JP2017191371A - Automobile, and program for automobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automobile that enables smooth adjustment of usage competition of an automobile of a sharing object by a plurality of users, and can achieve improvement in safety in terms of security.SOLUTION: There is provided an automobile which performs automatic driving by autonomous travelling. At least authentication reference information about a usage schedule registrant preliminarily registered as a person scheduled for using an own automobile is stored in association with identification information of the usage schedule registrant. Schedule information on the schedule of the usage of the own automobile is stored in association with each of the identification information of the usage schedule registrant. When a schedule requesting person is discriminated to be the usage schedule registrant, schedule information about a reception request by the schedule requesting person is received. Discrimination is made whether the schedule information about the reception request and the stored schedule information compete with each other. When these pieces of information are discriminated not to compete with each other, the schedule information about the reception request is stored in association with the identification information of the usage schedule registrant corresponding to the schedule requesting person.SELECTED DRAWING: Figure 2

Description

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

  If a car is shared between family members and multiple employees of the company, one or a small number of cars can be used effectively by multiple people, which is convenient and reduces the cost of use. Can do. However, in this case, if anyone can use the car to be shared, the vehicle cannot be stolen.

  Therefore, conventionally, for the purpose of preventing theft of the vehicle, authentication reference information such as biometric information of a person who plans to use the car is registered and stored in advance, and the stored authentication reference information, Compare and refer to the authentication information of the user who intends to use the car, and authenticate whether the two match or not, 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 described above, it is possible that only a plurality of limited users can use the automobile to be shared.

  And recently, self-driving cars have been attracting attention, but according to this self-driving car, unmanned driving without a driver is possible, and the user has not mastered driving skills. However, since it is possible to move by a car, a plurality of people can easily use a common car.

  However, when multiple users are able to use the car in this way, it is unclear whether other users want to use it, so it may be confusing whether they can start using it. There is. In addition, there are cases where other users will be unable to use the service even though they plan to use it. Conversely, because the user has used it, other users may not be able to use it in an emergency, causing trouble.

  In view of the above problems, an object of the present invention is to provide an automobile in which a plurality of users can smoothly adjust competition for use of an automobile to be shared, and can improve safety in terms of security. And

In order to solve the above problems, the invention of claim 1
A car that performs autonomous driving by autonomous driving,
Wireless communication means;
Use schedule registrant information storage means for storing at least authentication reference information about a use schedule registrant registered in advance as a person who plans to use the vehicle, in association with identification information of the use schedule registrant;
Schedule schedule storage means for storing schedule information of the schedule of use of the own vehicle in association with each of the identification information of the use schedule registrant,
Based on the schedule information stored in the scheduled schedule storage means, autonomous movement control means for controlling the vehicle to move by autonomous traveling;
Whether the plan requester is the use plan registrant from the authentication reference information and the information acquired from the plan requester who has made a request to accept use of the vehicle through the wireless communication means. A schedule information receiving means for receiving the schedule information related to the reception request by the schedule requester when it is determined that the schedule is a use schedule registrant;
It is determined whether or not the schedule information related to the reception request received by the schedule information receiving means conflicts with the schedule information stored in the schedule schedule storage means. Schedule adjustment storage control means for storing information on a schedule related to a request in the schedule schedule storage means in association with identification information of the use schedule registrant corresponding to the schedule requester;
An automobile comprising the above is provided.

  The automobile of the invention of claim 1 having the above-described configuration is an autonomous driving vehicle that performs autonomous driving by autonomous traveling, and includes wireless communication means. And the information of a utilization schedule registrant is previously memorize | stored in the utilization schedule registrant information storage means as a person who plans utilization of the own vehicle. As information on the use schedule registrant, at least authentication reference information is stored in association with the identification information of the use schedule registrant.

  The schedule information receiving means is obtained from information acquired from a schedule requester who has requested reception of a schedule of use of the vehicle through wireless communication means, and authentication reference information stored in the use schedule registrant information storage means. It is determined whether or not the schedule requester is a use schedule registrant, and when it is determined that the schedule requester is a use schedule registrant, the schedule information related to the reception request by the schedule requester is received. Therefore, a request for accepting schedule information from a person other than the registrant is rejected.

  Then, the schedule adjustment storage control means determines whether or not the schedule information related to the reception request of the schedule requester received by the schedule information reception means and the schedule information stored in the schedule schedule storage means conflict, When it is determined that there is no conflict, the schedule information related to the request request from the schedule requester is stored in the schedule schedule storage unit in association with the identification information of the use schedule registrant corresponding to the schedule requester.

  And an autonomous movement control means controls to move the own vehicle by autonomous running based on the schedule information stored in the scheduled schedule storage means.

  Therefore, according to the automobile of the present invention, there is provided an automobile in which a plurality of users can smoothly adjust the competition for the use of the automobile to be shared, and the safety can be improved.

  According to the present invention, the host vehicle is an autonomous driving vehicle that performs autonomous driving by autonomous driving, the schedule information about the host vehicle is stored in the schedule schedule storage unit, and the schedule adjustment storage control unit further uses a plurality of uses. Can be controlled and memorized so that the schedule information by the user does not compete, it is possible to smoothly adjust the competition of the use of the car to be shared by multiple users, and to improve safety in terms of security It is possible to provide a car that can

It is a figure for demonstrating the example of the utilization form of embodiment of the motor vehicle by this invention. It is a block diagram which shows the structural example of the electronic control circuit of the autonomous driving vehicle of embodiment of the motor vehicle by this invention. FIG. 3 is a diagram used for explaining a configuration example of a part of an electronic control circuit of the autonomous vehicle in the example of FIG. 2. FIG. 3 is a diagram used for explaining a configuration example of a part of the electronic control circuit of the autonomous driving vehicle in the example of FIG. 2. FIG. 3 is a diagram used for explaining a configuration example of a part of the electronic control circuit of the autonomous driving vehicle in the example of FIG. 2. FIG. 3 is a diagram used for explaining a configuration example of a part of the electronic control circuit of the autonomous driving vehicle in the example of FIG. 2. FIG. 3 is a diagram used for explaining a configuration example of a part of the electronic control circuit of the autonomous driving vehicle in the example of FIG. 2. It is a figure which shows the flowchart for demonstrating the flow of a use plan registrant registration process in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure for demonstrating the other example of the process of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the other example of the process flow of the schedule adjustment of the schedule information in the automatic driving vehicle of embodiment of the motor vehicle by this invention. It is a figure which shows a part of flowchart for demonstrating the other example of the process flow of the schedule adjustment of the schedule information in the automatic driving vehicle of 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. In FIG. 1, main functional means included in the autonomous driving vehicle 1 are described as functional blocks.

  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 information on the use schedule registrant in the use schedule registrant information storage unit 12 in association with identification information including a registrant number. In this case, as the information of the scheduled registrant, biometric information such as face images, voices, fingerprints, palm prints, veins, irises, etc., which are examples of authentication reference information described later, name, address, date of birth, gender, In addition to nationality, ID, and password, a phone number or e-mail address as an example of connection information described later is stored.

  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 information for reference authentication of the scheduled registrant, biometric information such as face image, voice, fingerprint, palm print, vein, iris etc., name, address, date of birth, gender, nationality, ID, password, telephone number or An e-mail address or the like can be used alone or 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. Furthermore, you can use the face image of the user who is scheduled to use the image taken with the camera of a mobile phone terminal such as a smartphone that he / she owns. What was previously memorize | stored in the memory of the said mobile telephone terminal can also be utilized.

  The autonomous driving vehicle 1 of this embodiment includes a wireless communication unit 11 having a function of performing communication through a communication network 3 including a mobile phone network and the Internet. This wireless communication means 11 has the function of a mobile phone given a specific mobile phone number (subscriber phone number). The wireless communication means 11 also has an electronic mail communication function that is given a predetermined mail address.

  In the example of FIG. 1, first, a user 2 </ b> A, who is a member of a family, for example, who is stored in the automatic driving vehicle 1 as a use schedule registrant, Then, a scheduled acceptance request is sent through the communication network 3. Then, the autonomous driving vehicle 1 receives this acceptance request through the wireless communication means 11, and determines whether or not the user 2A is a use schedule registrant by the schedule requester authentication means 13 and is a use schedule registrant. If it is confirmed that there is a request, a request for accepting a plan from the user 2 </ b> A is accepted, and the plan information accepting unit 15 accepts the plan information. Then, the schedule adjustment storage control means 16 refers to the schedule information of the use schedule that is stored in the schedule schedule storage means 14 and has already been registered, and there is schedule information that conflicts with the received schedule information requested for acceptance. When it is determined that there is no competing schedule information, the schedule information set by the user 2A is stored in the schedule schedule storage means 14 with the identification information of the user 2A (use schedule registrant information storage). The information is stored in association with the use plan registrant identification information stored in the means 12.

  Next, a user 2 </ b> B, for example, another member of the family, stored as a use schedule registrant in the automatic driving vehicle 1 sends a schedule reception request to the automatic driving vehicle 1. Then, the autonomous driving vehicle 1 receives this acceptance request through the wireless communication means 11 and determines whether or not the user 2B is a utilization schedule registrant by the schedule requester authentication means 13 and is a utilization schedule registrant. After confirming that there is a request, a request for accepting a plan from the user 2B is accepted, and the plan information accepting unit 15 accepts the plan information. Then, the schedule adjustment storage control means 16 refers to the schedule information of the use schedule that is stored in the schedule schedule storage means 14 and has already been registered, and there is schedule information that conflicts with the received schedule information requested for acceptance. When it is determined that there is no competing schedule information, the schedule information set by the user 2B is stored in the schedule schedule storage means 14 with the identification information of the user 2B (the usage schedule registrant's (Identification information) and associated information.

  When the schedule of the user 2A is earlier than the schedule of the user 2B, the automatic driving vehicle 1 starts the use specified by the user 2A by the autonomous movement control means 17 at the scheduled use start time of the user 2A. Go to the planned position. In this embodiment, the autonomous movement control means 17 has a function of moving by autonomous running by unmanned driving.

  Then, the passenger authentication means 18 of the autonomous driving vehicle 1 uses the authentication reference information stored in the use schedule registrant information storage means 12 and the authentication information acquired from the user 2A for the user 2A about to get on. The information is compared and referenced to authenticate whether or not the passenger is the user 2A, and when the authentication result that the passenger is the user 2A is obtained, the user 2A is allowed to board the vehicle. . Then, the autonomous driving vehicle 1 uses the autonomous movement control means 17 to execute movement according to the schedule information registered by the user 2A according to the schedule request by autonomous traveling.

  By the way, if the autonomous driving vehicle 1 is stored in the schedule schedule storage means 14 and is already registered, the schedule information of the scheduled use of the user 2A, and the schedule information of the user 2B received as a new acceptance request, When it is determined that there is a conflict, the schedule information of the user 2A and the user 2B is adjusted as described later, and the schedule information of the user 2B is accepted or rejected according to the adjustment result. To. Depending on the adjustment result, it is necessary to change the schedule information of the users 2A and 2B. Accordingly, the change of the schedule information of the users 2A and 2B is accepted accordingly.

  In this embodiment, a dedicated application program for requesting acceptance of the schedule information (hereinafter referred to as a dedicated application) is carried on the mobile phone terminal that makes a request for acceptance of the schedule information to the autonomous driving vehicle 1. The user of the telephone terminal installs in advance. When the user performs an operation for requesting acceptance of the autonomous driving vehicle 1 using a dedicated application for requesting acceptance of the schedule information of the mobile phone terminal, the wireless communication means 11 of the autonomous driving vehicle 1 automatically enters the wireless communication means 11. The telephone call addressed is made, and a request for accepting schedule information is sent to the automatic driving car 1. The apparatus that makes a request for accepting schedule information is not limited to a mobile phone terminal, but may be a PC (personal computer), a tablet terminal, a wristwatch terminal, a glasses-type terminal, or the like.

  In this case, as authentication for the schedule requester, the autonomous driving vehicle 1 of this embodiment is, as described above, whether or not the schedule requester is a use schedule registrant registered in the autonomous driving vehicle 1. The schedule requester authentication is performed using the stored information of the use schedule registrant as the authentication reference information. If it is not the use schedule registrant, in this embodiment, the request for accepting the schedule information is rejected. For this reason, the schedule information reception request includes the authentication information of the schedule requester. As information for authentication of the schedule requester, information such as an ID, a password, a mobile phone number, and an e-mail address included in the use schedule registrant information is used.

  In the dedicated application of the schedule requester's mobile phone terminal, when a request for receiving schedule information is received, a screen for transmitting the schedule information is displayed. Is sent to the autonomous vehicle 1. If the schedule information does not conflict with the already registered schedule information, as described above, the schedule information stored in the schedule schedule storage unit 14 of the autonomous driving vehicle 1 is converted into the user identification information. Correspondingly stored.

  Further, when the schedule information of the schedule requester conflicts with the already registered schedule information, as described above, the schedule adjustment storage control means 16 of the automatic driving vehicle 1 is used for adjusting the conflict. Processing is performed, and schedule information is updated in the schedule schedule storage unit 14 in accordance with the adjustment result.

  The outline of the adjustment contents in the schedule adjustment storage control means 16 in this embodiment will be described.

  In the case where the schedule information of the schedule requester and the already registered schedule information conflict, the schedule competitor who has registered the conflicting schedule information is currently executing the schedule according to the conflicting schedule information, and the autonomous driving vehicle 1 There are two cases: the case where the user is on board and the case where the competing schedule information is not executed and the person is not on board.

  When the scheduled competitor is in the autonomous driving vehicle 1, the schedule adjustment storage control means 16 sends message information for adjustment etc. to the schedule requester through the wireless communication means 11, Adjustments are executed by notifying the scheduled competitors of message information for adjustment using a display screen or a speaker provided in the autonomous driving vehicle 1. Further, if necessary, communication such as a call or e-mail is performed between the schedule requester and the schedule competitor.

  Further, when the scheduled competitor is not in the autonomous driving vehicle 1, the schedule adjustment storage control means 16 sends the message information for adjustment to the schedule requester through the wireless communication means 11 to adjust the schedule requester. To do. In this embodiment, when the priority of the schedule requester is higher, the schedule competitor who is not on board is contacted to make adjustments as necessary. In that case, if the wireless communication means 11 has only a function for one mobile phone terminal, the schedule requester waits until an adjustment result with the schedule competitor is obtained. Once the communication path is disconnected, the adjustment result is waited.

  In addition, when the wireless communication means 11 has a function equivalent to two mobile phone terminals, it is possible to form a communication path different from the communication path with the schedule requester with the schedule competitor. Therefore, the schedule requester may simply stand by without disconnecting the communication path with the schedule requester.

  In this embodiment, the priority order for the scheduled schedule is determined according to the personal attributes of the user, the purpose of use, and the attributes of the destination (destination, destination), and an adjustment process according to the priority order. Also do.

  In particular, in this embodiment, for example, in consideration of the case of transporting a suddenly ill person to a hospital, for example, a forced priority event that forcibly becomes the highest priority is considered. (Absolute priority event). In other words, if the schedule information from the schedule requester is a forced priority event (absolute priority event), even if there is a schedule competitor currently in use, the schedule information from the schedule requester is given the highest priority. To process.

  As described above, according to the automatic driving vehicle 1 of the embodiment, a user registered in advance in the automatic driving vehicle 1 as a use schedule registrant sends a request for receiving scheduled information to the automatic driving vehicle 1. Thus, the self-driving car 1 can make a request for acceptance of its own use schedule. And when the information of the schedule requested for reception conflicts with the information of the schedule of other users, the automatic driving vehicle 1 adjusts the schedule, so that the schedule request is given priority by the schedule information. In some cases, it is possible to change (correct) or cancel (delete) its own schedule request. Therefore, the adjustment between the schedule requester and the schedule competitor can be performed smoothly, and security 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 a predetermined operation such as an accelerator pedal operation, a brake pedal operation, a shift lever operation or a steering operation, the operation mode is automatically returned 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 functions) 113, use schedule registrant information reception unit 114, use schedule registrant information storage unit 115, schedule requester authentication unit 116, passenger authentication unit 117, boarding schedule reception management unit 118, schedule schedule storage unit 119, voice input / output unit 120, place attribute priority storage unit 121, usage purpose priority storage unit 12 , Clock section 123, each of the vehicle information storage unit 124, 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. Furthermore, a microphone 135 and a speaker 136 are connected to the audio input / output unit 120.

  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. Note that a function of performing communication such as telephone communication or e-mail communication by connecting to the Internet network instead of the cellular phone network by Wi-Fi (Wireless Fidelity; registered trademark) or the like may be provided. Of course, both communication functions may be provided. In this case, the control unit 101 or the wireless communication unit 102 may select which communication function is used.

  The control unit 101 has a function of performing processing when receiving a request for receiving schedule information from the schedule requester through the wireless communication unit 102 as a software processing function. The wireless communication unit 11 in FIG. 1 includes a control unit 101 and a wireless communication unit 102 in this example. In this embodiment, in consideration of adjustment of schedule information, functions for two lines (two mobile phone terminals) of the mobile phone are provided.

  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 car is mounted on a rearview mirror (rearview mirror, rearview mirror) installed between the driver's seat and front passenger seat, or on the top of the front window. In addition to a camera for photographing the above-mentioned 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. Then, based on the generated automatic driving operation information, the motor drive control unit 103 drives the motor drive unit 131 and the steering drive control unit 104 drives the steering drive unit 132, so that autonomous movement control is performed. . Therefore, in this embodiment, the autonomous movement control means 17 includes the control unit 101, the radar group 106, the camera group 107, the sensor group 108, the surrounding moving body grasping unit 109, the current position detection unit 110, and the motor drive control unit 103. , A motor drive unit 131, a steering drive control unit 104, a steering drive unit 132, and a car navigation function unit 113 to be described later.

  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.

  Under the control of the control unit 101, the scheduled use registrant information accepting unit 114 accepts registration information such as a family member who plans to use the automatic driving vehicle 1 of this embodiment as information about the scheduled use registrant. Then, the information on the accepted use schedule registrant is stored in the use schedule registrant information storage unit 115. The control part 101, the use schedule registrant information receiving part 114, and the use schedule registrant information storage part 115 constitute the use schedule registrant information storage means 12.

  FIG. 3 shows an example of information stored in the use schedule registrant information storage unit 115. In this example, the use schedule registrant information storage unit 115 is associated with ID (identification information) as information of each use schedule registrant, and includes a password, name, phone number (phone number of the mobile phone terminal), An e-mail address (e-mail address of the mobile phone terminal), face image, personal attributes, priority order, and the like are registered and stored.

  For example, the face image of the registrant is registered by being photographed by a predetermined camera in the camera group 107, for example. Moreover, what was image | photographed with the camera with which the mobile telephone terminal which a utilization plan registrant possesses can be utilized. Note that the face image is an example of biometric information that serves as authentication reference information for the scheduled registrant. In the case where the voice of the scheduled user is used as authentication reference information, the voice of the schedule requester can be collected using a microphone provided in the mobile phone terminal, and other information of the schedule requester can be used. The biometric information that has been previously stored in the memory of the mobile phone terminal can be used. 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 this example, the personal attribute of the use registrant is a case where a plurality of use registrants are family members, and attributes as family members are recorded. In this embodiment, the priorities are registered and stored in advance according to the personal attributes. For example, since the personal attribute “grandfather” is a little inconvenient to walk, the priority is set to first, and the personal attribute “father” is often used for commuting, so the priority is increased, and the personal attribute “mother” is set. Is the next priority for shopping, and because the personal attribute “son” is a high school student, the priority is the lowest, so it is determined by the family and registered. . The registered priority order may be changed (corrected) through a predetermined procedure such as agreement between family members. The personal attribute itself may be determined and registered between the family members. For example, if the personal attribute is set to “Grandfather”, “Grandfather” is the personal attribute “Principal (self)”, “Father” is the personal attribute “Son (or nephew)”, “Mother” is the personal attribute “Bride (or Daughter) ”and“ Son ”have the personal attribute“ Grandson ”. Of course, in this case, the registered personal attribute may be changed (corrected).

  Then, the face image of the use schedule registrant is used as authentication reference information for passenger authentication when trying to get on the automatic driving car 1 according to the schedule information.

  The schedule requester authentication unit 116 authenticates whether or not the above-described schedule requester is a use schedule registrant under the control of the control unit 101. In this embodiment, the telephone reference number and password among the registered information of the scheduled use registrant stored in the scheduled use registrant information storage unit 115 are authentication reference information used when authentication is performed as the schedule requester. Is done. Note that the authentication reference information in the schedule requester authentication may be a mail address instead of the telephone number of the mobile phone terminal. The schedule requester authentication unit 116 and the control unit 101 constitute the schedule requester authentication unit 13.

  Under the control of the control unit 101, the passenger authentication unit 117 authenticates whether or not the rider who is about to get on the autonomous driving vehicle 1 is a use schedule registrant who has requested the schedule information. In this embodiment, as the authentication reference information in the passenger authentication unit 117, the face image of the use plan registrant stored in the use plan registrant information storage unit 115 is used. The passenger authentication unit 117 and the control unit 101 constitute a passenger authentication means 18.

  In this embodiment, when the boarding schedule reception management unit 118 receives a reception request from the schedule requester via the wireless communication unit 102, the boarding schedule reception management unit 118 receives the reception request based on the authentication result of the schedule requester authentication unit 116. If it is determined whether or not the schedule requester is a use schedule registrant, the received reception request is received. Then, the boarding schedule reception management unit 118 refers to other schedule information stored in the schedule schedule storage unit 119 and determines whether there is schedule information that conflicts with the schedule information of the received reception request. When it is confirmed that there is no competing schedule information, the accepted schedule information is stored in the schedule schedule storage unit 119 in association with the ID (identification information) of the schedule requester.

  When the boarding schedule reception management unit 118 determines that there is competing schedule information, the priority of the use schedule registrant information storage unit 115, the priority of the place attribute priority storage unit 121, and the usage purpose priority storage unit The schedule adjustment as described later is executed under the control of the control unit 101 while referring to the priority order 122. The boarding schedule reception management unit 118 constitutes the schedule information reception unit 15 and the schedule adjustment storage control unit 16 together with the control unit 101.

  As described above, the schedule schedule storage unit 119 stores, as schedule information, the schedule information requested to be received by the schedule requester according to the control of the boarding schedule reception management unit 118, and the boarding schedule reception management unit 118. In accordance with the control, the stored schedule information is read out and provided to the boarding schedule reception management unit 118. The scheduled schedule storage unit 119 constitutes the scheduled schedule storage unit 14 together with the control unit 101.

  FIG. 4 shows an example of schedule information stored in the scheduled schedule storage unit 119 in this embodiment. In this example, as shown in FIG. 4, the schedule information for each schedule requester is associated with the identification information (ID) of the schedule requester, and is scheduled to start using, scheduled to end use, and scheduled to ride. The location (departure location), the planned departure location (destination), the number of users, the purpose of use, etc. are stored. The scheduled use start time, scheduled boarding location (departure location), scheduled departure location (destination), number of users, usage purpose, etc. are included in the reservation information by the schedule requester. The scheduled use end time may be specified by the schedule requester or may not be specified.

  The scheduled use start time is a scheduled time for boarding the autonomous driving vehicle 1 from the scheduled boarding location (departure location). The scheduled use end time is a scheduled time when the schedule requester ends the use of the automatic driving vehicle 1 when the schedule requester specifies. When the schedule requester does not designate the scheduled use end time, the scheduled time at which the autonomous driving vehicle 1 arrives at the planned departure location (destination) is calculated and stored. That is, when the schedule requester does not specify the scheduled use end time, the car navigation function unit 113 of the autonomous driving vehicle 1 uses the planned boarding place (departure place) specified by the schedule requester to get off the planned destination (destination). The time required to move the route of the search result (movement time) is calculated and obtained. Then, under the control of the control unit 101, the boarding schedule reception management unit 118 acquires the travel time measured by the car navigation function unit 113, and adds the acquired travel time to the scheduled use start time to end the use. The scheduled time is estimated, and the estimated use end scheduled time is stored in the scheduled schedule storage unit 119. Note that the scheduled use time (required time, travel time) may be stored instead of or in addition to the scheduled use end time.

  When the scheduled use start time, the scheduled use end time, and the scheduled use time input by the schedule requester are not accurate, such as about 15:00 or about 2 hours, the boarding plan reception management unit 118 sets the scheduled use start time to a predetermined time. The scheduled use end time is shifted backward by a predetermined time (for example, 30 minutes), and the scheduled use time is increased by a predetermined time (for example, 30 minutes) and stored in the scheduled schedule storage unit 119. You may do it. In addition, the boarding schedule reception management unit 118 may prompt the user to re-input with a display message or voice when the scheduled use start time, scheduled use end time, or scheduled use time is undecided or not entered. Even after prompting re-input, if there is no time or time input from the schedule requester, the boarding schedule reception management unit 118 refuses to accept the reception request.

  However, as described above, the scheduled use end time or scheduled use time is accepted even if there is no input from the schedule requester, but the scheduled use end time or scheduled use time is “undecided (unspecified)”. May be stored in the scheduled schedule storage unit 119. In this case, the boarding schedule reception management unit 118 uses the schedule information adjustment process described later when it is determined that there is a possibility of schedule conflict with the schedule information of the schedule requester from the relationship of the scheduled use start time. When the scheduled end time or scheduled use time is undecided, a request for rejecting the request from the schedule requester is rejected, and notification to that effect is sent to the scheduled requester. The schedule requester is notified of the scheduled start time of the scheduled competitor, and the schedule requester is prompted to enter the scheduled end time or scheduled usage time again. Either one is selected when deciding whether or not to make an adjustment.

  In addition, because the scheduled end time or scheduled usage time of the scheduled competitor is undecided, if it is determined that there is a possibility of scheduled conflict with the scheduled requester's schedule information from the relationship of the scheduled requester's scheduled usage start time Communicating with the scheduled competitor may prompt the scheduled competitor to input the scheduled use end time or scheduled use time.

  The scheduled boarding location (departure location) is information on the scheduled start of use, and the scheduled get-off location (destination) is information on the planned end location. These boarding place (departure place) and drop-off place (destination) are designated on the map displayed on the display screen when the schedule requester launches a dedicated application on his / her mobile phone terminal. Can be sent to the autonomous vehicle 1. In this case, the dedicated application is connected to a predetermined server device through the communication network, thereby performing a process for assisting in designating the use start scheduled position or the use end scheduled position. The use start scheduled position and use end planned position specified in this way are accompanied by position information and a place name of latitude and longitude, and are sent to the autonomous driving vehicle 1.

  If the scheduled use start position and scheduled use end position entered by the schedule requester are not accurate such as around the station, the boarding schedule reception management unit 118 is input with a predetermined position such as the △△ ticket gate at the station. The scheduled use start position and the use end scheduled position may be replaced and stored in the scheduled schedule storage unit 119. Further, the boarding schedule reception management unit 118 presents (displays) a plurality of accurate use start scheduled positions and use end planned positions on the display unit 111 to the plan requester. You may make it select and input the use end scheduled position. Further, when the use start scheduled position or the use end scheduled position is undecided or not input, the user is prompted to input again by a display message or voice. Even after prompting re-input, if the scheduled requester does not input the scheduled use start position or scheduled use end position, the acceptance request is rejected.

  However, the scheduled use end position may be stored in the schedule schedule storage unit 119 without accepting the acceptance request even if there is no input from the schedule requester, accepting it as undetermined. In this case, in the schedule information adjustment process described later, when it is determined that there is a possibility that the schedule information and the schedule requester's schedule information may conflict with each other due to the scheduled use start time or scheduled use end time. If the scheduled end of use is not yet determined and the schedule cannot be adjusted, the request from the requester will be rejected and the request will be notified. If it is not known whether or not the adjustment can be performed, the schedule requester is prompted to input the planned use end position again, and one of the cases for determining whether or not to adjust the schedule is selected.

  Instead of going through the map, the requester inputs information that can directly identify the location (location), such as the name of the departure or destination (location name), address, and telephone number, The configuration may be such that the dedicated application sends the information to the automatic driving vehicle 1 as information on the designated use start scheduled position and use end scheduled position. In that case, the application provided in the autonomous driving vehicle 1 acquires position information of latitude and longitude from the Internet based on the sent place name, address, telephone number, and the like.

  The number of users is the number of people who are scheduled to board the autonomous driving vehicle 1 including the schedule requester. Of course, if the schedule requester only makes a reception request and there is no plan to board the automatic driving vehicle 1, it is not included in the number of people scheduled to board. In this case, the passenger authentication described later is performed using authentication reference information that can be input by the passenger, such as a password or a mobile phone number, instead of biometric information such as the face image of the schedule requester. Become. Note that security is ensured when the schedule requester does not ride in the autonomous driving vehicle 1 or when at least the passenger authentication cannot be performed with biometric information such as the face image of the scheduling requester when riding the autonomous driving vehicle 1. Therefore, boarding may be prohibited. The purpose of use is the purpose of going to the destination (destination) to be alighted. For example, use purpose items such as going to a hospital for sudden illness, using for regular hospital visits, commuting, and shopping are stored.

  The execution status of each schedule information in FIG. 4 is status information indicating whether a schedule based on the schedule information is being executed or has not yet been executed. “In progress” indicates that the schedule requester and the passenger are in the automatic driving vehicle 1 and the schedule is being executed. “Not yet” indicates that the schedule information has not yet been executed and is waiting. When the execution of the schedule information is completed, the boarding schedule reception management unit 118 deletes the completed schedule information from the schedule schedule storage unit 119. Similarly, the canceled schedule information is deleted. Even if the execution of the schedule information is completed, the schedule information may be displayed as “execution completed” or “executed” without erasing. Similarly, the canceled schedule information may be displayed as “cancel” without being erased.

  In addition, when the schedule information is changed to “running”, for example, when the scheduled use end time or the scheduled use end position is changed, the schedule information may be changed (corrected) at that time. Good.

  The voice input / output unit 120 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 120 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 120 supplies the voice message selected by the control of the control unit 101 to the speaker 136 so as to emit sound as a voice to the passengers in the vehicle. In addition, another speaker may be provided so as to emit sound outside the automatic driving vehicle 1 so as to emit a voice message to a person who is about to get on or to get off.

  As will be described later, for example, an inquiry message such as “Do you want to register a scheduled user?”, “Authenticated.”, “Could not authenticate.”, “Scheduled request” A notification message such as “There is a schedule conflict with the user”, an interactive message for accepting the change of the schedule information and the input of the change are prepared.

  The place attribute priority storage unit 121 stores priority order information according to the attribute of the place as the destination. FIG. 5 shows an example of priority order information set in each target place attribute stored in the place attribute priority order storage unit 121. In this case, since the degree of urgency to move by the autonomous vehicle 1 is considered to be different for each place, priority is set for each of the place attributes in consideration of the urgency.

  For example, in the example shown in FIG. 5, when the hospital is the destination, the priority is set to 1st because the urgency is high. In addition, priorities are set in consideration of urgency according to the attributes of the destination location. It should be noted that the attribute of the place to be the destination and the priority order thereof may be determined by default or may be set by a use registrant. Further, it is of course possible that the use registrant modifies the place attributes and priorities determined by default, or additionally sets the new place attributes and priorities.

  Next, the usage purpose priority storage unit 122 stores priority information according to the usage purpose from the departure point to the destination. FIG. 6 shows an example of priority information set for each purpose of use stored in this purpose-of-use priority storage unit 122. In this case, since the degree of urgency of moving by the autonomous driving vehicle 1 is considered to be different for each purpose of use, priority is set for each of the purpose of use in consideration of the urgency.

  For example, in the example shown in FIG. 6, “go to the hospital due to sudden illness” is a priority that is absolutely prioritized over other usage purposes. For example, in the case of regular “visiting hospital”, the priority is set as the first because the urgency is high. In addition, priorities are set in consideration of urgency according to the purpose of use.

  Note that the purpose of use and the priority order may be determined by default or may be set by a registrant. Of course, the intended use registrant may modify the purpose of use and the priority order determined by default, or may additionally set a new purpose of use and its priority order.

  The clock unit 123 generates time information of year, month, day, hour, minute, and second. Based on the time information of the clock unit 123, the control unit 101 of the autonomous driving vehicle 1 manages the autonomous movement of the vehicle according to the schedule information stored in the scheduled schedule storage unit 119.

  As shown in FIG. 7, the vehicle information storage unit 124 stores the vehicle type of the vehicle, the number of passengers on the vehicle, and the like. The number of passengers is used to accept only the number of people who can get on the board when accepting the schedule information from the schedule requester.

  In the autonomous vehicle 1 of the above-described embodiment, the above-described authentication mode in the schedule requester authentication unit 116 and the passenger authentication unit 117 is turned on or off, and the boarding schedule reception management unit 118 It is configured that the setting of whether to accept the schedule request from the schedule requester in ON or OFF can be set 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.

  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, schedule requester authentication unit 116, passenger authentication unit 117, boarding schedule reception management unit 118 Each processing function of the voice input / output unit 120 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 embodiment]
Next, an example of processing operation in the automatic driving vehicle 1 of this embodiment having the above-described configuration will be described.

<Example of registration process for scheduled users>
In the automatic driving vehicle 1 of this embodiment, when the user selects the item “registration of planned use registrant” from the processing menu displayed on the display screen of the display unit 111, for example, registration of planned use registrant information is accepted. The unit 114 is activated to enter a registration mode for information on the use schedule registrant, and the user registers himself / herself as a use schedule registrant in the automatic driving vehicle 1 and stores the information as the use schedule registrant. be able to. However, in this embodiment, the registration mode of the scheduled use registrant is possible only when authentication is obtained with the ID and password for the registration mode set in advance by the owner of the autonomous driving vehicle 1 or the like. ing.

  FIG. 8 is a flowchart for explaining the flow of processing operations in the automatic driving vehicle 1 at the time of “use schedule registrant registration”. In the following description, the processing operation of the scheduled use registrant information receiving unit 114 will be described as a case where it is executed as a software process performed by the control unit 101 executing a program.

  The control unit 101 monitors the user's operation input through the touch panel 112, determines whether or not the item “registration of planned use registrant” is selected from the menu (step S1), and determines that it is not selected. Sometimes other processes are performed (step S2), and after the other processes are completed, the process returns to step S1.

  When it is determined in step S1 that the item “registration of planned use registrant” has been selected from the menu, the control unit 101 determines whether or not to permit the use planned registrant to enter the registration mode (that is, permit registration). A message for prompting the input of the password and ID for migration authentication to be determined is displayed on the display screen of the display unit 111 and is notified by emitting sound from the speaker 136 (step S3).

  Then, the control unit 101 determines whether or not the migration authentication has been performed based on whether or not the password and ID that match the password and ID for the migration authentication to the registration mode of the scheduled registrant are input from the user ( Step S4). When migration authentication is not possible in step S4, the control unit 101 notifies the user of “authentication NG” through the display screen of the display unit 111 and the speaker 136 (step S5), and then ends this processing routine. To do.

  If it is determined in step S4 that the use registrant has been authenticated for transition to the registration mode, the control unit 101 displays a message prompting the user to input information on the use registrant, on the display screen of the display unit 111 and The notification is made through the speaker 136 (step S6), and the completion of the input of the information of the registered registrant from the user through the touch panel 112 is awaited (step S7).

  In step S7, when it is confirmed that the user has completed the input of information on the scheduled use registrant, the control unit 101 associates the input information on the scheduled use registrant with the identification information (ID). Stored in the registrant information storage unit 115 (step S8). Here, the identification information is automatically given by the control unit 101 in this embodiment, but may be set by the user.

  Next, the control unit 101 captures a user's face image registered by a camera in the camera group 107, and uses the captured face image information as authentication reference information, as a use schedule registrant information storage unit 115. And stored in association with the identification information of the user (step S9). One or more face images may be taken. Further, the face image may be taken not only by a single camera but also by a plurality of cameras. Thereafter, the control unit 101 notifies the end of registration through the display screen of the display unit 111 and the speaker 136 (step S10), and ends this processing routine.

<Reception of schedule request from schedule requester and adjustment process of schedule information>
Next, the process of receiving a schedule request from the schedule requester and adjusting the schedule information will be described with reference to the flowcharts shown in FIGS. Also in this case, in the following description, the processing operation of the plan requester authentication unit 116 and the boarding plan reception management unit 118 will be described as a case where the control unit 101 executes software processing performed by executing a program.

  The control unit 101 monitors the wireless communication unit 102 to determine whether or not an incoming call has been detected (step S101). When determining that no incoming call has been detected, the control unit 101 performs other processing (step S102). After the process ends, the process returns to step S101.

If it is determined in step S101 that an incoming call has been detected, the control unit 101 automatically responds (step S103), and determines whether or not the incoming call is a request for accepting a boarding schedule (step S104). In this embodiment, as described above, when the user makes a boarding schedule reception request, the user uses the dedicated application for the boarding schedule reception request from his / her mobile phone terminal to the autonomous driving vehicle 1. A reception request is sent to it. The transmission information at this time includes information indicating that it is a request for accepting a boarding schedule, for example, identification information. Therefore, the control unit 101 of the autonomous driving vehicle 1 determines whether the incoming call is a boarding schedule reception request depending on whether or not the information obtained by the automatic response includes information indicating that it is a boarding schedule reception request. It is determined whether or not there is.

  When it is determined in step S104 that the incoming call is not a request for accepting a boarding schedule, the control unit 101 executes a corresponding processing routine according to the information content of the received incoming call (step S105).

  When it is determined in step S104 that the incoming call is a request for accepting a boarding schedule, the control unit 101 stores the telephone number (mobile phone number) of the scheduled use registrant stored in the scheduled use registrant information storage unit 115. And the telephone number of the schedule requester that has received the call (step S106), it is determined whether or not the telephone numbers match.

  When it is determined in step S107 that the telephone number of the usage schedule registrant stored in the usage schedule registrant information storage unit 115 does not match the telephone number of the incoming schedule requester, the control unit 101 Since the authentication is NG, a message rejecting acceptance of the boarding schedule is sent to the incoming side (step S108), the communication path with the incoming side is disconnected (step S109), and this processing routine is terminated.

  When it is determined in step S107 that the telephone number of the usage schedule registrant stored in the usage schedule registrant information storage unit 115 matches the telephone number of the incoming schedule requester, the control unit 101 The incoming schedule requester is requested for the ID and password registered in the scheduled use registrant information storage unit 115 (step S110), and it is determined whether the ID and password have been received (step S111). At this time, the control unit 101 can recognize whether the schedule requester is one of the use schedule registrants stored in the use schedule registrant information storage unit 115 by matching the telephone numbers.

  If it is determined in step S111 that the ID and password have not been received, the control unit 101 determines whether or not a predetermined time has elapsed since the ID and password were requested (step S112), and the predetermined time or more has elapsed. If it is determined that the password has not been received, the process returns to step S111 to wait for reception of the ID and password. If it is determined in step S112 that the predetermined time or more has elapsed, the control unit 101 advances the processing to step S108 and sends a message refusing reception of the boarding schedule to the receiving side because the authentication is NG (step S108). (S108) The communication path with the receiving side is disconnected (step S109), and this processing routine is terminated.

  If it is determined in step S111 that the ID and password have been received, the received ID and password are compared with the ID and password of the plan requester stored in the use plan registrant information storage unit 115, Authentication is performed by determining whether or not the two match (step S121). As a result of this authentication, when it is determined that the authentication is not OK, the control unit 101 advances the process to step S108 in FIG. 9 and sends a message rejecting the boarding schedule reception to the receiving side because the authentication is NG. (Step S108), the communication path with the receiving side is disconnected (Step S109), and this processing routine is terminated.

  When it is determined in step S122 that the authentication is OK, the control unit 101 requests the schedule requester to send schedule information (step S123), and receives the schedule information sent thereto. Then, it is temporarily stored in the buffer memory (step S124).

  In the above sequence, in this embodiment, in step S106 and step S107, whether or not the telephone number of the called party is the telephone number of the scheduled use registrant registered in the scheduled use registrant information storage unit 115. However, the authentication using the telephone number may not be performed. In that case, the ID and password in the authentication in step S121 and step S122 indicate which of the use plan registrants registered in the use plan registrant information storage unit 115 is the plan requester. It can be recognized by specifying a use plan registrant that matches the one entered by the plan requester.

  Next, the control unit 101 compares and refers to the schedule requester's schedule information temporarily stored in the buffer memory and the registered schedule information stored in the schedule schedule storage unit 119, so that no conflict occurs. Whether or not there is already registered schedule information that conflicts with the schedule information of the schedule requester (step S126).

  When it is determined in this step S126 that there is no registered schedule information that conflicts with the schedule information of the schedule requester, the control unit 101 determines the number of scheduled passengers in the received schedule information and the own vehicle information storage unit. It compares with the boarding capacity | capacitance memorize | stored in 124 (step S131 of FIG. 11), and it is discriminate | determined whether all the number of boarding persons can board (step S132).

  When it is determined in step S132 that all of the scheduled passengers can board, the control unit 101 associates the received schedule information with the schedule requester's ID as schedule information and schedule schedule storage unit 119. The registration request is notified to the schedule requester (step S133). And the control part 101 cut | disconnects the communication path between schedule requesters (step S134), and complete | finishes this process routine.

  Further, when it is determined in step S132 that the scheduled number of passengers exceeds the boarding capacity and the boarding is not possible, the control unit 101 can inform the plan requester of the boarding capacity and notify the boarding capacity over (step S135). ). Then, the control unit 101 determines whether or not a change in the scheduled number of passengers within the boarding capacity has been received from the schedule requester (step S136), and it is determined that the change in the planned number of boarding persons within the boarding capacity has been received. If so, the process proceeds to step S133, and the received schedule information is stored and registered in the schedule schedule storage unit 119 as schedule information in association with the schedule requester's ID, and the registration completion is notified to the schedule requester. Notification is made (step S133). And the control part 101 cut | disconnects a communication path with a schedule requester (step S134), and complete | finishes this process routine.

  Further, when it is determined in step S136 that the change of the scheduled number of passengers within the capacity is not received, the control unit 101 determines whether or not the cancellation of the reception request is received from the schedule requester (step S136). S137). If it is determined in step S137 that no cancellation has been received, the control unit 101 returns the process to step S136 and waits for a change in the number of passengers to be scheduled from the schedule requester. If it is determined in step S137 that the cancellation has been received, the control unit 101 disconnects the communication path with the schedule requester (step S138), and ends this processing routine.

  Next, when it is determined in step S126 that there is already registered schedule information that conflicts with the schedule information of the schedule requester, the control unit 101 determines whether the conflicting registered schedule information is being executed. Is determined with reference to the information on the execution status stored in the scheduled schedule storage unit 119 (step S127).

  When it is determined in step S127 that the already registered schedule information that is competing is being executed, the control unit 101 determines that the schedule requester and the scheduled competitor who registered the conflicting already registered schedule information are Are compared and determined (step S128). In the determination of the priority order in step S128, the control unit 101 determines the priority order based on the personal attributes stored in the scheduled use registrant information storage unit 115 and the location attribute stored in the location attribute priority storage unit 121. Referring to all of the priority order based on and the priority order based on the purpose of use stored in the use purpose priority order storage unit 122, the priority order is compared and determined.

  Then, the control unit 101 first determines whether the priority order of the schedule requester is absolute priority as a result of the priority order determination (step S141 in FIG. 12). In this step S141, for example, the use purpose of the schedule information input by the schedule requester is “go to the hospital due to sudden illness”, and as a result of referring to the use purpose priority storage unit 122, “absolute priority” , The control unit 101 uses the car navigation function unit 113 to move from the current position of the host vehicle detected by the current position detection unit 110 to the planned start position specified by the schedule requester. To calculate the estimated arrival time (step S142).

  Then, the control unit 101 refers to the calculated estimated arrival time and the scheduled boarding start time specified by the schedule requester, and determines whether or not it can arrive by the scheduled boarding start time (step S143). .

  When it is determined in step S143 that the vehicle can arrive before the scheduled start time of boarding, the control unit 101 accepts the schedule information from the schedule requester, stores it in the schedule schedule storage unit 119, and sends it to the schedule requester. Request acceptance is notified (step S144), and then the communication path with the schedule requester is disconnected (step S145).

  Next, the control unit 101 cancels (or suspends) the use and starts the boarding specified by the plan requester because the plan request with the absolute priority has occurred for the plan competitor who is using (on board). A notice to the planned position is given through the display screen of the display unit 111 and the speaker 136 (step S146). In case of interruption, the interruption time is also notified. At the time of this notification, in this embodiment, the control unit 101 displays a get-off request reception button on the display screen. It is determined whether or not an exit request has been received (step S147).

  When it is determined in step S147 that the getting-off request has been received, the control unit 101 temporarily stops at the location where the getting-off requester is in a place where the getting-off request is made, and gets off the scheduled competitors in use (step). S148). Then, the control unit 101 executes the absolute priority schedule, but during the execution or at an appropriate timing after the end of the execution, the control unit 101 refers to the scheduled start time of the other unexecuted schedule information and the delay is If it is determined that the event has occurred, a communication path is formed for the schedule setter who has set other schedule information that has not been executed, and the schedule setter who has set other schedule information that has not been executed through the communication path. The change of the boarding start scheduled time is notified (step S149). Then, the control unit 101 ends this processing routine.

  If it is determined in step S147 that a request for getting off the vehicle has not been received, the absolute priority schedule is executed while the scheduled competitor who is in use (on boarding) is on board, and after performing step S149, this processing routine is executed. Exit. In this case, the scheduled competitor can go to the hospital with absolute priority if the boarding capacity is acceptable, and he / she will start the ride in order to give priority to the absolute priority user. It is also possible to get off at the position.

  Next, when it is determined in step S143 that the vehicle cannot arrive by the scheduled boarding start time, the control unit 101 notifies the schedule requester of the estimated arrival time obtained in step S142 and accepts the delay. A message for inquiring whether to maintain the schedule request is sent (step S151 in FIG. 13).

  And the control part 101 waits for the reply from the plan requester with respect to the inquiry, and if an answer is received, it will discriminate | determine whether the said answer maintains a request | requirement (step S152). When it is determined in step S152 that an answer indicating that the request is to be maintained is obtained, the control unit 101 changes the schedule information received from the schedule requester to the scheduled start time by changing the scheduled boarding start time to the expected arrival time. It memorize | stores in the memory | storage part 119, and notifies request | requirement acceptance to a plan requester (step S153). Then, the control part 101 transfers a process to step S145 of FIG. 12, and performs the process after this step S145.

  Further, when it is determined in step S152 that the plan requester has obtained an answer to cancel without maintaining the request, the control unit 101 notifies the plan requester of confirmation of the cancellation of the plan request through the communication channel. (Step S154) After that, the communication path with the schedule requester is disconnected (Step S155), and this processing routine is terminated.

  Next, when it is determined in step S141 in FIG. 12 that the priority level of the schedule requester is not absolute priority, the control unit 101 schedule information with which the priority level of the schedule requester schedule information is in conflict. It is determined whether or not the priority is higher than the priority order (step S161 in FIG. 14). Needless to say, the priorities in this case include priorities based on personal attributes.

  When it is determined in step S161 that the priority for the schedule requester's schedule information is higher than the priority for the competing schedule information, the control unit 101 uses the car navigation function unit 113 to determine the current position. The travel time from the current position of the host vehicle detected by the detection unit 110 to the boarding start scheduled position designated by the schedule requester is calculated to obtain the estimated arrival time (step S162).

  Then, the control unit 101 refers to the calculated expected arrival time and the scheduled boarding start time specified by the schedule requester, and determines whether or not it can arrive by the scheduled boarding start time (step S163). .

  If it is determined in step S163 that the vehicle cannot arrive by the scheduled boarding start time, the control unit 101 notifies the schedule requester of the estimated arrival time obtained in step S162 through the communication path and accepts the delay. Then, a message for inquiring whether to maintain the schedule request is sent (step S164).

  And the control part 101 waits for the reply from the plan requester with respect to the inquiry, and if an answer is received, it is discriminate | determined whether the said answer maintains a request | requirement (step S165). When it is determined in step S165 that the plan requester has obtained an answer to cancel without maintaining the request, the control unit 101 notifies the schedule requester of confirmation of canceling the schedule request (step S166). Thereafter, the communication path with the schedule requester is disconnected (step S167), and this processing routine is terminated.

  Further, when it is determined in step S163 that the vehicle can arrive by the scheduled start time of boarding and when it is determined in step S165 that an answer to maintain the request is obtained, the control unit 101 is in use. The schedule competitor is notified that the priority request is in conflict with the higher-order schedule request, and a message asking whether to accept (or change) the use of the request is displayed. Through (step S171 in FIG. 15). At this time, a call request button (icon) capable of requesting a call with the schedule requester from the schedule competitor is displayed on the display screen.

  The control unit 101 determines whether or not a call request has been made by pressing the call request button by monitoring an operation input through the touch panel 112 (step S172). When it is determined in step S172 that a call request has been made, the control unit 101 forms a call path with the scheduled requester through the wireless communication unit 102 using the microphone 135 as a transmitter and the speaker 136 as a receiver. (Step S173). As a result, a call can be made between the schedule requester and the schedule competitor, and a consultation by a call for schedule adjustment can be made between them.

  After step S173, the control unit 101 determines whether to accept or reject the use cancellation (or change) from the scheduled competitor who is using the monitor by monitoring the operation input through the touch panel 112 (step S173). S174). When it is determined in this step S174 that there has been an input of consent to the use cancellation (or change) from the scheduled competitor in use, the control unit 101 accepts the schedule information of the schedule requester, and the schedule schedule storage unit 119, the requester is notified of acceptance of the request (step S175), and then the communication path with the requester is disconnected (step S176). Then, the control unit 101 notifies the scheduled competitor in use of the use suspension (or change) through the display screen of the display unit 111 and the speaker 136 (step S177), and ends this processing routine. Also in this case, steps corresponding to step S147 and step S148 are executed after step S176, but these steps are omitted here.

  Note that the schedule requester's schedule information in step S175 indicates that if the schedule request is maintained in step S165 even though the scheduled boarding start time is the expected arrival time obtained in step S162, the boarding start is started. The scheduled time is stored after being changed to the estimated arrival time obtained in step S162.

  Next, when it is determined in step S161 that the priority for the schedule information of the schedule requester is not higher than the priority for the conflicting schedule information, the control unit 101 communicates with the schedule requester. Notifying other users (scheduled competitors) that they are competing with other users (scheduled competitors), and urging them to change their schedule information (scheduled start time). A message is sent (step S181 in FIG. 16).

  In addition, when it is determined in step S174 that an input for consent to use cancellation (or change) from a scheduled competitor who is using is received, the control unit 101 shifts the processing to step S181.

  Next, the control unit 101 determines whether or not it has received from the schedule requester information on a schedule whose scheduled use start time has been changed to the scheduled use end time of another person (scheduled competitor) (step S182). ). When it is determined in step S182 that the scheduled use start time has been changed to the scheduled use end time of another person (scheduled competitor), the control unit 101 receives the schedule from the received schedule requester. The information is accepted, stored in the schedule schedule storage unit 119, and the request acceptance is notified to the schedule requester via the communication path (step S183). And the control part 101 cut | disconnects the communication path between schedule requesters (step S184), and complete | finishes this process routine.

  If it is determined in step S182 that the scheduled use start time has not been received, the control unit 101 accepts the schedule requester from the scheduled requester. It is determined whether or not a request cancellation has been received (step S185). When it is determined in step S185 that no cancellation has been received, the control unit 101 returns the process to step S182, and repeats the processes after step S182. If it is determined in step S185 that the cancellation has been received, the control unit 101 notifies the schedule requester of confirmation of cancellation (step S186), and disconnects the communication path with the schedule requester (step S184). ), This processing routine is terminated.

  When it is determined in step S127 in FIG. 10 that the conflicting schedule information is not being executed, the control unit 101 determines the schedule requester's schedule information, the schedule competitor's schedule information (schedule information), and Are compared and determined (step S191 in FIG. 17). Also in the determination of the priority order in step S191, as in step S128, the control unit 101 stores the priority order based on the personal attributes stored in the scheduled use registrant information storage unit 115 and the place attribute priority order storage unit 12. The priority order based on the stored location attribute and the priority order based on the purpose of use stored in the use purpose priority order storage unit 122 are referred to, and the priority order is compared and determined.

  Then, the control unit 101 determines whether or not the schedule information of the schedule requester has a higher priority (Step S192). If it is determined in step S192 that the schedule information of the schedule requester has a higher priority, the telephone number of the scheduled competitor's mobile phone terminal stored in the scheduled use registrant information storage unit 115 is used. The schedule requester is requested to wait for schedule adjustment (step S193).

  And the control part 101 discriminate | determines whether there was an incoming call response with respect to the transmission to a scheduled competitor (step S194). If it is determined in this step S194 that there is an incoming call response, a communication path is formed with the scheduled competitor, and the scheduled competitor competes with the scheduled requester's boarding request reception request. Therefore, a change of the schedule information is requested (step S195).

  In response to the request for changing the scheduled information in step S195, the control unit 101 determines whether or not a change in the scheduled information from the scheduled competitor has been received through the communication path (step S196). If it is determined in this step S196 that no change in the scheduled information has been accepted, it is determined whether or not a change rejection of the scheduled information has been received from the scheduled competitor (step S197). If it is determined in step S197 that the change rejection has been received, the control unit 101 disconnects communication with the scheduled competitor (step S198), and then proceeds to step S181 in FIG. Repeat the process. If it is determined in step S197 that no change rejection has been received, the control unit 101 returns the process to step S196, and repeats the processes in and after step S196.

  When it is determined in step S196 that the schedule information change (correction) from the scheduled competitor has been received, the control unit 101 changes the received schedule information change (correction) from the scheduled competitor. The change (correction) is executed by reflecting the schedule information of the scheduled competitor in the information storage unit 115 (step S199). Then, the control unit 101 disconnects the communication path with the scheduled competitor (step S200). And the control part 101 transfers a process to FIG.16 S183, and performs the process after this step S183.

  Further, when it is determined in step S192 that the schedule information of the schedule requester is not higher in priority than the schedule information of the schedule competitor, it is determined in step S194 that there is no incoming response from the schedule competitor. When it does, the control part 101 transfers a process to FIG.16 S181, and repeats the process after this step S181.

[Effect of the above-described embodiment]
As described above, according to the above-described embodiment, since the automatic driving vehicle 1 adjusts the schedule, the schedule requester registers the use schedule registrant in the automatic driving vehicle 1 and also updates the schedule information. There is an effect that it is only necessary to make a reception request.

  And according to the above-mentioned embodiment, since the autonomous driving vehicle 1 performs adjustment with a plan competitor and a plan requester, confirming the intention with both, it can perform schedule adjustment smoothly. . In this case, the autonomous driving vehicle 1 can adjust the schedule between the scheduled competitor on boarding and the schedule requester even in a state where the schedule is being executed. Can also be easily accommodated.

  Further, in the above-described embodiment, the user is limited to the use schedule registrant registered in the automatic driving vehicle 1 and the authentication information is also registered as the use schedule registrant information. Can be easily secured.

  Further, in the above-described embodiment, since the priority order corresponding to the personal attribute is preset for the use schedule registrant, when the schedule conflicts, the use schedule of the higher priority person can be given priority. Convenient. In addition, priority information according to the purpose of use and destination can be set for the schedule information and schedule information, so it is convenient to prioritize the use schedule with higher priority when the schedule conflicts. is there. In particular, in the case of an emergency such as the transportation of a suddenly ill person, forced priority (absolute priority) is used, so that it is possible to respond appropriately to the emergency.

[Modification of the above embodiment]
In the above-described embodiment, a plurality of use registrants are family members, and personal attributes as family members are recorded, and priorities corresponding to the personal attributes are set in advance. Needless to say, it may be a relative or a friend such as a circle.

  Furthermore, the above-described embodiment can be applied to a company vehicle used in a company or a public vehicle used in a public organization. In the case of a company car or a public vehicle, the use schedule registrant information storage unit 115 stores information on each use schedule registrant in addition to the information on the use schedule registrant described above, belonging, work, title (president, section manager, general Information such as employees) is registered and stored. Information such as affiliation, business, and title can be handled as business attributes. In this case, the business attribute is more important than the personal attribute, and the priority is set according to the importance and urgency of the business, and the position of the job. For example, the section manager is set higher than the general employee, and the president is set higher than the section manager.

  Note that the priority order is not limited to the personal attributes, business attributes, purpose of use, and destination as described above. Priorities are set according to the presence or absence of alternative means of transportation and the time of use. You may be able to do that. For example, the priority is higher when there is no alternative means of transportation. For example, when the usage time is short within a predetermined time (for example, 30 minutes), the priority order is higher. This is because if the usage time is short, there are more opportunities to interrupt and use by adjusting with the competing schedule.

  In addition, considering the attributes according to the group attributes (family members, company employees (including affiliation such as sales department and general affairs department)) consisting of multiple registrants, or within the group If the usage time is longer than the predetermined time, the priority may be set higher.

  Further, in the above-described embodiment, the information on the schedule of the schedule requester and the registered schedule information stored in the schedule schedule storage unit 119 are compared and referenced. The process is changed depending on the result of the determination, but if the conflict is within a predetermined time (for example, within 5 minutes), the priority is not determined and the scheduled start time is delayed by the predetermined time for the schedule requester. Notification or notification may be made.

  In the above-described embodiment, the case of absolute priority is provided. However, when an autonomous driving vehicle is used for a trip involving staying at a remote place, emergency response is physically impossible. In the case of various usage forms, it may be possible to set in advance that the schedule requester cannot be used.

  In the above embodiment, when the wireless communication unit 102 is configured to have the functions of two mobile phone terminals, when the schedule requester's schedule information and the unexecuted schedule information compete, As shown in FIG. 17, a communication path different from the communication path between the schedule requester and the schedule requester is established for the scheduled competitor who registered the conflicting unexecuted schedule information. Coordinated schedule with scheduled competitors. However, the wireless communication unit 102 does not necessarily need to have the functions of two mobile phone terminals.

  For example, when the wireless communication unit 102 includes only one mobile phone terminal, the schedule requester is notified to perform schedule adjustment, and the communication path with the schedule requester is temporarily disconnected, and then A communication channel is connected to the scheduled competitor, schedule adjustment is performed, and the communication channel is disconnected. Then, a communication path may be connected to the schedule requester again to notify the adjustment result. In that case, change (correction) or cancellation (deletion) of schedule information or schedule information is accepted in a state where the communication path is connected between the schedule requester and the schedule competitor.

[Modification of schedule adjustment]
When the automatic driving vehicle 1 receives a schedule information reception request from the schedule requester, if the conflicting schedule information in step S127 in FIG. 10 is being executed, the schedule information being executed is displayed. When the route to the destination is slightly changed and the schedule requester's schedule information is slightly changed as necessary, so that the schedule requester's schedule can be incorporated into the schedule competitor's schedule. There is. In other words, by taking the planned starting position specified by the schedule requester as a transit point of the schedule competitor's schedule information, the boarding of the automatic driving vehicle 1 requested by the schedule requester can be performed with the schedule competitor. This is the case when it can be accepted as a carpool. In this case, it is preferable to obtain the consent of the schedule competitor and / or the schedule requester.

  For example, when the route PA from the current position S to the destination E during execution of the schedule information of the scheduled competitor is as shown by a solid line in FIG. 18A, the schedule information from the schedule requester When the scheduled boarding start position (scheduled boarding place) Sr is close to the route PA and the scheduled boarding end position (scheduled boarding location) Er is also close to the route PA, it is indicated by a dotted line in FIG. By changing to the route PB, it is possible to accept the boarding according to the request by the schedule requester as a carpool.

  As shown in FIG. 18 (A), the boarding end position (scheduled to get off) Er is not only when it is before the destination of the route PA, but also as shown in FIG. 18 (B). The same applies even if the planned end position (scheduled to get off) Er is far from the destination.

  An example of the processing flow of the main part of schedule adjustment in this example will be described with reference to the flowcharts of FIGS. 19 and 20.

  As shown in FIG. 19, the processing routine of this example is provided between step S127 and step S128 of FIG. 10 described above. That is, in this example, when it is determined in step S127 that the competing schedule is being executed, the control unit 101 uses the car navigation function unit 113 to determine the planned start position (scheduled boarding location) and end of the boarding of the plan requester. The arrival delay time to the destination of the schedule information of the scheduled competitor in use when the planned position (scheduled to get off) is used as a transit point is calculated (step S211 in FIG. 19).

  Then, the control unit 101 determines whether or not the arrival delay time of the calculation result is equal to or less than a predetermined allowable delay time DLth (step S212). If it is determined in step S212 that the arrival delay time of the calculation result exceeds the predetermined allowable delay time DLth, the control unit 101 causes the process to proceed to step S128 in FIG. The subsequent processing is executed.

  Further, when it is determined in step S212 that the arrival delay time of the calculation result is equal to or less than the predetermined allowable delay time DLth, the control unit 101 determines the number of people on the board according to the schedule of the scheduled competitors and the schedule requester. Whether the total number of scheduled passengers is within the boarding capacity is determined from the number of people using the scheduled information and the information on the boarding capacity stored in the own vehicle information storage unit 124 (step S213). When it is determined in step S213 that the total number of boarding passengers exceeds the boarding capacity, the control unit 101 causes the process to proceed to step S128 in FIG. 10 and executes the above-described processes after step S128.

  In this step S213, when it is determined that the total number of boarding passengers is within the boarding capacity, the schedule requester is notified of the competition with the scheduled competitor and that the piggyback is possible, and whether or not he / she wishes to take a ride. Is transmitted through the communication path (step S214). And the control part 101 receives the reply of the hope of the piggyback from the schedule requester, and discriminate | determines the hope of presence (step S215). When it is determined in this step S215 that the schedule requester does not wish to take a piggyback, the control unit 101 causes the process to proceed to step S128 in FIG. 10 and executes the above-described processes after step S128.

  In step S215, when it is determined that the schedule requester wants to take a piggyback, the control unit 101 notifies the schedule competitor who is using the schedule requester by using the display screen of the display unit 111 and the speaker 136. In addition to notifying the passenger of the scheduled requester and the arrival time delay at the destination, the user is inquired whether or not to accept the flight (step S216).

  Then, the control unit 101 receives an answer to the inquiry as to whether or not to accept the flight, and determines whether to accept or reject the flight (step S217). When it is determined in step S217 that the answer indicates that the piggyback is rejected, the control unit 101 notifies the schedule requester that the planned competitor has refused the piggybacking through the communication path (step S218). Then, the control unit 101 causes the process to proceed to step S128 in FIG. 10 and executes the processes after step S128 described above.

  When it is determined in step S217 that the answer is that the user has accepted the flight, the control unit 101 adds a transit point to the schedule information of the scheduled competitors currently in use stored in the scheduled schedule storage unit 119. Then, the scheduled boarding end time is changed to a time that has been recalculated because it is delayed by way of a transit point, and the fact is notified to the scheduled competitor through the display screen of the display unit 111 and the speaker 136 (step in FIG. 20). S221).

  Next, the control unit 101 stores the schedule information of the schedule requester in the schedule schedule storage unit 119 in association with the schedule information of the scheduled competitor who is in use, and notifies the schedule requester through the communication path. (Step S222). And the control part 101 cut | disconnects the communication path between schedule requesters (step S223), and complete | finishes this process routine.

  In the case of this example, the schedule information stored in the schedule schedule storage unit 119 is the schedule schedule storage unit when both the schedule information of the schedule competitor and the schedule information of the plan requester are completed. 119 is deleted.

  According to the example explained above, both schedules can be executed in parallel by piggybacking (carpooling) even if they are competing due to the adjustment between the schedule requester and the schedule competitor. In addition to being convenient, it is possible to execute the schedule efficiently. For piggybacking (carpooling), multiple people and multiple waypoints are possible.

  In the above-described example, when the scheduled competitor is on board, the schedule adjustment for the piggybacking of the schedule requester is performed. However, even when the schedule information of the scheduled competitor has not been executed, it is also possible to adjust the piggyback according to the schedule information of the schedule requester. In that case, when the wireless communication unit 102 has a function equivalent to two mobile phone terminals, the schedule requester receives the same as the schedule adjustment between the schedule competitor and the schedule requester in the above-described embodiment. While waiting for an acceptance request for scheduled information, a communication path is formed with a scheduled competitor to adjust the schedule.

  In addition, when the wireless communication unit 102 has only the function of one mobile phone terminal, the communication path for the request for accepting the plan information from the plan requester is temporarily disconnected, and then the plan competitor and A communication channel is formed between the two and the schedule for piggybacking is adjusted to disconnect the communication channel. Then, it is possible to adjust the schedule adjustment result for the piggyback by notifying the schedule requester again by connecting the communication path.

[Other Embodiments or Modifications]
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 addition, although the automatic driving vehicle in the above-described embodiment includes the automatic driving mode and the manual driving mode and is configured to be switched, the configuration of only the automatic driving mode may be used. In this case, since there is no manual operation mode, 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 the case of only the automatic driving mode, the user (passenger) can perform all operations necessary for the automatic driving by, for example, button operation, touch panel operation, voice operation, and the like.

  Furthermore, the self-driving vehicle of the present invention is applicable not only to automobiles but also to all vehicles such as large vehicles, motorcycles and single-seat mobiles, and ships such as helicopters, aircraft, motor boats, and ferries.

  Furthermore, in the above-described embodiment, the use schedule registrant information storage unit 115, the schedule schedule storage unit 119, the location attribute priority storage unit 121, the use purpose priority storage unit 122, the own vehicle information storage unit 124, and the car navigation database 134. However, it is also possible to install some or all of the storage units on the cloud rather than in the host vehicle and use them via the communication network 3. Furthermore, some or all of the authentication units such as the schedule requester authentication unit 116 and the passenger 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 passenger authentication uses the user's face image, but the user's voice can also be used. When the passenger authentication is performed by the user's voice, the voice of the user is picked up by the microphone 135 in the autonomous driving vehicle, and the voice of the user who is scheduled to use is stored in the user schedule registrant information storage unit 115. At the same time, the passenger authentication unit 117 is configured to have a speaker voice recognition function to determine whether or not the stored voice and the voice of the new user collected by the microphone 135 match. By doing so, it is configured to perform passenger authentication.

  When the passenger authentication is performed using the user's fingerprint, the autonomous driving vehicle is provided with a fingerprint reading device, and the use schedule registrant information storage unit 115 stores the fingerprint of the use schedule registrant. The passenger authentication unit 117 is configured to have a fingerprint recognition function, and determines the match / mismatch between the stored fingerprint and the fingerprint of the new user acquired by the fingerprint reader, Passenger authentication is performed. Even when palm prints, veins, irises, and other biological information are used, the same configuration change is possible.

  For passenger authentication, a password, a mobile phone number, or the like may be used instead of biometric information such as a user's face image, voice, and fingerprint. This method is useful for passenger authentication in the case where the schedule requester who made the reception request does not get on the automatic driving vehicle 1 and another user who does not register biometric information gets on. Of course, the usage mode in which the schedule requester himself does not get on the autonomous driving vehicle 1 may be prohibited in order to ensure security. Notification may be made to confirm whether or not the vehicle can be boarded, and the confirmation result may be used as additional passenger authentication.

  Further, in the above-described embodiment, it is assumed that the information about the boarding schedule for one time is input. However, the information about the boarding schedule can be input for a plurality of times, and for each time, the same schedule as described above is used. Adjustment is possible. Further, the schedule is not limited to the same day, but may be a schedule extending over a plurality of days such as two days, and further for one week and one month.

  In the embodiment described above, the schedule request is made through the mobile phone terminal possessed by the schedule requester. However, a person who is in the autonomous driving vehicle inputs an operation input through the touch panel 112 or a voice input with the microphone 135. You may make it perform by the audio | voice input through the output part 120. FIG. The schedule requester's schedule information (schedule information) may be presented by displaying a schedule template from the autonomous vehicle 1 side, and the necessary items may be input to the schedule template. May be entered. Furthermore, schedule information may be input interactively with an autonomous vehicle.

  The schedule requester needs to be a use schedule registrant, but needless to say, the passenger does not need to be a use schedule registrant.

  DESCRIPTION OF SYMBOLS 1 ... Automatic driving vehicle, 3 ... Communication network, 10 ... Electronic control circuit part of automatic driving vehicle 1, 101 ... Control part, 102 ... Wireless communication part, 107 ... Camera group, 111 ... Display part, 112 ... Touch panel, 113 ... Car navigation function unit, 114 ... use schedule registrant information reception unit, 115 ... use schedule registrant information storage unit, 116 ... plan requester authentication unit, 117 ... passenger authentication unit, 118 ... boarding schedule reception management unit, 119 ... plan Schedule storage unit

Claims (23)

A car that performs autonomous driving by autonomous driving,
Wireless communication means;
Use schedule registrant information storage means for storing at least authentication reference information about a use schedule registrant registered in advance as a person who plans to use the vehicle, in association with identification information of the use schedule registrant;
Schedule schedule storage means for storing schedule information of the schedule of use of the own vehicle in association with each of the identification information of the use schedule registrant,
Based on the schedule information stored in the scheduled schedule storage means, autonomous movement control means for controlling the vehicle to move by autonomous traveling;
Whether the plan requester is the use plan registrant from the authentication reference information and the information acquired from the plan requester who has made a request to accept use of the vehicle through the wireless communication means. A schedule information receiving means for receiving the schedule information related to the reception request by the schedule requester when it is determined that the schedule is a use schedule registrant;
It is determined whether or not the schedule information related to the reception request received by the schedule information receiving means conflicts with the schedule information stored in the schedule schedule storage means. Schedule adjustment storage control means for storing information on a schedule related to a request in the schedule schedule storage means in association with identification information of the use schedule registrant corresponding to the schedule requester;
Automobile equipped with. Informing means for making an inquiry by informing a person on the own vehicle by sending a predetermined message; and an input receiving means for receiving an input of an answer to the inquiry from the person on the own vehicle; With
If the schedule adjustment storage control means determines that the schedule information related to the acceptance request and the schedule information stored in the schedule schedule storage means conflict, the schedule adjustment storage control means The competitor determines whether or not the user is currently on board. When it is determined that the user is on the board, the competitor uses the wireless communication unit, the notification unit, and the input reception unit, and uses the schedule requester and the schedule competitor. The vehicle according to claim 1, wherein an adjustment is made with a person and whether or not the acceptance request is valid is determined according to the adjustment result. The use schedule registrant storage means is connected to communicate with the terminal of the use schedule registrant associated with the identification information of the use schedule registrant through the wireless communication means. Information is remembered,
If the schedule adjustment storage control means determines that the schedule information related to the acceptance request and the schedule information stored in the schedule schedule storage means conflict, the schedule adjustment storage control means The competitor determines whether or not the user is currently on board, and if it is determined that the user is not on board, the wireless communication means is used to establish a communication path with the scheduled competitor using the connection information. Whether to make adjustments by performing communication for adjustment between the schedule requester and the schedule competitor through the wireless communication means, and whether to accept the acceptance request according to the adjustment result The vehicle according to claim 1, wherein it is determined whether or not. In the adjustment between the schedule requester and the schedule competitor in the schedule adjustment storage control means, the schedule requester is notified of the use start possible time after the scheduled use end time of the schedule competitor. Determining whether or not an approval response of the schedule requester is obtained in response to the notification, and as an adjustment result, when an approval response of the schedule requester is obtained, the schedule requester The vehicle according to any one of claims 2 and 3, wherein the reception request is validated. In the adjustment between the schedule requester and the schedule competitor in the schedule adjustment storage control means, the schedule competitor is notified or notified of the reception request from the schedule requester, and the notification or notification is performed. It is determined whether or not a response to the approval of the scheduled competitor is obtained. When the response to the approval of the scheduled competitor is obtained as the adjustment result, the acceptance request of the schedule requester is obtained. The vehicle according to any one of claims 2 and 3, wherein the vehicle is effective. The vehicle according to claim 5, wherein the notification or notification of the reception request from the schedule requester to the schedule competitor is a notification or notification of who the schedule requester is. The notification or notification of the acceptance request from the schedule requester to the schedule competitor is a notification or notification of a purpose of use included in the schedule information. Car. When the schedule adjustment storage control means determines that the schedule information related to the acceptance request and the schedule information stored in the schedule schedule storage means conflict, the schedule information related to the acceptance request; Priority order determining means for determining the priority order from schedule information;
When the priority order determining means determines that the priority order of the schedule information related to the acceptance request is higher than the priority order included in the schedule information, the scheduled competitor who registered the conflicting schedule information Means for informing whether or not to accept the change of the schedule information of the scheduled competitor, informing the existence of a request for accepting the schedule of the use of the host vehicle having a higher priority,
The automobile according to any one of claims 1 to 7, further comprising: When the schedule adjustment storage control means determines that the schedule information related to the acceptance request and the schedule information stored in the schedule schedule storage means conflict, the schedule information related to the acceptance request; Priority order determining means for determining the priority order from schedule information;
When the priority order determination unit determines that the priority order of the schedule information related to the reception request is higher than the priority order included in the schedule information, the priority request is accepted as valid and the conflicting The vehicle according to any one of claims 1 to 7, further comprising means for canceling or changing the schedule of the schedule information. The automobile according to claim 9, wherein the higher priority is absolute priority. If the schedule adjustment storage control means determines that the schedule information related to the reception request and the schedule information stored in the schedule schedule storage means conflict, the schedule information related to the reception request; Priority determining means for determining priority from the schedule information;
When the priority order determining means determines that the priority order of the schedule information related to the acceptance request is higher than the priority order included in the schedule information, the priority information is associated with the identification information corresponding to the schedule information. Means for accepting the acceptance request as valid after confirming acceptance from a registrant, and canceling or changing the schedule of the conflicting schedule information;
The automobile according to any one of claims 1 to 7, further comprising: Correspondence information for each purpose of use and priority,
The use information is included in the schedule information and the schedule information related to the acceptance request,
The priority order determining means determines a priority order based on the correspondence information, the scheduled information related to the acceptance request, and the use purpose information included in the competing schedule information. The automobile according to claim 8 to 11. Correspondence information between each of the use schedule registrants and priority order
The priority order determining means determines the priority order based on the correspondence information, the schedule information related to the acceptance request, and the information of the use schedule registrant for each of the conflicting schedule information. The automobile according to claim 8 to 11. Correspondence information of each attribute of the scheduled use end position and priority order,
The priority order determination means determines the attribute of the use end scheduled position included in the correspondence information, the schedule information related to the acceptance request and the conflicting schedule information, and the determined use end The vehicle according to any one of claims 8 to 11, wherein the priority order is determined based on an attribute of a planned position. Included in the schedule information related to the reception request when it is determined that the schedule information related to the reception request received by the schedule information reception means conflicts with the schedule information stored in the schedule schedule storage means 2. The schedule information from the schedule requester is received by setting the scheduled use start position to be a transit point in the schedule information stored in the schedule schedule storage unit. Automobile. Means for calculating a delay time of a scheduled use start time in the schedule information when the scheduled use start position included in the scheduled information is a transit point in the schedule information stored in the scheduled schedule storage means; When the delay time is within a predetermined time, the use start scheduled position included in the schedule information related to the acceptance request is set as a transit point in the schedule information stored in the schedule schedule storage unit The automobile according to claim 15, wherein the schedule information from the schedule requester is received. The automobile according to claim 16, further comprising means for notifying a schedule registrant of the schedule information of the delay time. The schedule information from the schedule requester is received by setting the use start scheduled position included in the schedule information related to the reception request as a transit point in the schedule information stored in the schedule schedule storage unit. Before, the schedule registrant of the schedule information is inquired whether or not to accept the schedule information of the schedule requester, and when the approval from the schedule registrant is obtained, the schedule registrant The automobile according to any one of claims 15 to 17, wherein the schedule information from the requester is received. The schedule information from the schedule requester is received by setting the use start scheduled position included in the schedule information related to the reception request as a transit point in the schedule information stored in the schedule schedule storage unit. The vehicle according to any one of claims 15 to 18, wherein it is determined whether or not the vehicle can be boarded by referring to the boarding capacity of the host vehicle and the total number of people scheduled to board the vehicle. If the schedule adjustment storage control means determines that the schedule information related to the acceptance request and the schedule information stored in the schedule schedule storage means conflict, the schedule adjustment storage control means The automobile according to claim 1, wherein the connection request information of a competitor is notified to the schedule requester to request adjustment. The said schedule schedule memory | storage means and / or the said use schedule registrant information memory | storage means are set as the structure of the cloud connected by the said radio | wireless communication means. The one of Claims 1-20 characterized by the above-mentioned. Car. The schedule information includes a scheduled use start position, a scheduled use end position, a scheduled use start time, a scheduled use time and / or a scheduled use end time. The automobile according to any one. A car that performs autonomous driving by autonomous driving,
Use schedule registrant information for storing at least authentication reference information about the wireless communication means and the use registrant registered in advance as a person who plans to use the vehicle in association with the identification information of the use registrant. A computer equipped with a storage means and equipped with an automobile that performs autonomous driving by autonomous driving;
Schedule schedule storage means for storing schedule information of a schedule of use of the own vehicle in association with each of the identification information of the use schedule registrant,
Autonomous movement control means for controlling the vehicle to move by autonomous running based on the schedule information stored in the scheduled schedule storage means,
Whether the plan requester is the use plan registrant from the authentication reference information and the information acquired from the plan requester who has made a request to accept use of the vehicle through the wireless communication means. A schedule information receiving means for receiving schedule information related to the reception request by the schedule requester when it is determined that the schedule is a use schedule registrant;
It is determined whether or not the schedule information related to the reception request received by the schedule information receiving means conflicts with the schedule information stored in the schedule schedule storage means. Schedule adjustment storage control means for storing schedule information related to a request in the schedule schedule storage means in association with identification information of the use schedule registrant corresponding to the schedule requester;
Car program to make it run as.

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