 16 stores the number of seats. The storage unit 16 is, for example, a non-volatile memory. The configuration other than the storage unit 16 of the self-driving vehicle 1f is the same as that of the self-driving vehicle 1, and the description thereof will be omitted.

[Operation of self-driving vehicle]
Next, the operation of the autonomous driving vehicle 1f will be described with reference to the drawings. FIG. 9 is a flowchart executed by the automatic driving control device 14 of the automatic driving vehicle 1f during the departure process.

This process is started when a passenger gets on the autonomous driving vehicle 1f in a stopped state. The imaging device 20 images the passenger inside the autonomous driving vehicle 1f by imaging the inside of the autonomous driving vehicle 1f. The imaging device 20 outputs the video data as non-contact detection information to the automatic driving control device 14.

The automatic driving control device 14 acquires the number of persons permitted to start the vehicle based on the non-contact detection information (video data) (step S61). Step S61 of FIG. 9 is the same as step S12 of FIG.

Next, the automatic driving control device 14 acquires the number of seats from the storage unit 16 (step S62). Step S62 of FIG. 9 is the same as step S22 of FIG.

Next, the automatic driving control device 14 determines whether or not the number of persons allowed to leave the vehicle and the number of seats are the same (step S63). The number of seats 12 without seat belts is the same as the seating capacity of the autonomous driving vehicle 1. Therefore, in step S63, the automatic driving control device 14 determines whether or not all the passengers are displaying the intention indicating that the automatic driving vehicle 1f may depart from the stopped state. When the number of permitted departures is the same as the number of seats, the automatic driving control device 14 determines that the autonomous driving vehicle 1f can be started. Therefore, the process proceeds to step S64. When the number of permitted departures is not the same as the number of seats, the automatic driving control device 14 determines that the autonomous driving vehicle 1f cannot be started. Therefore, the process returns to step S61. In this case, the autonomous driving vehicle 1f does not start.

When the number of people allowed to start and the number of seats are the same, the automatic driving control device 14 controls the braking / driving force generation device 7 to start the automatic driving vehicle 1f from the stopped state (step S64). With the above operation, the departure process ends. Then, the automatic driving control device 14 executes the automatic driving of the automatic driving vehicle 1f. The description of the automatic driving after the departure processing of the autonomous driving vehicle 1f is omitted.

[effect]
(A) According to the self-driving vehicle 1f, the vehicle can be started by a new start trigger different from the start button. More specifically, the passenger capacity of the autonomous driving vehicle 1f is the same as the number of seats. In this case, when the self-driving vehicle 1e becomes full, the self-driving control device 14 indicates, for example, that the self-driving vehicle 1f may depart from the stopped state, based on the number of permitted departures and the number of seats. Can determine whether all passengers are doing. Thereby, the automatic driving control device 14 can determine that the automatic driving vehicle 1f is to be started, for example, when all the passengers are displaying the intention indicating that the automatic driving vehicle 1f may start from the stopped state. In this way, the automatic driving control device 14 can determine the departure of the autonomous driving vehicle 1f based on the number of persons allowed to leave and the number of seats. Thereby, according to the self-driving vehicle 1f, it is possible to start with a new departure trigger different from the start button.

(B) According to the self-driving vehicle 1f, similarly to the self-driving vehicle 1, the degree of freedom in arranging the imaging device 20 is increased.

(D) (e) According to the self-driving vehicle 1f, the self-driving vehicle 1f can be promptly started for the same reason as the self-driving vehicle 1.

(Seventh Modification)
Hereinafter, an autonomous vehicle 1g according to a seventh modified example will be described with reference to the drawings. Note that FIG. 1 is used as a side view of the autonomous driving vehicle 1g. FIG. 2 is referred to for a perspective view showing the inside of the self-driving vehicle 1g.

In the self-driving vehicle 1, the braking / driving force generator 7 is controlled based on the number of passengers and the number of seated persons to start the self-driving vehicle 1 from the stopped state. On the other hand, in the autonomous driving vehicle 1g, the braking / driving force generation device 7 is controlled based on the number of persons allowed to start and the number of persons scheduled to board the vehicle, and the autonomous driving vehicle 1g is started from the stopped state.

The self-driving vehicle 1g differs from the self-driving vehicle 1 in that it further includes a storage unit 16. The storage unit 16 stores the number of people scheduled to board. The storage unit 16 is, for example, a non-volatile memory. The configuration of the self-driving vehicle 1g other than the storage unit 16 is the same as that of the self-driving vehicle 1, and the description thereof will be omitted. Further, the acquisition of the planned boarding number by the autonomous driving vehicle 1g is the same as the acquisition of the planned boarding number by the autonomous driving vehicle 1c, and thus the description thereof will be omitted.

[Operation of self-driving vehicle]
Next, the operation of the autonomous vehicle 1g will be described with reference to the drawings. FIG. 10 is a flowchart executed by the automatic driving control device 14 of the autonomous driving vehicle 1g during the departure process.

This process is started when a passenger gets on the autonomous driving vehicle 1g in a stopped state. The image capturing device 20 captures an image of the inside of the autonomous vehicle 1g to capture an image of a passenger in the autonomous vehicle 1g. The imaging device 20 outputs the video data as non-contact detection information to the automatic driving control device 14.

The automatic driving control device 14 acquires the number of persons permitted to start the vehicle based on the non-contact detection information (video data) (step S71). Step S71 of FIG. 10 is the same as step S12 of FIG.

Next, the automatic driving control device 14 acquires the planned number of passengers from the storage unit 16 (step S72). Step S72 of FIG. 10 is the same as step S32 of FIG.

Next, the automatic driving control device 14 determines whether or not the number of persons permitted to leave the vehicle and the number of persons scheduled to board the vehicle are the same (step S73). In step S73, the automatic driving control device 14 determines whether or not all passengers scheduled to board the vehicle are making an indication that the autonomous driving vehicle 1g may depart from the stopped state. When the number of persons permitted to start the vehicle is the same as the number of people scheduled to board the vehicle, the automatic driving control device 14 determines that the autonomous driving vehicle 1g can be started. Therefore, the process proceeds to step S74. When the number of persons permitted to start the vehicle is not the same as the number of persons scheduled to board the vehicle, the automatic driving control device 14 determines that the autonomous driving vehicle 1g cannot be started. Therefore, the process returns to step S71. In this case, the autonomous driving vehicle 1g does not start.

If the number of people allowed to start and the number of people expected to board are the same, the automatic driving control device 14 controls the braking / driving force generation device 7 to start the automatically driving vehicle 1g from the stopped state (step S74). With the above operation, the departure process ends. Then, the automatic driving control device 14 executes the automatic driving of the autonomous driving vehicle 1g. The description of the automatic driving after the departure processing of the autonomous driving vehicle 1f is omitted.

[effect]
(A) According to the self-driving vehicle 1g, it is possible to start with a new departure trigger different from the start button. More specifically, the number of passengers in the self-driving vehicle 1g is limited because the seating capacity of the self-driving vehicle 1g is the same as the number of seats. For example, the number of passengers in the autonomous driving vehicle 1g is limited to about 1 to 10 people. When the number of passengers boarding the autonomous driving vehicle 1g is limited to a small number of passengers, the autonomous driving control device 14 plans to board an intention indicating that the autonomous driving vehicle 1g may depart from a stopped state, for example. It is easy to determine whether all passengers are doing it. For this reason, the automatic driving control device 14, for example, all passengers who are scheduled to board the vehicle show an intention indicating that the passenger may board the vehicle as scheduled and that the autonomous vehicle 1g may depart from the stopped state. In this case, it can be determined that the autonomous driving vehicle 1g is started. In this way, the automatic driving control device 14 can determine the departure of the autonomous driving vehicle 1g based on the number of persons permitted to start the vehicle and the number of people scheduled to board the vehicle. As a result, according to the self-driving vehicle 1g, it is possible to start the vehicle by a new start trigger different from the start button.

(B) According to the self-driving vehicle 1g, the degree of freedom in arranging the imaging device 20 is high, as in the self-driving vehicle 1.

(D) (e) According to the self-driving vehicle 1g, the self-driving vehicle 1g can be quickly started for the same reason as the self-driving vehicle 1.

(Eighth modification)
Hereinafter, an autonomous vehicle 1h according to an eighth modified example will be described with reference to the drawings. FIG. 11 is a side view of the autonomous driving vehicle 1h. FIG. 12 is a top view of the autonomous driving vehicle 1h. 11 and 12, the autonomous driving vehicle 1h is schematically illustrated.

Automated vehicle 1h differs from autonomous vehicle 1 in the following two points.

The 1st point self-driving vehicle 1h is different from the self-driving vehicle 1 in the layout of the seats 12 without seat belts. Specifically, the plurality of seat beltless seats 12 of the autonomous driving vehicle 1 are communication seats. On the other hand, the plurality of seats 12 without seat belts of the autonomous vehicle 1h are not communication seats.

The second point, the self-driving vehicle 1h, is different from the self-driving vehicle 1 in the layout of the

imaging devices

20a, 20b, 20c, 62. Specifically, the self-driving vehicle 1 includes one imaging device 20. On the other hand, the autonomous driving vehicle 1h includes four

imaging devices

20a, 20b, 20c and 62.

The following explains the autonomous vehicle 1h, focusing on the above differences. As shown in FIG. 11, the autonomous vehicle 1h includes a plurality of seat beltless seats 12. The plurality of seat belt-less seats 12 include a seat belt-less left front seat 12FL, a seat belt-less right front seat 12FR, a seat belt-less left middle seat 12ML, a seat belt-less right middle seat 12MR, a seat belt-less left rear seat 12BL, and a seat belt-less seat belt. The right rear seat 12BR is included.

The front left seat 12FL without a seat belt, the left middle seat 12ML without a seat belt, and the rear left seat 12BL without a seat belt are arranged at the left part of the cabin space Sp, as shown in FIG. The front left seat 12FL without a seat belt, the left middle seat 12ML without a seat belt, and the left rear seat 12BL without a seat belt are lined up in this order from the front direction F to the rear direction B. Further, the front left seat 12FL without seat belt, the left middle seat 12ML without seat belt, and the left rear seat 12BL without seat belt are respectively the front left seat 12FL without seat belt, the left middle seat 12ML without seat belt, and the left rear seat 12BL without seat belt. The passengers seated in each are arranged so as to face the front direction F.

The front right seat 12FR without a seat belt, the right middle seat 12MR without a seat belt, and the right rear seat 12BR without a seat belt are arranged in the right part of the cabin space Sp, as shown in FIG. The right front seat 12FR without a seat belt, the right middle seat 12MR without a seat belt, and the right rear seat 12BR without a seat belt are lined up in this order from the front direction F to the rear direction B. As a result, the front right seat 12FR without the seat belt is arranged in the right direction R of the front left seat 12FL without the seat belt. The right middle seat 12MR without the seat belt is arranged in the right direction R of the left middle seat 12ML without the seat belt. The right rear seat 12BR without a seat belt is arranged in the right direction R of the left rear seat 12BL without a seat belt. Further, the right front seat 12FR without a seat belt, the right middle seat 12MR without a seat belt and the right rear seat 12BR without a seat belt are respectively the front right seat 12FR without a seat belt, the right middle seat 12MR without a seat belt and the right rear seat 12BR without a seat belt. The passengers seated in each are arranged so as to face the front direction F.

The image pickup device 62 is arranged at the front end of the vehicle body 2. The imaging device 62 images the space located in the front direction F from the autonomous driving vehicle 1h. The imaging device 62 outputs the video data to the automatic driving control device 14 (not shown in FIGS. 11 and 12). The automatic driving control device 14 controls the steering mechanism 6 (not shown in FIGS. 11 and 12) and the braking / driving force generation device 7 (not shown in FIGS. 11 and 12) based on the image data output from the image pickup device 62. (1) is controlled to drive the autonomous driving vehicle 1 in automatic driving.

The imaging device 20a is arranged in the center of the vehicle body 2 in the left-right direction LR in the front direction F of the seat belt-less left front seat 12FL and the seat belt-less right front seat 12FR. The imaging device 20a is arranged so as to face the rear direction B. Accordingly, the imaging device 20a images the left middle seat 12ML without a seat belt, the right middle seat 12MR without a seat belt, the left rear seat 12BL without a seat belt, and the right rear seat 12BR without a seat belt.

The image pickup device 20b is arranged at the rear end and the left end of the vehicle body 2. The imaging device 20b is arranged so as to face the front direction F. As a result, the imaging device 20b images the left front seat 12FL without a seat belt and the left middle seat 12ML without a seat belt. The imaging device 20b also images the space located in the left direction L of the vehicle body 2. Thereby, the automatic driving control device 14 can recognize that a part of the passenger's body (for example, an arm) is protruding from the vehicle body 2 or that an obstacle is present in the left direction L of the vehicle body 2. .

The image pickup device 20c is arranged at the rear end and the right end of the vehicle body 2. The imaging device 20c is arranged so as to face the front direction F. Accordingly, the imaging device 20c images the right front seat 12FR without a seat belt and the right middle seat 12MR without a seat belt. The imaging device 20c also images the space located in the right direction R of the vehicle body 2. Thereby, the automatic driving control device 14 can recognize that a part of the passenger's body (for example, an arm) is protruding from the vehicle body 2 or that an obstacle is present in the right direction R of the vehicle body 2. .

As described above, in the autonomous driving vehicle 1h, the

imaging devices

20a, 20b, 20c complement each other's imaging regions to image the entire cabin space Sp. The rest of the structure of the autonomous driving vehicle 1h is the same as that of the autonomous driving vehicle 1 and will not be described.

Below, an example of the arrangement of the imaging device in the autonomous driving vehicle 1h will be described with reference to the drawings. FIG. 13 is a diagram showing a first arrangement example. FIG. 14 is a diagram showing a second arrangement example. FIG. 15 is a diagram showing a third arrangement example. FIG. 16 is a diagram showing a fourth arrangement example. FIG. 17 is a diagram showing a fifth arrangement example. FIG. 18 is a diagram showing a sixth arrangement example. FIG. 19 is a diagram showing a seventh arrangement example. FIG. 20 is a diagram showing an eighth arrangement example. FIG. 21 is a diagram showing a ninth arrangement example. FIG. 22 is a diagram showing a tenth arrangement example.

In the first arrangement example, as shown in FIG. 13, the imaging device 20a is arranged in the center of the vehicle body 2 in the left-right direction LR in the front direction F of the seatbelt-less left front seat 12FL and the seatbelt-free right front seat 12FR. There is. The imaging device 20a is arranged so as to face the rear direction B. The imaging device 20b is arranged at the front end and the left end of the vehicle body 2. The imaging device 20b is arranged so as to face the rear direction B. The imaging device 20c is arranged at the front end and the right end of the vehicle body 2. The imaging device 20c is arranged so as to face the backward direction B.

In the second arrangement example, as shown in FIG. 14, the imaging device 20a is arranged at the center of the vehicle body 2 in the left-right direction LR in the rear direction B of the seatless left rear seat 12BL and the seatbelt right rear seat 12BR. Has been done. The imaging device 20a is arranged so as to face the front direction F. The imaging device 20b is arranged at the front end and the left end of the vehicle body 2. The imaging device 20b is arranged so as to face the rear direction B. The imaging device 20c is arranged at the front end and the right end of the vehicle body 2. The imaging device 20c is arranged so as to face the backward direction B.

In the third arrangement example, as shown in FIG. 15, the imaging device 20a is arranged in the right direction R of the right front seat 12FR without a seat belt. The imaging device 20a is arranged so as to face the left direction L. The imaging device 20b is arranged at the front end and the left end of the vehicle body 2. The imaging device 20b is arranged so as to face the rear direction B. The imaging device 20c is arranged at the front end and the right end of the vehicle body 2. The imaging device 20c is arranged so as to face the backward direction B.

In the fourth arrangement example, as shown in FIG. 16, the imaging device 20a is arranged at the front end portion and the left end portion of the vehicle body 2. The imaging device 20a is arranged so as to face the rear direction B. The imaging device 20b is arranged at the rear end and the right end of the vehicle body 2. The imaging device 20b is arranged so as to face the front direction F.

In the fifth arrangement example, as shown in FIG. 17, the imaging device 20a is arranged at the front end portion and the left end portion of the vehicle body 2. The imaging device 20a is arranged so as to face the right rear direction RB. The imaging device 20b is arranged at the front end and the right end of the vehicle body 2. The imaging device 20b is arranged so as to face the left rear direction LB.

In the sixth arrangement example, as shown in FIG. 18, the imaging device 20a is arranged at the front end and the left end of the vehicle body 2. The imaging device 20a is arranged so as to face the rear direction B. The imaging device 20b is arranged at the front end and the right end of the vehicle body 2. The imaging device 20b is arranged so as to face the rear direction B.

In the seventh arrangement example, as shown in FIG. 19, the imaging device 20a is arranged in the center of the vehicle body 2 in the left-right direction LR in the front direction F of the seatbelt-less left front seat 12FL and the seatbelt-free right front seat 12FR. There is. The imaging device 20a is arranged so as to face the rear direction B. The imaging area of the imaging device 20a in FIG. 19 is wider than the imaging area of the imaging device 20a in FIG.

In the eighth arrangement example, as shown in FIG. 20, the imaging device 20a is arranged at the front end and the right end of the vehicle body 2. The imaging device 20a is arranged so as to face the left rear direction LB. The imaging area of the imaging device 20a of FIG. 20 is wider than the imaging area of the imaging device 20a of FIG.

In the ninth arrangement example, as shown in FIG. 21, the imaging device 20a is arranged in the center of the vehicle body 2 in the left-right direction LR in the upward direction U of the seatless left middle seat 12ML and the seatbelt right middle seat 12MR. Has been done. The imaging device 20a is arranged so as to face the downward direction D. The image capturing device 20a has a structure capable of capturing a wide range of images in the downward direction D, the forward direction F, the backward direction B, the left direction L, and the right direction R. Therefore, the imaging device 20a includes, for example, a fisheye lens.

In the tenth arrangement example, as shown in FIG. 22, the imaging device 20a is arranged at the center of the vehicle body 2 in the left-right direction LR in the upward direction U of the seat belt-less left front seat 12FL and the seat belt-less right front seat 12FR. There is. The imaging device 20a is arranged so as to face the downward direction D. The image capturing device 20a has a structure capable of capturing a wide range of images in the downward direction D, the forward direction F, the backward direction B, the left direction L, and the right direction R. Therefore, the imaging device 20a includes, for example, a fisheye lens. In addition, the imaging device 20a in FIG. 22 also images a region located in the front direction F of the autonomous driving vehicle 1h. Therefore, the imaging device 62 is not provided in the tenth arrangement example.

(Other embodiments)
The embodiments and modifications described and / or illustrated in the present specification are for facilitating the understanding of the present disclosure, and do not limit the idea of the present disclosure. The above-described embodiments and modifications can be changed or improved without departing from the spirit thereof.

The intent is equivalent elements, modifications, deletions, combinations (e.g., combinations of features across the embodiments and modifications), improvements, which can be recognized by those skilled in the art based on the embodiment examples disclosed herein, Include changes. The limitations in the claims should be broadly construed based on the terms used in the claims, and should be limited to the embodiments and modifications described in the present specification or the process of the present application. Should not be done. Such embodiments and variations should be construed as non-exclusive. For example, in the present specification, the terms “preferably” and “good” are non-exclusive, such as “preferably but not limited to”, “good but not limited thereto”. It means "not".

In the self-driving vehicle 1, 1d, 1e, the imaging device 20 may image the passengers in the self-driving vehicle 1 as well as the seats 12 without seat belts. In this case, in steps S2, S41, and S51, the automatic driving control device 14 determines whether or not the passenger is seated on the plurality of seat beltless seats 12 depending on whether or not the seating surfaces of the plurality of seat beltless seats 12 can be recognized. It may be determined whether or not. Specifically, the automatic driving control device 14 determines that the passenger is seated with respect to the plurality of seats 12 without seat belts whose seating surfaces cannot be recognized. On the other hand, the automatic driving control device 14 determines that the passenger is not seated with respect to the plurality of seats 12 without seat belts whose seating surfaces can be recognized. The automatic driving control device 14 can count the number of seated persons by counting the number of seats 12 without seatbelts whose seating surfaces cannot be recognized. A mark may be attached to the seat surface so that the automatic driving control device 14 can easily recognize the seat surface.

In the self-driving vehicle 1b, 1d, 1f, the imaging device 20 may image the passengers in the self-driving vehicle 1 and may also image the seats 12 without seat belts. In this case, in steps S22, S42, and S62, the automatic driving control device 14 counts the number of seating surfaces of the plurality of seats 12 without seat belts based on the non-contact detection information (image data), to thereby determine the number of seats. May be obtained. A mark may be attached to the seat surface so that the automatic driving control device 14 can easily recognize the seat surface.

The autonomous driving vehicles 1, 1a, 1b, 1c may include a weight sensing device 28 and a step 50 as shown in FIG. Step 50 is a part of the vehicle body 2. The step 50 is a plate protruding rightward from the floor surface of the vehicle body 2. When passengers get on the autonomous driving vehicles 1, 1a, 1b, 1c, they step on step 50 and get on. The weight sensing device 28 is provided in step 50. The weight sensing device 28 senses the weight of the passenger who is stepping on the step 50, and outputs contact detection information indicating the weight of the passenger. As described above, the weight sensing device 28 is a contact detection device that detects a contact state of a passenger with respect to an object (step 50) provided in the autonomous driving vehicle 1, 1a, 1b, 1c, and generates contact detection information. . In steps S1, S11, S21 and S31, the automatic driving control device 14 acquires the number of passengers on the basis of the contact detection information generated by the weight sensing device 28. Thereby, the automatic driving control device 14 controls the braking / driving force generation device 7 to start the autonomous driving vehicles 1, 1a, 1b, 1c from the stopped state based on the contact detection information generated by the weight sensing device 28. be able to.

As described above, according to the self-driving vehicle 1, 1a, 1b, 1c including the weight sensing device 28, the weight sensing device 28 is provided for the passengers with respect to the objects provided in the self-driving vehicle 1, 1a, 1b, 1c. The contact state is detected. Such a weight sensing device 28 is likely to have a relatively simple structure. Therefore, the structure of the autonomous driving vehicles 1, 1a, 1b, 1c can be simplified.

The weight sensing device 28 may be arranged on the floor surface of the vehicle body 2 near the entrance 60. That is, the weight sensing device 28 may be arranged in the cabin space Sp.

Note that the autonomous driving vehicles 1, 1a, 1b, 1c may include an imaging device 30 as shown in FIG. The image capturing device 30 captures an image of the entrance 60 of the autonomous driving vehicle 1, 1a, 1b, 1c. Thereby, the imaging device 30 images the passengers in the autonomous driving vehicles 1, 1a, 1b, 1c. In steps S1, S11, S21, and S31, the automatic driving control device 14 acquires the number of passengers on the basis of the non-contact detection information (image data) generated by the imaging device 30. As a result, the automatic driving control device 14 controls the braking / driving force generation device 7 based on the non-contact detection information (image data) generated by the imaging device 30 to stop the autonomous driving vehicles 1, 1a, 1b, 1c. It can be started from the state.

Note that, as shown in FIG. 2, the autonomous driving vehicles 1, 1d, 1e may include seating sensors 22FL, 22FR, 22BL, 22BR (seating sensors 22BL, 22BR are not shown). The seating sensors 22FL, 22FR, 22BL, 22BR are arranged on the seat surfaces of the seat belt-less left front seat 12FL, the seat belt-less right front seat 12FR, the seat belt-less left rear seat 12BL, and the seat belt-less right rear seat 12BR, respectively. The seating sensors 22FL, 22FR, 22BL, 22BR respectively measure the weights of the passengers seated on the left front seat 12FL without seat belt, the right front seat 12FR without seat belt, the left rear seat 12BL without seat belt and the right rear seat 12BR without seat belt. It senses and outputs contact detection information indicating the weight of the passenger. As described above, the seating sensors 22FL, 22FR, 22BL, 22BR are provided for the objects (seat belt-less left front seat 12FL, seat belt-less right front seat 12FR, seat belt-less left rear seat 12BL) provided on the autonomous driving vehicles 1, 1d, 1e. Also, the contact detection device generates contact detection information by detecting a contact state of a passenger with respect to a seat surface of the right rear seat 12BR without a seat belt. In steps S2, S41, and S51, the automatic driving control device 14 acquires the number of seated persons based on the contact detection information generated by the seating sensors 22FL, 22FR, 22BL, 22BR. Thereby, the automatic driving control device 14 controls the braking / driving force generation device 7 based on the contact detection information generated by the seating sensors 22FL, 22FR, 22BL, 22BR to stop the autonomous driving vehicles 1, 1d, 1e. Can be started from.

As described above, according to the automatic driving vehicles 1, 1d, 1e including the seating sensors 22FL, 22FR, 22BL, 22BR, the seating sensors 22FL, 22FR, 22BL, 22BR are provided in the automatic driving vehicles 1, 1d, 1e. The contact state of the passenger with respect to the object is detected. Such seating sensors 22FL, 22FR, 22BL, 22BR are likely to have a relatively simple structure. Therefore, the structure of the autonomous driving vehicles 1, 1d, 1e can be simplified. The seating sensors 22FL, 22FR, 22BL, 22BR are respectively arranged on the backrests of the seatless front left seat 12FL, seatless right front seat 12FR, seatbelt left rear seat 12BL and seatbelt right rear seat 12BR. Good.

The autonomous driving vehicles 1a, 1f, 1g may be provided with buttons 26FL, 26FR, 26BL, 26BR (buttons 26BL, 26BR are not shown) as shown in FIG. The buttons 26FL, 26FR, 26BL and 26BR are respectively the left direction L of the passenger seated on the left front seat 12FL without seat belt, the right front seat 12FR without seat belt, the left rear seat 12BL without seat belt and the right rear seat 12BR without seat belt. Alternatively, they are arranged in the right direction R. The passenger pushes the button 26FL, 26FR, 26BL, 26BR in order to display an intention indicating that the autonomous driving vehicle 1a, 1f, 1g may depart from the stopped state. Each of the buttons 26FL, 26FR, 26BL, 26BR, when pressed by a passenger, outputs contact detection information relating to an intention indication that the autonomous driving vehicles 1a, 1f, 1g may depart from a stopped state. In this way, the buttons 26FL, 26FR, 26BL, 26BR detect the contact state of the passenger with respect to the objects (buttons 26FL, 26FR, 26BL, 26BR) provided on the autonomous driving vehicles 1a, 1f, 1g, and detect the contact detection information. Is a contact detection device for generating. In steps S12, S61, and S71, the automatic driving control device 14 acquires the number of persons permitted to start the vehicle based on the contact detection information generated by the buttons 26FL, 26FR, 26BL, and 26BR. As a result, the automatic driving control device 14 controls the braking / driving force generation device 7 based on the contact detection information generated by the buttons 26FL, 26FR, 26BL, 26BR to stop the autonomous driving vehicles 1a, 1f, 1g from the stopped state. Can be started.

As described above, according to the automatic driving vehicles 1a, 1f, 1g including the buttons 26FL, 26FR, 26BL, 26BR, the buttons 26FL, 26FR, 26BL, 26BR are the objects provided on the automatic driving vehicles 1a, 1f, 1g. The contact state of the passenger with respect to is detected. Such buttons 26FL, 26FR, 26BL, 26BR are likely to have a relatively simple structure. Therefore, the structure of the self-driving vehicle 1a, 1f, 1g can be simplified.

Note that the buttons 26FL, 26FR, 26BL, 26BR are completely different from the start button disclosed in Non-Patent Document 1. In the start button described in Non-Patent Document 1, when the passenger presses the start button, the self-driving vehicle starts regardless of the intentions of passengers other than the passenger who pressed the start button. On the other hand, with the buttons 26FL, 26FR, 26BL, 26BR, each passenger has an intention that the autonomous driving vehicles 1a, 1f, 1g may depart from the stopped state by pressing the buttons 26FL, 26FR, 26BL, 26BR. To do. Therefore, there is a difference between the buttons 26FL, 26FR, 26BL, 26BR and the start button, whether it is the intention of one passenger or all passengers.

The self-driving vehicle 1 may include the imaging device 20 which is a non-contact detecting device and the weight sensing device 28 which is a contact detecting device. The automatic driving control device 14 acquires the number of seated persons based on the non-contact detection information generated by the imaging device 20. The automatic driving control device 14 acquires the number of passengers on the basis of the contact detection information generated by the weight sensing device 28. In this way, the automatic driving control device 14 controls the braking / driving force generation device 7 based on the non-contact detection information generated by the imaging device 20 and the contact detection information generated by the weight sensing device 28 to control the automatic driving vehicle 1. To start from the stopped state.

Note that the autonomous vehicle 1 may include the imaging device 20 which is a non-contact detection device and the seating sensors 22FL, 22FR, 22BL and 22BR which are contact detection devices. The automatic driving control device 14 acquires the number of passengers on the basis of the non-contact detection information generated by the imaging device 20. The automatic driving control device 14 acquires the number of seated persons based on the contact detection information generated by the seating sensors 22FL, 22FR, 22BL, 22BR. Thus, the automatic driving control device 14 controls the braking / driving force generation device 7 based on the non-contact detection information generated by the imaging device 20 and the contact detection information generated by the seating sensors 22FL, 22FR, 22BL, 22BR. The self-driving vehicle 1 is started from the stopped state.

As described above, since the autonomous driving vehicle 1 includes the non-contact detection device and the contact detection device, the automatic driving control device 14 can acquire more types of information from the contact detection information and the non-contact detection information. . More specifically, the information that the automatic driving control device 14 can obtain from the contact detection information does not completely match the information that the automatic driving control device 14 can obtain from the non-contact detection information. Therefore, there is information that the automatic driving control device 14 can obtain from the contact detection information and the automatic driving control device 14 cannot obtain from the non-contact detection information. Similarly, there is information that the automatic operation control device 14 can obtain from the non-contact detection information, and the automatic operation control device 14 cannot obtain from the contact detection information. Therefore, the automatic driving control device 14 acquires the contact detection information and the non-contact detection information. Thereby, the automatic driving control device 14 can acquire more types of information from the contact detection information and the non-contact detection information.

The self-driving vehicle 1 may include the seating sensors 22FL, 22FR, 22BL, 22BR, which are contact detection devices, and the weight sensing device 28. The automatic driving control device 14 acquires the number of passengers on the basis of the contact detection information generated by the weight sensing device 28. The automatic driving control device 14 acquires the number of seated persons based on the contact detection information generated by the seating sensors 22FL, 22FR, 22BL, 22BR. As described above, the automatic driving control device 14 controls the braking / driving force generation device 7 to control the automatic driving vehicle 1 based on the contact detection information generated by the seating sensors 22FL, 22FR, 22BL, 22BR and the weight sensing device 28. Start from a stopped state.

The self-driving vehicle 1a may be provided with the imaging device 20 which is a non-contact detection device and the buttons 26FL, 26FR, 26BL and 26BR which are contact detection devices. The automatic driving control device 14 acquires the number of passengers on the basis of the non-contact detection information generated by the imaging device 20. The automatic driving control device 14 acquires the number of persons permitted to start the vehicle based on the contact detection information generated by the buttons 26FL, 26FR, 26BL, 26BR. In this way, the automatic driving control device 14 controls the braking / driving force generation device 7 based on the non-contact detection information generated by the imaging device 20 and the contact detection information generated by the buttons 26FL, 26FR, 26BL, 26BR. The self-driving vehicle 1a is started from the stopped state.

The self-driving vehicle 1a may include the imaging device 20 which is a non-contact detection device and the weight sensing device 28 which is a contact detection device. The automatic driving control device 14 acquires the departure permitted number of people based on the non-contact detection information generated by the imaging device 20. The automatic driving control device 14 acquires the number of passengers on the basis of the contact detection information generated by the weight sensing device 28. In this way, the automatic driving control device 14 controls the braking / driving force generation device 7 based on the non-contact detection information generated by the imaging device 20 and the contact detection information generated by the weight sensing device 28 to control the automatic driving vehicle 1a. To start from the stopped state.

As described above, the automatic driving vehicle 1a includes the non-contact detection device and the contact detection device, and thus the automatic driving control device 14 can acquire more types of information from the contact detection information and the non-contact detection information. . More specifically, the information that the automatic driving control device 14 can obtain from the contact detection information does not completely match the information that the automatic driving control device 14 can obtain from the non-contact detection information. Therefore, there is information that the automatic driving control device 14 can obtain from the contact detection information and the automatic driving control device 14 cannot obtain from the non-contact detection information. Similarly, there is information that the automatic operation control device 14 can obtain from the non-contact detection information, and the automatic operation control device 14 cannot obtain from the contact detection information. Therefore, the automatic driving control device 14 acquires the contact detection information and the non-contact detection information. Thereby, the automatic driving control device 14 can acquire more types of information from the contact detection information and the non-contact detection information.

The self-driving vehicle 1a may include buttons 26FL, 26FR, 26BL, 26BR, which are contact detection devices, and a weight sensing device 28. The automatic driving control device 14 acquires the number of passengers on the basis of the contact detection information generated by the weight sensing device 28. The automatic driving control device 14 acquires the number of persons permitted to start the vehicle based on the contact detection information generated by the buttons 26FL, 26FR, 26BL, 26BR. In this way, the automatic driving control device 14 controls the braking / driving force generation device 7 to stop the automatic driving vehicle 1a based on the contact detection information generated by the buttons 26FL, 26FR, 26BL, 26BR and the weight sensing device 28. Start from the state.

In the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, the automatic driving control device 14 includes (B), (C), (D), (E), (F). , (G), (H), and (I), the braking / driving force generator 7 is controlled to automatically drive

vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h is started from the stopped state.
(B) Number of passengers and seated persons (C) Number of passengers and permitted departures (D) Number of passengers and number of seats (E) Number of passengers and scheduled passengers (F) Number of seated persons and number of seats (G) Number of seated persons and passengers Planned number of passengers (H) Number of persons permitted to leave and number of seats (I) Number of persons permitted to leave and planned number of passengers

However, the automatic driving control device 14 controls the braking / driving based on at least one of (B), (C), (D), (E), (F), (G), (H), and (I). It suffices to control the force generator 7 to start the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h from the stopped state. Therefore, the automatic driving control device 14 combines two or more of (B), (C), (D), (E), (F), (G), (H), and (I), The braking / driving force generation device 7 may be controlled to start the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h from the stopped state.

Thus, the automatic driving control device 14 is based on at least one of (B), (C), (D), (E), (F), (G), (H) and (I), The braking / driving force generation device 7 is controlled to start the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h from the stopped state. According to this technical idea, the places where the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h are operated, the specific scenes or the autonomous driving vehicles 1, 1a, 1b, 1c, The conditions required for departure can be changed according to 1d, 1e, 1f, 1g, 1h. As a result, the degree of freedom in designing the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h including the plurality of seat beltless seats 12 is increased.

In the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, the automatic driving control device 14 includes (B), (C), (D), (E), (F). , (G), (H) or (I) and conditions other than (B), (C), (D), (E), (F), (G), (H) and (I). Then, the braking / driving force generator 7 may be controlled to start the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h from the stopped state. The conditions other than (B), (C), (D), (E), (F), (G), (H), and (I) are, for example, autonomous driving vehicles 1, 1a, 1b, 1c, The environment around 1d, 1e, 1f, 1g, 1h (presence or absence of obstacle) and the time when there is no obstacle around the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h. The length of the train, the scheduled departure time, etc.

The

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h may further include a start button disclosed in Non-Patent Document 1. In this case, the automatic driving control device 14 is described in Non-Patent Document 1 with at least one of (B), (C), (D), (E), (F), (G), (H), and (I). Based on the fact that the described start button is pressed, the braking / driving force generator 7 is controlled to start the

autonomous driving vehicle

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h from the stopped state. .

In the autonomous driving vehicles 1, 1a, 1b, 1c, the means for the autonomous driving control device 14 to acquire the number of passengers may be, for example, a line sensor or an infrared laser provided at the entrance 60. As a means for the automatic driving control device 14 to acquire the number of passengers, a Bluetooth (registered trademark) Low Energy beacon may be used. That is, the autonomous driving control device 14 may use the Bluetooth (registered trademark) Low Energy beacon to count the number of mobile wireless terminals such as smartphones existing in the autonomous driving vehicles 1, 1a, 1b, 1c. In this case, the autonomous driving control device 14 regards the number of portable wireless terminals such as smartphones existing in the autonomous driving vehicles 1, 1a, 1b, 1c as the number of passengers.

Note that, in the autonomous driving vehicles 1, 1a, 1b, 1c, the means for the autonomous driving control device 14 to acquire the number of passengers may be, for example, voice-based passenger number determination. More specifically, the automatic driving control device 14 collects voices in the autonomous driving vehicles 1, 1a, 1b, 1c by a microphone (not shown). Then, the automatic driving control device 14 acquires the number of passengers on the basis of the collected voice.

Note that, in the autonomous driving vehicles 1, 1d and 1e, the means for the automatic driving control device 14 to acquire the number of seated persons may have the following configuration, for example.

Distance between Ceiling and Seat Surface (or Passenger) When a passenger sits on a plurality of seats 12 without seat belts, passengers are present on the seats of the seats 12 without seat belts. Therefore, the distance from the ceiling of the vehicle body 2 to the passenger seated on the seats 12 without seat belts is shorter than the distance from the ceiling of the vehicle body 2 to the seating surfaces of the seats 12 without seat belts. Therefore, the automatic driving control device 14 uses a distance measuring device (not shown) to measure the distance from the ceiling of the vehicle body 2 to the seating surfaces of the seats 12 without seat belts or the seat belts without the seat belts. The distance to the passenger sitting on the seat 12 may be measured. When the distance measured by the distance measuring device is relatively short, the automatic driving control device 14 determines that the passenger is seated on the plurality of seats 12 without seat belts. When the distance measured by the distance measuring device is relatively long, the automatic driving control device 14 determines that the passenger is not seated on the plurality of seats 12 without seat belts.

-Positional relationship between the ceiling and the face of the passenger When the passenger sits on the seats 12 without seat belts, the distance from the ceiling of the vehicle body 2 to the face of the passengers is greater than when the passenger does not sit on the seats 12 without seat belts. The distance increases. Therefore, the automatic driving control device 14 acquires the distance from the ceiling of the vehicle body 2 to the face of the passenger based on the image captured by the imaging device 20. When the distance from the ceiling of the vehicle body 2 to the face of the passenger is relatively short, the automatic driving control device 14 determines that the passenger is not seated on the seats 12 without seat belts. When the distance from the ceiling of the vehicle body 2 to the face of the passenger is relatively long, the automatic driving control device 14 determines that the passenger is seated on the seats 12 without seat belts.

-Output from the gyro sensor of the wireless communication terminal The automatic driving control device 14 acquires the output from the gyro sensor of the passenger's wireless communication terminal via a communication unit (not shown). When the fluctuation of the output from the gyro sensor is relatively small, the automatic driving control device 14 determines that the passenger is seated on the plurality of seats 12 without seat belts. The automatic driving control device 14 determines that the passenger is not seated on the seats 12 without seat belts when the output of the gyro sensor is relatively large.

-Output from the barometer of the wireless communication terminal The automatic driving control device 14 acquires the output from the barometer of the passenger's wireless communication terminal via a communication unit (not shown). When the output from the barometer indicates a relatively high atmospheric pressure, the automatic driving control device 14 determines that the passenger is seated on the plurality of seats 12 without seat belts. When the output from the barometer indicates a relatively low atmospheric pressure, the automatic driving control device 14 determines that the passenger is not seated on the seats 12 without seat belts.

Note that in the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, the automatic driving control device 14 is provided in the vehicle body 2. However, the automatic driving control device 14 does not have to be provided in the vehicle body 2 and may be provided in a place apart from the vehicle body 2. In this case, the automatic driving control device 14 provided at a place distant from the vehicle body 2 executes the flowcharts of FIGS. 3 to 10. Then, the automatic driving control device 14 controls the braking / driving force generation device 7 via wireless communication. In this case, the automatic driving control device 14 may automatically drive a plurality of

automatic driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h simultaneously.

Note that a part of the functions of the automatic driving control device 14 may be provided in the vehicle body 2, and the remaining functions of the automatic driving control device 14 may be provided in a place apart from the vehicle body 2. In this case, part of the flowcharts of FIGS. 3 to 10 is executed by part of the automatic driving control device 14 provided in the vehicle body 2. The rest of the flowcharts of FIGS. 3 to 10 are executed by the rest of the automatic driving control device 14 provided in the vehicle body 2.

Note that in the autonomous driving vehicles 1, 1a, 1b, 1c, the autonomous driving control device 14 may acquire the number of passengers by means other than "OpenPose". For example, the automatic driving control device 14 recognizes the passenger's face based on the video data generated by the imaging device 20. The automatic driving control device 14 can acquire the number of passengers by counting the number of recognized faces.

The

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h may further include a speaker 24, as shown in FIG. The automatic driving control device 14 causes the speaker 24 to make an announcement to encourage the passenger to sit down. A display may be used instead of the speaker 24. In this case, the display shows an image for prompting the passenger to sit down. The speaker 24 and the display as described above are examples of an information providing unit that provides information for promoting the seating of passengers. It is possible to promptly start the

autonomous driving vehicle

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h. In the self-driving vehicle 1a, 1f, 1g, the self-driving control device 14 may cause the speaker 24 or the display to make an announcement requesting the passenger to show the intention to depart.

The self-driving

vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h are equipped with four wheels 4. However, the number of wheels 4 may be three, or may be five or more.

Note that the braking force generator 10 is a device that converts the kinetic energy of the wheels 4 into heat energy. However, when the driving force generation device 8 includes a motor, the braking force generation device 10 may be a device that converts the kinetic energy of the wheels 4 into electric energy. That is, the braking force generator 10 may be a regenerative brake.

Note that the autonomous driving vehicles 1, 1a, 1b, 1c, 1d, 1e, 1f, 1g may be configured so that passengers who use wheelchairs can get on. In this case, the seat beltless seats 12 are flip-up chairs. With a flip-up chair, when the passenger is not seated, the seat is retracted so that the seat surface contacts the backrest. Thereby, a space for the wheelchair to get in is secured in the cabin space Sp.

In the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, the automatic driving control device 14 obtains the non-contact detection information generated by the imaging device 20, the number of passengers, the number of seated persons, And, based on at least one of the number of persons allowed to start, the braking / driving force generator 7 is controlled to start the

autonomous driving vehicle

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h from the stopped state. Good. Therefore, the automatic driving control device 14 controls the braking / driving force generation device 7 based on two of the number of passengers, the number of seated passengers, and the number of permitted passengers, which are acquired by the non-contact detection information generated by the imaging device 20. Then, the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h may be started from the stopped state. In addition, the automatic driving control device 14 controls the braking / driving force generation device 7 based on all three of the number of passengers, the number of seated passengers, and the number of persons permitted to start, which are acquired by the non-contact detection information generated by the imaging device 20. Alternatively, the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h may be started from the stopped state.

In the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, the automatic driving control device 14 includes the seating sensors 22FL, 22FR, 22BL, 22BR, buttons 26FL, 26FR, 26BL, 26BR or The braking / driving force generator 7 is controlled based on at least one of the number of passengers, the number of seated passengers, and the number of persons permitted to start, which are acquired by the contact detection information generated by the weight sensing device 28, and the autonomous driving vehicles 1, 1a, 1b are controlled. , 1c, 1d, 1e, 1f, 1g, 1h may be started from the stopped state. The automatic driving control device 14 uses the seating sensors 22FL, 22FR, 22BL, 22BR, the buttons 26FL, 26FR, 26BL, 26BR or the contact detection information generated by the weight sensing device 28 to obtain the number of passengers, the number of seated passengers, and the number of persons permitted to start the vehicle. Based on two of the above, the braking / driving force generator 7 may be controlled to start the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h from the stopped state. The automatic driving control device 14 uses the seating sensors 22FL, 22FR, 22BL, 22BR, the buttons 26FL, 26FR, 26BL, 26BR or the contact detection information generated by the weight sensing device 28 to obtain the number of passengers, the number of seated passengers, and the number of persons permitted to start the vehicle. Based on all three, the braking / driving force generator 7 may be controlled to start the

autonomous driving vehicles

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h from the stopped state.

Note that the non-contact detection device may be, for example, an infrared thermography camera. The non-contact detection device is not limited to the image pickup device.

1, 1a to 1h: self-driving vehicle 2: vehicle body 4: wheels 4BL: left rear wheel 4BR: right rear wheel 4FL: left front wheel 4FR: right front wheel 6: steering mechanism 7: braking / driving force generator 8: driving force generator 10: Braking force generator 12: Seat belt no seat 12BL: Seat belt no left rear seat 12BR: Seat belt no right rear seat 12FL: Seat belt no left front seat 12FR: Seat belt no right front seat 12ML: Seat belt no left middle seat 12MR: Right seat without seat belt 14: Automatic driving control device 16:

Storage unit

20, 20a to 20c: Imaging device 22BL, 22BR, 22FL, 22FR: Seating sensor 24: Speakers 26BL, 26BR, 26FL, 26FR: Button 28: Weight sensing device 30: Imaging device 50: Step 60: Entrance 62: Imaging device Sp Cabin space

Claims

An "autonomous vehicle equipped with multiple seat belt-less seats",
The car body,
Wheels supported by the vehicle body,
A steering mechanism that is supported by the vehicle body and that changes the traveling direction of the "autonomous vehicle including a plurality of seat belt-less seats";
Control force for driving the "autonomous vehicle having a plurality of seatbelt-less seats" supported by the vehicle body and braking the "automatic vehicle having a plurality of seatbelt-free seats" A braking / driving force generator that generates power,
A plurality of seats supported by the vehicle body and having no seat belt, wherein a plurality of seats without a seat belt on which passengers are seated;
An automatic driving control device that controls the steering mechanism and the braking / driving force generation device to drive the "automatic driving vehicle having a plurality of seat belt-less seats" by automatic driving without operation of a driver,
Is equipped with
The number of passengers in the "autonomous vehicle equipped with a plurality of seat belt-free seats" is the number of passengers,
The number of passengers seated on the plurality of seats without seat belts is the number of seated passengers,
The "autonomous vehicle equipped with a plurality of seatbelt-free seats" is the number of passengers allowed to depart from the state of intention indicating that the vehicle may depart from a stopped state,
The number of seats without seat belts is the number of seats,
The number of passengers declared by the passengers before actually riding in the "autonomous vehicle equipped with a plurality of seat belt-less seats" is the number of passengers scheduled to board,
(A) The number of seats is the same as the seating capacity of the "autonomous vehicle equipped with a plurality of seats without seat belts",
The automatic driving control device is configured to control the braking / driving force based on at least one of (B), (C), (D), (E), (F), (G), (H), and (I). An "autonomous vehicle having a plurality of seatbelt-free seats" for controlling the generator to start the "automatic vehicle having a plurality of seatbeltless seats" from a stopped state.
(B) The number of passengers and the number of seated passengers (C) The number of passengers and the number of permitted passengers (D) The number of passengers and the number of seats (E) The number of passengers and the planned number of passengers (F) The number of seated passengers and the above Number of seats (G) The number of seated persons and the number of scheduled passengers (H) The number of permitted passengers and the number of seats (I) The number of permitted passengers and the number of scheduled passengers
The "autonomous vehicle equipped with a plurality of seat belt-less seats"
A non-contact detection device that detects the internal state of the "autonomous vehicle equipped with a plurality of seat belt-less seats" in a non-contact manner to generate non-contact detection information,
Further equipped,
The automatic driving control device controls the braking / driving force generation device based on the non-contact detection information generated by the non-contact detection device to control the “automatic driving vehicle including a plurality of seat beltless seats”. From the stopped state,
The "self-driving vehicle including a plurality of seats without seat belts" according to claim 1.
The non-contact detection device is an imaging device that images the inside of an “autonomous vehicle equipped with a plurality of seat belt-less seats”,
The automatic driving control device controls the braking / driving force generation device based on the video data generated by the imaging device to start the "automatic driving vehicle including a plurality of seats without seat belts" from a stopped state. Let
The "autonomous vehicle having a plurality of seats without seat belts" according to claim 2.
The image pickup device is provided in the entrance portion of the “autonomous vehicle including a plurality of seatbelt-free seats”, the plurality of seatbeltless seats, and the “autonomous vehicle including a plurality of seatbeltless seats”. Imaging at least one of the passengers on board,
A "self-driving vehicle having a plurality of seat belt-less seats" according to claim 3.
The automatic driving control device is configured to generate the braking / driving force based on at least one of the number of passengers, the number of seated passengers, and the number of people permitted to start, which are acquired by the non-contact detection information generated by the non-contact detection device. Control the device to start the "autonomous vehicle equipped with a plurality of seat belt-less seats" from a stopped state,
The "self-driving vehicle having a plurality of seats without seat belts" according to any one of claims 2 to 4.
The "autonomous vehicle equipped with a plurality of seat belt-less seats"
A contact detection device that detects a contact state of a passenger with respect to an object provided in the "autonomous vehicle equipped with a plurality of seat belt-less seats" and generates contact detection information,
Further equipped,
The automatic driving control device controls the braking / driving force generation device based on the contact detection information generated by the contact detection device to stop the "automatic driving vehicle including a plurality of seat belt-less seats". Depart from the state,
The "self-driving vehicle including a plurality of seats without seat belts" according to claim 1.
The automatic driving control device controls the braking / driving force generation device based on at least one of the number of passengers, the number of seated passengers, and the number of persons permitted to start, which are acquired by the contact detection information generated by the contact detection device. The "autonomous vehicle equipped with a plurality of seat belt-less seats" from the stopped state,
A "self-driving vehicle having a plurality of seat beltless seats" according to claim 6.
The "autonomous vehicle equipped with a plurality of seat belt-less seats"
A contact detection device that detects a contact state of a passenger with respect to an object provided in the "autonomous vehicle equipped with a plurality of seat belt-less seats", and generates contact detection information;
A non-contact detection device that detects the internal state of the "autonomous vehicle including a plurality of seat belt-less seats" in a non-contact manner, and generates non-contact detection information,
Is equipped with
The automatic driving control device controls the braking / driving force generation device based on the contact detection information generated by the contact detection device and the non-contact detection information generated by the non-contact detection device to control the “plurality of Starting an autonomous vehicle equipped with seats without seat belts from a stopped state,
The "self-driving vehicle including a plurality of seats without seat belts" according to claim 1.
The vehicle body forms a cabin space for accommodating passengers,
The cabin space is formed to limit the upright state of passengers,
The "autonomous vehicle including a plurality of seats without seat belts" according to any one of claims 1 to 8.
The plurality of seat belt-less seats are configured so that passengers can be seated at a position where they can talk while looking at each other's faces,
A "self-driving vehicle including a plurality of seats without seat belts" according to any one of claims 1 to 9.
The "autonomous vehicle equipped with a plurality of seat belt-less seats"
Information provision department that provides information to promote seating of passengers,
More equipped,
An "autonomous vehicle comprising a plurality of seats without seat belts" according to any one of claims 1 to 10.