JP2017202708A - Vehicle control system, vehicle control method, and vehicle control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide, as one of objects, a vehicle control system, vehicle control method, and vehicle control program that are able to improve theft prevention.SOLUTION: A vehicle control system comprises: a detecting section that detects a person who has ridden a vehicle; a determining section that determines whether the person detected by the detecting section is an unintended passenger or driver; and an automatic operation control section that, when the determining section determines that the person is an unintended passenger or driver, starts an automatic operation in which at least speed control or steering control for the vehicle is automatically performed.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a vehicle control system, a vehicle control method, and a vehicle control program.

  In recent years, research has been conducted on a technology (hereinafter referred to as “automatic driving”) that automatically controls at least one of acceleration / deceleration and steering of a vehicle so that the vehicle travels along a route to a destination. ing. In addition, autonomous vehicles that change destinations and travel to the nearest police station when illegal activities such as violence of passengers or property damage are identified during automatic driving are known (for example, patent documents) 1).

JP2015-176444 A

  By the way, the vehicle is expected to further improve theft countermeasures.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a vehicle control system, a vehicle control method, and a vehicle control program capable of improving antitheft measures.

  The invention according to claim 1 is a detection unit (DT) that detects a person who has entered the vehicle (M), and a determination unit (192) that determines whether the person detected by the detection unit is an unintended occupant. And automatic driving control for automatically starting automatic driving for automatically performing at least one of speed control and steering control of the vehicle when the determination unit determines that the person is an unintended occupant A vehicle control system (100).

  Invention of Claim 2 is a vehicle control system of Claim 1, Comprising: The said detection part can detect the person who got into the said vehicle in the state in which the said automatic driving control part is in a dormant mode, The determination unit is capable of determining whether the person is an unintended occupant in the state where the automatic operation control unit is in the suspension mode, and enters the suspension mode when it is determined that the person is an unintended occupant. A signal is sent to a certain automatic operation control unit, and the automatic operation control unit shifts from the pause mode to the active mode based on a signal received from the determination unit, and automatically starts the automatic operation. .

  Invention of Claim 3 is the vehicle control system of Claim 1 or Claim 2, Comprising: When the said automatic driving | operation control part determines with the said determination part being the passenger | crew which the said person does not intend, The destination is automatically set, and the automatic operation is started toward the destination.

  Invention of Claim 4 is the vehicle control system of Claim 3, Comprising: When the said automatic driving | operation control part determines with the said determination part being the passenger | crew which the said person does not intend, police related facilities Is set as the destination.

  The invention according to claim 5 is the vehicle control system according to claim 3, wherein the automatic driving control unit is registered in advance when the determination unit determines that the person is an unintended occupant. Set the destination as the destination.

  Invention of Claim 6 is a vehicle control system of any one of Claim 1-5, Comprising: The door lock apparatus (95) which locks the door (D) of the said vehicle, The said determination A door lock device controller (194) that locks the door with the door lock device when the person has entered the vehicle when the person determines that the person is an unintended occupant. The automatic operation control unit starts automatic operation in a state where the door is locked by the door lock device after the person gets into the vehicle.

  The invention according to claim 7 is the vehicle control system according to any one of claims 1 to 6, wherein the determination unit determines in advance that the person is an unintended occupant. The information processing device further includes a communication unit (55) that transmits the details of the automatic driving performed to the registered information terminal of the user of the vehicle.

  The invention according to claim 8 is the vehicle control system according to claim 7, wherein the automatic driving control unit determines the destination when the determination unit determines that the person is an unintended occupant. Automatically set and generate an action plan for automatic driving to the destination, the communication unit is information on the estimated arrival time at the destination included in the action plan generated by the automatic driving control unit Is transmitted to the information terminal.

  The invention according to claim 9 is a case where the in-vehicle computer (100) detects a person who has boarded the vehicle, determines whether the person is an unintended occupant, and determines that the person is an unintended occupant. And a vehicle control method for automatically starting automatic driving for automatically performing at least one of speed control and steering control of the vehicle.

  The invention according to claim 10 causes the in-vehicle computer (100) to detect a person boarding the vehicle, determine whether the person is an unintended occupant, and determine that the person is an unintended occupant And a vehicle control program for automatically starting automatic driving for automatically performing at least one of speed control and steering control of the vehicle.

  According to the first, ninth, and tenth aspects of the present invention, when an unintended person gets into the vehicle, automatic driving that automatically performs at least one of speed control and steering control of the vehicle is automatically started. Is done. For this reason, it is difficult for an unintended occupant who gets into the vehicle to freely operate the vehicle, and it is difficult to steal the vehicle. Thereby, improvement of antitheft can be aimed at.

  According to the second aspect of the present invention, for example, even when the vehicle is parked and the automatic driving control unit is in the pause mode, the automatic driving control unit shifts to the active mode based on the signal from the determination unit. Then, automatic operation starts automatically. For this reason, it is difficult for an unintended occupant who gets into the vehicle to steal the vehicle even when the automatic operation control unit is in the pause mode. Thereby, the further improvement of a theft countermeasure can be aimed at.

  According to the third aspect of the present invention, when an unintended person gets into the vehicle, the destination is automatically set, and the automatic driving is started toward the destination. For this reason, it is difficult for an unintended occupant who gets into the vehicle to travel the vehicle toward his / her destination, and the vehicle is more difficult to be stolen. Thereby, the further improvement of a theft countermeasure can be aimed at.

  According to the fourth aspect of the present invention, when an unintended person gets into the vehicle, the person can be taken to a police related facility by automatic driving. Thereby, the further improvement of a theft countermeasure can be aimed at.

  According to invention of Claim 5, a vehicle can be drive | worked by automatic driving | running toward the location registered beforehand. Thereby, for example, when the vehicle is stolen, the vehicle can return to a pre-registered location (for example, home) by automatic driving. Thereby, the further improvement of a theft countermeasure can be aimed at.

  According to the sixth aspect of the present invention, when an unintended person gets into the vehicle, the automatic operation is started in a state where the door of the vehicle is locked and the person cannot escape out of the vehicle. Thereby, the further improvement of a theft countermeasure can be aimed at.

  According to the seventh aspect of the present invention, the user of the vehicle registered in advance can easily know the content of the automatic driving automatically started when an unintended person gets into the vehicle. As a result, it is possible to promptly report to the police and to further improve theft countermeasures.

  According to the eighth aspect of the present invention, the user of the vehicle registered in advance can easily know the estimated time of arrival at the destination for automatic driving. Thereby, reporting to the police can be performed more effectively, and further improvement of theft countermeasures can be achieved.

2 is a diagram illustrating components of a host vehicle M. FIG. 1 is a functional configuration diagram centering on a vehicle control system 100. FIG. 2 is a configuration diagram of an HMI 70. FIG. It is a figure which shows a mode that the relative position of the own vehicle M with respect to the driving lane L1 is recognized by the own vehicle position recognition part 140. FIG. It is a figure which shows an example of the action plan produced | generated about a certain area. 3 is a diagram illustrating an example of a configuration of a trajectory generation unit 146. FIG. It is a figure which shows an example of the track | orbit candidate produced | generated by the track | orbit candidate generation part 146B. FIG. 5 is a diagram in which trajectory candidates generated by a trajectory candidate generation unit 146B are expressed by trajectory points K. It is a figure which shows lane change target position TA. It is a figure which shows the speed production | generation model at the time of assuming that the speed of three surrounding vehicles is constant. It is a figure which shows an example of the operation availability information 187 classified by mode. It is a functional block diagram centering on the antitheft control part 190. FIG. It is a flowchart which shows an example of the control flow regarding antitheft.

  Hereinafter, embodiments of a vehicle control system, a vehicle control method, and a vehicle control program of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram showing components of a vehicle (hereinafter referred to as own vehicle M) on which the vehicle control system 100 is mounted. The vehicle on which the vehicle control system 100 is mounted is, for example, a motor vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a vehicle using an internal combustion engine such as a diesel engine or a gasoline engine as a power source, or an electric vehicle using a motor as a power source. And a hybrid vehicle having an internal combustion engine and an electric motor. An electric vehicle is driven using electric power discharged by a battery such as a secondary battery, a hydrogen fuel cell, a metal fuel cell, or an alcohol fuel cell.

  As shown in FIG. 1, the host vehicle M includes a finder 20-1 to 20-7, radars 30-1 to 30-6, sensors such as a camera 40, a navigation device 50, and a vehicle control system 100. Installed.

  The finders 20-1 to 20-7 are, for example, LIDAR (Light Detection and Ranging) that measures scattered light with respect to irradiation light and measures the distance to the target. For example, the finder 20-1 is attached to a front grill or the like, and the finders 20-2 and 20-3 are attached to a side surface of a vehicle body, a door mirror, the inside of a headlamp, a side lamp, and the like. The finder 20-4 is attached to a trunk lid or the like, and the finders 20-5 and 20-6 are attached to the side surface of the vehicle body, the interior of the taillight, or the like. The above-described finders 20-1 to 20-6 have a detection area of about 150 degrees in the horizontal direction, for example. The finder 20-7 is attached to a roof or the like. The finder 20-7 has a detection area of 360 degrees in the horizontal direction, for example.

  The radars 30-1 and 30-4 are, for example, long-range millimeter wave radars having a detection area in the depth direction wider than that of other radars. Radars 30-2, 30-3, 30-5, and 30-6 are medium-range millimeter-wave radars that have a narrower detection area in the depth direction than radars 30-1 and 30-4.

  Hereinafter, when the finders 20-1 to 20-7 are not particularly distinguished, they are simply referred to as “finder 20”, and when the radars 30-1 to 30-6 are not particularly distinguished, they are simply referred to as “radar 30”. The radar 30 detects an object by, for example, an FM-CW (Frequency Modulated Continuous Wave) method.

  The camera 40 is a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 40 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like. For example, the camera 40 periodically images the front of the host vehicle M repeatedly. The camera 40 may be a stereo camera including a plurality of cameras.

  The configuration illustrated in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  FIG. 2 is a functional configuration diagram centering on the vehicle control system 100. The own vehicle M includes a detection device DD including a finder 20, a radar 30 and a camera 40, an in-vehicle sensor 45, a navigation device 50, a communication device 55, a vehicle sensor 60, and an HMI (Human Machine Interface) 70. A security device 97, a vehicle control system 100, a travel driving force output device 200, a steering device 210, and a brake device 220 are mounted. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. Note that the vehicle control system in the claims does not indicate only the “vehicle control system 100”, but a configuration other than the vehicle control system 100 (detection device DD, in-vehicle sensor 45, navigation device 50, communication device 55). , HMI 70, security device 97, etc.).

  The in-vehicle sensor 45 acquires information (for example, information indicating characteristics of the person who got into the own vehicle M) for determining whether or not the person who got into the own vehicle M is an unintended occupant (unauthorized occupant). It is a sensor. The in-vehicle sensor 45 is an example of an “information acquisition unit”. The in-vehicle sensor 45 includes, for example, at least one of a vehicle interior camera 47 and an authentication sensor 48. The “intended occupant (regular occupant or regular user)” in this application means a person who is registered in advance as a user of the host vehicle M. On the other hand, the “unintended occupant (non-regular occupant)” means a person who is not registered in advance as a user of the host vehicle M.

  The vehicle interior camera 47 is a digital camera using a solid-state image sensor such as a CCD or CMOS. The vehicle interior camera 47 is attached to a rearview mirror, a steering boss, an instrument panel, or the inner surface of another vehicle interior, and can capture an image or video of the face of a person getting into the host vehicle M. The vehicle interior camera 47 sends the captured image or video to the anti-theft control unit 190 described later. The vehicle interior camera 47 can operate independently of the automatic driving control unit 120, for example, and can photograph a person who has entered the vehicle M even in a state where the automatic driving control unit 120 is in a pause mode to be described later.

  The authentication sensor 48 is a biometric authentication sensor such as a fingerprint authentication sensor or a voiceprint authentication sensor. For example, the authentication sensor 48 acquires information held by a person who gets into the host vehicle M as a living individual. The authentication sensor 48 sends the acquired information to the anti-theft control unit 190.

  The navigation device 50 includes a GNSS (Global Navigation Satellite System) receiver, map information (navigation map), a touch panel display device that functions as a user interface, a speaker, a microphone, and the like. The navigation device 50 is an example of a “current position deriving unit”. The navigation device 50 derives information indicating the current position of the host vehicle M based on information received by the GNSS receiver. The navigation device 50 sends information indicating the derived current position of the host vehicle M to the vehicle control system 100. In addition, the navigation device 50 identifies the position of the host vehicle M with the GNSS receiver, and derives a route from the position to the destination specified by the user. The route derived by the navigation device 50 is provided to the target lane determining unit 110 of the vehicle control system 100. The position of the host vehicle M may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 60. In addition, the navigation device 50 provides guidance on the route to the destination by voice or navigation display when the vehicle control system 100 is executing the manual operation mode. The configuration for specifying the position of the host vehicle M may be provided independently of the navigation device 50. Moreover, the navigation apparatus 50 may be implement | achieved by the function of terminal devices, such as a smart phone and a tablet terminal which a user holds, for example. In this case, information is transmitted and received between the terminal device and the vehicle control system 100 by wireless or wired communication. The map information of the navigation device 50 may include, for example, position information of police-related facilities (police stations, police boxes, representative offices, etc.) in various places.

  Communication device 55 includes an antenna and an antenna circuit (wireless circuit) electrically connected to the antenna. For example, the communication device 55 performs wireless communication with a communication satellite or a communication device installed on a road, and exchanges information with an information terminal (such as a portable terminal) of an authorized user of the host vehicle M. Is possible. The communication device 55 is an example of a “communication unit”.

  The communication device 55 includes a short-range communication circuit that can wirelessly communicate with a terminal device (such as a portable terminal or a key unit of the vehicle M) possessed by an authorized user of the host vehicle M, and is intended by a person who has entered the host vehicle M. You may acquire the information for determining whether it is an occupant who does not. For example, the communication device 55 may acquire identification information registered in the terminal device from a terminal device held by a person who gets into the host vehicle M by wireless communication. The communication device 55 sends the acquired identification information to the anti-theft control unit 190. In this case, the communication device 55 corresponds to another example of the “information acquisition unit”. Note that either one of the in-vehicle sensor 45 and the communication device 55 as the “information acquisition unit” may be omitted.

  The vehicle sensor 60 includes a vehicle speed sensor that detects a vehicle speed, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity around a vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like.

  FIG. 3 is a configuration diagram of the HMI 70. The HMI 70 includes, for example, a driving operation system configuration and a non-driving operation system configuration. These boundaries are not clear, and the configuration of the driving operation system may have a non-driving operation system function (or vice versa).

  The HMI 70 includes, for example, an accelerator pedal 71, an accelerator opening sensor 72, an accelerator pedal reaction force output device 73, a brake pedal 74, a brake pedal stroke sensor (or a master pressure sensor, etc.) 75, a shift, etc. A lever 76, a shift position sensor 77, a steering wheel 78, a steering angle sensor 79, a steering torque sensor 80, and other driving operation devices 81 are included.

  The accelerator pedal 71 is an operator for receiving an acceleration instruction (or a deceleration instruction by a return operation) from a vehicle occupant. The accelerator opening sensor 72 detects the depression amount of the accelerator pedal 71 and outputs an accelerator opening signal indicating the depression amount to the vehicle control system 100. Instead of outputting to the vehicle control system 100, the output may be directly output to the travel driving force output device 200, the steering device 210, or the brake device 220. The same applies to the configurations of other driving operation systems described below. The accelerator pedal reaction force output device 73 outputs a force (operation reaction force) in a direction opposite to the operation direction to the accelerator pedal 71 in response to an instruction from the vehicle control system 100, for example.

  The brake pedal 74 is an operator for receiving a deceleration instruction from the vehicle occupant. The brake depression amount sensor 75 detects the depression amount (or depression force) of the brake pedal 74 and outputs a brake signal indicating the detection result to the vehicle control system 100.

  The shift lever 76 is an operator for receiving an instruction to change the shift stage by a vehicle occupant. The shift position sensor 77 detects the shift stage instructed by the vehicle occupant and outputs a shift position signal indicating the detection result to the vehicle control system 100.

  The steering wheel 78 is an operator for receiving a turning instruction from a vehicle occupant. The steering angle sensor 79 detects the operation angle of the steering wheel 78 and outputs a steering angle signal indicating the detection result to the vehicle control system 100. The steering torque sensor 80 detects the torque applied to the steering wheel 78 and outputs a steering torque signal indicating the detection result to the vehicle control system 100.

  The other operation device 81 is, for example, a joystick, a button, a dial switch, a GUI (Graphical User Interface) switch, or the like. The other driving operation device 81 receives an acceleration instruction, a deceleration instruction, a turning instruction, and the like, and outputs them to the vehicle control system 100.

  The HMI 70 has, for example, a display device 82, a speaker 83, a contact operation detection device 84 and a content reproduction device 85, various operation switches 86, a sheet 88 and a sheet driving device 89, and a window glass 90. And a window drive device 91 and a door lock device 95.

  The display device 82 is a display device visually recognized by a passenger in the vehicle interior. The display device 82 is, for example, an LCD (Liquid Crystal Display), an organic EL (Electroluminescence) display device, or the like that is attached to each part of the instrument panel, an arbitrary position facing the front passenger seat or the rear seat. Further, the display device 82 may be a HUD (Head Up Display) that projects an image onto a front windshield or other window so as to be visible from the inside of the vehicle.

  When the display device 82 is a touch panel, the contact operation detection device 84 detects a contact position (touch position) on the display screen of the display device 82 and outputs it to the vehicle control system 100. When the display device 82 is not a touch panel, the contact operation detection device 84 may be omitted.

  The speaker 83 outputs sound. The speaker 83 emits sound into the vehicle interior. The speaker 83 is a speaker built in the vehicle interior that emits sound into the vehicle interior.

  The content playback device 85 includes, for example, a DVD (Digital Versatile Disc) playback device, a CD (Compact Disc) playback device, a television receiver, and various guidance image generation devices. The display device 82, the speaker 83, the contact operation detection device 84, and the content playback device 85 may have a configuration in which a part or all of them are common to the navigation device 50.

  The various operation switches 86 are disposed at arbitrary locations in the vehicle interior. The various operation switches 86 include an automatic operation changeover switch 87 for instructing start (or future start) and stop of automatic operation. The automatic operation changeover switch 87 may be either a GUI (Graphical User Interface) switch or a mechanical switch. The various operation switches 86 may include switches for driving the sheet driving device 89 and the window driving device 91.

  The seat 88 is a seat on which a vehicle occupant is seated. The seat driving device 89 freely drives the reclining angle, the front-rear direction position, the yaw angle, and the like of the seat 88. The window glass 90 is provided at each door, for example. The window driving device 91 drives the window glass 90 to open and close.

  The door lock device 95 can lock each door D so that each door D (see FIG. 1) of the host vehicle M does not open. More specifically, the door lock device 95 includes, for example, an engagement member provided on each door D, an engagement receiving portion provided on the vehicle body side, and the engagement member can be attached to and detached from the engagement receiving portion. Including an electric actuator to be engaged. The door lock device 95 locks each door D so that each door D does not open by engaging the engagement member with the engagement receiving portion. On the other hand, the door lock device 95 releases the lock of each door D by separating the engagement member from the engagement receiving portion. The door lock device 95 is not limited to the above example, and any configuration can be used as long as it can lock each door D.

  The security device 97 includes an abnormality detection sensor and an alarm attached to the host vehicle M. The security device 97 can be switched between an operation state and a non-operation state of the security mode. The abnormality detection sensor is, for example, an acceleration sensor provided on the door D, the vehicle body, or the like. The security device 97 activates an alarm when an abnormality (open / close of the door D, strong impact, etc.) is detected by the abnormality detection sensor in the operation state of the security mode.

  Next, prior to the description of the vehicle control system 100, the travel driving force output device 200, the steering device 210, and the brake device 220 will be described with reference to FIG.

  The traveling driving force output device 200 outputs traveling driving force (torque) for driving the host vehicle M to driving wheels. For example, when the host vehicle M is an automobile using an internal combustion engine as a power source, the traveling driving force output device 200 includes an engine, a transmission, and an engine ECU (Electronic Control Unit) that controls the engine. In the case of an electric vehicle that uses an electric motor as a power source, the vehicle includes a driving motor and a motor ECU that controls the driving motor. When the host vehicle M is a hybrid vehicle, the engine, the transmission, and the engine ECU and the driving motor A motor ECU. When the travel driving force output device 200 includes only the engine, the engine ECU adjusts the throttle opening, the shift stage, and the like of the engine according to information input from the travel control unit 160 described later. When traveling driving force output device 200 includes only the traveling motor, motor ECU adjusts the duty ratio of the PWM signal applied to the traveling motor according to the information input from traveling control unit 160. When travel drive force output device 200 includes an engine and a travel motor, engine ECU and motor ECU control travel drive force in cooperation with each other in accordance with information input from travel control unit 160.

  The steering device 210 includes, for example, a steering ECU and an electric motor. For example, the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor in accordance with information input from the vehicle control system 100 or information of the input steering steering angle or steering torque, and changes the direction of the steered wheels.

  The brake device 220 is, for example, an electric servo brake device that includes a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a braking control unit. The braking control unit of the electric servo brake device controls the electric motor according to the information input from the travel control unit 160 so that the brake torque corresponding to the braking operation is output to each wheel. The electric servo brake device may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal to the cylinder via the master cylinder. The brake device 220 is not limited to the electric servo brake device described above, but may be an electronically controlled hydraulic brake device. The electronically controlled hydraulic brake device controls the actuator in accordance with information input from the travel control unit 160 and transmits the hydraulic pressure of the master cylinder to the cylinder. Further, the brake device 220 may include a regenerative brake by a traveling motor that can be included in the traveling driving force output device 200.

[Vehicle control system]
Hereinafter, the vehicle control system 100 will be described. The vehicle control system 100 is realized by, for example, one or more processors or hardware having an equivalent function. The vehicle control system 100 includes a combination of a processor such as a CPU (Central Processing Unit), a storage device, and an ECU (Electronic Control Unit) in which a communication interface is connected by an internal bus, or an MPU (Micro-Processing Unit). It may be.

  The vehicle control system 100 includes, for example, a target lane determination unit 110, an automatic driving control unit 120, a travel control unit 160, an HMI control unit 170, a storage unit 180, and an antitheft control unit 190. The automatic driving control unit 120 includes, for example, an automatic driving mode control unit 130, an own vehicle position recognition unit 140, an external environment recognition unit 142, a destination setting unit 143, an action plan generation unit 144, and a trajectory generation unit 146. And a switching control unit 150. A part or all of the target lane determination unit 110, each part of the automatic driving control unit 120, the travel control unit 160, the HMI control unit 170, and the anti-theft control unit 190 are realized by a processor executing a program (software). Is done. Some or all of these may be realized by hardware such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit), or may be realized by a combination of software and hardware.

  The storage unit 180 stores, for example, high-accuracy map information 182, target lane information 184, action plan information 186, mode-specific operation availability information 187, regular occupant identification information 188, and destination registration information 189. . The storage unit 180 is realized by a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), a flash memory, or the like. The program executed by the processor may be stored in the storage unit 180 in advance, or may be downloaded from an external device via an in-vehicle Internet facility or the like. The program may be installed in the storage unit 180 by mounting a portable storage medium storing the program on a drive device (not shown). Further, the vehicle control system 100 may be distributed by a plurality of computer devices (on-vehicle computers).

  The target lane determining unit 110 is realized by, for example, an MPU. The target lane determination unit 110 divides the route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the high-precision map information 182 for each block. Determine the target lane. For example, the target lane determination unit 110 performs determination such as how many lanes from the left are to be traveled. For example, the target lane determination unit 110 determines the target lane so that the host vehicle M can travel on a reasonable travel route for proceeding to the branch destination when there is a branch point or a merge point in the route. . The target lane determined by the target lane determining unit 110 is stored in the storage unit 180 as target lane information 184.

  The high-precision map information 182 is map information with higher accuracy than the navigation map included in the navigation device 50. The high-precision map information 182 includes, for example, information on the center of the lane or information on the boundary of the lane. The high-precision map information 182 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like. Road information includes information indicating the type of road, such as urban roads, toll roads (including highways), national roads, prefectural roads, the number of lanes of each road, the width of each lane, the gradient of the road, the position of the road (longitude , Latitude and height (three-dimensional coordinates), lane curve curvature, lane merging and branch point positions, road markings, and other information. The traffic regulation information includes information that the lane is blocked due to construction, traffic accidents, traffic jams, or the like. The facility information included in the high-precision map information 182 includes, for example, position information of police-related facilities (police stations, police boxes, representative offices, etc.) in various places.

The automatic operation mode control unit 130 determines an automatic operation mode performed by the automatic operation control unit 120. The modes of automatic operation in the present embodiment include the following modes. The following is merely an example, and the number of modes of automatic operation may be arbitrarily determined.
[Mode A]
Mode A is the mode with the highest degree of automatic driving. When mode A is implemented, all vehicle control such as complicated merge control is automatically performed, so that the vehicle occupant does not need to monitor the surroundings and state of the host vehicle M.
[Mode B]
Mode B is a mode in which the degree of automatic driving is the second highest after Mode A. When mode B is implemented, in principle, all vehicle control is performed automatically, but the driving operation of the host vehicle M is left to the vehicle occupant depending on the situation. For this reason, the vehicle occupant needs to monitor the periphery and state of the own vehicle M.
[Mode C]
Mode C is a mode in which the degree of automatic driving is the second highest after mode B. When mode C is implemented, the vehicle occupant needs to perform confirmation operation according to the scene with respect to HMI70. In mode C, for example, when the vehicle occupant is notified of the lane change timing and the vehicle occupant performs an operation to instruct the HMI 70 to change the lane, the automatic lane change is performed. For this reason, the vehicle occupant needs to monitor the periphery and state of the own vehicle M.

  The automatic driving mode control unit 130 determines the mode of automatic driving based on the operation of the vehicle occupant with respect to the HMI 70, the event determined by the action plan generation unit 144, the travel mode determined by the track generation unit 146, and the like. The automatic operation mode is notified to the HMI control unit 170. Moreover, the limit according to the performance etc. of the detection device DD of the own vehicle M may be set to the mode of automatic driving. For example, when the performance of the detection device DD is low, the mode A may not be performed. In any mode, it is possible to switch to the manual operation mode (override) by an operation on the configuration of the driving operation system in the HMI 70.

  The vehicle position recognition unit 140 of the automatic driving control unit 120 includes high-precision map information 182 stored in the storage unit 180 and information input from the finder 20, the radar 30, the camera 40, the navigation device 50, or the vehicle sensor 60. Based on the above, the lane (traveling lane) in which the host vehicle M is traveling and the relative position of the host vehicle M with respect to the traveling lane are recognized.

  The own vehicle position recognition unit 140 is, for example, a road lane line pattern recognized from the high-precision map information 182 (for example, an arrangement of solid lines and broken lines) and the periphery of the own vehicle M recognized from an image captured by the camera 40. The road lane is recognized by comparing the road lane marking pattern. In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account.

  FIG. 4 is a diagram showing how the vehicle position recognition unit 140 recognizes the relative position of the vehicle M with respect to the travel lane L1. The own vehicle position recognition unit 140, for example, makes a deviation OS of the reference point (for example, the center of gravity) of the own vehicle M from the travel lane center CL and a line connecting the travel lane center CL in the traveling direction of the own vehicle M. The angle θ is recognized as a relative position of the host vehicle M with respect to the traveling lane L1. Instead, the host vehicle position recognition unit 140 recognizes the position of the reference point of the host vehicle M with respect to any side end of the host lane L1 as the relative position of the host vehicle M with respect to the traveling lane. Also good. The relative position of the host vehicle M recognized by the host vehicle position recognition unit 140 is provided to the target lane determination unit 110.

  The external environment recognition unit 142 recognizes the positions of surrounding vehicles and the state such as speed and acceleration based on information input from the finder 20, the radar 30, the camera 40, and the like. The peripheral vehicle is, for example, a vehicle that travels around the host vehicle M and travels in the same direction as the host vehicle M. The position of the surrounding vehicle may be represented by a representative point such as the center of gravity or corner of the other vehicle, or may be represented by a region expressed by the contour of the other vehicle. The “state” of the surrounding vehicle may include the acceleration of the surrounding vehicle, whether the lane is changed (or whether the lane is going to be changed), which is grasped based on the information of the various devices. In addition to the surrounding vehicles, the external environment recognition unit 142 may recognize the positions of guardrails, utility poles, parked vehicles, pedestrians, people riding bicycles, and other objects.

  The destination setting unit 143 automatically sets a destination for automatic driving by the automatic driving control unit 120 when an unintended person gets into the host vehicle M. The destination setting unit 143 will be described in detail later.

  The action plan generation unit 144 sets a starting point of automatic driving and / or a destination of automatic driving. The starting point of the automatic driving may be the current position of the host vehicle M or a point where an operation for instructing automatic driving is performed. The action plan generation unit 144 generates an action plan in a section between the start point and the destination for automatic driving. In addition, not only this but the action plan production | generation part 144 may produce | generate an action plan about arbitrary sections.

  The action plan is composed of, for example, a plurality of events that are sequentially executed. Examples of the event include a deceleration event for decelerating the host vehicle M, an acceleration event for accelerating the host vehicle M, a lane keeping event for driving the host vehicle M so as not to deviate from the traveling lane, and a lane change event for changing the traveling lane. In order to merge with the overtaking event in which the own vehicle M overtakes the preceding vehicle, the branch event in which the own vehicle M is driven so as not to deviate from the current traveling lane, or the main line Accelerates and decelerates the own vehicle M in the merging lane of the vehicle, a merging event that changes the driving lane, shifts from the manual driving mode to the automatic driving mode at the start point of the automatic driving, or manually from the automatic driving mode at the scheduled end point of the automatic driving. A handover event or the like for shifting to the operation mode is included. The action plan generation unit 144 sets a lane change event, a branch event, or a merge event at a location where the target lane determined by the target lane determination unit 110 is switched. Information indicating the action plan generated by the action plan generation unit 144 is stored in the storage unit 180 as action plan information 186.

  FIG. 5 is a diagram illustrating an example of an action plan generated for a certain section. As illustrated, the action plan generation unit 144 generates an action plan necessary for the host vehicle M to travel on the target lane indicated by the target lane information 184. Note that the action plan generation unit 144 may dynamically change the action plan regardless of the target lane information 184 according to a change in the situation of the host vehicle M. For example, the action plan generation unit 144 may determine that the speed of the surrounding vehicle recognized by the external recognition unit 142 exceeds the threshold while the vehicle travels, or the movement direction of the surrounding vehicle traveling in the lane adjacent to the own lane is the own lane direction. When the vehicle heads, the event set in the driving section where the host vehicle M is scheduled to travel is changed. For example, when the event is set so that the lane change event is executed after the lane keep event, the vehicle from the rear of the lane to which the lane is changed becomes greater than the threshold during the lane keep event according to the recognition result of the external recognition unit 142. When it is determined that the vehicle has traveled at the speed of, the action plan generation unit 144 may change the event next to the lane keep event from a lane change event to a deceleration event, a lane keep event, or the like. As a result, the vehicle control system 100 can automatically drive the host vehicle M safely even when a change occurs in the external environment.

  FIG. 6 is a diagram illustrating an example of the configuration of the trajectory generation unit 146. The track generation unit 146 includes, for example, a travel mode determination unit 146A, a track candidate generation unit 146B, and an evaluation / selection unit 146C.

  For example, when the lane keeping event is performed, the travel mode determination unit 146A determines one of the travel modes from constant speed travel, follow-up travel, low-speed follow-up travel, deceleration travel, curve travel, obstacle avoidance travel, and the like. . In this case, the traveling mode determination unit 146A determines that the traveling mode is constant speed traveling when there is no other vehicle ahead of the host vehicle M. In addition, the traveling mode determination unit 146A determines the traveling mode to follow running when traveling following the preceding vehicle. In addition, the traveling mode determination unit 146A determines the traveling mode to be low-speed following traveling in a traffic jam scene or the like. In addition, the travel mode determination unit 146A determines the travel mode to be decelerated when the external environment recognition unit 142 recognizes deceleration of the preceding vehicle or when an event such as stopping or parking is performed. In addition, when the outside recognition unit 142 recognizes that the host vehicle M has reached a curved road, the travel mode determination unit 146A determines the travel mode to be curved travel. In addition, the travel mode determination unit 146A determines the travel mode to be obstacle avoidance travel when the external environment recognition unit 142 recognizes an obstacle in front of the host vehicle M. In addition, when executing a lane change event, an overtaking event, a branching event, a merging event, a handover event, and the like, the traveling mode determination unit 146A determines a traveling mode according to each event.

  The trajectory candidate generation unit 146B generates trajectory candidates based on the travel mode determined by the travel mode determination unit 146A. FIG. 7 is a diagram illustrating an example of trajectory candidates generated by the trajectory candidate generation unit 146B. FIG. 7 shows candidate tracks generated when the host vehicle M changes lanes from the lane L1 to the lane L2.

  The trajectory candidate generation unit 146B follows a trajectory as shown in FIG. 7, for example, at a target position (orbit point K) at which a reference position (for example, the center of gravity or the center of the rear wheel axis) of the host vehicle M should arrive at a predetermined time in the future. Determine as a gathering of. FIG. 8 is a diagram in which trajectory candidates generated by the trajectory candidate generation unit 146B are expressed by trajectory points K. As the distance between the track points K increases, the speed of the host vehicle M increases. As the distance between the track points K decreases, the speed of the host vehicle M decreases. Therefore, the trajectory candidate generation unit 146B gradually widens the distance between the trajectory points K when it wants to accelerate and gradually narrows the distance between the trajectory points when it wants to decelerate.

  Thus, since the trajectory point K includes a velocity component, the trajectory candidate generation unit 146B needs to give a target speed to each of the trajectory points K. The target speed is determined according to the travel mode determined by the travel mode determination unit 146A.

  Here, a method for determining a target speed when a lane change (including a branch) is performed will be described. The track candidate generation unit 146B first sets a lane change target position (or a merge target position). The lane change target position is set as a relative position with respect to the surrounding vehicles, and determines “with which surrounding vehicle the lane is to be changed”. The trajectory candidate generation unit 146B pays attention to three surrounding vehicles with the lane change target position as a reference, and determines a target speed when the lane change is performed. FIG. 9 is a diagram illustrating the lane change target position TA. In the figure, L1 represents the own lane and L2 represents the adjacent lane. Here, in the same lane as that of the own vehicle M, the preceding vehicle mA is set as the surrounding vehicle that runs immediately before the own vehicle M, the front reference vehicle mB, and the lane change target position TA is set as the surrounding vehicle that runs immediately before the lane changing target position TA. A surrounding vehicle traveling immediately after is defined as a rear reference vehicle mC. The host vehicle M needs to perform acceleration / deceleration in order to move to the side of the lane change target position TA. However, it is necessary to avoid catching up with the preceding vehicle mA at this time. For this reason, the trajectory candidate generation unit 146B predicts the future state of the three neighboring vehicles and determines the target speed so as not to interfere with each neighboring vehicle.

  FIG. 10 is a diagram showing a speed generation model when the speeds of the three surrounding vehicles are assumed to be constant. In the figure, straight lines extending from mA, mB, and mC indicate displacements in the traveling direction when it is assumed that the respective surrounding vehicles have traveled at a constant speed. The own vehicle M must be between the front reference vehicle mB and the rear reference vehicle mC at the point CP at which the lane change is completed, and must be behind the preceding vehicle mA before that. Under such restrictions, the track candidate generation unit 146B derives a plurality of time-series patterns of the target speed until the lane change is completed. Then, a plurality of trajectory candidates as shown in FIG. 8 are derived by applying the time-series pattern of the target speed to a model such as a spline curve. The motion patterns of the three surrounding vehicles are not limited to the constant speed as shown in FIG. 10, and may be predicted on the assumption of a constant acceleration and a constant jerk (jumping degree).

  The evaluation / selection unit 146C evaluates the track candidates generated by the track candidate generation unit 146B from, for example, two viewpoints of planability and safety, and selects a track to be output to the travel control unit 160. . From the viewpoint of planability, for example, the track is highly evaluated when the followability with respect to an already generated plan (for example, an action plan) is high and the total length of the track is short. For example, when it is desired to change the lane in the right direction, a trajectory in which the lane is once changed in the left direction and returned is evaluated as low. From the viewpoint of safety, for example, at each track point, the distance between the host vehicle M and the object (peripheral vehicle or the like) is longer, and the higher the acceleration / deceleration or the change amount of the steering angle, the higher the evaluation.

  The switching control unit 150 switches between the automatic operation mode and the manual operation mode based on a signal input from the automatic operation switch 87. Further, the switching control unit 150 switches from the automatic operation mode to the manual operation mode based on an operation instructing acceleration, deceleration, or steering for the configuration of the driving operation system in the HMI 70. For example, the switching control unit 150 switches from the automatic operation mode to the manual operation mode when the operation amount indicated by the signal input from the configuration of the driving operation system in the HMI 70 exceeds the threshold for a reference time or longer ( override). Further, the switching control unit 150 may return to the automatic operation mode when an operation for the configuration of the driving operation system in the HMI 70 is not detected for a predetermined time after switching to the manual operation mode by the override. .

  The travel control unit 160 controls the travel driving force output device 200, the steering device 210, and the brake device 220 so that the host vehicle M passes the track generated by the track generation unit 146 at a scheduled time.

  When the automatic driving control unit 120 notifies the automatic driving mode information, the HMI control unit 170 refers to the mode-specific operation availability information 187 and controls the HMI 70 according to the type of the automatic driving mode.

  FIG. 11 is a diagram illustrating an example of the operation permission / inhibition information 187 for each mode. The mode-specific operation availability information 187 shown in FIG. 11 includes “manual operation mode” and “automatic operation mode” as operation mode items. Further, the “automatic operation mode” includes the above-mentioned “mode A”, “mode B”, “mode C”, and the like. The mode-specific operation availability information 187 includes “navigation operation” that is an operation on the navigation device 50, “content reproduction operation” that is an operation on the content reproduction device 85, and an operation on the in-vehicle display 82A as non-driving operation system items. And “instrument panel operation”. In the example of the mode-specific operation availability information 187 shown in FIG. 11, whether or not the vehicle occupant can operate the non-driving operation system is set for each operation mode described above, but the target interface device is limited to this. is not.

  The HMI control unit 170 refers to the mode-specific operation propriety information 187 based on the mode information acquired from the automatic driving control unit 120, and is permitted to be used (a part or all of the navigation device 50 and the HMI 70). And a device that is not permitted to be used. Further, the HMI control unit 170 controls whether or not to accept an operation from the vehicle occupant for the non-driving operation type HMI 70 or the navigation device 50 based on the determination result.

  For example, when the driving mode executed by the vehicle control system 100 is the manual driving mode, the vehicle occupant operates the driving operation system of the HMI 70 (for example, the accelerator pedal 71, the brake pedal 74, the shift lever 76, the steering wheel 78, etc.). To do. Further, when the operation mode executed by the vehicle control system 100 is the mode B, the mode C, or the like of the automatic operation mode, the vehicle occupant is obliged to monitor the periphery of the own vehicle M. In such a case, in order to prevent distraction (driver distraction) due to actions other than driving of the vehicle occupant (for example, operation of the HMI 70), the HMI control unit 170 is one of the non-driving operation systems of the HMI 70. Control is performed so as not to accept operations on all or part of the document. At this time, the HMI control unit 170 displays on the display device 82 the presence of the surrounding vehicle of the own vehicle M recognized by the external recognition unit 142 and the state of the surrounding vehicle in order to perform the surrounding monitoring of the own vehicle M. The confirmation operation according to the scene when the host vehicle M is traveling may be received by the HMI 70.

  Further, when the driving mode is the mode A of the automatic driving, the HMI control unit 170 relaxes the restriction of the driver distraction and performs control for accepting the operation of the vehicle occupant for the non-driving operation system that has not accepted the operation. For example, the HMI control unit 170 displays video on the display device 82, outputs audio to the speaker 83, and causes the content reproduction device 85 to reproduce content from a DVD or the like. The content reproduced by the content reproduction device 85 may include, for example, various contents related to entertainment and entertainment such as a TV program in addition to the content stored on the DVD or the like. Further, the “content reproduction operation” shown in FIG. 11 may mean such a content operation related to entertainment and entertainment.

  The regular occupant identification information 188 is information indicating the characteristics of the regular occupant of the host vehicle M. That is, the regular occupant identification information 188 is information that is compared with information acquired by the in-vehicle sensor 45, the communication device 55, or the like in order to determine whether or not the person boarding the host vehicle M is an unintended occupant. is there. For example, the regular occupant identification information 188 is information indicating the characteristics of the face of a regular occupant (regular user) of the host vehicle M, information indicating characteristics as a living individual (fingerprint information or voiceprint information), or a regular occupant. Including at least one of identification information registered in the terminal device.

  In the destination registration information 189, when an arbitrary destination is specified as an automatic driving destination that is automatically set in the host vehicle M when the host vehicle M is stolen, the destination registration information 189 is specified. The location information (address, etc.) of the ground is registered. For example, in the destination registration information 189, the home address is registered when the home is designated as an automatic driving destination that is automatically set in the own vehicle M when the own vehicle M is stolen. The The destination registration information 189 may be updatable after the host vehicle M is stolen through the information terminal of the authorized user of the host vehicle M and the communication device 55.

Next, the antitheft control unit 190 will be described.
FIG. 12 is a functional configuration diagram centering on the anti-theft control unit 190. As illustrated in FIG. 12, the anti-theft control unit 190 includes a detection processing unit 191, a determination unit 192, a door lock device control unit 194, and a communication control unit 196.

The detection processing unit 191 receives an image or video taken by the vehicle interior camera 47 from the vehicle interior camera 47 and performs image processing of the image or video. The detection processing unit 191 sends information obtained by performing image processing on an image or video captured by the vehicle interior camera 47 to the determination unit 192.
In addition, the detection processing unit 191 forms an example of a “detection unit DT” that detects a person who gets into the host vehicle M in cooperation with the vehicle interior camera 47. For example, the detection unit DT detects the presence or absence of a moving object by performing image processing on an image or video captured by the vehicle interior camera 47. And the detection part DT detects that the person who got into the own vehicle M exists when the moving object is contained in the image or image | video image | photographed with the vehicle interior camera 47. FIG. Note that the detection unit DT may detect a person who gets into the host vehicle M based on different information instead of the image or video captured by the vehicle interior camera 47. The detection unit DT can operate independently of the automatic driving control unit 120, for example, and can detect a person who gets into the host vehicle M even when the automatic driving control unit 120 is in the pause mode.

  The determination unit 192 determines, for example, whether or not the person who has boarded the host vehicle M is an unintended occupant from at least one of the detection processing unit 191, the authentication sensor 48, and the communication device 55. Information (for example, information indicating the characteristics of a person who gets into the vehicle M) is received. For example, the determination unit 192 receives information obtained by performing image processing on an image or video captured by the vehicle interior camera 47 from the detection processing unit 191. Further, the determination unit 192 may receive information as a living individual possessed by a person who gets into the host vehicle M acquired by the authentication sensor 48. Further, the determination unit 192 may receive the identification information registered in the terminal device possessed by the person who gets into the host vehicle M from the communication device 55.

  For example, the determination unit 192 is based on information received from at least one of the detection processing unit 191, the authentication sensor 48, and the communication device 55, and the regular occupant identification information 188 stored in the storage unit 180. It is determined whether or not the person who gets into the host vehicle M is an unintended occupant. For example, the determination unit 192 includes information received from at least one of the detection processing unit 191, the authentication sensor 48, and the communication device 55, and information included in the regular occupant identification information 188 stored in the storage unit 180. Compare. In this application, “compare information” means that the received information is subjected to necessary processing (for example, additional image processing or arithmetic processing) in addition to directly comparing received information. Includes the case of comparing things.

  The determination unit 192 includes information received from at least one of the detection processing unit 191, the authentication sensor 48, and the communication device 55, and information included in the regular occupant identification information 188 stored in the storage unit 180. If they match or the difference is within a predetermined range set in advance, it is determined that the person who has entered the vehicle M is the intended occupant (regular occupant). On the other hand, the determination unit 192 includes information received from at least one of the detection processing unit 191, the authentication sensor 48, and the communication device 55, and information included in the regular occupant identification information 188 stored in the storage unit 180. Are different from each other beyond the predetermined range, it is determined that the person who has entered the vehicle M is an unintended occupant (non-regular occupant). Further, the determination unit 192 is an unoccupied occupant when the person who gets into the vehicle M is not acquired within a predetermined time that is to be acquired through the authentication sensor 48 or the communication device 55 in advance. judge.

  When the determination unit 192 determines that the person boarding the host vehicle M is an unintended occupant, the determination unit 192 outputs a signal indicating that the person boarding the host vehicle M is an unintended occupant. And transmitted to the communication control unit 196 and the automatic operation control unit 120. As used herein, “a signal indicating that a person boarding the host vehicle M is an unintended occupant” refers to a signal sent when it is determined that a person boarding the host vehicle M is an unintended occupant. May be read as “.

  Instead of the above or in addition to the above, when the security mode of the security device 97 is in the operating state, the determination unit 192 determines that the person is an unintended occupant when there is a person getting into the host vehicle M. May be. Moreover, the determination method by the determination part 192 is not limited to the example mentioned above, The method is not ask | required if it can be determined whether the person who got into the own vehicle M is an unintended crew member.

  Further, the determination unit 192 can operate independently of the automatic driving control unit 120, for example, and whether or not the person who gets into the host vehicle M is an unintended occupant even when the automatic driving control unit 120 is in the pause mode. Can be determined. When the determination unit 192 determines that the person who has entered the host vehicle M is an unintended occupant while the automatic driving control unit 120 is in the pause mode, the determination unit 192 determines that the host vehicle A signal indicating that the person boarding M is an unintended occupant is transmitted.

  The door lock device control unit 194 operates the door lock device 95 by sending a control signal to the door lock device 95. When the door lock device control unit 194 receives a signal indicating that the person who has entered the host vehicle M is an unintended occupant from the determination unit 192, the door lock device control unit 194 operates the door lock device 95 to Lock the door D so that it does not open. The door lock device control unit 194 locks all doors D with the door lock device 95 in a state where an unintended person gets into the own vehicle M, for example, so that the person cannot get off the own vehicle M. To do. The door lock device control unit 194 may send a control signal to the door lock device 95 via the HMI control unit 170, or may send a signal directly to the door lock device 95.

Next, before describing the communication control unit 196, functions related to theft prevention of the automatic operation control unit 120 of the present embodiment will be described.
The automatic driving control unit 120 of the present embodiment automatically performs automatic driving based on the signal when the signal indicating that the person who got into the host vehicle M is an unintended occupant is received from the determination unit 192. Start. Note that “automatically starting automatic driving” means that power is supplied to various functional units related to automatic driving and a program for performing automatic driving is executed.

  In other words, the automatic driving control unit 120 shifts from the sleep mode to the active mode based on a signal received from the determination unit 192 (a signal indicating that the person who has entered the vehicle M is an unintended occupant, an interrupt signal). Automatic operation starts automatically. The “active mode of the automatic driving control unit” means that various functional units (for example, the action plan generating unit 144 and the trajectory generating unit 146) of the automatic driving control unit 120 operate and generate an action plan toward the destination. Or a state where trajectories can be generated. On the other hand, the “pause mode of the automatic driving control unit” means that only some of the functional units (for example, functional units related to communication) of the automatic driving control unit 120 operate, and many functional units (for example, the action plan generating unit 144). Or the trajectory generation unit 146) is stopped.

  More specifically, the destination setting unit 143 of the automatic driving control unit 120 performs automatic driving by the automatic driving control unit 120 when the determining unit 192 determines that the person boarding the host vehicle M is an unintended occupant. Set destination automatically. For example, the destination setting unit 143 receives, from the navigation device 50, information related to the current position of the host vehicle M derived by the navigation device 50, for example. Then, the destination setting unit 143 uses the information on the current position of the host vehicle M derived by the navigation device 50 and the high-accuracy map information 182 (or the navigation map of the navigation device 50) stored in the storage unit 180. Based on the included facility information, the nearest police related facility for the current position of the host vehicle M is searched, and the position information of the nearest police related facility is derived. Then, the destination setting unit 143 automatically sets the nearest police-related facility as a destination for automatic driving.

  Further, instead of the above, as the destination registration information 189 stored in the storage unit 180, when an arbitrary destination is separately registered as a destination for automatic driving when the host vehicle M is stolen, The destination setting unit 143 may automatically set the destination registered in the destination registration information 189 (for example, the home of an authorized user of the host vehicle M) as the destination for automatic driving.

  And the action plan production | generation part 144 of the automatic driving | operation control part 120 produces | generates the action plan of the automatic driving | operation for heading to the destination set by the destination setting part 143. The action plan generation unit 144 sends information regarding the generated action plan to the trajectory generation unit 146. The track generation unit 146 generates a track for the host vehicle M to travel based on the information related to the action plan generated by the action plan generation unit 144. The track generation unit 146 sends information related to the generated track to the travel control unit 160. The traveling control unit 160 controls the traveling driving force output device 200 based on the information regarding the track generated by the track generating unit 146. Accordingly, the host vehicle M travels to the destination set by the destination setting unit 143 by automatic driving.

Next, the communication control unit 196 of the antitheft control unit 190 will be described.
The communication control unit 196 of the anti-theft control unit 190 operates the communication device 55 by sending a control signal to the communication device 55. In addition, the communication control unit 196 converts information to be transmitted to the information terminal (mobile terminal or the like) 300 of an authorized user of the host vehicle M into a radio signal, and supplies the converted radio signal to the communication device 55. Accordingly, the communication control unit 196 transmits predetermined information to the information terminal 300 of the authorized user of the host vehicle M through the communication device 55. Note that the predetermined information transmitted to the information terminal 300 of the authorized user includes, for example, information indicating that an unintended person has boarded the host vehicle M (for example, theft information), and the vehicle interior of the host vehicle M. (For example, images and videos taken by the vehicle interior camera 47), information indicating the contents of automatic driving performed by the automatic driving control unit 120, and the like may be included. “Information indicating the contents of automatic driving” means, for example, that automatic driving is started (or that automatic driving is in progress), the destination of automatic driving set by the destination setting unit 143, and an action plan generation unit Information indicating the travel route to the destination generated by 144, the estimated arrival time at the destination derived by the action plan generation unit 144, and the like may be included. These pieces of information may be transmitted by the communication control unit 196 to a police-related facility or the like set as a destination for automatic driving.

  FIG. 13 is a flowchart illustrating an example of a control flow related to theft prevention according to the present embodiment. As shown in FIG. 13, first, when a person gets into the host vehicle M, the detection unit DT detects the person who gets into the host vehicle M (S100). Next, at least one of the in-vehicle sensor 45 and the communication device 55 acquires information on a person who has boarded the host vehicle M (S102).

  Next, information received by the determination unit 192 of the anti-theft control unit 190 from at least one of the detection processing unit 191, the authentication sensor 48, and the communication device 55, and regular occupant identification information stored in the storage unit 180 Based on 188, it is determined whether or not the person who has entered the vehicle M is an unintended occupant (S104). When the determination unit 192 determines that the person who has entered the vehicle M is the intended occupant (regular occupant), the series of processes related to theft prevention ends. As described above, the process of S104 is performed when the determination unit 192 determines that the person is an unintended occupant when there is a person who gets into the host vehicle M when the security mode of the security device 97 is in an activated state. It may be done. In this case, the process of S102 can be omitted.

  On the other hand, when it is determined by the determination unit 192 that the person boarding the host vehicle M is an unintended occupant, the door lock device control unit 194 operates the door lock device 95 after the person enters the host vehicle M. . That is, the door lock device control unit 194 receives a signal from the determination unit 192 indicating that the person who has entered the host vehicle M is an unintended occupant, so that the door lock device 95 is operated based on the signal and the host vehicle is operated. All doors D of M are locked (S106). As a result, a person who gets into the host vehicle M cannot get out of the host vehicle M.

  The automatic driving control unit 120 receives a signal indicating that the person who has boarded the host vehicle M is an unintended occupant from the determination unit 192, and thus automatically starts automatic driving based on the signal (S108). That is, the automatic operation control unit 120 shifts from the sleep mode to the active mode based on the signal sent from the determination unit 192. Then, the destination setting unit 143 of the automatic driving control unit 120 automatically sets, for example, a police-related facility or a preset location as a destination for automatic driving (S110). And the action plan production | generation part 144 of the automatic driving | operation control part 120 produces | generates the action plan of the automatic driving | running to the said destination (S112).

  When the communication control unit 196 receives a signal indicating that the person who has boarded the host vehicle M is an unintended occupant from the determination unit 192, based on the signal, an unintended person boarded the host vehicle M Information indicating the content of the automatic driving to be transmitted is transmitted to the information terminal 300 of the authorized user of the host vehicle M (S114). Further, the automatic driving control unit 120 starts the automatic driving based on the action plan generated by the action plan generating unit 144 (S116).

  In addition, when the information which shows that the unintended person got into the own vehicle M was sent to the information terminal 300, the regular user of the own vehicle M is stored in the memory | storage part 180 through the information terminal 300 and the communication apparatus 55. The stored destination registration information 189 may be updated. When the destination registration information 189 stored in the storage unit 180 is updated, the automatic operation control unit 120 corrects the action plan based on the position information of the destination newly registered as the destination registration information 189, and The content of the automatic driving may be changed based on the action plan.

  Note that part or all of the series of processes (S108, S110, S1112, S116, etc.) related to the automatic driving described above is performed by the door lock device 95 locking the door D (S106) or the communication control unit 196. It may be performed before the process of transmitting information (S114). Moreover, the process (S114) in which the communication control unit 196 transmits information may be performed before the process (S106) in which the door lock device 95 locks the door D.

  According to such a configuration, when an unintended person gets into the host vehicle M, automatic driving for automatically performing at least one of speed control and steering control of the host vehicle M is automatically started. For this reason, it is difficult for an unintended occupant who gets into the host vehicle M to freely operate the host vehicle M, and it is difficult to steal the host vehicle M. Thereby, improvement of antitheft can be aimed at.

  In the present embodiment, when an unintended person gets into the host vehicle M, a destination is automatically set, and automatic driving is started toward the destination. For this reason, it is difficult for an unintended occupant who gets into the own vehicle M to drive the own vehicle M toward his / her destination, and the theft of the own vehicle M becomes more difficult. Thereby, the further improvement of a theft countermeasure can be aimed at.

  In this embodiment, when an unintended person gets into the own vehicle M, the person can be taken to a police related facility (for example, the nearest police related facility for the current position of the own vehicle M) by automatic driving. Thereby, the further improvement of a theft countermeasure can be aimed at.

  In the present embodiment, the host vehicle M can be driven by automatic driving toward a location registered in advance. As a result, when the host vehicle M is stolen, the vehicle can return to a registered location (for example, home) by automatic driving. Thereby, the further improvement of a theft countermeasure can be aimed at.

  In the present embodiment, when an unintended person gets into the host vehicle M, all the doors D of the host vehicle M are locked, and automatic driving is performed in a state where the person cannot escape out of the host vehicle M. Is called. Thereby, the further improvement of a theft countermeasure can be aimed at.

  In the present embodiment, when an unintended person gets into the host vehicle M, the user of the host vehicle M registered in advance can easily know the content of automatic driving that is automatically started. As a result, it is possible to promptly report to the police and to further improve theft countermeasures.

  As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, and various deformation | transformation and substitution are within the range which does not deviate from the summary of this invention. Can be added.

  DT ... detection unit, 55 ... communication device (communication unit), 95 ... door lock device, 120 ... automatic operation control unit, 143 ... destination setting unit, 144 ... action plan generation unit, 192 ... determination unit, 194 ... door lock Device control unit, 196 ... communication control unit, 300 ... information terminal.

Claims (10)

A detection unit for detecting a person getting into the vehicle;
A determination unit for determining whether the person detected by the detection unit is an unintended occupant;
An automatic driving control unit that automatically starts automatic driving for automatically performing at least one of speed control and steering control of the vehicle when the determining unit determines that the person is an unintended occupant; ,
A vehicle control system comprising: The detection unit is capable of detecting a person who has entered the vehicle in a state where the automatic driving control unit is in a pause mode.
The determination unit is capable of determining whether the person is an unintended occupant in the state where the automatic operation control unit is in the suspension mode, and enters the suspension mode when it is determined that the person is an unintended occupant. Send a signal to the automatic operation control unit,
The automatic operation control unit shifts from the pause mode to the active mode based on a signal received from the determination unit, and automatically starts the automatic operation.
The vehicle control system according to claim 1. The automatic operation control unit automatically sets a destination when the determination unit determines that the person is an unintended occupant, and starts automatic operation toward the destination.
The vehicle control system according to claim 1 or 2. The automatic operation control unit sets a police-related facility as the destination when the determination unit determines that the person is an unintended occupant.
The vehicle control system according to claim 3. The automatic operation control unit sets a pre-registered location as the destination when the determination unit determines that the person is an unintended passenger.
The vehicle control system according to claim 3. A door lock device for locking the vehicle door;
A door lock device control unit that locks the door by the door lock device in a state in which the person gets into the vehicle when the determination unit determines that the person is an unintended occupant;
Further comprising
The automatic operation control unit starts automatic operation in a state where the door is locked by the door lock device after the person gets into the vehicle.
The vehicle control system according to any one of claims 1 to 5. When the determination unit determines that the person is an unintended occupant, the communication unit further transmits a content of automatic driving performed to an information terminal of a user of the vehicle registered in advance.
The vehicle control system according to any one of claims 1 to 6. The automatic driving control unit automatically sets a destination when the determination unit determines that the person is an unintended occupant, and generates an automatic driving action plan to the destination,
The communication unit transmits information on an estimated arrival time at the destination included in the action plan generated by the automatic operation control unit to the information terminal.
The vehicle control system according to claim 7. In-vehicle computer
Detects people in the vehicle,
Determine if the person is an unintended occupant,
When it is determined that the person is an unintended occupant, automatic driving for automatically performing at least one of speed control and steering control of the vehicle is automatically started.
Vehicle control method. On-board computer
Detect people getting into the vehicle,
Determine if the person is an unintended occupant,
When it is determined that the person is an unintended occupant, automatic driving for automatically performing at least one of speed control and steering control of the vehicle is automatically started.
Vehicle control program.

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