JP2015200933A - Autonomous driving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem in which a conventional autonomous driving vehicle cannot take into account the number of seats when a person gets on the autonomous driving vehicle.SOLUTION: In step S6, crew persons in a vehicle are photographed by a camera 25e of a camera system 25, and in step S7, a face recognition of an image having all of the crew persons photographed is performed to count the number of getting-on persons in the vehicle from the number of crew persons having the face recognition performed. In step S8, a determination is made whether the number of the getting-on persons exceeds the number of seats of the vehicle, in which the number of seats of the vehicle is preliminarily determined, and stored in a memory 12. When not exceeding the number of seats thereof, a process proceeds to step S9, in which a door is closed to set a destination. When the number of the getting-on persons exceeds the number of seats thereof, the process proceeds to step S17 in which a voice notification is announced that the number of seats is exceeded.

Description

  The present invention relates to an autonomous traveling vehicle that travels unattended.

  There is known an autonomous vehicle that calls a car when necessary at any landing in the area, allows the automobile to autonomously travel to the called destination, and can drop off the automobile when the user moves to the desired landing ( Patent Document 1).

JP-A-11-184521

  However, in the conventional autonomous vehicle, it was not possible to get on board considering the boarding capacity.

  The autonomous traveling vehicle according to claim 1 recognizes an autonomous traveling control unit that travels a route to a preset destination, a photographing unit that photographs a passenger in the vehicle after boarding, and an image captured by the photographing unit. The autonomous traveling control unit includes a counting unit that counts the number of passengers and a determination unit that determines whether the number of passengers counted by the counting unit exceeds the passenger capacity. When it is determined that the number of passengers exceeds the passenger capacity, the vehicle does not travel, and when the determination unit determines that the number of passengers does not exceed the passenger capacity, the vehicle starts traveling. It is characterized by doing.

  According to the present invention, an autonomous traveling vehicle can be boarded without exceeding the boarding capacity.

1 is a system configuration diagram of an autonomous vehicle. It is an external view of an autonomous traveling vehicle. It is a flowchart of an autonomous vehicle.

FIG. 1 is a system configuration diagram of an autonomous traveling vehicle according to an embodiment of the present invention.
The CPU 11 is connected to a memory 12, a display unit 13, a voice input / output unit 14, an input unit 15, and a communication unit 16 via a bus line.

  The memory 12 stores a program represented by a flowchart described later, and the CPU 11 reads the program and executes a process described later.

  The display unit 13 displays messages for passengers, boarding fees, and the like. The voice input / output unit 14 outputs a message to the occupant by voice and recognizes and accepts voice input from the occupant such as a destination.

  The input unit 15 is configured with a touch panel or the like, and the occupant inputs various information when the fare is settled. The communication unit 16 communicates with a vehicle management center (not shown), and the management center manages the current position of the vehicle. The communication unit 16 further transmits information for calling another vehicle to the management center when the boarding capacity is excessive.

  The CPU 11 communicates with the vehicle control system 17 via the bus line, and transmits / receives commands such as vehicle start / stop, vehicle door open / close, seat belt lock, and the like.

  A brake system 18, a travel drive system 19, a steering system 20, a sensor 21, a door opening / closing system 22, and a seat belt mounting system 23 are connected to the vehicle control system 17 via a bus line.

  The vehicle control system 17 receives information from a sensor 21 such as an accelerometer or a gyroscope and operates the brake system 18, the travel drive system 19, and the steering system 20 to control the direction and speed of the vehicle. The vehicle control system 17 described above functions as an autonomous traveling control unit.

  When a door opening / closing command is received from the CPU 11 via the vehicle control system 17, the door opening / closing system 22 opens or closes the vehicle door or locks the door in a closed state. When the door is locked by the door opening / closing system 22, the occupant cannot release the door.

  When the seatbelt mounting system 23 receives a seatbelt lock command from the CPU 11 via the vehicle control system 17, the seatbelt mounting system 23 locks the seatbelt so that the seatbelt is not released by the occupant during traveling of the vehicle.

  Furthermore, a navigation system 24, a camera system 25, a GPS 26, and a laser system 27 are connected to the vehicle control system 17 via a bus line.

  The navigation system 24 includes a map database, and searches for a boarding point where the occupant is waiting to board and a route for traveling to the occupant's destination. Then, the vehicle control system 17 causes the vehicle to automatically travel along the searched route.

  The camera system 25 is composed of a plurality of cameras that acquire 360 ° images outside the vehicle, and reads signals and signs. The vehicle control system 17 automatically makes the vehicle travel autonomously according to the read signal or sign. The camera system 25 further includes a camera that captures an occupant in the vehicle and captures the occupant. The CPU 11 recognizes the face of the image taken by all the passengers and counts the number of passengers. Alternatively, the number of passengers is counted by comparing the image of all the passengers with the template image of the riding posture.

  The GPS 26 supplies current position information to the vehicle control system 17 and the navigation system 24. The laser system 27 is attached to a vehicle exterior ceiling, and specifies the position and distance of an object outside the vehicle such as another vehicle or an obstacle on the road. The vehicle control system 17 makes the vehicle autonomously travel while avoiding the specified object outside the vehicle.

FIG. 2 is an external view of the autonomous vehicle.
A total of four cameras 25a to 25d are attached to the four corners of the vehicle interior ceiling toward the outside of the vehicle. The camera system 25 captures an image of a 360 ° range outside the vehicle by using these cameras 25a to 25d and acquires the image. Further, a camera 25e is attached to the front of the vehicle interior ceiling so as to face the vehicle interior. The camera system 25 photographs a passenger in the vehicle with the camera 25e. The camera mounting position and the number of cameras installed are merely examples, and can be changed as necessary.

  A laser device 27a is rotatably attached to the vehicle exterior ceiling. The laser device 27a includes a light source (laser diode) and a light receiving element. Light emitted from the light source is reflected when it hits an object outside the vehicle, and is received by the light receiving element of the sensor. The laser system 27 measures a short time from when the light is irradiated until it is received, and converts the time difference into a distance. The laser device 27a always rotates 360 °, and always measures the distance to an object outside the vehicle.

  Hereinafter, the operation of the autonomous traveling vehicle according to the embodiment of the present invention will be described with reference to the flowchart shown in FIG. The program shown in the flowchart of FIG. 3 is stored in the memory 12, and the CPU 11 reads this program and executes the following processing.

  An autonomous vehicle that autonomously travels unattended is parked at a standby point. The standby point is a management center that manages autonomous vehicles or a predetermined parking lot. A passenger who is a user can call an autonomous vehicle from any point. When calling an autonomous vehicle, the boarding location is notified to the management center by using a portable terminal equipped with a GPS function.

  In step S1 of FIG. 3, the CPU 11 sets the boarding point as a destination and starts traveling of the autonomous vehicle. Specifically, the CPU 11 instructs the vehicle control system 17 to travel the vehicle. The vehicle control system 17 operates the brake system 18, the traveling drive system 19, and the steering system 20 to start traveling of the vehicle. A boarding point is a point where a user calls an autonomous vehicle using a mobile terminal.

  In step S2, CPU11 continues driving | running | working of a vehicle toward a boarding point. Specifically, the CPU 11 instructs the vehicle control system 17 to travel the vehicle toward the boarding point. The vehicle control system 17 causes the vehicle to automatically travel along the route to the boarding point searched by the navigation system 24.

  In step S3, the CPU 11 determines whether the vehicle has reached the boarding point. The vehicle control system 17 returns a response to the CPU 11 when it reaches the boarding point searched by the navigation system 24. If it has not reached the boarding point, the process returns to step S2 and the vehicle continues to travel toward the boarding point. If it has reached the boarding point, the process proceeds to step S4.

  In step S4, the CPU 11 stops the vehicle and opens the door. Specifically, the CPU 11 instructs the vehicle control system 17 to stop the vehicle and open the door. The vehicle control system 17 confirms safety around the vehicle by the camera system 25 and the laser system 27, and controls the brake system 18 and the like to stop the vehicle at a safe place. Thereafter, the vehicle control system 17 opens the door by the door opening / closing system 22.

  In step S5, the CPU 11 determines whether the occupant has completed boarding. Specifically, the CPU 11 acquires an image outside the vehicle and an image inside the vehicle by the camera system 25, and determines whether all the passengers are seated in the seat inside the vehicle by analyzing the image. If all the passengers have not been boarded, wait until they are complete. If it is determined that the passenger has boarded, the process proceeds to step S6.

  In step S <b> 6, the CPU 11 captures an occupant in the vehicle with the camera 25 e of the camera system 25. This shooting may be a moving image or a plurality of still images.

  In step S <b> 7, the CPU 11 recognizes the face of the image taken by all the occupants, and counts the number of passengers from the number of people whose faces are recognized. Alternatively, the number of passengers is counted by comparing the image of all the passengers with the template image of the riding posture. The CPU 11 in step S7 functions as a counting unit that counts the number of passengers.

  In step S8, the CPU 11 determines whether or not the number of passengers exceeds the passenger capacity of the vehicle. The boarding capacity of the vehicle is determined in advance and stored in the memory 12. If the number of passengers does not exceed the number of passengers, the process proceeds to step S9. The CPU 11 in step S8 functions as a determination unit that determines whether or not the number of passengers exceeds the passenger capacity.

  In step S9, the CPU 11 closes the door, locks the door, and sets the destination. Specifically, the CPU 11 instructs the door opening / closing system 22 to close and lock the door via the vehicle control system 17, and the door opening / closing system 22 closes the door and locks the door. Then, the CPU 11 outputs a message from the voice input / output unit 14 urging the occupant to speak the destination, for example, “How far are you going?” Receives voice input from the destination and issues voice recognition. Then, the CPU 11 sets a destination in the navigation system 24 and searches for a route for traveling to the destination. Further, the voice input / output unit 14 outputs a message by voice so as to fasten the seat belt. When the seat belt is tightened, the CPU 11 instructs the seat belt mounting system 23 to lock the seat belt via the vehicle control system 17, and the seat belt mounting system 23 locks the seat belt.

  In step S10, the CPU 11 causes the vehicle to travel toward the destination. Specifically, the CPU 11 instructs the vehicle control system 17 to travel, and the vehicle control system 17 operates the brake system 18, the travel drive system 19, and the steering system 20 to start traveling of the vehicle.

  In step S11, the CPU 11 determines whether the vehicle has reached the destination. The vehicle control system 17 returns a response to the CPU 11 when reaching the destination searched by the navigation system 24. If the destination has not been reached, the process returns to step S10 and the vehicle continues to travel toward the destination. If the destination has been reached, the process proceeds to step S12.

  In step S12, the CPU 11 stops the vehicle. Specifically, the CPU 11 instructs the vehicle control system 17 to stop the vehicle. The vehicle control system 17 confirms safety around the vehicle by the camera system 25 and the laser system 27, and controls the brake system 18 and the like to stop the vehicle at a safe place.

  In step S13, the CPU 11 settles the boarding fee. That is, the boarding fee is displayed on the display unit 13, and a message prompting the passenger to settle the boarding fee is output from the voice input / output unit 14 by voice. The occupant inputs card information and the like from the input unit 15 and settles the boarding fee. The process does not proceed to the next step S14 until the boarding fee is settled, and the vehicle door remains closed, so that it is possible to prevent the boarding fee from being stepped down. When the payment of the boarding fee is completed, the process proceeds to step S14.

  In step S14, the CPU 11 opens the door. Specifically, the CPU 11 instructs the vehicle control system 17 to open the door. The vehicle control system 17 opens the door by the door opening / closing system 22.

  In step S15, the CPU 11 determines whether the occupant has exited. Specifically, the CPU 11 acquires an image outside the vehicle and an image inside the vehicle by the camera system 25, and determines whether all the occupants have gone out of the vehicle by analyzing the image. If all passengers have not finished getting off, wait until they are complete. If it is determined that the passenger has exited, the process proceeds to step S16.

  In step S16, the CPU 11 closes the door, sets the standby point as the destination, and starts traveling of the autonomously traveling vehicle. Specifically, the CPU 11 instructs the vehicle control system 17 to close the door, and further instructs the vehicle to travel. The standby point is a management center that manages autonomous vehicles or a predetermined parking lot.

  If it is determined in step S8 that the number of passengers exceeds the passenger capacity of the vehicle, the process proceeds to step S17.

  In step S <b> 17, the CPU 11 notifies the voice input / output unit 14 by voice that the boarding capacity is exceeded. For example, a voice message such as “The number of passengers in this vehicle is XX. Cannot run because it exceeds the number of passengers.” Is output.

  In step S <b> 18, the CPU 11 determines whether the flag F in the memory 12 is 1. Note that the flag F is set to 0 when the vehicle starts to travel in step S1. Therefore, since the flag F is not 1 at the beginning, the process proceeds to step S19. Note that the flag F is for preventing repeated processing of calling another vehicle to the current position in step S21 described below.

  In step S <b> 19, the CPU 11 informs by voice whether to call another vehicle from the voice input / output unit 14. For example, a voice message such as “Do you want to call another vehicle because the boarding capacity has been exceeded?” Is output. The voice input / output unit 14 functions as a notification unit that inquires of the occupant whether or not to call another vehicle when it is determined that the number of occupants exceeds the number of passengers. In this case, the CPU 11 functions as a control unit.

  In step S <b> 20, the CPU 11 determines whether there is a response by voice calling another vehicle from the occupant by voice recognition by the voice input / output unit 14. Note that a message indicating whether or not to call another vehicle may be displayed on the display unit 13, and the occupant may perform an input operation regarding whether or not to call another vehicle using the input unit 15. If there is a response to call another vehicle, the process proceeds to step S21.

  In step S <b> 21, the CPU 11 performs communication for calling another vehicle to the current position to the management center via the communication unit 16. Specifically, the number of passengers exceeding the boarding capacity and the current position information are transmitted to the management center. In response to this, the management center directs other vehicles to the current position. Thereby, other vehicles can be arranged quickly.

  In step S <b> 22, the CPU 11 notifies by voice that another vehicle has been called from the voice input / output unit 14. For example, a voice message such as “Please wait for a while because another vehicle is called” is output.

  In step S23, the CPU 11 changes the flag F in the memory 12 to 1. And in step S24, CPU11 discriminate | determines whether the passenger | crew's alighting was completed. Specifically, the CPU 11 acquires an image outside the vehicle and an image inside the vehicle by the camera system 25, and determines whether an occupant has gone outside the vehicle by analyzing the image. If there is movement in the image and the passenger has not finished getting off, it waits until it is completed. Here, since it is a case where boarding capacity is exceeded, it waits for some people to get off. If it is determined that the occupant has exited, the process proceeds to step S6, where the occupant shooting and the subsequent determination of whether the passenger capacity is exceeded are continued, and the vehicle does not travel until the number of passengers does not exceed the passenger capacity.

(Modification)
The present invention can be implemented by modifying the embodiment described above as follows.

(1) The case where an occupant who is a user calls an autonomous vehicle from an arbitrary point has not been described as an example. However, when calling an autonomously traveling vehicle, the number of autonomously traveling vehicles corresponding to the number of passengers may be pointed out. Even in this case, the autonomously traveling vehicle counts the number of passengers when actually boarding and determines whether or not the boarding capacity is exceeded. This is for surely confirming the number of passengers when actually boarding an autonomous vehicle.

(2) When calling another vehicle after exceeding the boarding capacity, the number of persons exceeding the boarding capacity is sent to the management center. However, not only the number of passengers exceeding the boarding capacity but also the remaining number of people who could not board the vehicle may be transmitted to the management center. In this case, the occupant inputs the number of persons scheduled to board, including the excess number of persons and the remaining number of persons who could not get on the board. In the management center, the necessary number of autonomously traveling vehicles including the excess number and the remaining number of people who could not get on are driven toward the calling point.

(3) In the case of exceeding the boarding capacity and calling another autonomous vehicle, the example of communicating with the management center has been described. However, not only the management center but also an autonomous vehicle that is traveling near the empty vehicle may be communicated to answer the call.

(4) The case where the door is opened after the settlement of the boarding fee has been described. However, if the payment of the boarding fee is not completed even after a certain period of time, it may be run to a police station or a management center without opening the door. Thereby, the trouble of the adjustment of the boarding fee in an unmanned autonomous vehicle can be solved.

(5) In the autonomous traveling control by the vehicle control system 18 which is an autonomous traveling control unit, the autonomous traveling vehicle is caused to travel along a route based on a route calculation from the departure place to the destination. The present invention can also be applied to an autonomous vehicle that travels on a predetermined route.

According to the embodiment described above, the following operational effects can be obtained.
(1) The autonomously traveling vehicle recognizes a vehicle control system 17 that travels on a route to a preset destination, a camera system 25 that captures passengers in the vehicle after boarding, and an image captured by the camera system 25. A counting unit (CPU 11, step S7) for counting the number of passengers, and a determination unit (CPU 11, step S8) for determining whether the number of passengers counted by the counting unit exceeds the passenger capacity. When the discriminating unit determines that the number of passengers exceeds the riding capacity, the vehicle control system 17 does not travel the vehicle, and the discriminating unit does not exceed the number of passengers. When it is determined, the vehicle starts to travel. Therefore, the autonomous traveling vehicle can be boarded without exceeding the boarding capacity.

  The present invention is not limited to the above-described embodiment, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention as long as the characteristics of the present invention are not impaired. It is. Moreover, it is good also as a structure which combined the above-mentioned embodiment and a some modification.

11 CPU
DESCRIPTION OF SYMBOLS 12 Memory 13 Display part 14 Voice input / output part 15 Input part 16 Communication part 17 Vehicle control system 18 Brake system 19 Traveling drive system 20 Steering system 21 Sensor 22 Door opening / closing system 23 Seat belt mounting system 24 Navigation system 25 Camera system 26 GPS
27 Laser system

Claims (5)

An autonomous travel controller that travels a route to a preset destination;
A shooting section for shooting passengers in the car after boarding
A counter for recognizing an image captured by the camera and counting the number of passengers;
A discriminator for discriminating whether or not the number of passengers counted by the counter exceeds a passenger capacity;
The autonomous traveling control unit does not travel the vehicle when the determining unit determines that the number of passengers exceeds the riding capacity, and the determining unit determines the number of passengers An autonomous traveling vehicle characterized by starting traveling of the vehicle when it is determined that the vehicle does not exceed the threshold. In the autonomous traveling vehicle according to claim 1,
When the determination unit determines that the number of passengers exceeds the riding capacity, the autonomous traveling control unit does not travel the vehicle until the passenger gets off and does not exceed the riding capacity. An autonomous traveling vehicle characterized by that. In the autonomous traveling vehicle according to claim 1 or 2,
Further comprising a notification unit and a control unit,
The control unit makes an inquiry to the occupant as to whether or not to call another vehicle by the notification unit when the determination unit determines that the number of occupants exceeds the riding capacity. Autonomous vehicle. In the autonomous traveling vehicle according to claim 3,
A communication unit;
The said control part performs the communication which calls another vehicle to a present position by the said communication part according to the response of the passenger | crew with respect to the said alerting | reporting part, The autonomous running vehicle characterized by the above-mentioned. In the autonomous traveling vehicle according to any one of claims 1 to 4,
It further includes an input unit for adjusting the boarding fee,
The autonomous traveling vehicle is characterized in that the autonomous traveling control unit opens the door and causes the passenger to get off after the input unit finishes the settlement of the boarding fee.

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