Control device

Abstract

A control device (100) is provided with: a communication unit (110) that receives an external start signal transmitted from the outside of an autonomous vehicle (MV) for starting autonomous driving of the autonomous vehicle (MV); a control unit (140) that performs a process necessary for automatic driving; and a person determination unit (120) that determines whether or not a person is present in the cabin of the autonomous vehicle. When the person determination unit determines that a person is present in the vehicle interior, the control unit does not start automatic driving even if the communication unit receives the external start signal.

Description

[0001] This invention patent application is a divisional application of the invention patent application entitled "Control Device" with international application number PCT / JP2018 / 019021, international application date of May 17, 2018, and application number 201880043744.8 which entered the Chinese national phase. Technical Field

[0002] This invention relates to a control device for an autonomous vehicle. Background Technology

[0003] The development of autonomous vehicles continues to advance. Among autonomous vehicles, besides those that automatically perform only a portion of driving operations (such as braking), there are also vehicles that automatically perform all driving operations. In the autonomous driving processing device described in Patent Document 1 below, autonomous driving of the vehicle can be initiated based on operations performed by the user on a remote operating device.

[0004] In autonomous vehicles that automatically perform all driving operations, it is necessary to prevent automatic driving from starting unexpectedly (i.e., due to erroneous operation) to ensure safety. For example, in the automatic driving processing device described in Patent Document 1 below, automatic driving only begins when it can be confirmed that a user at a location far from the vehicle has performed a remote operation to initiate automatic driving. This prevents automatic driving from starting due to erroneous operation by the user operating the remote control device. Existing technical documents Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-95559 Summary of the Invention

[0006] However, even if the operation to initiate autonomous driving is based on the user's intention, it may still be inappropriate to start autonomous driving at that moment. For example, it might happen that a user, unaware that an infant or toddler has been forgotten inside the vehicle, initiates autonomous driving from outside the vehicle. When starting an autonomous vehicle in such a situation, it is undesirable for the vehicle to depart with only an infant or toddler inside. The same applies if only a person with dementia is present inside the vehicle, rather than an infant or toddler.

[0007] The purpose of this invention is to prevent autonomous driving from starting when only infants or young children are present in the vehicle interior.

[0008] The control device of the present invention is a control device for an autonomous vehicle, comprising: a communication unit that receives an external start signal transmitted from outside the autonomous vehicle to initiate autonomous driving; a control unit that performs processing necessary for autonomous driving; and a human determination unit that determines whether a person is present inside the autonomous vehicle. When the human determination unit determines that a person is present inside the vehicle, the control unit will not initiate autonomous driving even if the communication unit receives the external start signal.

[0009] According to the control device with the above structure, when the human detection unit determines that a person is present in the vehicle interior, automatic driving will not commence even if the communication unit receives an external start signal. That is, automatic driving will only commence based on an external start signal when no one is present in the vehicle interior. Therefore, it is possible to reliably prevent situations where automatic driving is initiated by a user outside the vehicle, even when infants or young children are present in the vehicle interior.

[0010] According to the present invention, a control device is provided that can prevent automatic driving from starting when only infants or young children are present in the vehicle interior. Attached Figure Description

[0011] Figure 1 This is a schematic diagram showing the overall structure of the control device of the first embodiment and the autonomous vehicle equipped with the control device. Figure 2 It means by Figure 1 A flowchart of the process executed by the control device. Figure 3 This is a flowchart illustrating the process executed by the control device of the second embodiment. Figure 4 This is a flowchart illustrating the process executed by the control device of the third embodiment. Figure 5 This is a flowchart illustrating the process executed by the control device of the fourth embodiment. Figure 6 This is a flowchart illustrating the process executed by the control device of the fifth embodiment. Detailed Implementation

[0012] Hereinafter, this embodiment will be described with reference to the accompanying drawings. To facilitate understanding, the same symbols will be used to label the same constituent elements in each drawing as much as possible, and repeated descriptions will be omitted.

[0013] The control device 100 of the first embodiment is a device installed in an autonomous vehicle MV and used for controlling the autonomous vehicle MV. Before describing the control device 100, refer to... Figure 1 The structure of the autonomous vehicle MV is explained.

[0014] The autonomous vehicle MV is configured to automatically perform all driving operations (driving, steering, braking) required for operation. The user can initiate autonomous driving of the autonomous vehicle MV by operating the control unit 150 located inside the vehicle's interior. Furthermore, when not riding in the autonomous vehicle MV, the user can also initiate autonomous driving by operating an external device 30. The external device 30 can be, for example, a mobile communication terminal carried by the user, or a fixed communication terminal located in the user's residence.

[0015] The autonomous vehicle MV is equipped with multiple doors 17 for users (i.e., occupants) to enter and exit the vehicle. Additionally, in Figure 1 In the diagram, multiple doors 17 are represented as a single frame. Each door 17 is equipped with a window 18. The window 18 is a so-called electric window, and its opening degree can be changed electrically.

[0016] The autonomous vehicle MV has multiple seats for users to sit down, but in Figure 1 The illustration is omitted. A portion of the above-mentioned seats is equipped with a child seat 19 for seating infants and toddlers.

[0017] In addition to the aforementioned devices, the autonomous vehicle MV also includes: a human detection unit 11, an authentication device 12, an onboard camera 13, an electric power steering device 14, an electric braking device 15, and a navigation system 16.

[0018] The human detection unit 11 is a device for detecting the presence of people inside the interior of an autonomous vehicle MV. In this embodiment, a thermal sensor is used as the human detection unit 11. The human detection unit 11 generates a thermal image of the interior and sends this image to the control device 100. Alternatively, the human detection unit 11 may also use a camera that captures images of the interior using visible light, a weight sensor that detects the weight of objects placed on seats, and a microphone that detects voices inside the interior.

[0019] The authentication device 12 is a device that performs authentication processing to confirm that the user (i.e., the person inside the vehicle) riding in the autonomous vehicle MV is a specific person. In this embodiment, the authentication device 12 performs authentication processing by reading information recorded on the user's Land Transport Authority driver's license. Afterwards, the authentication device 12 sends the authentication result (authentication result) to the control device 100. Alternatively, the authentication device 12 can also be a device that performs authentication processing by capturing the user's face with a camera and analyzing the obtained image. Furthermore, a device that performs authentication processing by communicating with the user's mobile communication terminal can also be used.

[0020] The vehicle-mounted camera 13 is used to capture images of the surroundings, especially the front side, of the autonomous vehicle MV. The vehicle-mounted camera 13 is, for example, a camera using a CMOS sensor. The vehicle-mounted camera 13 sends the captured image data to the control unit 100. The control unit 100 analyzes the images to determine the positions of obstacles, lanes, etc., around the autonomous vehicle MV. This allows for automatic steering to avoid collisions with obstacles, braking, and steering to maintain lane alignment. Alternatively, the aforementioned image processing can be performed by an ECU (Electronic Control Unit) located separately from the control unit 100.

[0021] The electric power steering system 14 is a device that applies electrically generated steering force to the steering shaft. In the autonomous vehicle MV, during autonomous driving, the electric power steering system 14 generates all the steering force required to travel along the lane without relying on the driver's steering input.

[0022] The operation of the electric power steering system 14 is controlled by the control unit 100. Alternatively, an ECU may be separately provided to control the electric power steering system 14. In the above case, the control unit 100 controls the operation of the electric power steering system 14 by communicating with the ECU.

[0023] The electric braking device 15 is a device used to generate braking force using electricity to decelerate or stop the autonomous vehicle MV. When the autonomous vehicle MV is operating in autonomous mode, the electric braking device 15 automatically generates braking force without relying on the driver's braking operation. The operation of the electric braking device 15 is controlled by the control device 100. Alternatively, an ECU may be separately provided to control the electric braking device 15. In the above case, the control device 100 controls the operation of the electric braking device 15 by communicating with the ECU.

[0024] Furthermore, the aforementioned electric braking device 15 can be either regenerative braking using an electric motor or hydraulic braking. In other words, the electric braking device 15 can be any device that generates braking force for the autonomous vehicle MV based on signals from the control device 100.

[0025] Navigation system 16 is a system that uses GPS to determine the current location of the autonomous vehicle MV. Navigation system 16 can generate a route that the autonomous vehicle MV should take to reach its destination, and display the route to the user or guide the autonomous vehicle MV to drive automatically along the route.

[0026] Next refer to Figure 1The structure of the control device 100 will be described below. The control device 100 is configured as a computer system having a CPU, ROM, and RAM. As functional control blocks, the control device 100 includes a communication unit 110, a human judgment unit 120, an authentication unit 130, and a control unit 140. In addition, as peripheral devices connected to the main body of the computer system, the control device 100 also includes an operation unit 150, a door status detection unit 160, a window opening detection unit 170, and a seat status detection unit 180.

[0027] Alternatively, the control device 100 with the structure described above can be configured as a single computer system, or it can be configured as multiple computer systems operating collaboratively, with the whole system functioning as the control device 100. Furthermore, it is also possible for part or all of the control device 100 to be located at a different location from the autonomous vehicle MV, and to control the autonomous driving of the autonomous vehicle MV by communicating with the autonomous vehicle MV.

[0028] The communication unit 110 is configured as a communication interface with the outside world. The communication unit 110 receives an external start signal sent from the external device 30. The external start signal is a signal used to initiate autonomous driving of the autonomous vehicle MV. When the user performs an operation to initiate autonomous driving on the external device 30, the external device 30 sends an external start signal. When the communication unit 110 receives the aforementioned external start signal, the control device 100 performs processing to initiate autonomous driving of the autonomous vehicle MV. However, there is a possibility that even if the communication unit 110 receives the external start signal, the control device 100 will not initiate autonomous driving. This will be described later.

[0029] The human detection unit 120 is a unit that determines whether there is a person inside the interior of the autonomous vehicle MV. The human detection unit 120 determines whether there is a person inside the vehicle based on information sent from the previously described human detection unit 11, namely a thermal image of the interior. Alternatively, the human detection unit 11 may perform the human detection determination, and the human detection unit 120 may receive the determination result.

[0030] The authentication unit 130 is responsible for confirming that the user (i.e., the person inside the vehicle) riding in the autonomous vehicle MV is a specific person. The authentication unit 130 performs this confirmation by receiving information sent from the previously described authentication device 12, i.e., the result of the authentication process. In addition, the authentication unit 130 may be configured to receive only the result of the authentication process performed in the authentication device 12, or it may be configured to perform the authentication process based on information sent from the authentication device 12 (e.g., driver's license information).

[0031] The control unit 140 is the part that performs the processing required for autonomous driving. Based on the analysis results of the images obtained from the on-board camera 13 and the information obtained from the navigation system, the control unit 140 performs the control of the driving force and the electric power steering device 14, the electric braking device 15, etc., thereby executing the autonomous driving of the autonomous vehicle MV.

[0032] The operation unit 150 is the part that accepts user operations. The above operations are for starting the autonomous driving of the autonomous vehicle MV. The operation unit 150 is located inside the vehicle. When a user inside the vehicle wants to start autonomous driving, the user operates the operation unit 150 instead of operating the external device 30.

[0033] Furthermore, "operation for initiating autonomous driving" refers to an operation that, if performed, actually initiates control related to the driving, steering, and braking of the autonomous vehicle MV. Therefore, for example, an operation that merely sets a target value in the navigation system 16 is not included in the aforementioned operations.

[0034] In this embodiment, the operation unit 150 is a push-button switch. The operation unit 150 could also be a numeric button for the user to input a specified number according to voice guidance. Alternatively, the operation unit 150 could be a microphone that receives voice input from the user. In this case, the control device 100 initiates automatic driving by recognizing the voice input to the operation unit 150.

[0035] The operation unit 150 can be one of the above-described methods or a combination of multiple methods. For example, it can be configured such that the operation unit 150 includes both a push-button switch and a microphone for receiving voice, and autonomous driving can be initiated only when both are operated.

[0036] Preferably, in any case, the operation performed on the operation unit 150 to start autonomous driving is a difficult operation for infants, young children, dementia patients, etc.

[0037] The operation unit 150 is configured such that at least some of its operations cannot be performed by people outside the autonomous vehicle MV. That is, autonomous driving cannot be initiated if the user is not riding in the autonomous vehicle MV, for example, by reaching in through the gap in the open window glass 18 to operate the operation unit 150.

[0038] As for the structure of the aforementioned operating unit 150, the following structures are examples: for example, the push-button switch is located near the center console, under the seat, or in a position away from the door 17. Furthermore, the following structures are examples: operations to the operating unit 150 are only accepted when the seatbelt is fastened and the seat's weight sensor detects weight. Furthermore, the following structures are examples: in addition to setting the microphone for receiving voice as a directional microphone, the microphone is configured to only receive voice messages emitted within the vehicle interior.

[0039] In addition, when multiple operations are required to start autonomous driving, it is permissible as long as only a portion of the operations cannot be performed by people outside the autonomous vehicle MV.

[0040] The door status detection unit 160 is a sensor used to detect the open and closed states of the doors 17 installed in the autonomous vehicle MV. The door status detection unit 160 is configured to detect the open and closed states of each door 17. The detection states of each door 17 detected by the door status detection unit 160 are sent to the control device 100.

[0041] The window opening detection unit 170 is a sensor used to detect the opening degree of the window glass 18 provided in each door 17. The window opening detection unit 170 is configured to detect the opening degree of each window glass 18. The opening degree of each window glass 18 detected by the window opening detection unit 170 is sent to the control device 100.

[0042] The seat status detection unit 180 is a sensor used to detect the presence of a person in the child seat 19. In this embodiment, the seat status detection unit 180 is a weight sensor installed in the child seat 19. When an object of a predetermined weight or more is placed in the child seat 19, the seat status detection unit 180 detects that the object as a person (specifically, an infant). The presence or absence of a person detected by the seat status detection unit 180 is sent to the control device 100.

[0043] The weight sensor, i.e., the seat state detection unit 180, may not be located in the child seat 19, but rather in the seat on which the child seat 19 is installed. For example, consider a mechanism for measuring the weight of an object placed on the seat that is built into the mounting surface of the child seat 19 within the seat. In this case, the seat state detection unit 180 detects the presence of a person in the child seat 19 based on the value obtained by subtracting the weight of the child seat 19 from the weight measured by the weight sensor. Alternatively, the seat state detection unit 180 may be configured as a temperature sensor instead of a weight sensor.

[0044] Consider the following scenario: A user, unaware that an infant or toddler has been forgotten to be left inside the vehicle, operates an external device 30 from outside the vehicle, initiating autonomous driving. In this situation, the infant or toddler, unable to react to the changing circumstances on their own, is left alone inside the vehicle, which is undesirable. The same applies if only a person with dementia, rather than an infant or toddler, is present inside the vehicle.

[0045] Therefore, in the control device 100 of this embodiment, the following processing is performed to prevent the automatic driving from starting when only infants or young children are present in the vehicle interior.

[0046] The control device 100 repeatedly executes the command each time a predetermined control cycle is completed. Figure 2 The process is illustrated in the following steps. In the initial step S01, a determination is made as to whether a person is present inside the vehicle. This determination is made by the person determination unit 120. When it is determined that a person is present inside the vehicle, the process proceeds to step S02.

[0047] In step S02, a process is performed to switch to a mode that refuses to start autonomous driving from the outside. Afterwards, even if the communication unit 110 receives an external start signal from the external device 30, the control unit 140 will not start autonomous driving. Therefore, in order for the user to start autonomous driving, the operation unit 150 needs to be operated from inside the vehicle while the user is riding in the autonomous vehicle MV.

[0048] In step S03, following step S02, authentication is performed by the authentication unit 130. If the authentication process is successful, meaning it can be confirmed that the user riding in the autonomous vehicle MV is a specific person, the process proceeds to step S04. If the authentication process fails, meaning it cannot be confirmed that the user riding in the autonomous vehicle MV is a specific person, the process ends. Figure 2 The series of processes shown. Alternatively, the process can always proceed from step S02 to step S04 without going through step S03.

[0049] In step S04, it is determined whether the user has performed an operation on the operation unit 150, i.e., an operation to start automatic driving. If no operation has been performed on the operation unit 150, the process ends. Figure 2 The process is illustrated in the series of steps shown. When an operation is performed on the operation unit 150, the process proceeds to step S05. In step S05, the control unit 140 performs the process of starting automatic driving. Subsequently, automatic driving is performed by the control unit 140.

[0050] In step S01, if it is determined that there is no one inside the vehicle, the process proceeds to step S06. In step S06, the process of switching to a mode that allows automatic driving to start from the outside is performed. Subsequently, when the communication unit 110 receives an external start signal sent from the external device 30, the control unit 140 starts automatic driving.

[0051] In step S07, following step S06, it is determined whether the communication unit 110 has received an external start signal. If the communication unit 110 receives an external start signal, the process proceeds to step S05. Afterwards, as described above, automatic driving is performed by the control unit 140. If the communication unit 110 does not receive an external start signal in step S07, the process ends. Figure 2 The series of processes shown.

[0052] As explained above, in this embodiment, when the human detection unit 120 determines that a person is present in the vehicle interior, the control unit 140 will not initiate automatic driving even if the communication unit 110 receives an external start signal. That is, automatic driving will only begin based on an external start signal from the external device 30 when no one is present in the vehicle interior. Therefore, it is possible to reliably prevent situations where automatic driving is initiated by a user outside the vehicle even when infants or young children are present in the vehicle interior.

[0053] Furthermore, in this embodiment, when the human judgment unit 120 determines that a person is present in the vehicle interior, the control unit 140 will only initiate automatic driving if an operation is performed on the operation unit 150. Therefore, automatic driving will only commence if a person capable of making their own judgment and operating the operation unit 150 is present in the vehicle interior (i.e., not an infant, a person with dementia, etc.). This structure more reliably prevents situations where automatic driving is initiated by an external user.

[0054] As described above, the operation unit 150 is configured such that at least some of the operations cannot be performed by people outside the autonomous vehicle MV. This prevents users outside the vehicle from extending their arms through the door 17 into the vehicle to operate the operation unit 150 to initiate autonomous driving.

[0055] Reference Figure 3 The second embodiment will be described. In this embodiment, the processing performed solely by the control device 100 is the same as in the first embodiment (…). Figure 2 (Different from the first embodiment, but otherwise the same.) The control device 100 executes the process repeatedly. Figure 3 The series of processes shown are used to replace Figure 2 The process shown is a series of steps. This process adds steps S11 and S12 to... Figure 2The following describes a series of processes. The differences from the first embodiment will be mainly explained below, while the commonalities with the first embodiment will be omitted as appropriate.

[0056] When an operation is performed on the operation unit 150 in step S04, the process proceeds to step S11. In step S11, it is determined whether the door 17 is in a closed state. This determination is made based on the detection result of the door state detection unit 160. If the door 17 is in a closed state, the process proceeds to step S05. On the other hand, if the door 17 is not in a closed state, i.e., if the door 17 is in an open state, automatic driving is not started, and the process ends. Figure 3 The series of processes shown. In this case, the message that autonomous driving cannot start because door 17 is open can also be notified to the user inside the vehicle via voice or other means.

[0057] In step S07, when the communication unit 110 receives an external start signal, the process proceeds to step S12. In step S12, it is determined whether the door 17 is in a closed state. This determination is made based on the detection result of the door state detection unit 160. When the door 17 is in a closed state, the process proceeds to step S05. On the other hand, when the door 17 is not in a closed state, that is, when the door 17 is in an open state, automatic driving does not start and ends. Figure 3 The series of processes shown.

[0058] As described above, in this embodiment, even if an operation is performed on the operation unit 150, if the door status detection unit 160 detects that the door 17 is in the open state, the control unit 140 will not start automatic driving. This more reliably prevents a user outside the vehicle from extending their arm from the door 17 into the vehicle to operate the operation unit 150 to start automatic driving.

[0059] Furthermore, in this embodiment, even if an external start signal is received while a user is inside the vehicle, the control unit 140 will not initiate autonomous driving if the door state detection unit 160 detects that the door 17 is open. This prevents the autonomous vehicle MV from starting to move while the door 17 remains open.

[0060] Reference Figure 4 The third embodiment will be described. In this embodiment, the processing performed solely by the control device 100 is the same as in the second embodiment (…). Figure 3 The second embodiment differs from the first in that it is otherwise identical to the second embodiment. It is repeatedly executed by the control device 100. Figure 4 The series of processes shown are used to replace Figure 3 The process shown is a series of steps. This process adds step S13 to... Figure 3The following describes a series of processes. The differences from the second embodiment will be mainly explained below, while the commonalities with the second embodiment will be omitted as appropriate.

[0061] When door 17 is closed in step S11, the process proceeds to step S13. In step S13, it is determined whether the opening degree of the window glass 18 is below a specified opening degree. This determination is based on the detection result of the window opening degree detection unit 170. When the opening degree of the window glass 18 is below the specified opening degree, the process proceeds to step S05. On the other hand, when the opening degree of the window glass 18 is greater than the specified opening degree, autonomous driving is not initiated, and the process ends. Figure 4 The series of processes shown.

[0062] The aforementioned "prescribed opening degree" is a preset opening degree that prevents users outside the vehicle from operating the control unit 150 through the gap in the window glass 18. Therefore, it is preferable to appropriately set the prescribed opening degree based on the manner and position of the control unit 150. For example, when using a microphone that detects voice inside the vehicle as the control unit 150, the prescribed opening degree is set to "fully closed" so that voice from the outside cannot reach the microphone inside the vehicle.

[0063] Furthermore, operations that cannot be performed when the opening degree of the window glass 18 is below a specified degree can be all operations performed on the operation unit 150, or only a portion of the multiple operations required to initiate autonomous driving. In any case, as long as an external user cannot operate the operation unit 150 through the gap in the window glass 18 to initiate autonomous driving.

[0064] As described above, in this embodiment, even if an operation is performed on the operation unit 150 and the door status detection unit 160 detects that the door 17 is closed, the control unit 140 will not start automatic driving if the opening degree of the window glass 18 detected by the window opening degree detection unit 170 is greater than a predetermined opening degree. Therefore, it is reliably prevented that an external user will operate the operation unit 150 through the gap in the window glass 18 to start automatic driving.

[0065] Reference Figure 5 The fourth embodiment will be described. In this embodiment, the processing performed solely by the control device 100 is the same as in the first embodiment (…). Figure 2 ( ) is different, but otherwise it is the same as the first embodiment. Figure 5 The series of processes shown is that after performing at least one operation to the operation unit 150 to start automatic driving, that is, after performing... Figure 2 The process that is repeatedly executed by the control device 100 during the period following step S05.

[0066] In the initial step S21, it is determined whether door 17 is in the open state. This determination is made based on the detection result of door state detection unit 160. When door 17 is not in the open state, that is, when door 17 is in the closed state, the process ends. Figure 5 The series of processes shown. On the other hand, when door 17 is in the open state, proceed to step S22.

[0067] In step S22, processing for automatic reverse driving is performed. Automatic reverse driving is a process used to bring the moving autonomous vehicle MV to a safe location. The state in which the above-mentioned automatic reverse driving is performed can also be referred to as a state of restricted autonomous driving. In addition, when the autonomous vehicle MV has already stopped after transitioning to step S22, the state of restricted subsequent autonomous driving is established, and the state of the autonomous vehicle MV remaining stopped is maintained.

[0068] As described above, in this embodiment, after the operation unit 150 is performed, if the door state detection unit 160 detects that the door 17 is in the open state, the control unit 140 restricts autonomous driving. This prevents situations where, for example, if autonomous driving has started with both infants and adults inside the vehicle, only an adult opens the door 17 to exit the autonomous vehicle MV, or if autonomous driving continues with only an infant inside the vehicle.

[0069] Reference Figure 6 The fifth embodiment will be described. In this embodiment, the processing performed solely by the control device 100 is the same as in the first embodiment (…). Figure 2 (Different from the first embodiment, but otherwise the same.) The control device 100 executes the process repeatedly. Figure 6 The series of processes shown are used to replace Figure 2 The process shown is a series of steps. This process adds steps S31, S32, and S33 to... Figure 1 The following describes a series of processes. The differences from the first embodiment will be mainly explained below, while the commonalities with the first embodiment will be omitted as appropriate.

[0070] In step S31, which precedes step S01, it is determined whether there is anyone in the child seat 19. This determination is made based on the detection result of the seat state detection unit 180. If it is determined that there is no one in the child seat 19, the process proceeds to step S01. If it is determined that there is someone in the child seat 19, the process proceeds to step S32.

[0071] In step S32, it is determined whether there are other people in the vehicle interior, that is, whether there are people in the vehicle interior who are different from the person sitting in child seat 19. This determination is made by the person determination unit 120 based on the detection result of the person detection unit 11. If it is determined that there are other people in the vehicle interior, the process proceeds to step S02. On the other hand, if it is determined that there are no other people in the vehicle interior, that is, if it is determined that only the infant sitting in child seat 19 is present in the vehicle interior, the process proceeds to step S33. In step S33, the system enters a state where further autonomous driving is prohibited. Afterwards, the process ends. Figure 6 The series of processes shown.

[0072] As described above, in this embodiment, if the seat status detection unit 180 detects that someone is in the child seat 19 and the person determination unit 120 determines that there is no other person in the vehicle interior, the control unit 140 does not initiate automatic driving processing. Specifically, the control unit 140 does not initiate automatic driving when the communication unit 110 receives an external start signal or when an operation is performed on the operation unit 150.

[0073] In this embodiment, by performing the above-described control, it is more reliable to prevent automatic driving from starting when only infants or young children are present in the vehicle.

[0074] The present embodiment has been described above with reference to specific examples. However, the present invention is not limited to the specific examples described above. Even if those skilled in the art make appropriate design changes to the specific examples described above, as long as they include the features of the present invention, they are also included within the scope of the present invention. The elements included in the above specific examples, as well as their configurations, conditions, shapes, etc., are not limited to the illustrated cases and can be appropriately modified. As long as no technical contradictions are caused, the elements included in the above specific examples can be appropriately combined and changed.

Claims

1. A control device, said control device being a control device for an autonomous vehicle, characterized in that, include: The communication unit receives an external start signal sent from outside the autonomous vehicle to enable the autonomous vehicle to start autonomous driving. The control unit performs the processing required for autonomous driving. The human judgment unit determines whether there is a person inside the autonomous vehicle. as well as The operating unit inside the vehicle receives operations for initiating the autonomous driving function. When the human detection unit determines that a person is present in the vehicle interior, the control unit will not initiate automatic driving even if the communication unit receives the external start signal, until an operation is performed to initiate automatic driving. When the windows or doors of the autonomous vehicle are open, the operating unit is configured such that no person outside the autonomous vehicle can perform the operation.

2. The control device as described in claim 1, characterized in that, It also includes a door status detection unit for the autonomous vehicle, which detects the open and closed status of the doors of the autonomous vehicle. Even if an operation is performed on the operation unit, the control unit does not start automatic driving when the door status detection unit detects that the door is in the open state.

3. The control device as described in claim 2, characterized in that, It also includes a window opening detection unit for the autonomous vehicle, which detects the opening degree of the door's window glass. Even if an operation is performed on the operation unit and the door status detection unit detects that the door is closed, the control unit will not start automatic driving if the window opening degree detected by the window opening degree detection unit is greater than a specified opening degree.

4. The control device as described in claim 2, characterized in that, If, after an operation is performed on the operation unit, the door status detection unit detects that the door is in an open state, the control unit restricts the automatic driving.

5. The control device as described in claim 4, characterized in that, It also includes a seat status detection unit that detects the presence of people in child seats in the autonomous vehicle. When the seat status detection unit detects that a person is in the child seat and the person determination unit determines that there is no other person in the vehicle interior, the control unit will not start automatic driving in either the case when the communication unit receives the external start signal or when an operation is performed on the operation unit.

6. The control device as described in claim 1, characterized in that, It also includes a door status detection unit for the autonomous vehicle, which detects the open and closed status of the doors of the autonomous vehicle. If, after an operation is performed on the operation unit, the door status detection unit detects that the door is in an open state, the control unit restricts the automatic driving.

7. The control device as claimed in claim 1, characterized in that, It also includes a seat status detection unit that detects the presence of people in child seats in the autonomous vehicle. When the seat status detection unit detects that a person is in the child seat and the person determination unit determines that there is no other person in the vehicle interior, the control unit will not start automatic driving in either the case when the communication unit receives the external start signal or when an operation is performed on the operation unit.

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