JP6590281B2 - Automotive and automotive programs - Google Patents

Description

  The present invention relates to an automobile and a program for an automobile.

  Conventionally, for the purpose of preventing theft of vehicles, authentication reference information such as biometric information of a person who is planning to use an automobile is registered and stored in advance, and the stored authentication reference information Compare and refer to the authentication information of the user who is going to use, and authenticate whether or not they match, and control the opening and closing of the vehicle door and the start of the vehicle according to the authentication result An apparatus and a method have been proposed (see, for example, Patent Document 1 and Patent Document 2 below).

  In this case, authentication of biometric information etc. of all persons who plan to use the car when it is assumed that the car will be used by multiple people in the family or by multiple employees of the company. The reference information is registered in advance, and all of the plurality of use schedule registrants can share the car.

JP 2010-208554 A JP 2011-025903 A

  As mentioned above, when multiple registrants can use the car, it is unclear whether other registrants want to use it. May end up.

  In addition, there are cases where the user is scheduled to use but cannot be used by other registered users.

  In view of the above problems, the present invention enables smooth adjustment with the next person who intends to use (ride) even if there are a plurality of use registrants, and improves security. An object of the present invention is to provide an automobile that can be planned.

In order to solve the above problems, the invention of claim 1
The information on the schedule about the re-entry entered by the rider, the schedule information including information on prohibition or permission of the use of others other than the person who entered the schedule information, and the authentication of the rider Means for storing the information in association with the reference information, and validating after the passenger gets off;
If the information on the schedule is valid, whether the person who intends to use the own vehicle is the person who has input the information on the schedule, and information for authentication of the person who intends to use the own vehicle First authentication means for determining from the stored authentication reference information;
In the first authentication means, when it is not possible to authenticate that the person who intends to use the person who has input the scheduled information, the use of the scheduled information is prohibited or permitted. Second authentication means for determining whether to permit the use of the vehicle by the person who intends to use based on the information;
Communication means;
Connection information storage means for storing connection information for performing communication through the communication means with a terminal possessed by a person who has input the schedule information ;
With
The information on prohibition or permission of the other person's use of the schedule information includes information on whether or not the approval of the person who has input the schedule information is necessary when the use of the other person is permitted.
The second authentication means determines whether or not the other person's use prohibition or permission information of the scheduled information permits the use of the other person and permits the use of the other person. Sometimes it is determined whether or not the approval of the person who has input the schedule information is necessary, and when it is determined that the approval of the person who has input the schedule information is necessary, the connection information stored in the connection information storage means A communication channel is generated and connected to the person who has input the schedule information using the, and the person who has input the schedule information is inquired whether the use of the vehicle may be permitted. Based on the result, it is determined whether or not the person who intends to use the vehicle is allowed to use the vehicle.
An automobile characterized by the above is provided.

  In the automobile according to the first aspect of the present invention, when the rider inputs the schedule information about the re-boarding when getting on or getting off, the rider receives the schedule information and inputs the schedule information. The information is stored in association with the passenger authentication reference information. The automobile according to the first aspect of the invention validates the stored schedule information after confirming that the passenger who has input the schedule information gets off.

  In the case where the information of the schedule is valid, when a person who intends to use the own vehicle appears, the first authentication means of the automobile according to the invention of claim 1 indicates that the person who intends to use the own vehicle Whether or not the person has input the scheduled information is determined from the authentication information acquired from the person who intends to use the vehicle and the stored authentication reference information.

Then, the second authentication means of the automobile of the invention of claim 1 uses the first authentication means to determine that the person who intends to use is not the person who has input the schedule information . Whether to permit the use of the vehicle by the person who intends to use is determined based on the information on the prohibition or permission of the use of others included .

  As described above, according to the automobile of the first aspect of the present invention, the information on the re-boarding schedule by the disembarking person is received and stored, so even if there are a plurality of use schedule registrants, By using the stored schedule information, it is possible to smoothly adjust with the person who intends to use (ride) next time, and it is possible to improve security.

  According to the apparatus of the present invention, even when there are a plurality of use schedule registrants, it is possible to smoothly make adjustments with the person who intends to use (ride) next by using the stored schedule information. In addition, security can be improved.

It is a figure for demonstrating the communication system containing embodiment of the motor vehicle by this invention. It is a block diagram which shows the example of a hardware configuration of an example of the autonomous driving vehicle which is embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the process operation example at the time of the user's getting off in the automatic driving vehicle of the example of FIG. It is a figure which shows a part of flowchart for demonstrating the process operation example at the time of the user's getting off in the automatic driving vehicle of the example of FIG. It is a figure for demonstrating an example of the input screen of the re-boarding schedule in the automatic driving vehicle of the example of FIG. It is a figure for demonstrating the example of the behavior list after alighting in the automatic driving vehicle of the example of FIG. It is a figure which shows a part of flowchart for demonstrating the process operation example corresponding to the call of the user in the automatic driving vehicle of the example of FIG. It is a figure which shows a part of flowchart for demonstrating the process operation example corresponding to the call of the user in the automatic driving vehicle of the example of FIG. It is a figure which shows a part of flowchart for demonstrating the process operation example corresponding to the call of the user in the automatic driving vehicle of the example of FIG. It is a figure which shows the flowchart for demonstrating the example of control operation | movement which moves corresponding to the call of the user in the autonomous driving vehicle of the example of FIG. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation at the time of the user in the automatic driving vehicle of the example of FIG. 2 getting on. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation at the time of the user in the automatic driving vehicle of the example of FIG. 2 getting on. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation at the time of the user in the automatic driving vehicle of the example of FIG. 2 getting on. It is a figure for demonstrating the example of the re-boarding schedule in embodiment of the motor vehicle by this invention. It is a figure for demonstrating the example of the re-boarding schedule in embodiment of the motor vehicle by this invention.

  The embodiment described below is an example in which the automobile is a so-called private automobile and is configured as an autonomous driving vehicle. And in this embodiment, the utilization form as shown in FIG. 1 is enabled about the autonomous driving vehicle 1 which is embodiment of the motor vehicle of this invention.

  First, while explaining this utilization form, the outline | summary of operation | movement of the automatic driving vehicle 1 of embodiment is demonstrated. The autonomous driving vehicle 1 of the embodiment described below is assumed to be shared by a plurality of users, for example, shared among family members, relatives, and friends. The sharing user registers in advance as a use schedule registrant for the autonomous driving vehicle 1. The automatic driving vehicle 1 stores the registered use schedule registrant information in the storage unit in association with identification information including a registrant number. In this case, the information of the registrant is registered as biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, telephone number or mail address. .

  In this embodiment, the self-driving vehicle 1 uses the stored information of the use schedule registrant alone or in combination with a plurality of information as authentication reference information for the use schedule registrant described later. is there. That is, as the reference information for authentication of the scheduled registrant, biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, phone number or email address, etc. Alternatively, a plurality of them can be used in combination.

  The face image of the scheduled user can be taken with a camera provided in the automatic driving car 1, and other biometric information of the planned use registrant is stored in advance in the memory of the automatic driving car 1. Can be used. Further, as other information, information input by a scheduled user can be used. In addition, biometric information including face images and other information stored in the cloud can be used via the communication network 3 described later. Furthermore, the face image of the registrant can use a photograph taken with the camera of the mobile phone terminal that he / she owns, and other biometric information and other information of the registrant can be stored in advance in the mobile phone. What is stored in the memory of the telephone terminal can also be used.

  In the example of FIG. 1, for example, a user 2 </ b> A, who is a member of a family, stored in the automatic driving vehicle 1 as a use schedule registrant, uses (for example, drives) the automatic driving vehicle 1 and returns to the home 4 to automatically Get off the driving car 1 and enter your home 4. In this case, the user 2A plans to re-ride on the autonomous driving vehicle 1 after getting off the vehicle while getting on the autonomous driving vehicle 1 or when getting off from the autonomous driving vehicle 1, if necessary. And the behavior after getting off the automatic driving vehicle 1 after getting off is set.

  As described later, the user 2A may enter the schedule so as to prohibit other people's boarding and secure his / her boarding, as will be described later. If there is a request for another registrant to board, if you allow, you can enter the schedule to allow the other registrant to use, or there will be no re-boarding plan (end of use) Enter the schedule. Further, the user 2A instructs to move to the parking lot 5 slightly away from the home 4 as the behavior after getting off, for example.

  The automatic driving vehicle 1 receives the input information of the re-ride schedule, and the re-ride schedule information is input to the input user (hereinafter referred to as a schedule input person, user 2A in FIG. 1). (It becomes authentication reference information as will be described later) and is stored in the storage unit in association with connection information for wireless communication with the scheduled input person. The automatic driving vehicle 1 validates the stored re-training schedule information after confirming that the schedule input person gets off.

In this case, as information for identifying the schedule input person and connection information for wireless communication with the schedule input person, when the schedule input person is a use schedule registrant such as the user 2A, Is extracted from the information of the registered user who plans to use it. The connection information for the wireless communication between the planned input person, such as a telephone number and e-mail address of the mobile phone terminal will enter person you possession is used. If the schedule input person is not a use schedule registrant stored in the automatic driving car 1, the automatic driving car 1 takes a face image of the schedule input person or receives a name and password from the schedule input person. Are obtained as identification information, and connection information such as a mobile phone number and a mail address is obtained and stored in association with the inputted schedule information.

  That is, as information for authentication reference of a person who inputs information of a scheduled re-boarding, biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, telephone number or mail An address or the like can be used alone or in combination.

  In this embodiment, the automatic driving vehicle 1 has a function of moving by autonomous driving by unmanned driving. The automatic driving vehicle 1 moves to the parking lot 5 in the example of FIG. 1 by autonomous driving by unattended driving according to the behavior instruction after getting off set by the user 2A.

  The autonomous vehicle 1 of this embodiment has a function of performing communication through a communication network 3 including a mobile phone network and the Internet. Then, when there is a call through the mobile phone network of the communication network 3, the autonomous vehicle 1 authenticates the user (caller in FIG. 1) 2B who has made the call, and when the authentication is successful, The user moves to a location designated by the user 2B who has made the call.

  In this embodiment, the user of the mobile phone terminal installs an application program for calling the automatic driving vehicle 1 in advance in the mobile phone terminal that calls the automatic driving vehicle 1. Then, when the user performs a call operation of the autonomous driving vehicle 1 using an application program for calling the mobile phone terminal, the telephone call is automatically made to the wireless communication unit of the autonomous driving vehicle 1. In addition, in this embodiment, a call request to which information on the current position of the mobile phone terminal is added is sent to the automatic driving vehicle 1 as position information of a place where the automatic driving vehicle 1 is called and awaited. When the caller can be authenticated, the automatic driving vehicle 1 moves toward the location indicated by the position information.

  In this case, as the authentication for the caller, the automatic driving vehicle 1 of this embodiment is first configured as a first call whether or not the caller is a use schedule registrant registered in the automatic driving vehicle 1. The user authentication is performed by using the stored information of the use schedule registrant as the authentication reference information. If the user is not the use schedule registrant, the call is rejected in this embodiment.

  When it is determined as a result of the first caller authentication that the caller is a use schedule registrant, the automatic driving vehicle 1 determines whether or not the information on the re-training schedule that is validated is stored. When the schedule information is not stored, the call by the utilization schedule registrant is accepted and the user moves to the location indicated by the position information included in the call request.

  If it is determined as a result of the first caller authentication that the caller is a use schedule registrant, and it is determined that information on a valid re-boarding schedule is stored, automatic driving is performed. The second caller authentication for the caller is performed using the authentication reference information for the input person (schedule input person) of the information on the scheduled re-training stored in the storage unit of the car 1.

  When it is determined in the second caller authentication that the caller is the scheduled input person, the automatic driving vehicle 1 accepts the call by the scheduled input person who is the caller, and the position included in the call request Move to the location indicated by the information.

  Further, when it is determined in the second caller authentication that the caller is not a scheduled input person, the automatic driving vehicle 1 can use a person other than the scheduled input person with reference to the stored schedule information. Judging sex. When the schedule information denies the availability of a person other than the schedule input person, the automatic driving vehicle 1 rejects the call by the caller.

  Further, when it is determined by the second caller authentication that the caller is not the scheduled input person, there is a possibility that the schedule information can be used by a user other than the scheduled input person with the permission of the scheduled input person. In the case of indicating that there is, the autonomous driving vehicle 1 inquires of the schedule input person as the authorization certifier whether or not to permit the call of another scheduled use registrant and answers the inquiry. Based on this, authentication of the caller (third caller authentication) is performed.

  That is, in the third caller authentication, the autonomous driving vehicle 1 uses the connection information of the scheduled input person to connect a communication path with the scheduled input person and permits calling of other scheduled use registrants. Ask the schedule input person whether or not to do. In response to this inquiry, the person who entered the schedule responds with a call permission if he / she is allowed to call another registrant, and responds with a call refusal if he / she refuses to call another registrant. do. In this case, in this embodiment, information relating to other use plan registrants is not sent to the person who entered the re-scheduled schedule, but for example, biometric information such as face images of other use plan registrants and names For example, information for recognizing who the other use schedule registrants are may be sent to the re-training schedule input person as reference information for determining whether or not calling is possible.

  In the third caller authentication, the automatic driving vehicle 1 receives an answer to the inquiry from the scheduled input person through the communication path, and determines whether or not the caller can be called based on the received answer. . That is, when a call permission answer is received from the schedule input person, the autonomous driving vehicle 1 responds to a call from another use schedule registrant. Further, when a call rejection response is received from the schedule input person, the automatic driving vehicle 1 rejects a call from another use schedule registrant. Then, the automatic driving vehicle 1 can authenticate the caller by the third caller authentication, and moves to the designated waiting place by autonomous traveling when responding to the request of the caller.

  Note that for a call operation by a caller during use such as when the autonomous driving vehicle 1 is running, the call may be rejected without authenticating the caller. In this case, the autonomous driving vehicle 1 may notify the caller of a voice message or a text message such as “Currently in use and cannot be answered”.

  The authentication information in the first caller authentication and the second caller authentication described above includes biometric information such as a caller's face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, A password, a telephone number, an e-mail address, etc. are used alone or in combination. The caller sends this authentication information from the mobile phone terminal to the automatic driving vehicle 1 through the mobile phone network.

  The caller's face image can be taken with the camera provided in the mobile phone terminal, and the caller's voice can be taken with the microphone provided in the mobile phone terminal, Furthermore, the other biometric information of the caller can be stored in advance in the memory of the mobile phone terminal. Further, as other information, information input by the caller to the mobile phone terminal can be used. In addition, biometric information including face images and other information stored in the cloud can be used via the communication network 3.

  In the first caller authentication and the second caller authentication, the authentication reference information to be compared with the authentication information acquired from the caller is stored in the storage unit of the autonomous driving vehicle 1. It is possible to use information of registered users who are scheduled to use. In the example described below, as an example of caller authentication information and authentication reference information for first caller authentication and second caller authentication, the telephone number of the caller's mobile phone terminal is used. . The telephone number of the mobile phone terminal of the schedule input person who is the authentication permitter for the second caller authentication is stored in association with the schedule information when the input of the information on the re-boarding schedule is accepted. .

  Next, in the autonomous driving vehicle 1 of this embodiment, at a standby place designated by calling, a user who is about to start using a new one at the time of boarding (authentication of the user) Only the user who has been authenticated can use the autonomous driving vehicle 1, that is, allow the autonomous driving vehicle 1 to travel. In addition, as shown in the example of FIG. 1, the waiting place is not only when it has moved once and then moved in response to a call by the caller, but it has stopped or parked at that position without moving when it got off the previous time. Including the case.

  In this case, as authentication for the user at the time of boarding, in the automatic driving vehicle 1 of this embodiment, first, the user who is going to get on is a use schedule registrant registered in the automatic driving vehicle 1. The first user authentication of whether or not the vehicle is used is performed by using the stored information of the use schedule registrant as the authentication reference information. The use of car 1) is refused and prohibited.

  As a result of the first boarding user authentication, when it is determined that the user who is going to get on is a use schedule registrant, the self-driving car 1 stores information on the re-boarding schedule that is valid. If the schedule information is not stored, the use registrant is permitted to use the vehicle.

  Further, as a result of the first boarding user authentication, when it is determined that the user who is going to board is a registrant, it is determined that information on a valid re-boarding schedule is stored. The second passenger user authentication for the user who is about to get on, using the information for authentication reference about the person who inputs the schedule information of the re-boarding stored in the storage unit of the automatic driving car 1 I do.

  When it is determined in the second boarding user authentication that the user who is going to get on is the schedule input person, the automatic driving vehicle 1 permits the use of the own car by the schedule input person.

  Further, in the second passenger user authentication, when it is determined that the user who is going to get on is not a schedule input person, the automatic driving vehicle 1 refers to the stored schedule information, and other than the schedule input person. The availability of the user. If the schedule information denies the availability of a person other than the schedule input person, the self-driving vehicle 1 refuses and prohibits the use of the vehicle by the user who is about to get on. To.

  In addition, when it is determined in the second boarding user authentication that the user who is going to get on is not the schedule input person, if the schedule information is permitted by the schedule input person, If it indicates that there is a possibility of use, the autonomous driving vehicle 1 inquires of the schedule input person as the authorization certifier whether or not to permit the use of other use schedule registrants, Based on the answer to the inquiry, third boarding user authentication is performed for the user who is about to board.

  That is, in the third passenger user authentication, the autonomous driving vehicle 1 uses the connection information of the schedule input person to connect the communication path with the schedule input person, and the own vehicle of another use schedule registrant. Ask the schedule input person whether or not to allow the use of. In response to this inquiry, the person entering the schedule responds with a permission to use if the other registrants are allowed to use, and a reply with no permission if the other registrants are denied. do. In this case, in this embodiment, information relating to other use plan registrants is not sent to the person who entered the re-scheduled schedule, but for example, biometric information such as face images of other use plan registrants and names For example, information for recognizing who is the other use schedule registrant may be sent to the re-entry schedule input person as reference information for deciding whether or not to use the information.

  In this third passenger user authentication, the autonomous driving vehicle 1 receives an answer to the inquiry from the scheduled input person through the communication channel, and the self-driving car 1 self-registration about the user who is about to get on the basis of the received answer. Decide whether to use the car. That is, when a use permission response is received from the schedule input person, the autonomous driving vehicle 1 permits the use of the own vehicle of another use schedule registrant. Further, when the use permission reply is received from the schedule input person, the autonomous driving vehicle 1 rejects (prohibits) the use of the own car of another use schedule registrant.

  As examples of authentication information and authentication reference information used for the first passenger user authentication and the second passenger user authentication, in this embodiment, the user's face image, voice, fingerprint, vein, iris The biometric information of the user is used. In the example described below, the face image of the scheduled user is stored in the storage unit as authentication reference information for first passenger user authentication. In addition, the face image of the schedule input person is stored in the storage unit as authentication reference information for second passenger user authentication.

  With reference to FIG. 1, the outline | summary of the main operation | movement of the autonomous vehicle 1 of this embodiment is demonstrated. It is assumed that both users 2A and 2B are registered in the automatic driving vehicle 1 as registrants.

  For example, in the example of FIG. 1, the user 2 </ b> A himself / herself who got off after inputting the information of the scheduled re-ride in the autonomous driving car 1 calls the automated driving car 1 at his / her mobile phone terminal at home 4. Suppose you call. Then, the automatic driving vehicle 1 of this embodiment authenticates the user 2A as the scheduled user of registration in the first caller authentication, and further, in the second caller authentication, the telephone number of the user 2A is Since it matches the telephone number of the mobile phone terminal stored in association with the information of the re-boarding schedule, the user 2A is authenticated as the schedule input person. Therefore, the automatic driving vehicle 1 goes from the parking lot 5 to the home 4 of the user 2A in response to the call of the user 2A.

  When the automatic driving vehicle 1 arrives at the home 4, it is assumed that the user 2 </ b> A tries to get on the automatic driving vehicle 1. At this time, the autonomous driving vehicle 1 captures and acquires a face image of the user 2A who is about to get on, and is stored as the acquired face image and use schedule registrant information in the first passenger user authentication. The user 2A is authenticated as a use registrant. Further, in the second passenger user authentication, the autonomous driving vehicle 1 uses the acquired user 2A face image and the face image of the user 2A stored in association with the information on the re-boarding schedule. 2A is authenticated as a re-boarding schedule input person. Therefore, the autonomous driving vehicle 1 permits the use of the vehicle by the user 2A on the assumption that the first passenger user authentication and the second passenger user authentication have been performed.

  Next, in the example of FIG. 1, another user 2 </ b> B who is not the user 2 </ b> A who gets off after inputting the information on the scheduled re-ride in the autonomous driving vehicle 1 is automatically driven by his / her mobile phone terminal at home 4. A case will be described in which a call is made to the car 1 to get on and use the autonomous driving car 1.

  In this case, the automatic driving vehicle 1 can authenticate the user 2B as the scheduled user of registration in the first caller authentication, but in the second caller authentication, the telephone number of the user 2B. Does not match the telephone number of the mobile phone terminal of the user 2A who is the schedule input person, so it is determined that the authentication could not be performed.

  Therefore, the autonomous vehicle 1 refers to the stored schedule information and determines the availability of a person other than the schedule input person. When the schedule information indicates that there is a possibility of use by a user other than the schedule input person with the permission of the schedule input person, the user 2A who is the schedule input person as the authorized certifier is notified. On the other hand, an inquiry is made as to whether or not to permit calling by other registrants to be used, and third caller authentication (with a re-boarding schedule) is performed based on the answer to the inquiry.

  When the user 2A as the authorization certifier answers the call permission, the automatic driving vehicle 1 accepts the call of the user 2B, and the waiting place designated by the user 2B, in the example of FIG. Since 2B is the family of the user 2A, it goes to the home 4 of the user 2A.

  When the automatic driving car 1 arrives at the home 4, the user 2 </ b> B tries to get on the automatic driving car 1. Then, the autonomous driving vehicle 1 authenticates that it is a utilization plan registrant in the first boarding user authentication, but in the second boarding user authentication, the use stored together with the information of the re-boarding schedule. Since the face image of the person 2A and the photographed face image of the user 2B who has been in the vehicle do not match, it is determined that the second passenger user authentication has failed.

  At this time, the automatic driving vehicle 1 refers to the stored schedule information in the same manner as at the time of caller authentication, determines the availability of a person other than the schedule input person, and has the possibility of using it. When the determination is made, third boarding user authentication is performed.

  That is, when the schedule information indicates that there is a possibility of use by a user other than the schedule input person with the permission of the schedule input person, the autonomous driving vehicle 1 is the schedule input person as a permit certifier. The user 2A is inquired whether or not to permit the use of other scheduled users, and third passenger authentication is performed based on the answer to the inquiry.

  In this third passenger user authentication, the automatic driving vehicle 1 uses the connection information of the user 2A who is the schedule input person to connect the communication path to the user 2A and register other use schedules. The user 2A, who is the schedule input person, is inquired whether or not the user's use is permitted. When the user 2A responds to this inquiry with permission to board, the autonomous driving vehicle 1 receives the answer and determines that the third boarding user authentication for the user 2B has been completed, The use of user 2B is permitted. In addition, when the user 2A responds that the boarding is not permitted, the autonomous driving vehicle 1 receives the answer and determines that the third boarding user authentication for the user 2B has not been performed. The use of the person 2B is rejected (prohibited).

  As described above, according to the automatic driving vehicle 1 of the embodiment, a user who is in the vehicle can input and store information on a re-boarding schedule in the automatic driving vehicle 1, It is possible to give priority to own re-boarding or, in some cases, allow other users to use the board. Therefore, adjustment with the person who intends to use (ride) next can be performed smoothly, and safety can be improved.

[Hardware configuration example of autonomous driving vehicle 1]
A hardware configuration example of the automatic driving vehicle 1 that realizes the above processing will be described below.

  FIG. 2 is a block diagram illustrating a hardware configuration example of the electronic control circuit unit 10 of the autonomous vehicle 1 according to the first embodiment. In addition, the automatic driving vehicle 1 of this embodiment is an example in the case of an electric vehicle. However, the battery is not shown in FIG.

  Moreover, the automatic driving vehicle 1 of this embodiment has an automatic driving mode and a manual driving mode. The manual operation mode is a mode in which the vehicle can travel in accordance with the driver's accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation (handle operation), as in a normal automobile that is not an autonomous driving vehicle. In the automatic driving mode, the autonomous driving vehicle 1 itself automatically (autonomously) avoids obstacles even if the driver does not operate the accelerator pedal, the brake pedal, the shift lever and the steering. It is a driving mode to change.

  The driver of the automatic driving vehicle 1 can switch the automatic driving vehicle 1 running in the manual driving mode to the automatic driving mode by a predetermined operation through, for example, the touch panel 112 described later, and while driving in the automatic driving mode. When the driver performs an accelerator pedal operation, a brake pedal operation, a shift lever operation, or a steering operation, the driver automatically returns to the manual operation mode.

  As shown in FIG. 2, the electronic control circuit unit 10 has a wireless communication unit 102, a motor drive control unit 103, and a steering drive control unit through a system bus 100 with respect to a control unit 101 configured with a computer. 104, manual / automatic operation mode switching control unit 105, radar group 106, camera group 107, sensor group 108, surrounding moving body grasping unit 109, current position detection unit 110, display unit 111, touch panel 112, car navigation (hereinafter, car navigation) Abbreviated as function) function unit 113, use schedule registrant information reception unit 114, use schedule registrant information storage unit 115, caller authentication unit 116, ride user authentication unit 117, re-boarding schedule information reception unit 118, schedule input information. Storage unit 119, behavior processing unit 120 after getting off, behavior storage unit 121 after getting off, voice input / output unit 122, Respectively are connected.

  A motor drive unit 131 is connected to the motor drive control unit 103. A steering drive unit 132 is connected to the steering drive control unit 104. A manual driving operation detecting unit 133 is connected to the manual / automatic driving mode switching control unit 105. A car navigation database 134 is connected to the car navigation function unit 113. Further, a microphone 135 and a speaker 136 are connected to the audio input / output unit 122.

  In this embodiment, the wireless communication unit 102 has a function of performing communication such as telephone communication and electronic mail communication through a mobile phone network. The control unit 101 performs a function of performing processing when a call request is received from the caller through the wireless communication unit 102 and generates a communication path with the authorized authenticator (scheduled input person), thereby A processing function for performing caller authentication and third passenger authentication is provided as a software processing function.

  Under the control of the control unit 101, the motor drive control unit 103 controls the supply of a drive signal to the motor drive unit 131 of the automatic driving vehicle 1 constituted by the electric vehicle of this embodiment. The start of travel, the travel speed control (including brake control and accelerator control), the travel stop, etc. are controlled.

  Under the control of the control unit 101, the steering drive control unit 104 controls the supply of a drive control signal to the steering drive unit 132 of the autonomous driving vehicle 1 of this embodiment to control the course change of the autonomous driving vehicle 1. To do.

  The manual / automatic operation mode switching control unit 105 performs control to switch the operation mode of the automatic driving vehicle 1 between the manual operation mode and the automatic operation mode in accordance with a selection operation input through the touch panel 112. The manual driving operation detection unit 133 receives the operation information of the accelerator pedal operation, the brake pedal operation, the shift lever operation, and the steering operation by the driver, and supplies the manual driving operation information to the manual / automatic driving mode switching control unit 105. To do.

  The manual / automatic driving mode switching control unit 105 supplies the manual driving operation information from the manual driving operation detecting unit 133 to the motor drive control unit 103 and the steering drive control unit 104 when the automatic driving vehicle 1 is in the manual driving mode. Then, the motor driving unit 131 and the steering driving unit 132 are controlled according to the driver's pedal operation, shift lever operation, and steering operation (handle operation).

  The manual / automatic driving mode switching control unit 105 outputs the outputs of the radar group 106, the camera group 107, the sensor group 108, and the surrounding moving body grasping unit 109 as described later when the autonomous driving vehicle 1 is in the automatic driving mode. Is supplied to the motor drive control unit 103 and the steering drive control unit 104, and the motor drive unit 131 and the steering drive unit 132 are driven and controlled by the automatic drive operation information. To do. In the automatic driving mode, the car navigation function unit 113 searches for a route from the current position to the destination (destination) set by the driver or the like, and is controlled so as to travel along the searched route. The

  The radar group 106 is for measuring the distance to the people and objects existing around the vehicle of the autonomous driving vehicle 1 and includes a laser radar, a millimeter wave radar, and the like. The laser radar is embedded, for example, near the ceiling or the bumper, and the millimeter wave radar is provided, for example, at the front and rear of the vehicle. Both laser radar and millimeter wave radar may be provided, or only one of them may be provided. Further, other radars such as a microwave radar may be used. Further, a sonar (not shown) can be used for the same purpose as the radar.

  The camera group 107 includes one to a plurality of cameras for photographing the inside of the autonomous driving vehicle 1 and one to a plurality of cameras for photographing the surroundings outside the vehicle such as the front, side, and rear of the autonomous driving vehicle 1. . For example, a camera that captures the interior of a vehicle is attached to the rear-view mirror (rear-view mirror, rear-view mirror) installed between the driver's seat and front passenger seat, the upper part of the front window, etc. In addition to a camera for photographing the work, a camera for photographing the work of a passenger (passenger) sitting in the passenger seat or the rear seat is included. Cameras that photograph the periphery of the autonomous vehicle 1 are attached to the left and right sides of the rearview mirror, for example, and two cameras (stereo cameras) that primarily photograph the left front and right front of the autonomous vehicle 1 The camera includes a camera that is attached to, for example, a door mirror or a fender mirror of the autonomous driving vehicle 1 and photographs the left and right sides, a camera that captures the rear of the autonomous driving vehicle 1, and the like.

  The sensor group 108 includes an opening / closing detection sensor for detecting opening / closing of a door and a window, a sensor for detecting seat belt wear, a seating sensor for detecting that a passenger is seated in a seat such as a driver's seat and a passenger seat, etc. In addition, it includes a human sensor (infrared sensor) for detecting a person in the vicinity outside the vehicle and various sensors for acquiring information to assist automatic driving. As various sensors for acquiring information to assist automatic driving, for example, a vibration sensor for detecting vibration of a vehicle or a tire, a rotation speed sensor for detecting the rotation speed of a tire, or a direction for detecting a direction A geomagnetic sensor, an acceleration sensor for detecting acceleration, a gyro sensor (gyroscope) for detecting angle and angular velocity, and the like are included. In this embodiment, the sensor group 108 also includes sensors that detect lighting of a right turn signal, a left turn signal (direction indicator), and a hazard lamp (emergency blinking light).

  The surrounding moving body grasping unit 109 grasps a moving body (including a person) around the own vehicle by using the images taken by the radar group 106, the sensor group 108, and the camera group 107. The surrounding moving body grasping unit 109 grasps surrounding obstacles and moving bodies by performing processing based on, for example, Bayesian theory.

  The current position detector 110 receives radio waves from GPS satellites and detects the current position of the vehicle. Since the current position detection unit 110 has poor accuracy of the position detected by the radio wave from the GPS satellite, the current position detection unit 110 includes not only the information on the current position detected by the reception of the radio wave from the GPS satellite but also 1 to 1 included in the sensor group 108. In addition to using a plurality of sensors, images taken by the radar group 106 and the camera group 107 (with a navigation function), etc., for example, processing based on Bayesian theory is performed to detect and confirm the current position with higher accuracy. I have to.

  In the automatic driving mode, the autonomous driving vehicle 1 receives position information obtained by receiving radio waves from the radar group 106, the camera group 107, the sensor group 108, and the GPS satellites in the current position detection unit 110 and the surrounding moving body grasping unit 109. In other words, information corresponding to information obtained from human eyes and ears is processed by Bayesian theory, and based on this information, the control unit 101 provides intelligent information such as changing the course of the vehicle and avoiding obstacles. Processing (artificial intelligence) and control (artificial intelligence) are performed to generate automatic driving operation information.

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

  A car navigation database 134 connected to the car navigation function unit 113 stores domestic maps and route guidance data in advance. The car navigation function unit 113 is a function unit for guiding the automatic driving car 1 to assist in moving to a designated destination based on a map stored in the car navigation database 134 and route guidance data. It is. In this embodiment, the car navigation function unit 113 is configured to perform slightly different processing in the manual operation mode and the automatic operation mode.

  That is, in the manual operation mode, the car navigation function unit 113 is detected and confirmed by the current position detection unit 110 on the map that explicitly displays the route (route) to the destination on the display screen of the display unit 111. In addition to displaying a superimposed image of the current vehicle position, the vehicle position (current position) on the map is moved as the vehicle moves, and route guidance such as intersections and branch points on the route is provided. Provide voice guidance where necessary. This is the same as the normal car navigation function.

  On the other hand, in the automatic driving mode, the car navigation function unit 113 notifies the control unit 101 of information on the direction and distance of the vehicle when the current position of the vehicle is away from the route to the destination. When the current position of the vehicle is on the route to the destination, the control unit 101 is notified of the change direction information along the route before the intersection or branching point on the route as the vehicle moves. To do. Based on the information notified from the car navigation function unit 113, the current position confirmation result of the current position detection unit 110, and the grasping result of the surrounding moving body grasping unit 109, the control unit 101 instructs the own vehicle on the route. The motor drive unit 131 is controlled through the motor drive control unit 103 and the automatic drive operation information for controlling the steering drive unit 132 is generated through the steering drive control unit 104 so as to move along the route as described. . Therefore, by the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the automatic driving mode, the automatic driving vehicle 1 can move to the destination even when the passenger is unattended.

  The use schedule registrant information reception unit 114 receives registration information such as a family member who plans to use the automatic driving vehicle 1 of this embodiment as information of the use schedule registrant, and the received use schedule registrant. Is stored in the utilization plan registrant information storage unit 115.

  In other words, in the automatic driving vehicle 1 of this embodiment, when the user selects the item “Register User Schedule” from the processing menu displayed on the display screen of the display unit 111, for example, The information receiving unit 114 is activated to enter a registration mode for information on the registrant. However, the registration mode of the planned registrant is enabled only when authentication is obtained with an ID and password set in advance by the owner of the automatic driving vehicle 1 or the like.

  The use schedule registrant information storage unit 115 receives information on the use plan registrant input by the user's input operation through the touch panel 112 and stores it in the use plan registrant information storage unit 115.

  As described above, the information of the registrant is as follows: biometric information such as face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, phone number (phone number of mobile phone terminal) ) Or e-mail address is stored. The face image of the registrant is recorded by a predetermined camera in the camera group 107 and stored.

  In this embodiment, the face image of the use plan registrant of the registered use plan registrant information stored in the use plan registrant information storage unit 115 is the first and second passenger user authentication. Authentication reference information. Further, the telephone number of the mobile phone terminal in the registration information of the scheduled use registrant stored in the scheduled use registrant information storage unit 115 is used as authentication reference information for the first and second caller authentication. At the same time, the connection information for connecting the authentication permitter and the communication path is used in the third passenger authentication and the third caller authentication.

  The caller authentication unit 116 performs the above-described first caller authentication, second caller authentication, and third caller authentication. In this embodiment, as the authentication reference information in the first caller authentication, the telephone number of the mobile phone terminal, which is connection information of the scheduled use registrant stored in the scheduled use registrant information storage unit 115, is used. . Further, as the authentication reference information in the second caller authentication, the telephone number of the mobile phone terminal, which is connection information of the planned input person stored in the planned input information storage unit 119 described later, is used. As the connection information of the authorized person in the third caller authentication, the telephone number of the mobile phone terminal, which is the connection information of the planned input person stored in the planned input information storage unit 119 described later, is used. Of course, the connection information of the authentication permitter in the first caller authentication, the second caller authentication, and the third caller authentication is not limited to the telephone number of the mobile phone terminal, but may be a mail address or the like.

  The boarding user authentication unit 117 performs the above-described first boarding user authentication, second boarding user authentication, and third boarding user authentication. In this embodiment, the face image of the use schedule registrant stored in the use schedule registrant information storage unit 115 is used as the authentication reference information in the first passenger user authentication. Further, as the authentication reference information in the second passenger user authentication, a face image of the planned input person stored in the planned input information storage unit 119 described later is used. As the connection information of the authorized person in the third passenger user authentication, the telephone number of the mobile phone terminal, which is the connection information of the planned input person stored in the planned input information storage unit 119 described later, is used.

  In this embodiment, the re-scheduling schedule information receiving unit 118 determines whether or not the boarding passenger is a usage schedule registrant stored in the usage schedule registrant information storage unit 115, and uses the schedule. If it is determined that the person is a registrant, when the rider stops driving the motor drive unit 131 of the autonomous driving vehicle 1 and gets off the vehicle, a list of a list of scheduled re-rides for the rider. , And prompts the user to select and input information for a re-boarding schedule.

  In this embodiment, the determination as to whether or not the passenger is a use plan registrant stored in the use plan registrant information storage unit 115 is based on the use plan stored in the use plan registrant information storage unit 115. Based on the collation result between the registrant's face image and the occupant's face image taken by a camera in the camera group 107, the re-boarding schedule information receiving unit 118 determines. If the re-training schedule information receiving unit 118 determines that the passenger is not a utilization schedule registrant in this determination, the re-training schedule information receiving unit 118 does not perform processing for prompting the user to input information on the re-boarding schedule. When the re-boarding schedule information receiving unit 118 determines that the rider is a use schedule registrant in this determination, the re-boarding schedule information receiving unit 118 recognizes which use schedule registrant among the use schedule registrants. Will do.

  The re-training schedule information receiving unit 118 receives information on the re-boarding schedule selected and input by the rider who is one of the use schedule registrants, and information on the passenger who has input the schedule (the schedule input person's information). Information) and stored in the schedule input information storage unit 119.

  In this embodiment, the scheduled input person information includes authentication reference information for second caller authentication, authentication reference information for second passenger authentication, and third caller authentication. And it is set as the connection information of the schedule input person who is the authorization authenticator at the time of the third passenger authentication.

  In this embodiment, the authentication reference information for the second caller authentication is the telephone number of the mobile phone terminal of the schedule input person, and the authentication reference information for the second passenger authentication is the schedule input person. The connection information of the schedule input person who is the authorized authenticator at the time of the third caller authentication and the third passenger authentication is the telephone number of the schedule input person's mobile phone terminal. Therefore, in this embodiment, the schedule input person information stored in association with the inputted schedule information includes the face image information of the schedule input person, and the telephone number of the mobile phone terminal possessed by the schedule input person. Is done.

  The information on the schedule input person is extracted from the use schedule registrant information storage section 115 as the information on the use schedule registrant recognized by the re-arrival schedule information receiving section 118 as described above. The information is stored in the unit 119 in association with the scheduled information.

  In this embodiment, the re-training schedule information receiving unit 118 inputs information on a re-boarding schedule when getting off only when there are a plurality of usage schedule registrants stored in the usage schedule registrant information storage unit 115. To encourage. This is because when there is only one registrant, the other registrants will not use it, so it would be cumbersome for the rider to inquire about the re-ride schedule each time the passenger gets off. This is to avoid the situation.

  In addition, for example, by selecting the item of “input of a re-boarding schedule” from the processing menu displayed on the display screen of the display unit 111, regardless of whether or not there is only one registered user, It may be configured such that the rider inputs a re-boarding schedule. In that case, the rider can also input information of a re-boarding schedule while the user is getting on, not at the time of getting off. Further, in this embodiment, a list of information on re-scheduling schedule is presented and a selection input of the schedule is accepted from the list, but the re-boarding is performed directly by the passenger by character input or voice input. Of course, it may be configured to accept input of the scheduled information.

  In this embodiment, the re-boarding schedule information receiving unit 118 validates the schedule information stored in the schedule input information storage unit 119 when it is confirmed that the passenger has got off the vehicle. The confirmation of the passenger getting off is, for example, detecting that the passenger is no longer in the vehicle from the photographed image of one or a plurality of cameras that photograph the inside of the vehicle, and detecting the opening / closing of the door sensor in the sensor group 108. By doing.

  In this embodiment, the behavior processing unit 120 after getting off the vehicle accepts the setting of the behavior after getting off by the rider 1 by the rider, and stores the received setting information in a storage unit (not shown). In this embodiment, the behavior after getting off is registered and stored in the behavior storing unit 121 after getting off in advance. After getting off, the behavior processing unit 120 presents a list of behavior after getting off stored in the behavior storing unit 121 after getting off to the user, and information on behavior after getting off selected from the list by the rider. Accept the settings.

  In addition, as an input method for setting the behavior after getting off, it is also possible to use voice to read out the behavior after getting off. The control unit 101 has a voice recognition function for that purpose. In the case where the above-described re-arrival schedule information receiving unit 118 receives an input of a re-arrival schedule, instead of a list of schedule information as in this embodiment, it is configured to directly input a schedule. The voice recognition function of the control unit 101 can be used to accept input of information on a re-boarding schedule in an interactive format.

  Then, the behavior processing unit 120 after getting off the vehicle executes the behavior of the passenger after getting off the vehicle based on the accepted behavior after getting off the vehicle. In this case, in the same way as when the re-scheduling schedule information receiving unit 118 validates the input schedule information, the passenger got off and confirmed that there was no passenger in his / her car and received it. Process based on behavior after getting off. When the passenger does not set the behavior after getting off, a predetermined post-getting behavior stored in advance may be automatically set and executed.

  The voice input / output unit 122 takes in the voice collected by the microphone 135 and sends it to the system bus 100 for the voice recognition processing function provided in the control unit 101, for example. Although not shown, the voice input / output unit 122 has a built-in memory for storing voice message data to be emitted to the outside, and converts voice message data read from the memory into an analog voice signal. A voice synthesizer and DA converter are built in. Then, the voice input / output unit 122 supplies the voice message selected by the control of the control unit 101 to the speaker 136 so as to be emitted to the outside as a voice. As the voice message to be stored, as will be described later, for example, a message prompting the user to enter a re-boarding schedule such as “Please enter the re-boarding schedule”, or “Do you want to register as a registrant?” Inquiry messages such as “Not authenticated.”, “Not able to authenticate”, and interactive messages when accepting behavior setting input after getting off.

  In the automatic driving vehicle 1 of the above-described embodiment, the above-described authentication mode in the caller authentication unit 116 and the passenger user authentication unit 117 is turned on or off, and the re-boarding schedule information reception unit It is configured that setting whether the reception process in 118 is turned on or off can be performed through the touch panel 112. However, the on / off setting is possible only when authentication is obtained with an ID and a password set in advance by the owner of the autonomous driving vehicle 1 or the like. The authentication mode ON / OFF setting includes the first caller authentication, the second caller authentication, the third caller authentication, the first passenger user authentication, the second passenger user authentication, However, in the embodiment described below, the on / off of the authentication mode means that the first caller authentication, the second caller authentication, the third, The caller authentication, the first passenger user authentication, the second passenger user authentication, and the third passenger user authentication are all turned on and off.

  As described above, the electronic control circuit unit 10 of the automatic driving vehicle 1 is configured. Of the processing blocks shown in FIG. 1, the motor drive control unit 103, the steering drive control unit 104, and manual / automatic operation mode switching are performed. Control unit 105, surrounding moving body grasping unit 109, current position detection unit 110, car navigation function unit 113, use schedule registrant information reception unit 114, caller authentication unit 116, ride user authentication unit 117, re-ride schedule information reception unit Each processing function of 118, the behavior processing unit 120 after getting off, and the voice input / output unit 122 can be realized as software processing performed by the control unit 101 executing a program.

[Example of processing operation in the autonomous vehicle 1 of the first embodiment]
Next, an outline of an example of the processing operation of the control unit 101 of the automatic driving vehicle 1 when a passenger who has been in the automatic driving vehicle 1 tries to get off will be described.

  In this embodiment, when a passenger who has been in the autonomous driving vehicle 1 tries to get off the vehicle, the automatic driving vehicle 1 prompts the passenger to input a re-boarding schedule as necessary, and gets off the vehicle. Ask whether to set the post-behavior. And, if necessary, accepts the information of the rider's schedule and accepts the setting input of the behavior after getting off by the rider, and responds to the received information of the scheduled re-ride and the behavior after getting off after the rider gets off. Process.

  FIG. 3 is a flowchart for explaining an example of the flow of processing operations executed by the control unit 101 of the electronic control circuit unit 10 of the autonomous driving vehicle 1 when the passenger gets off. In addition, the process of each step in the flowchart of FIG. 3 is realized as a software process in which each processing function of the re-arrival schedule information receiving unit 118 and the behavior processing unit 120 after getting off is executed by the control unit 101 executing a program. This will be described as a case where the above is performed.

  The control unit 101 determines whether or not the driving of the motor drive unit 131 of the own vehicle has been stopped (step S1). When it is determined in step S1 that the driving of the motor driving unit 131 is not stopped, the control unit 101 continues the control necessary for traveling (step S2), and then returns to step S1.

  When it is determined in step S1 that the driving of the motor driving unit 131 has been stopped, since the passenger is generally expected to get off, the control unit 101 re-rides before the passenger gets off. A process for determining whether to accept input of schedule information is performed. That is, the control unit 101 refers to the use plan registrant information storage unit 115 to determine whether or not the registered use plan registrant is one (step S3). After step S11 in FIG. 4, the process proceeds to a processing routine for setting input of behavior after getting off, which will be described later.

  In step S3, when it is determined that there are a plurality of registered users who are scheduled to use, the control unit 101 captures a face image of a passenger who is about to get off with one of the camera groups 107, and By comparing and referring to the face image and the face image of the use plan registrant stored in the use plan registrant information storage unit 115, it is determined whether or not the rider who is about to get off is a use plan registrant. (Step S4).

  When it is determined in step S4 that the rider who is about to get off is not a use schedule registrant, the control unit 101 proceeds to a processing routine for setting input of behavior after getting off, which will be described later, after step S11 in FIG. To do.

  In step S4, when it is determined that the rider who is about to get off is a use schedule registrant, the control unit 101 emits a message prompting the user to re-ride as a voice message, and also displays the display unit. In this embodiment, a list of selectable re-boarding schedules is displayed on the display screen of the display unit 111 (step S5).

  FIG. 5 shows an example of a list of re-boarding schedules displayed on the display screen 111 </ b> D of the display unit 111. In the list of schedules for re-training in FIG. 5, it is possible to select and input four types of schedules 1 to 4.

  Schedule 1 is selected when the passenger who is about to get off has a plan to re-ride and wants to prohibit the use of other registered users. This schedule 1 is selected when the passenger who is about to get off wants to use the autonomous driving car 1 exclusively after getting off for the purpose.

  In Schedule 2, there is a schedule of re-boarding by a passenger who is about to get off, but if there is a request for use by another registrant of usage schedule, it will be approved after obtaining the approval of the schedule entry person Is scheduled.

  In Schedule 3, there is a schedule for re-boarding by a passenger who is about to get off, but if there is a request for use by another registrant of usage schedule, it will be permitted without obtaining the approval of the schedule entry person. Is scheduled.

  Schedule 4 is a schedule with the content that there is no plan to re-ride by the passenger who is going to get off, and that the use of the self-driving car 1 will be terminated once.

  The rider who is about to get off enters a check mark in any of the check boxes 1 to 4 and operates the confirmation icon button 141 to confirm the selection input of the schedule information.

  Note that the re-boarding schedule is not limited to the case of selecting and inputting from the list of re-boarding schedules as described above, but the rider may be able to input the schedule by voice input or character input.

  The control unit 101 determines whether or not the selection input of the scheduled information by the rider who is about to get off has been received depending on whether or not the operation of the check mark and the confirmation icon button 141 has been received (step S6). In some cases, the schedule information selected and input (for example, schedule number) and the schedule input person information are associated with each other and stored in the schedule input information storage unit 119 (step S7). In this case, the control unit 101 uses the information on the schedule input person as the information on the use schedule registrant recognized in step S4 (in this embodiment, the information on the face image and the telephone number of the mobile phone terminal). Extracted from the information storage unit 115 and acquired. Subsequent to step S7, the process proceeds to a processing routine for setting input of behavior after getting off, which will be described later, after step S11 in FIG.

  In step S <b> 11 of FIG. 4, a message for inquiring whether or not to set behavior after getting off is displayed on the display screen of the display unit 111, and is emitted as sound through the speaker 136.

  The control unit 101 monitors and discriminates the answer from the rider in response to the inquiry in step S11 (step S12), and when it is discriminated that the rider does not set the behavior after getting off, the control unit 101 in FIG. 3 and FIG. The processing routine ends. In this case, the automatic driving vehicle 1 turns off the power supply while maintaining the power supply to the necessary part as the processing during the stop, with the motor driving unit 131 stopped at the position where the passenger got off. Alternatively, a predetermined behavior when the passenger does not set the behavior after getting off the vehicle may be set in advance and executed.

  When it is determined in step S12 that the passenger has answered that the behavior setting after getting off is made, the control unit 101 displays the behavior after getting off stored in the behavior storing unit 119 after getting off as a list as shown in FIG. It displays on the display screen of the display part 111 (step S13).

  An example of behavior after each getting off in the example of the list of FIG. 6 will be described.

  “Move to the default parking lot” is to make the automatic driving car 1 move to a pre-registered default parking lot after the rider gets off, and the behavior after getting off by moving to the parking lot is End. Here, as the default parking lot, a plurality of parking lots can be registered, and “home parking lot”, “company parking lot”, “contracted parking lot”, and the like can be registered. The registration of the parking lot means storing the position information and the name (type) of the parking lot such as “home parking lot”, “company parking lot”, “contract parking lot”. The rider selects and sets the name of the default parking lot when selecting and setting “move to the default parking lot” as the behavior after getting off. In addition, about a predetermined parking lot, you may enable it to select with place names, such as an address, not only a name.

  “Wait until you call at a nearby parking lot” means that the self-driving car 1 searches for a parking lot in the vicinity of the rider ’s disembarking position, waits at the parking lot, and then the rider automatically When telephone communication for calling is performed through the wireless communication unit 102 of the driving car 1, the automatic driving car 1 returns to the place where the user got off in response to the calling.

  “Wait here” means that the autonomous driving vehicle 1 waits at the place where the passenger gets off. Of course, if the place of getting off is a place where parking is prohibited, the self-driving car 1 moves to a nearby parking place and stands by. In this case, the autonomous driving vehicle 1 notifies the passenger of the fact that it has moved and the destination.

  “Stand-by at point A” means that the autonomous driving vehicle 1 waits at a place designated by the user and waits for the user to get on again. Point A is designated by the user when getting off. This point A may be set from points registered in advance, for example, specified on a map, specified by inputting an address, or specifying a identifiable building name. It may be. Further, it may be two-dimensional coordinates of latitude and longitude (or three-dimensional coordinates by adding elevation). Furthermore, when the point B can be specified by a telephone number, the telephone number may be input and specified.

  Next, returning to the description of the flowchart of FIG. 4, the control unit 101 monitors the passenger's input operation through the touch panel 112 and accepts an operation for selecting the behavior after getting off from the list displayed on the display screen. (Step S14). When it is determined in this step S14 that the selection operation for the behavior after getting off from the list is accepted, the control unit 101 performs a process for accepting the selected behavior after getting off the vehicle (step S15).

  Next, the control unit 101 determines whether or not the process for accepting the selected behavior after getting off is completed (step S16), and when determining that the process for accepting the selected behavior after getting off is completed. The selection information of the behavior after getting off selected by the passenger and the information accompanying it are stored (step S17).

  Next, the control unit 101 confirms the passenger getting off by using a door sensor or the like, and determines the presence or absence of the passenger (step S18). The presence / absence of the passenger is determined by a seating sensor such as a weight sensor provided in the seat of the autonomous driving vehicle 1, a touch sensor for determining whether or not a person touches the steering wheel, and a camera group 107. It discriminate | determines from the picked-up image of the camera for imaging | photography a passenger. When there is a passenger, the control unit 101 waits for the passenger to get off and determines that the passenger has not got off at step S18. The behavior is executed, and the schedule information stored in the schedule input information storage unit 119 is validated (step S19). In step S19, when the autonomous driving vehicle 1 travels and moves, the autonomous driving vehicle 1 autonomously travels in the automatic driving mode.

  Next, authentication processing operations in the caller authentication unit 116 and the passenger user authentication unit 117 in the automatic driving vehicle 1 of the first embodiment will be described below. In the following description, among the blocks shown in FIG. 2, the control unit 101 includes a motor drive control unit 103, a steering drive control unit 104, a manual / automatic operation mode switching control unit 105, a surrounding moving body grasping unit 109, A case will be described where the processing functions of the current position detection unit 110, the car navigation function unit 113, the caller authentication unit 116, the passenger user authentication unit 117, and the voice input / output unit 122 are implemented as software processing.

<Call processing>
FIG. 7 and subsequent FIGS. 8 and 9 are examples of the flow of the processing operation of the control unit 101 (including the processing content portion of the caller authentication unit 116) when the automatic driving vehicle 1 receives an incoming call. It is a figure which shows the flowchart for demonstrating. In this embodiment, as described above, a call request for calling the autonomous driving vehicle 1 is performed by starting the application program from a mobile phone terminal in which a dedicated application program is installed in advance. In this case, the transmission signal addressed to the automatic driving vehicle 1 from the mobile phone terminal includes a call request and information on the current position measured by the mobile phone terminal as a standby location.

  The control unit 101 monitors the incoming notification from the wireless communication unit 102 to determine whether or not an incoming call has been detected (step S21), and when determining that no incoming call has been detected, performs other necessary processing. Perform (step S22), and then return to step S21.

  When it is determined in step S21 that an incoming call has been detected, an automatic response is made (step S23), and the control unit 101 determines whether the incoming call is a call request (step S24) and determines that the call is not a call request. Sometimes, the process proceeds to the corresponding process routine for the incoming call (step S25).

  When it is determined in step S24 that the incoming call is a call request, the control unit 101 performs first caller authentication. In other words, in this example, the control unit 101 compares and refers to the telephone number of the mobile phone terminal of the usage plan registrant stored in the usage plan registrant information storage unit 115 and the telephone number of the other party who has received the call (step S26). ), It is determined whether or not they match (step S27), and the first caller authentication is performed.

  In step S27, when it is determined that the telephone numbers do not match and the first caller authentication cannot be performed, the control unit 101 rejects the call and asks the caller that “call authentication could not be performed. Therefore, a voice message such as “The call is rejected” is sent, the connected speech path is disconnected (step S28), and this processing routine is terminated.

  On the other hand, when it is confirmed in step S27 that the telephone numbers match and the first caller authentication is completed, the control unit 101 has the schedule information about valid re-boarding in the schedule input information storage unit 119. It is discriminate | determined (step S29). When it is determined in this step S29 that valid schedule information exists, the control unit 101 carries the schedule information stored in the schedule input information storage unit 119 as the connection information of the input person (schedule input person) of the schedule information. The telephone number of the telephone terminal and the telephone number of the other party that has received the call are compared and referenced (step S30), whether or not they match (step S31), and second caller authentication is performed.

  In step S31, when the telephone numbers match and the second caller authentication can be performed, the process proceeds to step S41 in FIG. 8, and processing corresponding to the call after step S41 is performed. Even when it is determined in step S29 that there is no valid scheduled information, the process proceeds to step S41 in FIG. 8, and processing corresponding to the call after step S41 is performed.

  In step S41, the caller is notified that the call is accepted. And the control part 101 extracts and acquires the positional information on the waiting place sent from the caller (step S42). Next, the control unit 101 uses the function of the car navigation function unit 113 to search for a route to the standby location using the data in the car navigation database 134 and predict and calculate the time required to move to the standby location ( Step S43). Next, the control unit 101 transmits the required time calculated by prediction to the caller through the wireless communication unit 102 (step S44). Next, the control unit 101 disconnects communication with the caller, starts a movement control routine to the standby location (step S45), and ends this processing routine.

  If it is determined in step S31 that the telephone numbers do not match and the second caller authentication cannot be performed, the control unit 101 performs the third caller authentication as follows. That is, the control unit 101 refers to the schedule information stored in the schedule input information storage unit 119 (step S51 in FIG. 9), and the stored schedule information has the possibility of being used by anyone other than the schedule input person. It is determined whether the information is affirmative (step S52).

  When the stored schedule information is, for example, schedule 1 in the example of FIG. 5 and the use of others is prohibited, in this step S52, the stored schedule information may be used by anyone other than the schedule input person. Is not affirmed, the control unit 101 rejects the call (step S53). In step S53, the control unit 101 sends a voice message such as "Call rejected because call authentication could not be made" to the caller, and disconnects the connected call path. After the processing in step S53 is completed, the control unit 101 ends this processing routine.

  Further, if the stored schedule information is, for example, schedule 2, schedule 3, or schedule 4 in the example of FIG. 5 and the use of others is not prohibited, the information is stored in step S52. It is determined that the availability of information other than the schedule input person is affirmed, and the control unit 101 determines whether the approval of the schedule input person is necessary to respond to the call of the caller. (Step S54).

  When it is determined in step S54 that the stored schedule information is, for example, schedule 3 or schedule 4 in the example of FIG. 5 and the approval of the schedule input person is unnecessary, the control unit 101 Then, connection information of the schedule input person is acquired from the schedule input information storage unit 119, a communication path is connected to the schedule input person, and notification that the call of another use schedule registrant is accepted is sent (step S55). ). Thereafter, the control unit 101 advances the process to step S41 in FIG. 8, and performs a process according to the above-described call after step S41.

  If it is determined in step S54 that the stored schedule information is, for example, schedule 2 in the example of FIG. 5 and approval of the schedule input person is necessary, the control unit 101 connects the schedule input person. Information is acquired from the schedule input information storage unit 119, a communication path is connected to the schedule input person, and the schedule input person is inquired as to whether or not other use schedule registrants can use it (step S56). Then, the control unit 101 waits for reception of an answer from the schedule input person regarding the availability of another use schedule registrant (step S57), and when determining that the answer has been received from the schedule input person, It is determined whether or not the use of other scheduled users is permitted (step S58).

  In step S58, when it is determined that the answer from the schedule input person permits the use of another scheduled use registrant, the control unit 101 advances the process to step S41 in FIG. Performs processing according to the call described above. If it is determined in step S58 that the answer from the schedule input person does not permit the use of another use schedule registrant, the control unit 101 proceeds to step S53 and rejects the caller's call. Then, this processing routine is finished.

<Call movement control>
Next, an example of the call movement control routine activated in step S45 of FIG. 8 will be described with reference to FIG.

  First, the control unit 101 executes the route search by the function of the car navigation function unit 113 with the location acquired by the step S42 and indicated by the position information of the standby location as the destination and the departure location as the current location. The navigation (guidance) along the movement route (route) of the search result obtained as a result is started (step S61).

  Then, the control unit 101 determines whether or not the destination has been reached while checking the current position during movement (step S62), and when determining that the destination has not arrived, It is determined whether or not a significant delay of, for example, 10 minutes or more has occurred with respect to the time required for the movement (step S63). If there is no significant delay, the process returns to step S62, and after this step S62. Repeat the process. If it is determined in step S63 that a significant delay has occurred, the required time is recalculated, the communication path is regenerated with the caller, and the calculation result is notified to the caller (step S64). ). And the control part 101 returns a process to step S62, and repeats the process after this step S62.

  When it is determined in step S62 that the vehicle has arrived at the destination (waiting place), the control unit 101 stops at the waiting place and starts a calling boarding control routine (step S65). Then, the control unit 101 ends this call movement control routine.

<Ride user control>
Next, an example of a riding user control processing routine (including a processing content portion of the riding user authentication unit 117) regarding a user (ride user) who is going to get on the autonomous driving vehicle 1 is shown in FIG. This will be described with reference to FIGS. This boarding user control routine corresponds to the calling boarding control routine activated in the above-described step S45 in the case of the automatic driving vehicle 1 that has moved to the designated meeting place by the above-described calling control routine. However, this riding user routine is executed not only when the above-described calling control routine is executed, but also when the riding user tries to get on without calling. .

  The control unit 101 monitors the detection of the user (boarding user) who is going to get on, and waits to detect the boarding user (step S71). When the boarding user is detected in step S71, the control unit 101 captures a face image of the boarding user with a predetermined camera in the camera group 107 (step S72).

  Next, the control unit 101 performs first boarding user authentication. That is, in this example, the face image of the use plan registrant stored in the use plan registrant information storage unit 115 is compared with the face image of the ride user (step S73). It is determined whether or not it has been done (step S74).

  If it is determined in step S74 that the face images are inconsistent and the first user authentication cannot be performed, the control unit 101 cannot travel the host vehicle (automatic driving vehicle 1) because the authentication has failed. It locks in a state, and it will be in the non-permission state which cannot be used (driving) by the said boarding user (step S81 of FIG. 12).

  And the control part 101 produces | generates the voice message which urges a boarding user that it was not able to authenticate and to get off, for example by a voice synthesis, and it emits through the speaker 136 and notifies a boarding user. (Step S82).

  Next, the control unit 101 determines whether or not the boarding user has got off the vehicle (step S83). When it is determined in step S83 that the boarding user has not got off the vehicle, the control unit 101 Then, the process of step S83 is continued. If it is determined in step S83 that the boarding user has been able to get off, the vehicle is kept locked in a travel-disabled state until the next scheduled user becomes a boarding user (step S84). As described above, the control unit 101 ends the processing routine of the passenger.

  When it is determined in step S74 that the face images match and it is determined that the first boarding user authentication has been performed, the control unit 101 stores the schedule information about the effective re-boarding in the schedule input information storage unit 119. Is determined (step S75). When it is determined in this step S75 that valid schedule information exists, the control unit 101 detects the schedule information input person (schedule input person) face image stored in the schedule input information storage unit 119, the boarding The user's face image is compared and referenced (step S76), and it is determined whether or not they match (step S77), and second boarding user authentication is performed.

  When the face image matches and the second caller authentication can be performed in step S77, the use of the vehicle by the passenger is permitted (step S78). In this case, in step S78, the passenger is notified that the use is permitted, and the schedule information stored in the referenced schedule input information storage unit 119 is invalidated by deleting it in this example. And Of course, the scheduled information may be stored with an invalid mark or the like without being erased.

  If it is determined in step S77 that the face images do not match and the second boarding user authentication cannot be performed, the control unit 101 performs the third boarding user authentication as follows. That is, the control unit 101 refers to the schedule information stored in the schedule input information storage unit 119 (step S91 in FIG. 13), and the stored schedule information has the possibility of being used by anyone other than the schedule input person. It is determined whether the information is affirmative (step S92).

  If the stored schedule information is, for example, schedule 1 in the example of FIG. 5 and the use of others is prohibited, in this step S92, the stored schedule information may be used by anyone other than the schedule input person. Is not affirmed, the control unit 101 shifts the process to step S81 in FIG. 12, and executes a process of refusing use of the passenger after step S81. In this case, in step S82, the control unit 101 sends a voice message such as “The use of the vehicle cannot be authenticated because it cannot be authenticated” to the passenger, and the connected call path is displayed. Disconnect.

  If the stored schedule information is, for example, schedule 2, schedule 3 or schedule 4 in the example of FIG. 5 and the use of others is not prohibited, it is stored in this step S92. It is determined that the information on the schedule is affirming the availability other than the schedule input person, and the control unit 101 determines whether or not the approval of the schedule input person is necessary to respond to the use request of the ride user. It discriminate | determines (step S93).

  When it is determined in step S93 that the stored schedule information is, for example, schedule 3 or schedule 4 in the example of FIG. 5 and the approval of the schedule input person is unnecessary, the control unit 101 The connection information of the schedule input person is acquired from the schedule input information storage unit 119, a communication path is connected to the schedule input person, and notification is given that the vehicle is used for other use schedule registrants. (Step S94). Thereafter, the control unit 101 advances the process to step S78 of FIG. 11 to permit use by the ride user, and at the same time, schedules the effective re-boarding stored in the plan input information storage unit 119. For example, the information is erased and invalidated.

  If it is determined in step S93 that the stored schedule information is, for example, schedule 2 in the example of FIG. 5 and approval of the schedule input person is necessary, the control unit 101 connects the schedule input person. Information is acquired from the schedule input information storage unit 119, a communication path is connected to the schedule input person, and the schedule input person is inquired as to whether or not another use schedule registrant can be used (step S95). Then, the control unit 101 waits for reception of an answer from the schedule input person about the availability of another use schedule registrant (step S96), and when determining that the answer has been received from the schedule input person, It is determined whether or not the use of other scheduled users is permitted (step S97).

  If it is determined in step S97 that the answer from the schedule input person permits the use of another use schedule registrant, the control unit 101 advances the process to step S78 in FIG. The information on the scheduled re-training stored in the schedule input information storage unit 119 is deleted and invalidated, for example. If it is determined in step S97 that the answer from the schedule input person does not permit the use of another use schedule registrant, the control unit 101 shifts the process to step S81 in FIG. 12, and this step S81. A process for refusing use of subsequent passengers is executed. In this case, in step S82, the control unit 101 sends a voice message such as “The use of the vehicle cannot be authenticated because it cannot be authenticated” to the passenger, and the connected call path is displayed. Disconnect.

[Effect of the above embodiment]
In the autonomous driving vehicle 1 according to the embodiment described above, the user (caller) who wants to call the own vehicle is authenticated based on the information of the scheduled re-ride input by the rider, Since the user (passenger) who is going to board is authenticated, the caller authentication and the passenger user authentication corresponding to the convenience of the re-boarding of the schedule input person who inputs the re-boarding schedule must be performed. Can do.

  And the adjustment with the person who is going to use (rides) next can be performed smoothly, and there is a remarkable effect that the safety can be improved.

[Modification of the above embodiment]
In the above-described embodiment, the case where the self-driving car 1 is a private car shared by family members, relatives, and the like has been described. However, the self-driving car 1 is not limited to a private car and is shared by company employees. It may be a company vehicle, a public vehicle shared by members belonging to a local public entity, or an automobile shared by other organizations.

  In the above-described embodiment, in the case where caller authentication and boarding user authentication do not store valid schedule information, if it is determined that the user is not a use schedule registrant, call or boarding Banned. However, when it is determined that the caller and the user who is about to get on are not registered users, may an authorization certifier such as the owner of the autonomous driving vehicle 1 permit the call or boarding? It is possible to inquire about whether or not to call or get on the basis of an answer corresponding to the inquiry.

  Moreover, in the above example, the automatic driving vehicle 1 is called when the caller or the boarding user cannot be authenticated as the use schedule registrant in the first caller authentication or the first boarding user authentication. The second caller authentication, the second rider user authentication, the third caller authentication, and the second rider user authentication are not performed. However, in the first caller authentication or the first ride user authentication, if the caller or the ride user cannot be authenticated as a use schedule registrant, the owner of the automatic driving vehicle 1 or the schedule input person is notified. The connection information is used to connect the communication path, and information such as the caller's or rider's face image that can be identified is sent through the communication path to permit or deny (no) (Permission) may be determined.

  Whether or not the self-driving vehicle 1 can start use of the own vehicle is determined by whether or not the door of the own vehicle has been opened with a key (for example, whether the door of the own vehicle can be opened). Whether or not the drive unit of the host vehicle is activated with a key (or whether or not the drive unit of the host vehicle can be activated) can be used to start using the host vehicle. Means for determining whether or not the vehicle has been used by the passenger when the door of the vehicle has been opened with the key or the drive unit of the vehicle has been activated with the key. Even if it is determined in the first boarding user authentication that the boarding user cannot be authenticated as a scheduled user, the third boarding user authentication is performed. You may make it perform. The key in this case is not limited to a mechanical key, and may be a card key or a wireless key that performs key authentication by collating key information wirelessly.

  In addition, when registering the use schedule registrant in the autonomous driving vehicle 1 and configuring the key for the autonomous driving vehicle 1 to be possessed by all of the registered usage schedule registrants, the first ride user In the authentication, instead of performing the authentication using the biometric information such as the face image described above, whether the passenger has opened the door of the own vehicle using the key for the autonomous driving vehicle 1 or You may make it authenticate by whether the drive part of the car was started. Of course, by authenticating the key itself possessed by the passenger, it can be used for the first passenger user authentication and the third passenger user authentication.

  Furthermore, the key of the registrant to use is a key having a wireless communication function (including NFC (Near Field Communication)), for example. If the key is such that the door can be opened and closed or the drive unit can be activated, the key is used before the door of the vehicle is actually opened by the key authentication. To determine whether it is possible to open the door of the host vehicle or whether the driver unit of the host vehicle can be started with the key before the driver unit of the host vehicle is actually started Can do. Therefore, in the case of this type of key, the passenger can determine whether the vehicle door can be opened with the key, or whether the driver of the vehicle can be activated with the key. It is possible to authenticate whether or not the user is a scheduled user.

  Moreover, in the above example, since the user who can use the autonomous driving vehicle 1 is the use plan registrant stored in the use plan registrant information storage unit 115, each of the caller authentication and the boarding use authentication is provided. The first caller authentication and the first passenger user authentication are performed. However, in the automobile according to the present invention, it is not essential to limit the users who can use the service to registered users. Therefore, in the automobile according to the present invention, the call authentication performs the second call authentication and the third caller authentication, and the boarding user authentication performs the second boarding user authentication and the third boarding user authentication. You just have to do it.

  In addition, in the example which does not limit the user who can use the autonomous driving vehicle 1 to the utilization plan registrant memorize | stored in the utilization plan registrant information storage part 115, the schedule input person who input the plan of re-boarding Information (authentication reference information such as a face image and connection information) is scheduled by a predetermined camera in the camera group 107 by the control unit 101 when the schedule input person inputs information on a re-boarding schedule. By capturing the face image of the input person or by prompting the schedule input person to input the connection information and acquiring the connection information input through the touch panel 112, the schedule input information storage unit 119 stores the schedule. The information is stored in association with the information.

  Then, in the third caller authentication or the third passenger user authentication, the control unit 101 uses the caller or the rider who cannot be authenticated in the second caller authentication or the second passenger user authentication. The information that the authentication permitter can determine, such as a face image, is acquired from the person who is the caller or the boarding user, and is sent to the authentication permitter through the communication path. In this way, since the authorized person can determine who the caller or the boarding user is based on the received information, it is easy to determine whether to permit the calling or boarding use. .

  In the above-described embodiment, the telephone number used as the authentication reference information in the caller authentication unit 116 is the telephone number of the mobile phone terminal, but is not limited to the telephone number of the mobile phone terminal, and the telephone number of the fixed phone or the IP Needless to say, it may be a telephone number. Also, an e-mail address can be used instead of a telephone number. The e-mail address can be used not only for mobile phone terminals but also for PCs, tablets, wristwatch-type terminals, eyeglass-type terminals, and the like. The same applies to the connection information for connecting the communication path with the scheduled input person in the third caller authentication and the third passenger user authentication. In addition to telephone numbers and e-mail addresses, IDs and nicknames used in communication application software such as LINE (registered trademark) and SNS (social networking service) such as Facebook (registered trademark) can also be used.

  In the above-described embodiment, the information on the current position is transmitted as the information on the standby position in the call request. However, a place other than the current position may be specified as the standby position. In that case, the address and telephone number may be specified as information on the waiting place, such as “in front of the store at the north exit of the XX station on the XX line”, “front entrance of Ginza △△ department store”, etc. It may be specified. In that case, the automatic driving vehicle 1 searches for the standby location in the map information of the car navigation database 134 and detects the standby location, but if it cannot be detected, the automatic driving vehicle 1 1 can be detected by accessing a map server on the Internet through the wireless communication unit 102, searching, and acquiring the result. In that case, the route search to the meeting place is performed in cooperation with the map server, and the navigation can also be performed using the service of the map server.

  Moreover, although the automatic driving vehicle 1 in the above-described embodiment includes the automatic driving mode and the manual driving mode, the automatic driving mode may be configured only in the automatic driving mode. In this case, there is no manual operation mode, so the manual / automatic operation mode switching control unit 105 and the manual operation operation detection unit 133 are not necessary. Instead, an automatic operation control unit (not shown) that performs control processing for automatic operation is provided. In the automatic operation mode, the driver does not need to perform operations such as accelerator pedal operation, brake pedal operation, shift lever operation, steering operation (handle operation), etc. Become.

  In addition, about the invention part regarding the first user authentication and the second user authentication, the automobile is not limited to the autonomous driving vehicle, and the driving by the driver is essential, and the conventional automobile having no automatic driving mode is also used. Can be applied. Of course, the present invention can be applied not only to automobiles but also to all vehicles such as motorcycles, single-seat mobiles, airplanes such as drones, ships such as motor boats, and ferries.

  Further, since the above-described automatic driving vehicle can run without a driver, the rider is not limited to the driver, and may be a passenger seated in a passenger seat or a rear seat.

  In the above-described embodiment, the self-driving car is an electric car. However, other driving systems such as a gasoline car and a fuel cell car may be used. Further, the autonomous driving vehicle may be capable of traveling not only by guidance by a car navigation system but also by guidance by an external radio wave from a traffic light or a sign post.

  In the above-described embodiment, the use registrant information storage unit 115, the schedule input information storage unit 119, and the car navigation database 134 are installed in the own vehicle. Instead, it can be installed on the cloud and used via the communication network 3. Furthermore, some or all of the authentication units such as the caller authentication unit 116 and the passenger user authentication unit 117 can be processed on the cloud via the communication network 3 instead of in the vehicle.

  In the above-described embodiment, the first passenger user authentication and the second passenger user authentication use the face image of the passenger, but it is also possible to use the voice of the passenger. When the user authentication is performed by the voice of the passenger, in the autonomous driving vehicle 1, the voice of the passenger is picked up by the microphone 135 and is registered in the use schedule registrant information storage unit 115. And the passenger user authentication unit 117 is configured to have a speaker voice recognition function so that the stored voice and the new user voice collected by the microphone 135 can be used. It is configured to perform boarding user authentication by determining the match / mismatch.

  In addition, in the case where the user authentication is performed with the fingerprint of the passenger, the automatic driving vehicle 1 is provided with a fingerprint reading device, and the usage registrant information storage unit 115 stores the fingerprint of the usage registrant. Is stored, and the passenger user authentication unit 117 is configured to have a fingerprint recognition function, and detects whether the stored fingerprint matches the fingerprint of the new passenger acquired by the fingerprint reader. By determining, boarding user authentication is performed. Even when veins, irises, and other biological information are used, the same configuration change is possible.

  Further, in the above-described embodiment, it is assumed that the information of the next re-boarding schedule is input, but the information of the re-boarding schedule is, for example, a schedule for a plurality of days such as the same day or two days. It may be information.

  For example, as shown in FIG. 14, in a certain day, for example, when the departure time is 9:59, the re-entry schedule by the schedule input person is between 10:00 and 12:00 after getting off. , Between 12:00 and 15:00, and between 15:00 and 20:00, and the schedule information of each time, as shown in FIG. Schedule 1 shown in FIG. 5 between 12:00, Schedule 2 shown in FIG. 5 between 12:00 and 15:00, Schedule 1 shown in FIG. 5 between 15:00 and 20:00, Suppose the settings are entered as follows. In the case of the example in FIG. 14, the schedule input person who has input the schedule information is the case of each boarding user in a plurality of schedules.

  When the schedule information is such schedule information, the control unit 101 of the autonomous driving vehicle 1 performs caller authentication and / or passenger user authentication based on a plurality of schedule information while managing the passage of time. To execute.

  That is, the control unit 101 validates the information of the schedule 1 from 10:00 to 12:00, validates the information of the schedule 2 from 12:00 to 15:00, and 15:00 To 20:00, the information of schedule 1 is valid. Therefore, if there is a request for calling and boarding between 10:00 and 12:00, the control unit 101 performs caller authentication and boarding user authentication based on the plan 1 information which is plan information. If a request for calling and boarding is used between 12:00 and 15:00, the control unit 101 performs caller authentication and boarding user authentication on the basis of the plan 2 information which is schedule information. If there is a request for calling and boarding between 15:00 and 20:00, the control unit 101 performs caller authentication and boarding user based on the plan 1 information which is schedule information. Perform authentication. The authorized person in the third caller authentication or the third boarding user authentication based on the schedule 2 information is the schedule input person who has input the schedule information.

  Note that the schedule information may be presented by providing a schedule template from the autonomous driving vehicle 1 side, and necessary items may be input thereto, or may be input directly by a schedule input person. Further, schedule information may be input interactively with the autonomous vehicle 1. Alternatively, schedule information may be input from a mobile phone terminal possessed by the schedule input person and transmitted to the automatic driving vehicle 1.

  The schedule in the example of FIG. 14 is a case where the schedule input person himself / herself becomes a re-recipient at the time of each schedule, but as shown in FIG. 15, the schedule input person becomes a re-passenger at the time of each schedule. Can be made different by setting other people. In that case, the authentication reference information for the first and second call authentications and the authentication reference information for the first and second passenger authentications are not limited to the scheduled input person but each scheduled time. The phone number of the mobile phone terminal of the re-passenger (scheduled rider) or biometric information such as a face image is used.

  Then, in the first and second caller authentication, it is authenticated whether the caller is either a schedule input person or a re-passenger (scheduled boarder) at the time of each schedule. Like that. In addition, the authentication permitter at the time of the third caller authentication and the third passenger authentication can be either the schedule input person and the re-passenger at the time of each schedule, or both. is there. The authentication target of the caller in the first and second caller authentication is either a scheduled input person or a re-passenger (scheduled person) at the time of each schedule, or a third caller The schedule input person must set whether the authentication permitter at the time of authentication and the third passenger authentication is the schedule input person or the re-passenger (scheduled person) at the time of each schedule Can do.

  Therefore, in the schedule input information storage unit 119 of the autonomous driving vehicle 1, in addition to the schedule information and the schedule input person information, the information of each re-passenger is input and stored by the schedule input person. The In this case, the information on the re-passenger at the time of each schedule includes authentication reference information (for example, telephone numbers) for the first and second call authentications, and information for the first and second passenger authentications. Information for authentication reference (for example, a face image) and connection information at the time of third caller authentication and third passenger authentication are stored.

  In this case, if all the re-entry passengers to be set are use schedule registrants, the re-stored information stored in the use schedule registrant information storage unit 115 according to the selection instruction of the use schedule registrant by the schedule input person. Passenger information is extracted and stored in the schedule input information storage unit 119. Further, if the re-passenger is not a use schedule registrant, the plan input person directly inputs the above information of the re-passenger. In that case, the schedule input person can also acquire the information of the re-passenger stored in the cloud and store it in the schedule input information storage unit 119.

  Further, the above-described embodiment is information on a schedule for the next re-boarding, and the plan input person himself / herself becomes a re-boarder. However, the schedule input person may designate the person other than himself / herself as the schedule information as the schedule information for the next re-boarding. In that case, the schedule information includes information on the re-passenger (scheduled rider) (biometric information such as a face image, authentication reference information including a telephone number, and a telephone number and e-mail address as connection information). Is also included. As in the case of the schedule shown in FIG. 15, if all the re-entry passengers to be set are use plan registrants, the use plan registrants according to the selection instruction of the use plan registrants by the plan input person. The information on the re-passenger stored in the information storage unit 115 is extracted and stored in the schedule input information storage unit 119. If the re-passenger is not the use schedule registrant, the re-passenger will receive the information. The above information is directly input.

  Also in this example, in the first and second caller authentication, the caller is either the scheduled input person or the re-passenger (scheduled rider) at the time of each schedule. Authenticate whether or not there is. Further, the authentication permitter at the time of the third caller authentication and the third passenger authentication can be either the schedule input person or the scheduled passenger, or both. The authentication target of the caller in the first and second caller authentication is either the scheduled input person or the scheduled rider, and at the time of the third caller authentication and the third passenger authentication. The plan entry person can set whether the authentication permitter is a plan entry person or a boarding person.

DESCRIPTION OF SYMBOLS 1 ... Auto-driving vehicle, 3 ... Communication network, 10 ... Electronic control circuit part, 101 ... Control part, 102 ... Wireless communication part, 107 ... Camera group, 111 ... Display part, 112 ... Touch panel, 113 ... Car navigation function part, 114 ... Use schedule registrant information reception unit, 115 ... Use schedule registrant information storage unit, 116 ... Caller authentication unit, 117 ... Riding user authentication unit, 118 ... Re-boarding schedule information reception unit, 119 ... Schedule input information storage unit

Claims (17)

The information on the schedule about the re-entry entered by the rider, the schedule information including information on prohibition or permission of the use of others other than the person who entered the schedule information, and the authentication of the rider Means for storing the information in association with the reference information, and validating after the passenger gets off;
If the information on the schedule is valid, whether the person who intends to use the own vehicle is the person who has input the information on the schedule, and information for authentication of the person who intends to use the own vehicle First authentication means for determining from the stored authentication reference information;
In the first authentication means, when it is not possible to authenticate that the person who intends to use the person who has input the scheduled information, the use of the scheduled information is prohibited or permitted. Second authentication means for determining whether to permit the use of the vehicle by the person who intends to use based on the information;
Communication means;
Connection information storage means for storing connection information for performing communication through the communication means with a terminal possessed by a person who has input the schedule information ;
With
The information on prohibition or permission of the other person's use of the schedule information includes information on whether or not the approval of the person who has input the schedule information is necessary when the use of the other person is permitted .
The second authentication means determines whether or not the other person's use prohibition or permission information of the scheduled information permits the use of the other person and permits the use of the other person. Sometimes it is determined whether or not the approval of the person who has input the schedule information is necessary, and when it is determined that the approval of the person who has input the schedule information is necessary, the connection information stored in the connection information storage means A communication channel is generated and connected to the person who has input the schedule information using the, and the person who has input the schedule information is inquired whether the use of the vehicle may be permitted. It is discriminate | determined based on a result whether the person who is going to use permits use of the own vehicle. The second authentication means is configured such that the prohibition or permission information of the other person's use of the schedule information permits the use of the other person and does not require the approval of the person who has input the schedule information. and in the case it is determined that is, an automobile according to claim 1, characterized in that to allow the query without the use of the vehicle of the person to be the use of the person entering the information of the scheduled . The information on the schedule about the re-entry entered by the rider, the schedule information including information on prohibition or permission of the use of others other than the person who entered the schedule information, and the authentication of the rider Means for storing the information in association with the reference information, and validating after the passenger gets off;
If the information on the schedule is valid, whether the person who intends to use the own vehicle is the person who has input the information on the schedule, and information for authentication of the person who intends to use the own vehicle First authentication means for determining from the stored authentication reference information;
In the first authentication means, when it is not possible to authenticate that the person who intends to use the person who has input the scheduled information, the use of the scheduled information is prohibited or permitted. Second authentication means for determining whether to permit the use of the vehicle by the person who intends to use based on the information;
Communication means;
Connection information storage means for storing connection information for performing communication through the communication means with a terminal possessed by a person who has input the schedule information ;
Equipped with a,
The second authentication means determines whether or not the other person's use prohibition or permission information of the scheduled information permits the use of the other person, and permits the use of the other person. If it is determined that the communication information is stored, the connection information stored in the connection information storage means is used to generate and connect a communication path to the person who has input the schedule information. The person who entered the information is inquired whether or not the use of the own vehicle may be permitted, and based on the inquiry result, it is determined whether or not the use of the own vehicle of the intended person is permitted. automobile shall be the feature. The information on prohibition or permission of the other person's use of the scheduled information includes the end information of the use of the own vehicle, and the end information of the use of the own vehicle means permission of use of the other person. The automobile according to any one of claims 1 to 3 . To prevent or allow the information of the use of the others of information of the schedule, the vehicle according to any one of claims 1 to 4, characterized in that it comprises the information of the conditional permission. A utilization schedule registrant information storage means for storing in advance authentication reference information about a utilization schedule registrant registered in advance as a person who plans to use the vehicle;
It is determined whether or not the user is a scheduled user from the authentication information acquired from the person who intends to use the vehicle and the authentication reference information stored in the scheduled user information storage unit. A third authenticating means,
With
The use of the own vehicle is disabled when the third authentication means cannot authenticate that the person who intends to use the own vehicle is the registrant. The automobile according to claim 5 . The first authentication means is any one of biometric information such as a face image, voice, fingerprint, vein, iris, name, address, date of birth, ID, password, telephone number or email address, or a combination of a plurality of combinations. The vehicle according to any one of claims 1 to 6 , wherein the determination is performed by performing a match / mismatch determination. The third authentication means is any one of biometric information such as face images, voice, fingerprints, veins, irises, name, address, date of birth, ID, password, telephone number or email address, or a combination of a plurality of combinations. The vehicle according to claim 6 , wherein the determination is performed by performing a match / mismatch determination . Whether the door of the vehicle has been opened using a key, whether it is possible to open the door of the vehicle, or whether the drive of the vehicle has been activated using the key, Or, whether the person who intends to use the vehicle is a registered user who is registered in advance as a person who plans to use the vehicle, depending on whether or not the drive unit of the vehicle can be activated. A third authentication means for determining whether or not,
The use of the own vehicle is disabled when the third authentication means cannot authenticate that the person who intends to use the own vehicle is the registrant. The automobile according to claim 5 . A start availability determination means for determining whether or not to start using the own vehicle;
When it is determined by the start availability determination means that the use of the host vehicle can be started, the person who intends to use the first authentication means is not the person who has input the scheduled information. The automobile according to any one of claims 1 to 9, wherein the second authentication means is executed even when it is determined. The start permission / inhibition determining means determines whether or not to start using the own vehicle depending on whether the key is used and the door of the own vehicle is opened or whether the driving unit of the own vehicle is activated using the key. The vehicle according to claim 10, wherein the vehicle is determined to be enabled. The automobile according to any one of claims 1 to 11, wherein the input of the schedule information is a selection setting from one or a plurality of schedules registered in advance. The schedule information about the re-ride that is input by the rider is time-sequential sequential schedule information, and the schedule of the ride immediately after the current time point is managed while managing the passage of time. The information is valid,
The first authentication means stores whether the person who intends to use the own vehicle is the person who has input the schedule information and authentication information of the person who intends to use the own vehicle. Discriminating from the authentication reference information,
When the second authentication means determines in the first authentication means that the person to be used is not the person who has input the schedule information, the second authentication means adds the scheduled information to the valid information. The vehicle according to any one of claims 1 to 12, wherein it is determined whether to permit use of the vehicle by the person who intends to use the vehicle. The schedule information about the re-ride that is input by the rider is information on a schedule of a plurality of time-sequential sequential rides, and each scheduled ride can be different from the schedule input person. And the schedule information about the boarding immediately after the current time point is made valid while managing the passage of time,
The first authentication means intends to use the host vehicle whether or not a person who intends to use the host vehicle is the scheduled rider instead of the person who inputs the schedule information. Discriminating from the information for authentication of the person and the information for authentication reference of the person who is scheduled to board each time stored,
The second authenticating means, based on the effective schedule information, when the first authenticating means determines that the person who intends to use is not the expected passenger. It is discriminate | determined whether use of the own vehicle by the person who intends to use is permitted. The motor vehicle in any one of the Claims 1-13 characterized by the above-mentioned. The schedule information about the re-ride that is input by the rider allows the next scheduled rider to be different from the schedule input person, and the schedule information is used for authentication reference of the scheduled rider. Store it in association with the information,
The first authentication means intends to use the host vehicle whether or not a person who intends to use the host vehicle is the scheduled rider instead of the person who inputs the schedule information. Discriminating from the information for authentication of the driver and the information for authentication reference of the person who plans to ride,
The second authenticating means, based on the effective schedule information, when the first authenticating means determines that the person who intends to use is not the expected passenger. It is discriminate | determined whether the use of the own vehicle by the person who intends to use is permitted. The motor vehicle in any one of Claims 1-12 characterized by the above-mentioned. A computer provided in an automobile provided with communication means ,
The information on the schedule about the re-entry entered by the rider, the schedule information including information on prohibition or permission of the use of others other than the person who entered the schedule information, and the authentication of the rider Means associated with the reference information and stored after the passenger gets off,
If the information on the schedule is valid, whether the person who intends to use the own vehicle is the person who has input the information on the schedule, and information for authentication of the person who intends to use the own vehicle First authentication means for determining from the stored authentication reference information;
In the first authentication means, when it is not possible to authenticate that the person who intends to use the person who has input the scheduled information, the use of the scheduled information is prohibited or permitted. Second authentication means for determining whether to permit use of the vehicle by the person who intends to use based on the information;
Connection information storage means for storing connection information for performing communication through the communication means with a terminal possessed by a person who has input the schedule information;
The vehicle program for so as to run as,
The information on prohibition or permission of the other person's use of the schedule information includes information on whether or not the approval of the person who has input the schedule information is necessary when the use of the other person is permitted.
The second authentication means determines whether or not the other person's use prohibition or permission information of the scheduled information permits the use of the other person and permits the use of the other person. Sometimes it is determined whether or not the approval of the person who has input the schedule information is necessary, and when it is determined that the approval of the person who has input the schedule information is necessary, the connection information stored in the connection information storage means A communication channel is generated and connected to the person who has input the schedule information using the, and the person who has input the schedule information is inquired whether the use of the vehicle may be permitted. Based on the result, it is determined whether or not the person who intends to use the vehicle is allowed to use the vehicle.
An automotive program characterized by that . A computer provided in an automobile provided with communication means ,
The information on the schedule about the re-entry entered by the rider, the schedule information including information on prohibition or permission of the use of others other than the person who entered the schedule information, and the authentication of the rider Means associated with the reference information and stored after the passenger gets off,
If the information on the schedule is valid, whether the person who intends to use the own vehicle is the person who has input the information on the schedule, and information for authentication of the person who intends to use the own vehicle First authentication means for determining from the stored authentication reference information;
In the first authentication means, when it is not possible to authenticate that the person who intends to use the person who has input the scheduled information, the use of the scheduled information is prohibited or permitted. Second authentication means for determining whether to permit use of the vehicle by the person who intends to use based on the information;
Connection information storage means for storing connection information for performing communication through the communication means with a terminal possessed by a person who has input the schedule information;
The vehicle program for so as to run as,
The second authentication means determines whether or not the other person's use prohibition or permission information of the scheduled information permits the use of the other person, and permits the use of the other person. If it is determined that the communication information is stored, the connection information stored in the connection information storage means is used to generate and connect a communication path to the person who has input the schedule information. The person who entered the information is inquired whether or not the use of the own vehicle may be permitted, and based on the inquiry result, the person who intends to use the vehicle is allowed to use the own vehicle.
An automotive program characterized by that .

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