Automatic driving vehicle and program for automatic driving vehicle

Abstract

To provide an automatic driving vehicle that can be prevented from causing a traffic accident due to use of a mobile device by a driver during driving.SOLUTION: An automatic driving vehicle comprises a manual driving mode and an automatic driving mode in which the vehicle runs autonomously, which comprises: input-operation detecting means that detects input operation by a driver who is preparing a mail or preparing a message using a function of a mobile device; and mode switching means that when the input-operation detecting means detects the input operation by the driver who is preparing a mail or preparing a message using a function of a mobile device, in a running state in the manual driving mode, switches the manual driving mode to the automatic driving mode.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an autonomous vehicle capable of autonomous driving and a program for an autonomous vehicle. [Background technology]

[0002] For drivers who use mobile phones to talk or send e-mails while driving, this is dangerous as it distracts the driver's attention, so the Road Traffic Act requires drivers not to do so, and also prescribes penalties. This rule is not limited to mobile phones, but also applies to games consoles, laptop computers, and other portable devices that require the driver to stare at the display screen, when the driver is driving a car.

[0003] Against this background, inventions have been proposed for mobile terminals such as mobile phone terminals whose use is restricted inside automobiles, as well as communication systems that restrict the driver's use of mobile devices inside the vehicle (see, for example, Patent Document 1 (JP Patent Publication No. 10-322440) and Patent Document 2 (JP Patent Publication No. 2007-258988)). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-322440 [Patent Document 2] JP 2007-258988 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, not all mobile terminals such as mobile phone terminals have the function of restricting use inside a car, and not all cars come equipped with systems with such a function as standard. In addition, mobile phone terminals and systems with the above-mentioned use restriction function are expensive, and are unnecessary functions for those who do not have a driver's license.

[0006] For this reason, currently, portable devices with no usage restrictions such as those described above are often brought into cars, and the only way to ensure that the above-mentioned requirements of the Road Traffic Act are strictly observed is through the good morals of the driver.

[0007] However, if a call comes in to a mobile phone terminal while driving, the call may bother the driver and make him / her want to answer it. This is especially true if an emergency call is expected. In such a case, if the driver is driving on an ordinary road, he / she can answer the call by pulling over to the side of the road, but if the driver is driving on an expressway, pulling over to the side of the road is dangerous.

[0008] In order to solve the above problems and prevent traffic accidents caused by the driver's use of a mobile device while driving, we propose an autonomous vehicle and provide functions that should be equipped in the autonomous vehicle. [Means for solving the problem]

[0009] In order to solve the above problem, the invention of claim 1 is as follows: In an autonomous vehicle having a manual driving mode in which the vehicle travels based on the driving operation by the driver and an autonomous driving mode in which the vehicle travels autonomously, an input operation detection means for detecting an input operation by the driver to create an email or a message using a function of a portable device; a mode switching means for switching from the manual driving mode to the automatic driving mode when the input operation detection means detects an input operation by the driver to create an email or a message using a function of the portable device while the vehicle is traveling in the manual driving mode; The present invention provides an autonomous vehicle comprising:

[0010] According to the self-driving car of the invention of claim 1 configured as described above, when the input operation detection means detects an input operation by the driver to compose an email or a message using the functions of the portable device while the car is traveling in the manual driving mode, the mode switching means switches from the manual driving mode to the self-driving mode. This allows the driver to perform the input operation to compose an email or a message with peace of mind. Effect of the Invention

[0011] According to the autonomous vehicle of the present invention, if the input operation detection means detects an input operation by the driver to create an email or message using the functions of a portable device while the vehicle is traveling in manual driving mode, the driving mode is switched from manual driving mode to autonomous driving mode, so that the driver can perform input operations to create an email or message with peace of mind. [Brief description of the drawings]

[0012] [Figure 1] 1 is a block diagram showing an example of the configuration of an electronic control circuit unit of a first embodiment of an autonomously driven vehicle according to the present invention; [Diagram 2] FIG. 2 is a diagram used to explain an example of a processing operation of the first embodiment of an autonomously driven vehicle according to the present invention. [Diagram 3] FIG. 2 is a flowchart illustrating an example of a processing operation of an electronic control circuit unit of the first embodiment of an autonomously driven vehicle according to the present invention. [Figure 4] FIG. 2 is a flowchart illustrating an example of a processing operation of an electronic control circuit unit of the first embodiment of an autonomously driven vehicle according to the present invention. [Diagram 5] FIG. 11 is a flowchart illustrating another example of the processing operation of the electronic control circuit unit of the first embodiment of the autonomously driven vehicle according to the present invention. [Figure 6]FIG. 11 is a flowchart illustrating a modified example of the processing operation of the electronic control circuit unit of the first embodiment of the autonomously driven vehicle according to the present invention. [Figure 7] FIG. 11 is a block diagram showing an example of the configuration of an electronic control circuit unit of an autonomously driven vehicle according to a second embodiment of the present invention. [Figure 8] FIG. 11 is a diagram used to explain an example of a processing operation of the second embodiment of an autonomously driven vehicle according to the present invention. [Figure 9] FIG. 11 is a flowchart illustrating an example of a processing operation of an electronic control circuit unit of an autonomously driven vehicle according to a second embodiment of the present invention. [Figure 10] FIG. 11 is a block diagram showing an example of the configuration of an electronic control circuit unit of an autonomously driven vehicle according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] [First embodiment] Fig. 1 is a block diagram showing an example of the hardware configuration of an electronic control circuit unit 10 of an autonomous vehicle 1 according to a first embodiment. The autonomous vehicle 1 of this embodiment is an example of an electric vehicle. However, the battery is not shown in Fig. 1.

[0014] The autonomous vehicle 1 of this embodiment also has an autonomous driving mode and a manual driving mode. The manual driving 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) in the same way as a normal automobile that is not an autonomous vehicle. The autonomous driving mode is a driving mode in which the autonomous vehicle 1 itself automatically (autonomously) changes course while avoiding obstacles, even if the driver does not operate the accelerator pedal operation, brake pedal operation, shift lever operation, or steering operation.

[0015] Normally, the driver of the autonomous vehicle 1 can switch the autonomous vehicle 1, which is running in the manual driving mode, to the autonomous driving mode by a predetermined operation, for example, via a touch panel, and the autonomous vehicle 1 is configured to automatically return to the manual driving mode if the driver operates the accelerator pedal, the brake pedal, the shift lever, or the steering wheel while running in the autonomous driving mode. However, as described later, when the autonomous vehicle 1 of this embodiment is forcibly switched from the manual driving mode to the autonomous driving mode, the operation to return to the manual driving mode is invalidated unless a predetermined condition described later is satisfied, and the autonomous vehicle 1 is controlled to maintain running in the autonomous driving mode.

[0016] As shown in FIG. 1, the electronic control circuit unit 10 is configured with a computer mounted on it, and via a system bus 100, it is connected to a control unit 101, which is configured with a computer mounted on it, and to which a motor drive control unit 102, a steering drive control unit 103, a manual / automatic driving mode switching control unit 104, a manual driving operation detection unit 105, a radar 106, a group of cameras 107, a group of various sensors 108, a surrounding moving object grasping unit 109, a current position detection unit 110, a display unit 111, a touch panel 112, a car navigation (hereinafter abbreviated as car navigation) function unit 113, a driver's behavior analysis detection unit 114, a forced automatic driving mode switching decision unit 115, an incoming call notification detection unit 116, a clock unit 117, and an audio output unit 118.

[0017] A motor drive unit 121 is connected to the motor drive control unit 102. A steering drive unit 122 is connected to the steering drive control unit 103. A car navigation database 123 is connected to the car navigation function unit 113. A microphone 124 is connected to the incoming call notification detection unit 116, and a speaker 125 is connected to the audio output unit 118.

[0018] Under the control of the control unit 101, the motor drive control unit 102 controls the supply of a drive signal to the motor drive unit 121 of the autonomous vehicle 1, which is an electric vehicle of this embodiment, so as to control the start of driving, driving speed control, driving stop, etc. of the autonomous vehicle 1.

[0019] Under the control of the control unit 101, the steering drive control unit 103 controls the supply of a drive control signal to the steering drive unit 122 of the autonomous vehicle 1 of this embodiment, thereby controlling the course change of the autonomous vehicle 1.

[0020] The manual / automatic driving mode switching control unit 104 controls the switching of the driving mode of the autonomous vehicle 1 between a manual driving mode, an automatic driving mode, or a forced automatic driving mode described later, in response to a selection operation input via the touch panel 112.

[0021] The manual driving operation detection unit 105 receives operation information of the accelerator pedal operation, brake pedal operation, shift lever operation, and steering operation by the driver, and supplies the manual driving operation information to the manual / automatic driving mode switching control unit 104.

[0022] When the autonomous vehicle 1 is in manual driving mode, the manual / autonomous driving mode switching control unit 104 supplies manual driving operation information from the manual driving operation detection unit 105 to the motor drive control unit 102 and the steering drive control unit 103, and controls the motor drive unit 121 and the steering drive unit 122 in accordance with the driver's pedal operation, shift lever operation, and steering operation.

[0023] Furthermore, when the autonomous vehicle 1 is in autonomous driving mode (including forced autonomous driving mode), the manual / autonomous driving mode switching control unit 104 supplies autonomous driving operation information generated by the control unit 101 based on the outputs of the radar 106, the camera group 107, the various sensor group 108, and the surrounding moving object grasping unit 109 to the motor drive control unit 102 and the steering drive control unit 103, as described below, and controls the driving of the motor drive unit 121 and the steering drive unit 122 by the autonomous driving operation information. Note that in the autonomous driving mode (including forced autonomous driving mode), the car navigation function unit 113 searches for a route from the current position to a destination (destination) set by the driver or the like, and is controlled to travel along the searched route.

[0024] In this embodiment, the manual / automatic driving mode switching control unit 104 also performs control to automatically and forcibly switch from the manual driving mode to the automatic driving mode against the will of the driver - that is, against the selection and setting of the driving mode by the driver - based on the decision result of the forced automatic driving mode switching decision unit 115 described later.

[0025] In order to distinguish it from the normal automatic driving mode that the user selects and sets via the touch panel 112 or the like, the automatic driving mode after this forcible switching is specifically referred to as a forced automatic driving mode in this specification.

[0026] In a normal autonomous driving mode that is not a forced autonomous driving mode, when the driver operates the accelerator pedal, brake pedal, shift lever, or steering while driving in autonomous driving mode, the manual / autonomous driving mode switching control unit 104 performs mode switching control so as to automatically return the driving mode of the autonomous vehicle 1 to the manual driving mode based on the detection information of the manual driving operation.

[0027] However, when the driving mode of autonomous vehicle 1 is in forced autonomous driving mode, even if the driver operates the accelerator pedal, brake pedal, shift lever, or steering, the manual / autonomous driving mode switching control unit 104 invalidates the manual driving operation information and maintains the forced autonomous driving mode.

[0028] The radar 106 is used to measure the distance to objects around the autonomous vehicle 1, and is made up of a laser radar, a millimeter wave radar, or the like. The laser radar is embedded, for example, in the ceiling or near the bumper, and the millimeter wave radar is provided, for example, in the front and rear of the vehicle. The autonomous vehicle 1 may be equipped with both the laser radar and the millimeter wave radar, or only one of them.

[0029] The camera group 107 includes one or more cameras that capture images of the interior of the autonomous vehicle 1, and one or more cameras that capture images of the surroundings outside the autonomous vehicle 1. The cameras that capture images of the interior of the vehicle include cameras that are attached to, for example, a rearview mirror (rear-view mirror, room mirror) between the driver's seat and the passenger seat, or to the top of the front windshield, and include cameras that capture images of the behavior of a person sitting in the driver's seat (driver), as well as cameras for capturing images of passengers sitting in the passenger seat or the back seat. The cameras that capture images of the surroundings of the autonomous vehicle 1 include, for example, two cameras (stereo cameras) that are attached to the left and right sides of the rearview mirror and mainly capture the left and right front of the autonomous vehicle 1, cameras that are attached to, for example, door mirrors or fender mirrors of the autonomous vehicle 1 and capture the left and right sides, and a camera that captures the rear of the autonomous vehicle 1.

[0030] The group of various sensors 108 includes various sensors for acquiring information that assists in autonomous driving, such as opening / closing detection sensors that detect the opening / closing of doors and windows, sensors that detect the fastening of seat belts, seating sensors that detect when a passenger is seated in a seat such as the driver's seat or the passenger seat, etc. The various sensors for acquiring information that assists in autonomous driving include, for example, a vibration sensor that detects vibrations of the vehicle or tires, a rotation speed sensor that detects the number of tire rotations, a geomagnetic sensor that detects orientation, an acceleration sensor that detects acceleration, a gyro sensor (gyroscope) that detects angles and angular velocities, etc.

[0031] The surrounding moving object grasping unit 109 grasps moving objects around the vehicle by using images captured by the radar 106 and the camera group 107. The surrounding moving object grasping unit 109 grasps surrounding obstacles and moving objects by performing processing based on Bayes' theorem, for example.

[0032] The current position detection unit 110 receives radio waves from GPS satellites and detects the current position of the vehicle. Since the accuracy of the position detected by radio waves from GPS satellites is poor, the current position detection unit 110 uses not only the information on the current position detected by receiving GPS radio waves, but also one or more sensors included in the various sensor group 108, the radar 106, and the captured images of the camera group 107, and performs processing based on Bayes' theory, for example, to detect and confirm the current position with higher accuracy.

[0033] In autonomous driving mode, the autonomous vehicle 1 uses the current position detection unit 110 and the surrounding moving object grasping unit 109 to process various information such as position information obtained from the radar 106, the camera group 107, the various sensors 108, and GPS radio waves, in other words, information corresponding to information obtained from the human eyes and ears, using Bayes' theory, and based on this, the control unit 101 performs intelligent information processing (artificial intelligence) and control (artificial intelligence) such as changing the vehicle's course and avoiding obstacles, to generate autonomous driving operation information.

[0034] Display unit 111 is, for example, an LCD (Liquid Crystal Display). Touch panel 112 is a structure in which a touch sensor capable of receiving touch input by a finger is superimposed on the display screen of display unit 111 made of an LCD. Under the control of control unit 101, a display image including software buttons (including buttons for inputting characters on a keyboard) is displayed on the display screen of display unit 111. When touch panel 112 detects a touch by a finger on a software button displayed on the display screen, it transmits the touch to control unit 101. Control unit 101, which receives this, is configured to execute a control process corresponding to the software button.

[0035] Car navigation function unit 113 is a functional unit for providing guidance to assist autonomous vehicle 1 in moving to a specified destination, based on maps and route guidance data stored in car navigation database 123. In this embodiment, car navigation function unit 113 is configured to perform slightly different processes in manual driving mode and autonomous driving mode.

[0036] That is, in the manual driving mode, the car navigation function unit 113 displays an image on the display screen of the display unit 111 in which the vehicle position detected and confirmed by the current position detection unit 110 is superimposed on a map that clearly displays the route to the destination, and also moves the vehicle position (current position) on the map as the vehicle moves, and provides voice guidance at points where route guidance is necessary, such as intersections and branching points on the route. This is the same as the normal car navigation function.

[0037] On the other hand, in the autonomous driving mode, when the current position of the vehicle is away from the route to the destination, the car navigation function unit 113 notifies the control unit 101 of information on the direction of departure and distance, and when the current position of the vehicle is on the route to the destination, the car navigation function unit 113 notifies the control unit 101 of information instructing the change of the course direction along the route before an intersection or a branch point on the route as the vehicle moves. 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 recognition result of the surrounding moving object recognition unit 109, the control unit 101 controls the motor drive unit 121 through the motor drive control unit 102 so that the vehicle moves along the route as instructed, and generates autonomous driving operation information for controlling the steering drive unit 122 through the steering drive control unit 103. Therefore, the route guidance to the destination by the car navigation function unit 113 and the control unit 101 in the autonomous driving mode allows autonomous vehicle 1 to move to the destination even when there are no passengers.

[0038] The driver behavior analysis detection unit 114 analyzes the captured image information from the camera of the camera group 107 that captures the driver, and in this example, detects whether or not the driver has picked up a portable device, in this example, a mobile phone terminal. The detection result of the driver's behavior is then supplied to the forced automatic driving mode switching determination unit 115.

[0039] In this embodiment, the forced autonomous driving mode switching decision unit 115 decides whether to switch the autonomous vehicle 1 to the forced autonomous driving mode based on the detection output from the incoming call notification detection unit 116 of an incoming call notification notified by a mobile phone terminal (mobile phone terminal 2 in Figure 1) brought inside the autonomous vehicle 1 and the detection results of the driver's behavior from the driver behavior analysis detection unit 114, and also decides whether to cancel the forced autonomous driving mode.

[0040] The microphone 124 connected to the incoming call notification detection unit 116 is for picking up sounds (voice and vibration) inside the vehicle. The incoming call notification detection unit 116 detects incoming call notifications notified by the mobile phone terminal 2, such as a ringtone, an incoming call melody, or vibration, from the audio signal picked up by the microphone 124, and notifies the control unit 101 of the detection result.

[0041] The clock unit 117 provides time information in terms of year, month, day, hour, minute and second, and also functions as a timer for measuring time.

[0042] Although not shown, the voice output unit 118 has a built-in memory for storing voice message data to be emitted to the outside, and also has a built-in voice synthesizer and DA converter for converting the voice message data read from the memory into an analog voice signal. The voice output unit 118 supplies the voice message selected under the control of the control unit 101 to the speaker 125 so that it is emitted as a voice to the outside. As the voice messages to be stored, as described later, for example, driving mode switching notification messages such as "Switched to automatic driving mode" and "Switched to manual driving mode" and notification messages prompting the user to set a destination when switching to automatic driving mode are prepared.

[0043] The electronic control circuit unit 10 of the autonomous vehicle 1 is configured as described above, but among the blocks shown in FIG. 1 , the processing functions of the motor drive control unit 102, steering drive control unit 103, manual / autonomous driving mode switching control unit 104, surrounding moving object grasping unit 109, current position detection unit 110, car navigation function unit 113, driver behavior analysis detection unit 114, forced autonomous driving mode switching decision unit 115, incoming call notification detection unit 116, and audio output unit 118 can be realized as software processing by the control unit 101.

[0044] [Example of driving mode switching processing operation in the autonomous vehicle 1 of the first embodiment] In an autonomous vehicle 1 equipped with the above-described electronic control circuit unit 10, when a situation arises in which the driver uses a portable device brought into the vehicle while traveling in manual driving mode, the manual driving mode is automatically switched to forced autonomous driving mode.

[0045] Below, several examples of situations in which the manual driving mode can be switched to the forced automatic driving mode and the processing operations in the electronic control circuit unit 10 of the automatic driving vehicle of this embodiment in such cases will be described.

[0046] <First example: When the mobile device is a mobile phone terminal and there is an incoming call notification> Fig. 2(A) shows a situation in which a driver 3 is driving an autonomous vehicle 1 in manual driving mode with a mobile phone terminal 2 (e.g., a mobile phone, a smartphone) brought into the autonomous vehicle 1 and placed on, for example, the dashboard 4. In Fig. 2(A), 5 denotes a steering wheel, and 107a denotes a camera among a group of cameras 107 that is installed above the front window to the side of the rearview mirror 6 in order to capture images of the driver's actions.

[0047] In the state of Fig. 2(A), when there is an incoming call (including a video call) to the mobile phone terminal 2, in this example, a ringtone is emitted to notify the driver 3 of the incoming call. Then, in this example, the autonomous vehicle 1 immediately switches from the manual driving mode to the forced autonomous driving mode, and the driver is notified of this. The driver 3 can then feel at ease and pick up the mobile phone terminal 2 on the dashboard 4, take both hands off the steering wheel 5, and answer the incoming call to make a call, as shown in Fig. 2(B).

[0048] Next, an example of the flow of the processing operation in the electronic control circuit unit 10 at this time will be described. FIG. 3 is a flowchart for explaining an example of the flow of the processing operation when an incoming call notification is made from the mobile phone terminal 2 in the electronic control circuit unit 10 of the autonomous vehicle 1 of this embodiment. In the following explanation, the processing in each step in the flowchart of FIG. 3 will be explained as a case in which the control unit 101 realizes each processing function of the motor drive control unit 102, the steering drive control unit 103, the manual / autonomous driving mode switching control unit 104, the surrounding moving object grasping unit 109, the current position detection unit 110, the car navigation function unit 113, the driver behavior analysis detection unit 114, the forced automatic driving mode switching decision unit 115, the incoming call notification detection unit 116, and the voice output unit 118 as software processing. The same applies to the explanation of the flowcharts for explaining other examples below.

[0049] First, the control unit 101 monitors the audio information collected by the microphone 124 and determines whether or not an incoming call notification from the mobile phone terminal 2 has been detected (step S1). In this case, the incoming call notification from the mobile phone terminal 2 is detected by detecting the ringtone, incoming call melody, incoming call vibration, etc., as described above. The ringtone and incoming call melody are registered in advance in the electronic control circuit unit 10, and the function unit of the incoming call notification detection unit 116 of the control unit 101 can detect a match between the registered audio data and the audio data collected by the microphone 124. Similarly, the incoming call vibration can also be registered and detected by similarly detecting a match.

[0050] If it is determined in step S1 that an incoming call notification has not been detected, control section 101 executes other processes (step S2), and after executing the processes, returns the process to step S1.

[0051] Furthermore, when it is determined in step S1 that an incoming call notification has been detected, the control unit 101 determines whether the driving mode of the autonomous vehicle 1 is the manual driving mode or not (step S3). When it is determined in step S3 that the driving mode is the autonomous driving mode and not the manual driving mode, the control unit 101 can safely answer the incoming call and make a call, and therefore returns the process to step S1.

[0052] When it is determined in step S3 that the driving mode is the manual driving mode, the control unit 101 switches the driving mode to the forced automatic driving mode and notifies the driver by emitting a message to that effect, for example, through the speaker 125 (step S4).

[0053] Next, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether or not the driver has picked up the mobile phone terminal 2 and made a gesture of answering the incoming call (step S5).

[0054] If it is determined in step S5 that the driver has not made any move to answer the incoming call, the control unit 101 determines whether the incoming call notification from the mobile phone terminal 2 has disappeared (step S6), and if it is determined that the incoming call notification has not disappeared, the process returns to step S5.

[0055] When it is determined in step S6 that the incoming call notification has disappeared, the control unit 101 switches from the forced automatic driving mode to the normal automatic driving mode (step S7), waits for detection of a manual driving operation of the accelerator pedal, brake pedal, shift lever, steering wheel, etc. (step S8), and if a manual driving operation is detected in step S8, switches from the automatic driving mode to the manual driving mode, and notifies the driver by emitting a message to that effect, for example, through the speaker 125 (step S9). After this step S9, the control unit 101 returns the process to step S1, and repeats the processes from step S1 onwards.

[0056] When it is determined in step S5 that the driver has made a gesture to answer the incoming call, the control unit 101 executes a process to start the car navigation function, sets the destination (going point), and starts the car navigation function (step S10). The details of the process to start the car navigation function in step S10 will be described later.

[0057] Next, even if the control unit 101 detects a manual driving operation, it controls so as to maintain the forced automatic driving mode (step S11).Then, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether or not the driver has ended the call using the mobile phone terminal 2, put the mobile phone terminal 2 somewhere, and placed his hands on the steering wheel, thereby making it possible to drive manually (step S12).

[0058] The determination process in step S12 is an example of an end detection means for detecting an event of the driver ending use of the functions of the mobile device. In the determination in step S12, in addition to determining whether the driver places his / her hands on the steering wheel, the determination may also determine whether the driver ends a call using the mobile phone terminal 2 and places the mobile phone terminal 2 somewhere.

[0059] If it is determined in step S12 that the vehicle is not in a state in which manual operation is possible, the control unit 101 continues to execute step S12 and waits for the vehicle to be in a state in which manual operation is possible. If it is determined in step S12 that the vehicle is in a state in which manual operation is possible, the control unit 101 shifts the process to step S7, executes the processes in and after step S7, and returns the vehicle to the manual operation mode.

[0060] Next, an example of the flow of the car navigation function start process in step S10 of the flowchart in FIG. 3 will be described with reference to FIG.

[0061] The control unit 101 displays a screen for setting the destination (destination) in the autonomous driving mode on the display screen of the display unit 111, and also emits a voice message from the speaker 125 to prompt the user to set the destination (step S21). At this time, if the destination in the autonomous driving mode has been set in advance, the display screen of the display unit 111 displays a message to that effect and asking whether the destination is acceptable, and the driver inputs whether the destination is acceptable through the touch panel 112. If the destination has not been set in advance, the driver sets the destination through the touch panel 112 by specifying the destination on a map displayed on the display screen or by inputting the name of the destination location.

[0062] The control unit 101 waits for the destination to be set (step S22), and when it is determined that the destination has been set, it displays route candidates from the current position to the set destination on the display screen (step S23). Next, the control unit 101 monitors the operation input of the touch panel 112, and determines whether or not the selection of the route to be used has been completed from the route candidates to the destination displayed on the display screen (step S24). Then, when it is determined in step S24 that the selection of the route to be used has been completed, the control unit 101 starts navigation of the route guide in the automatic driving mode (step S25).

[0063] As described above, according to this embodiment, as shown in Fig. 2, when the driver 3 gets into the autonomous vehicle 1 with the mobile phone terminal 2 and is driving in manual driving mode, and receives a call on the mobile phone terminal 2, the autonomous vehicle 1 automatically switches from the manual driving mode to the forced autonomous driving mode, and the autonomous vehicle 1 enters a state in which it travels safely in the forced autonomous driving mode. Therefore, the driver can feel at ease to take his or her hands off the steering wheel 5, pick up the mobile phone terminal 2, answer the incoming call, and make a call.

[0064] In the above embodiment, when the driver does not respond to the incoming call notification and the incoming call notification ends, the manual driving mode is returned to by detecting the manual driving operation. Therefore, when the driver does not answer the incoming call, the driver can easily return to the manual driving mode by performing the manual driving operation.

[0065] Furthermore, in the above-described embodiment, when the forced autonomous driving mode is switched to, a screen prompting the driver to set a destination in the car navigation function is automatically displayed, the destination setting is accepted, and the car navigation function is started. Therefore, even if the driver answers an incoming call on the mobile phone terminal 2 and makes a call, the autonomous vehicle 1 will reliably move to the driver's desired destination.

[0066] <Second example: When the mobile device is a mobile phone terminal and makes a call> As shown in Figure 2(A), even when the driver 3 brings the mobile phone terminal 2 into the autonomous vehicle 1 and places it, for example, on the dashboard 4 while driving the autonomous vehicle 1 in manual driving mode, and the driver 3 attempts to make a call using the mobile phone terminal 2, the autonomous vehicle 1 of this embodiment is configured to safely make a call based on the call.

[0067] That is, in this embodiment, when the driver 3 picks up the mobile phone terminal 2 on the dashboard 4, takes both hands off the steering wheel 5, and attempts to make an operation to make a call, as shown in Fig. 2(B), such an operation is detected by analyzing image information of the driver 3 captured by the camera 107a, and based on the detection result, the autonomous vehicle 1 switches from the manual driving mode to the forced autonomous driving mode and notifies the driver 3 of this. Thus, the driver 3 can rest assured that he or she can pick up the mobile phone terminal 2 on the dashboard 4, take both hands off the steering wheel 5, and make an operation to make a call, as shown in Fig. 2(B).

[0068] An example of the flow of processing operations in the electronic control circuit section 10 at this time will be described with reference to the flowchart of FIG.

[0069] First, the control unit 101 determines whether the driving mode of the autonomous vehicle 1 is the manual driving mode (step S31). If it is determined in step S31 that the driving mode is the autonomous driving mode rather than the manual driving mode, the control unit 101 proceeds to a processing routine for the autonomous driving mode (step S32).

[0070] When it is determined in step S31 that the driving mode is the manual driving mode, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether the driver 3 has made a gesture of picking up the mobile phone terminal 2 to make a call (step S33).

[0071] If it is determined in step S33 that the driver 3 has not made any gesture of picking up the mobile phone terminal 2, the control unit 101 executes other processing (step S34), and when that processing is completed, returns the processing to step S33.

[0072] When it is determined in step S33 that the driver 3 has made a gesture of picking up the mobile phone terminal 2, the control unit 101 switches the driving mode to the forced automatic driving mode and notifies the driver 3 by emitting a message to that effect, for example, through the speaker 125 (step S35).

[0073] Next, the control unit 101 executes a process to start the car navigation function, sets a destination (a destination), and starts the car navigation function (step S36). The process to start the car navigation function in step S36 is the same as the process described with reference to FIG.

[0074] Next, even if the control unit 101 detects a manual driving operation, it controls so as to maintain the forced automatic driving mode (step S37). Then, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether or not the driver 3 ends the call using the mobile phone terminal 2, puts the mobile phone terminal 2 somewhere, and places his / her hands on the steering wheel 5, thereby making it possible to drive manually (step S38). If it is determined in this step S38 that the vehicle is not in a state where manual driving is possible, the control unit 101 continues to execute this step S38 and waits for the vehicle to become in a state where manual driving is possible.

[0075] Then, when it is determined in step S38 that the vehicle is in a state where manual driving is possible, the control unit 101 switches from the forced automatic driving mode to the normal automatic driving mode (step S39), waits to detect manual driving operations of the accelerator pedal, brake pedal, shift lever, steering wheel, etc. (step S40), and if a manual driving operation is detected in step S40, switches from the automatic driving mode to the manual driving mode and notifies the driver 3 by emitting a message to that effect, for example, through the speaker 125 (step S41). After step S41, the control unit 101 returns the process to step S33, and repeats the processes from step S33 onwards.

[0076] As described above, according to this embodiment, when the driver 3 gets into the autonomous vehicle 1 with the mobile phone terminal 2 and is driving in manual driving mode, and it becomes necessary to make a call using the mobile phone terminal 2, when the driver 3 makes a gesture of picking up the mobile phone terminal 2 to make a call, the autonomous vehicle 1 automatically switches from the manual driving mode to the forced autonomous driving mode, and the autonomous vehicle 1 enters a state in which it can travel safely in accordance with traffic regulations regarding the handling of mobile devices in the vehicle in the forced autonomous driving mode. Therefore, the driver 3 can safely take his or her hands off the steering wheel 5, pick up the mobile phone terminal 2, and make a call by operating to make a call.

[0077] In the first embodiment, vibration upon receiving an incoming call is detected by a microphone. However, the detection method is not limited to a microphone, and may be a vibration sensor or a pressure sensor.

[0078] <Modification of the first embodiment> <Modification of the first example> In the first example described above, when an incoming call notification on a mobile phone terminal is detected, it is assumed that the driver will answer the call, and taking into consideration the need to allow the driver to safely pick up the mobile phone terminal, the driving mode of autonomous vehicle 1 is immediately switched to forced autonomous driving mode. That is, in the first example, an incoming call notification is an event that triggers the start of use of a function of the mobile device, and detection of this event switches to forced autonomous driving mode.

[0079] Therefore, even if the driver does not respond to an incoming call, the system will temporarily enter forced automatic driving mode, and the driver's manual driving operations will be disabled until the incoming call notification disappears. Therefore, although it is rare, even if the driver performs manual driving operations such as accelerator pedal operation, brake pedal operation, and steering operation to turn right or left or change lanes while the mobile phone terminal is notifying the driver of the incoming call, these manual driving operations will be disabled, which may create a dangerous situation.

[0080] A variation of the first example described below aims to avoid the above problem by, in addition to notifying the driver of an incoming call, in the following example, using the driver's gesture of picking up the mobile device as the event that triggers the start of use of the mobile device's functions.

[0081] FIG. 6 is an example of a flowchart for explaining the flow of processing operations in the modified example of the first example.

[0082] That is, in the example of FIG. 6, first, the control unit 101 monitors the audio information picked up by the microphone 124, in the same manner as in the first example described above, and determines whether or not an incoming call notification from the mobile phone terminal 2 has been detected (step S51).

[0083] If it is determined in step S51 that an incoming call notification has not been detected, control section 101 executes other processes (step S52), and after executing the processes, returns the process to step S51.

[0084] Furthermore, when it is determined in step S51 that an incoming call notification has been detected, control unit 101 determines whether the driving mode of autonomous vehicle 1 is the manual driving mode or not (step S53). When it is determined in step S53 that the driving mode is the autonomous driving mode and not the manual driving mode, it is possible to answer the incoming call and make a call safely, so control unit 101 returns the process to step S51.

[0085] When it is determined in step S53 that the driving mode is the manual driving mode, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether the driver has picked up the mobile phone terminal 2 and made a gesture of picking up the mobile phone terminal 2 to answer an incoming call (step S54).

[0086] If it is determined in step S54 that the driver has not picked up the mobile phone terminal 2 to answer the incoming call, the control unit 101 determines whether the incoming call notification from the mobile phone terminal 2 has disappeared (step S55), and if it is determined that the incoming call notification has not disappeared, the control unit 101 returns the process to step S54. If it is determined in step S55 that the incoming call notification has disappeared, the control unit 101 returns the process to step S51.

[0087] Then, when it is determined in step S54 that the driver has made a gesture of picking up the mobile phone terminal 2 to answer the incoming call, the control unit 101 switches the driving mode to the forced automatic driving mode and notifies the driver by emitting a message to that effect, for example, through the speaker 125 (step S56).

[0088] Next, the control unit 101 executes the start process of the car navigation function described with reference to Fig. 4, sets the destination (destination), and starts the car navigation function (step S57). Next, even if the control unit 101 detects a manual driving operation, it controls so as to maintain the forced automatic driving mode (step S58).

[0089] Then, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether or not the driver has ended the call using the mobile phone terminal 2, put the mobile phone terminal 2 somewhere, and placed his hands on the steering wheel, thereby enabling manual driving (step S59). If it is determined in step S59 that the vehicle is not in a state where manual driving is possible, the control unit 101 continues to execute step S59 and waits for the vehicle to be in a state where manual driving is possible.

[0090] Then, when it is determined in step S59 that the vehicle is in a state where manual driving is possible, the control unit 101 switches from the forced automatic driving mode to the normal automatic driving mode (step S60), waits for detection of manual driving operations of the accelerator pedal, brake pedal, shift lever, steering wheel, etc. (step S61), and if a manual driving operation is detected in step S61, switches from the automatic driving mode to the manual driving mode, and notifies the driver by emitting a message to that effect, for example, through the speaker 125 (step S62). After step S62, the control unit 101 returns the process to step S51, and repeats the processes from step S51 onwards.

[0091] As described above, according to the modified example of the first example, the forced automatic driving mode is switched to after not only detecting the incoming call notification, but also after confirming the driver's gesture of picking up the mobile phone terminal to answer the incoming call, so the driver's manual driving operation is not invalidated even during the incoming call notification. Therefore, if the driver performs a manual driving operation to turn right or left or change lanes while the mobile phone terminal is notifying the driver of the incoming call, it is valid. Then, after performing the necessary manual driving operation, if the driver makes a gesture of picking up the mobile phone terminal to answer the incoming call, the driving mode is switched to the forced automatic driving mode, so the driver can feel at ease in answering the incoming call and talking.

[0092] <Other Modifications of the First Example> In the above-mentioned first example and modified example, the portable device is a mobile phone terminal, and the function is described as an incoming call communication. However, the present invention is not limited to the incoming call communication, but can also be applied to the incoming (receiving) call of e-mail (including a function for receiving short mail and messages) provided in a mobile phone terminal. Furthermore, the present invention can also be applied to the incoming (receiving) call of information by other communication functions provided in a portable device such as a mobile phone terminal, for example, an internet telephone, a miniblog (microblog) such as Twitter (registered trademark), an instant messenger such as LINE, a social networking service (SNS), an electronic bulletin board, or other communication service via the internet. In addition, the portable device is not limited to a mobile phone terminal. For e-mail and other communication services, autonomously driven vehicle 1 detects a reception notification corresponding to the incoming call notification.

[0093] <Modification of the second example> In the above-mentioned second example, the portable device is a mobile phone terminal, and the function is the transmission (calling) of telephone communication. However, the present invention is not limited to the case of the transmission (calling) of telephone communication, but can also be applied to the case of the transmission (sending) of e-mail (including a short mail sending function) provided by a mobile phone terminal. Furthermore, the present invention can be applied to other communication functions provided by a mobile device such as a mobile phone terminal, for example, the transmission (sending) of information by communication services via the Internet, such as Internet telephone, miniblog (microblog) such as Twitter (registered trademark), instant messenger such as LINE, SNS, electronic bulletin board, etc. Furthermore, in the case of e-mail or message communication, the present invention can be applied not only to the incoming (receiving) and outgoing (sending) of e-mail, but also to input operations such as when composing an e-mail or a message, which may lead to dangerous driving due to distraction such as gazing at the display screen or thinking deeply. Of course, the present invention can also be applied to browsing operations such as when checking e-mail or checking a message. Furthermore, the portable device is not limited to a mobile phone terminal.

[0094] Furthermore, in this second example, the portable device may be, for example, a game machine, an electronic book (electronic book reader, viewer), a video player such as a DVD (Digital Versatile Disc) player or a memory player, or a portable television, which does not have a communication function but has a display screen that the driver may gaze at for input operations or viewing. The portable device may also be a tablet, a PDA (Personal Digital Assistant), a notebook computer, or the like, which has a display screen. Even in this case, the driver's gesture of picking up the portable device triggers the start of use of the functions of the portable device, so the process flow shown in FIG. 6 can be applied as is.

[0095] [Second embodiment] In the above-described first embodiment, the mobile phone terminal 2 as an example of a portable device is not electrically connected to the electronic control circuit section 10 of the autonomous vehicle 1, and the functions of the mobile phone terminal 2 are executed by the user (driver) operating the mobile phone terminal 2 on the mobile phone terminal 2.

[0096] In the second embodiment of the autonomous vehicle 1A, the electronic control circuit unit 10A includes a mobile phone interface unit that electrically connects to a mobile phone terminal 2 brought into the vehicle. The telephone communication function of the mobile phone terminal 2 is realized by the display on the display screen of the display unit 111 of the electronic control circuit unit 10A and the function of accepting operations via the touch panel 112.

[0097] Figure 7 is a block diagram showing an example configuration of an electronic control circuit unit 10A of an autonomous vehicle 1A of this second embodiment. Parts that are the same as those in the electronic control circuit unit 10 of the autonomous vehicle 1 of the first embodiment described above are given the same reference symbols and their detailed explanations are omitted.

[0098] As is clear from a comparison between Figures 1 and 7, the electronic control circuit unit 10A of the autonomous vehicle 1A of the second embodiment does not include the incoming call notification detection unit 116 of the electronic control circuit unit 10 of the first embodiment. Instead, it includes a mobile phone interface unit 116A. Moreover, the electronic control circuit unit 10A does not include the audio output unit 118 of the electronic control circuit unit 10 of the first embodiment, but instead includes an audio interface unit 118A. The other configurations of the electronic control circuit unit 10A of the autonomous vehicle 1A of the second embodiment are similar to those of the electronic control circuit unit 10 of the first embodiment.

[0099] 8(A), the dashboard 4 of the autonomous vehicle 1A of the second embodiment is provided with a storage pocket 116Ap at a predetermined location within reach of the driver for storing the mobile phone terminal 2. The driver can secure the mobile phone terminal 2 brought into the vehicle by inserting it into the storage pocket 116Ap.

[0100] In this example, the electrical connection between the mobile phone terminal 2 and the mobile phone interface unit 116A of the electronic control circuit unit 10A is a wireless connection based on a short-range wireless standard such as Bluetooth (registered trademark). Note that, instead of a wireless connection, the mobile phone terminal 2 and the electronic control circuit unit 10A may be electrically connected by connecting a Universal Serial Bus (USB) terminal of the mobile phone terminal 2 to a USB terminal of the mobile phone interface unit 116A using a USB cable.

[0101] The electronic control circuit section 10A of the second embodiment is configured to receive control signals from the mobile phone terminal 2 via the mobile phone interface section 116A and the control section 101, and to perform processing when a call is received and processing when a call is made (a call is made).

[0102] That is, the electronic control circuit unit 10A has the function of an incoming call detection circuit that receives a control signal from the mobile phone terminal 2 and detects an incoming call, and based on the result of the incoming call detection, has the function of displaying the incoming call (incoming call notification) on the display screen 111D of the display unit 111 as shown in FIG. 8(B), and of notifying the incoming call by supplying an incoming call sound to the speaker 125A via the audio interface unit 118A and emitting the sound.

[0103] Then, as shown in FIG. 8(B), the control unit 101 displays software button 112a for answering an incoming call and software button 112b for ending the call on the incoming call notification display screen 111D, and when a user (such as a driver) touches these buttons 112a, 112b, the control unit 101 detects the operation through the touch panel 112 and performs processing according to the operated button 112a or 112b.

[0104] When a user (such as a driver) operates the incoming call response button 112a, the control unit 101 is configured to generate a communication path with the other party who has received the incoming call through the mobile phone terminal 2, and to perform a hands-free call using the microphone 124A connected to the audio interface unit 118A as a transmitter and the speaker 125A connected to the audio interface unit 118A as a receiver. Also, when a user (such as a driver) operates the end button 112b, the control unit 101 disconnects the communication path and controls the mobile phone terminal 2 to end the call.

[0105] 8(C), in a standby state that is not a state of incoming call notification, the control unit 101 displays, on the display screen 111D, a software button 112c for outgoing call (call origination) and a software button 112d for accessing a predetermined site via the Internet. When a user (such as a driver) touches these buttons 112c and 112d, the operation is detected by the touch panel 112 and notified to the control unit 101. The control unit 101, which has received this notification, performs processing according to the operated button 112c or 112d.

[0106] When a user (such as a driver) operates the outgoing call button 112c, the control unit 101 displays an outgoing call screen on the display screen 111D, accepts the user's designation of the other party, and controls the mobile phone terminal 2 to make an outgoing call to the designated other party. Then, when the other party's response is confirmed, a communication path with the other party is generated, and a hands-free call can be made using the microphone 124A connected to the audio interface unit 118A and the speaker 125A.

[0107] In addition, when a user (such as a driver) operates the end button 112c, the control unit 101 controls the display screen 111D to display a browser screen so that a specific site on the Internet can be accessed through the mobile phone terminal 2 and the services of that site can be received.

[0108] In this second embodiment, mobile phone calls can be made hands-free, which is permitted under the Road Traffic Act; however, the driver's attention is somewhat distracted when making a call, and when making a call (originating), sending an e-mail, or accessing the Internet, it is necessary to operate via touch panel 112 while looking at display screen 111D. Therefore, the manual driving mode is switched to forced automatic driving mode to further improve safety.

[0109] In the second embodiment, the detection of an event that triggers the driver to start using the functions of the portable device is based on whether or not the driver touches the software buttons 112a to 112d displayed on the display screen 111D of the display unit 111. That is, in the second embodiment, the control unit 101 analyzes the captured image information of the camera 107a to determine whether or not the driver has made a gesture of touching the software buttons 112a to 112d, etc. displayed on the display screen 111D, and determines whether or not any of the software buttons 112a to 112d has actually been touched via the touch panel 112. Then, when the control unit 101 determines that the driver has made a gesture of touching the software buttons 112a to 112d, etc. displayed on the display screen 111D, and that any of the software buttons 112a to 112d has actually been touched, the control unit 101 automatically switches from the manual driving mode to the forced automatic driving mode.

[0110] The detection of an event that triggers the driver to start using a function of the mobile device is not limited to detecting the touch operation of any of the software buttons 112a to 112d, but is also configured to detect the driver's actions, because it is considered that even if a passenger in the front passenger seat operates those buttons to use the functions of the mobile phone terminal 2, this will not have a significant effect on the driver's manual driving.

[0111] [Example of driving mode switching processing operation in autonomous driving vehicle 1A of the second embodiment] An example of the flow of processing operations in the electronic control circuit unit 10A of the autonomously driven vehicle 1A of the second embodiment will be described with reference to the flowchart of FIG.

[0112] First, the control unit 101 determines whether the driving mode of the autonomous vehicle 1 is the manual driving mode (step S71). If it is determined in step S71 that the driving mode is the autonomous driving mode rather than the manual driving mode, the control unit 101 proceeds to a processing routine for the autonomous driving mode (step S72).

[0113] When it is determined in step S71 that the driving mode is the manual driving mode, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether or not the driver has made an action to touch the software button 112c or 112d to make a call, and whether or not a touch operation of either the software button 112c or 112d has been detected through the touch panel 112 (step S73).

[0114] In this step S73, when the driver makes the gesture of touching software button 112c or 112d to make a call, and when it is detected through touch panel 112 that either software button 112c or 112d has been touched, control unit 101 switches the driving mode to forced automatic driving mode and notifies the driver by emitting a message to that effect, for example, through speaker 125A (step S74).

[0115] Next, the control unit 101 executes a process to start the car navigation function, sets a destination (a destination), and starts the car navigation function (step S75). The process to start the car navigation function in step S75 is the same as the process described with reference to FIG.

[0116] Next, even if the control unit 101 detects a manual driving operation, it controls so as to maintain the forced automatic driving mode (step S76). Then, the control unit 101 detects that the driver has performed an operation to end a function (such as a call, an e-mail, or an Internet connection) that was initiated on the display screen 111D through the touch panel 112, monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether the driver has performed such an end operation and then placed his hands on the steering wheel, thereby making the vehicle ready for manual driving (step S77). If it is determined in step S77 that the vehicle is not ready for manual driving, the control unit 101 continues to execute step S77 and waits for the vehicle to become ready for manual driving.

[0117] If it is determined in step S77 that the vehicle is in a state where manual driving is possible, the control unit 101 switches from the forced automatic driving mode to the normal automatic driving mode (step S78), waits for detection of manual driving operations of the accelerator pedal, brake pedal, shift lever, steering wheel, etc. (step S79), and if a manual driving operation is detected in step S79, switches from the automatic driving mode to the manual driving mode, and notifies the driver by emitting a message to that effect, for example, through the speaker 125A (step S80). After step S80, the control unit 101 returns the process to step S73, and repeats the processes from step S73 onwards.

[0118] If it is determined in step S73 that the driver has not made the gesture of touching software button 112c or 112d to make a call, or that a touch operation of either software button 112c or 112d has not been detected, the control unit 101 determines whether or not an incoming call has been detected (step S81), and if it is determined that an incoming call has not been detected, the process returns to step S73.

[0119] Then, when it is determined in step S81 that an incoming call has been detected, the control unit 101 monitors the captured image information of the camera 107a, analyzes the captured image information, and determines whether or not the driver has made a gesture of attempting to touch the software button 112a to answer the incoming call, and whether or not a touch operation of the software button 112a has been detected via the touch panel 112 (step S82).

[0120] In this step S82, when it is determined that the driver makes a gesture of attempting to touch the software button 112a to answer an incoming call and that a touch operation of the software button 112a has been detected through the touch panel 112, the control unit 101 transitions the process to step S74 and repeats the processes from step S74 onwards.

[0121] Furthermore, when it is determined in step S82 that the driver has not made any gesture of attempting to touch the software button 112a to answer an incoming call, or that a touch operation of the software button 112a has not been detected through the touch panel 112, the control unit 101 returns the process to step S73 and repeats the processes from step S73 onwards.

[0122] As described above, according to this embodiment, when the driver makes a gesture to make a call, e-mail, or send a call to an Internet site while driving in manual driving mode, or when the driver makes a gesture to respond to an incoming call or e-mail, automatically switches from manual driving mode to forced automatic driving mode, and automatically driving vehicle 1A enters a state in which it can safely drive in forced automatic driving mode. Therefore, the driver can feel safe taking his or her hands off the steering wheel and make calls, receive and send e-mails, and even watch the display screen to receive various services provided via the Internet.

[0123] [Modification of the second embodiment] In the second embodiment, the detection of an event that triggers the driver to start using the functions of the portable device may not only be detection of the driver's operation of the software buttons 112a-112d on the display screen 111D, but may also be detection of whether the driver's hands are removed from the steering wheel. For example, when the driver operates the software buttons 112a-112d on the display screen 111D and removes both hands from the steering wheel, the mode may be switched to the forced automatic driving mode, and when the driver does not remove at least one hand from the steering wheel even if the software buttons 112a-112d are operated, the manual driving mode may be maintained and the mode may not be switched to the forced automatic driving mode.

[0124] [Third embodiment] In the third embodiment, the electronic control circuit unit of the autonomous vehicle itself has the functions of a mobile phone terminal. That is, in the autonomous vehicle 1B of the third embodiment, the electronic control circuit unit 10B has the functions of a mobile phone as its own functions.

[0125] Figure 10 is a block diagram showing an example configuration of an electronic control circuit unit 10B of an autonomous vehicle 1B of this third embodiment. Parts that are the same as those in the electronic control circuit unit 10 of the autonomous vehicle 1 of the first embodiment described above are given the same reference symbols, and detailed descriptions thereof will be omitted.

[0126] 1 and 10, the electronic control circuit unit 10B of the autonomously driven vehicle 1B of the third embodiment does not include the incoming call notification detection unit 116 of the electronic control circuit unit 10 of the first embodiment, but instead includes a mobile phone function unit 116B. A microphone 124B and a speaker 125B for hands-free calling are connected to the mobile phone function unit 116B. The other configurations of the electronic control circuit unit 10B of the autonomously driven vehicle 1B of the third embodiment are similar to those of the electronic control circuit unit 10 of the first embodiment.

[0127] The mobile phone function unit 116B has the functions of the mobile phone terminal 2. The third embodiment operates in exactly the same way as the second embodiment described above, and can provide the same effects, except that the functions of the mobile phone terminal 2 are provided in the electronic control circuit unit 10B.

[0128] Moreover, the modified third embodiment can be configured in the same manner as the modified second embodiment, and similar effects can be obtained.

[0129] The mobile phone may be a car phone.

[0130] [Other embodiments or modifications] In the above-described embodiment, the vehicle is configured to switch from the forced automatic driving mode to the normal automatic driving mode, and then switch to the manual driving mode. However, the vehicle may be configured to switch directly from the forced automatic driving mode to the manual driving mode when the driver has finished using the functions of the portable device.

[0131] The present invention can be applied not only to ordinary automobiles and light automobiles, but also to trucks, buses, taxis, tractors, dump trucks, excavators, forklifts, as well as single-person automobiles and motorcycles.

[0132] Furthermore, the self-driving vehicle in the above-described embodiment is an electric vehicle, but the present invention can also be applied to gasoline vehicles, hybrid vehicles, and vehicles with other drive systems. [Explanation of symbols]

[0133] 1, 1A, 1B...Autonomous driving vehicle, 10, 10A, 10B...Electronic control circuit section, 104...Manual / automatic driving mode switching control section, 107...Camera group, 111...Display section, 112...Touch panel, 113...Car navigation function section, 114...Driver behavior analysis detection section, 115...Forced automatic driving mode switching decision section, 116...Incoming call notification detection section

Claims

1. In an autonomous vehicle having a manual driving mode in which the vehicle travels based on the driving operation by the driver and an autonomous driving mode in which the vehicle travels autonomously, an input operation detection means for detecting an input operation by the driver to create an email or a message using a function of a portable device; a mode switching means for switching from the manual driving mode to the automatic driving mode when the input operation detection means detects an input operation by the driver to create an email or a message using a function of the portable device while the vehicle is traveling in the manual driving mode; An autonomous vehicle comprising:

2. The vehicle has the functions of the portable device.

2. The autonomous vehicle according to claim 1 .

3. The mail creation or message creation includes email, short mail, X (formerly Twitter (registered trademark)), LINE, SNS, and electronic bulletin boards.

3. The autonomous vehicle according to claim 1 or 2.

4. The portable device is a mobile phone terminal, a smartphone, a tablet, a PDA (Personal Digital Assistant), or a notebook computer. The autonomous vehicle according to any one of claims 1 to 3.

5. The automatic driving mode includes a normal automatic driving mode in which the automatic driving mode can be switched to the manual driving mode by a predetermined operation by a driver, and a forced automatic driving mode in which switching to the manual driving mode is not possible, The mode switching means switches from the manual operation mode to the forced automatic operation mode. The autonomous vehicle according to any one of claims 1 to 4.

6. a completion detection means for detecting completion of an input operation by the driver of creating an e-mail or a message using a function of the portable device; When the end detection means detects the end of the input operation, the forced automatic operation mode is switched to the normal automatic operation mode or the manual operation mode.

6. The autonomous vehicle according to claim 5 .

7. a completion detection means for detecting completion of an input operation by the driver of creating an e-mail or a message using a function of the portable device; When the end detection means detects the end of the input operation, the automatic operation mode is switched to the manual operation mode. The autonomous vehicle according to any one of claims 1 to 6.

8. A navigation means is provided for guiding the vehicle to a preset destination, a designation means for inquiring of a destination from a driver or a passenger when the mode switching means switches from the manual driving mode to the automatic driving mode and accepting a destination designation in response to the inquiry; The navigation means guides the vehicle to the destination designated by the designation means. The autonomous vehicle according to any one of claims 1 to 7.

9. A navigation means is provided for guiding the vehicle to a preset destination, When the mode switching means switches from the manual driving mode to the automatic driving mode, the navigation means guides the vehicle to a preset destination. The autonomous vehicle according to any one of claims 1 to 8.

10. a querying means for querying a driver or a passenger as to whether the preset destination is acceptable when the mode switching means switches from the manual driving mode to the automatic driving mode, If the inquiry means determines that the preset destination is acceptable, the navigation means guides the vehicle to the preset destination.

10. The autonomous vehicle according to claim 9.

11. a designation means for inquiring of a destination from a driver or a passenger when the predetermined destination is not acceptable, and accepting a destination designation in response to the inquiry; The navigation means guides the vehicle to the destination designated by the designation means.

11. The autonomous vehicle according to claim 10.

12. The navigation means includes a presentation means for presenting route candidates, a selection means for presenting route candidates to a driver or a passenger using the presentation means when the mode is switched from the manual driving mode to the automatic driving mode by the mode switching means, and accepting selection of one route from the route candidates; The navigation means guides the vehicle to the destination designated by the designation means using the route selected by the selection means.

12. The autonomous vehicle according to claim 8 or 11.

13. The navigation means includes a presentation means for presenting route candidates, a selection means for presenting route candidates to a driver or a passenger using the presentation means when the mode is switched from the manual driving mode to the automatic driving mode by the mode switching means, and accepting selection of one route from the route candidates; The navigation means guides the vehicle toward the preset destination using the route selected by the selection means.

11. The autonomous vehicle according to claim 9 or 10.

14. The mode switching means notifies the driver by voice that the manual driving mode has been switched to the automatic driving mode. The autonomous vehicle according to any one of claims 1 to 13.

15. The vehicle is provided with a communication function of the portable device, A photographing means and a photographed image analyzing means having a function of analyzing a gesture for making a call using the communication function by the driver or a gesture for responding to an incoming call or a received call received by the communication function based on a photographed image photographed by the photographing means, The mode switching means also switches from the manual driving mode to the automatic driving mode when the captured image analysis means detects a gesture by the driver to make a call using the communication function or a gesture to respond to an incoming call or an inbound call received by the communication function during driving in the manual driving mode. The autonomous vehicle according to any one of claims 1 to 14.

16. a photographing means; and a photographed image analyzing means for analyzing whether or not the driver has removed both hands from the steering wheel based on the photographed image photographed by the photographing means, The mode switching means switches from the manual driving mode to the automatic driving mode when the captured image analysis means detects that the driver has taken both hands off the steering wheel during driving in the manual driving mode. The autonomous vehicle according to any one of claims 1 to 15.

17. Equipped with a photographing means, The input operation detection means detects an input operation by the driver to compose an e-mail or a message using a function of the portable device based on the captured image captured by the imaging means. The autonomous vehicle according to any one of claims 1 to 16.

18. A computer provided in an autonomous vehicle that is equipped with a photographing means, a manual driving mode in which the vehicle travels based on driving operations by a driver, and an autonomous driving mode in which the vehicle travels autonomously, an input operation detection means for detecting an input operation by the driver to create an email or a message using a function of a portable device; a mode switching means for switching from the manual driving mode to the automatic driving mode when the input operation detection means detects an input operation by the driver to create an email or a message using a function of the portable device in a driving state in the manual driving mode; A program for self-driving cars to function as a

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