Autonomous Driving System

Abstract

To perform a vehicle starting operation in appropriate timing corresponding to a situation of a passenger.SOLUTION: In a system, a vehicle (2) capable of autonomous traveling, a user terminal (6) and a remote monitoring terminal (5) are associated with each other over a network. The vehicle (2) comprises an apparatus which performs at least one of a reception of an input operation by a passenger and a detection of an action of the passenger. When the vehicle (2) stops at a getting-on / getting-off place and vehicle getting-on / getting is completed, the vehicle (2) is managed to start a departure preparation after detecting at least one of an input operation by the passenger indicating an intention of departure, an action by the passenger indicating the intention of departure and an instruction of departure by a monitor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to an automated driving system. [Background technology]

[0002] An autonomous bus has been disclosed that can communicate with an external communication network and autonomously travels to a destination with passengers on board without any driver intervention (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-3936 A (paragraphs 0013 to 0018, Figures 1 and 2) Summary of the Invention [Problem to be solved by the invention]

[0004] In such autonomously driving buses, departure operations are performed automatically based on a preset operation sequence, which means that the bus may depart unexpectedly regardless of the passenger status, such as whether they have boarded, sat down, or disembarked, and may depart at a time that is inconvenient for passengers.

[0005] The present application discloses technology for solving the above-mentioned problems, and aims to provide an automatic driving system that can perform departure operations at appropriate timing depending on the passenger situation. [Means for solving the problem]

[0006] The autonomous driving system disclosed in the present application is a system in which an autonomously driving vehicle, a user terminal used by each passenger to make a reservation to ride in the autonomous driving vehicle, and a remote monitoring terminal used by a monitor who monitors the state of the autonomous driving vehicle at a location remote from the autonomous driving vehicle are linked via a network, the autonomous driving vehicle is provided with a device that receives input operations by the passengers and / or detects the actions of the passengers, and manages the autonomous driving vehicle so that when the autonomous driving vehicle stops at a boarding / disembarking location and boarding / disembarking is completed, it starts preparations for departure only after detecting at least one of an input operation by the passenger indicating an intention to depart, an action by the passenger indicating an intention to depart, and an instruction to depart from the monitor. At least one of the autonomous vehicle and the user terminal has a display function for displaying to the passenger that the departure preparation has begun, and when the departure preparation has begun, upon detecting at least one of an input operation by the passenger indicating an intention to wait for departure, an action by the passenger indicating an intention to wait for departure, and an instruction to wait for departure from the monitor, the autonomous vehicle is managed to wait for the departure preparation, and the autonomous vehicle is provided with an input device provided on the outside of the autonomous vehicle as a device for receiving the input operation for waiting for departure. It is characterized by: [Effects of the Invention]

[0007] According to the automatic driving system disclosed in the present application, by understanding the passengers' situation through network cooperation, an automatic driving system can be obtained that can perform departure operations at appropriate times according to the passengers' situation. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram illustrating a configuration of an automatic driving system according to a first embodiment. [Figure 2] FIG. 1 is a functional block diagram showing a configuration of an automatic driving system according to a first embodiment. [Figure 3] FIG. 1 is a first diagram showing a flowchart divided into three parts showing the operation of the automatic driving system according to the first embodiment. [Figure 4] FIG. 2 is a second diagram showing a flowchart illustrating the operation of the automatic driving system according to the first embodiment, divided into three parts. [Figure 5] FIG. 3 is a third diagram showing a flowchart illustrating the operation of the automatic driving system according to the first embodiment, divided into three parts. [Figure 6] FIG. 2 is a sequence diagram for explaining the operation of the automatic driving system according to the first embodiment. [Figure 7]2 is a block diagram showing a hardware configuration of a calculation execution part for executing control in the autonomous driving system according to the first embodiment. FIG. [Figure 8] FIG. 10 is a schematic diagram illustrating a configuration of a vehicle portion in an automatic driving system according to a second embodiment. [Figure 9] FIG. 10 is a functional block diagram showing the configuration of a vehicle part in an automatic driving system according to a second embodiment. [Figure 10] FIG. 10 is a diagram showing an example of a display pattern of a destination display device in a vehicle in an automatic driving system according to a second embodiment. [Figure 11] FIG. 11 is a schematic diagram showing the relationship between a vehicle and a remote monitoring terminal in an automatic driving system according to a third embodiment. [Figure 12] FIG. 11 is a functional block diagram showing the configuration of a vehicle and a remote monitoring terminal in an autonomous driving system according to a third embodiment. [Figure 13] FIG. 10 is a schematic diagram showing the configuration of a vehicle portion in an automatic driving system according to a fourth embodiment. [Figure 14] FIG. 10 is a functional block diagram showing the configuration of a vehicle part in an automatic driving system according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, with reference to the drawings, detailed descriptions will be given of each embodiment of the automated driving system disclosed in the present application. Note that the embodiments described below are merely examples, and the present application is not limited to these embodiments.

[0010] Embodiment 1 Figures 1 to 7 are intended to explain the configuration and operation of the autonomous driving system according to the first embodiment. Figure 1 is a schematic diagram showing the configuration of an autonomous driving system in which a vehicle, a remote monitoring terminal, a user terminal, and a cloud work together by connecting them via a network via communication, and Figure 2 is a functional block diagram showing the configuration of the autonomous driving system in terms of functional connections.

[0011] 3 to 5 are respectively Fig. 1, Fig. 2, and Fig. 3, which are three parts of a flowchart showing the operation of a vehicle in an automated driving system, and form a single flowchart by connecting other page connectors indicated by a combination of "J" and a number. Also, Fig. 6 is a sequence diagram for explaining the operation of the automated driving system from picking up passengers at a stop to arriving at another stop. Furthermore, Fig. 7 is a block diagram showing the hardware configuration of the calculation execution part for executing control in the automated driving system according to the first embodiment.

[0012] As shown in Fig. 1 , an autonomous driving system 1 of the present application including the first embodiment is configured to link an autonomously driven vehicle 2, a remote monitoring terminal 5 used by a monitor, a user terminal 6 used by a passenger user, and a cloud 7 by connecting them through a network via communication 8. The autonomous driving system is characterized in that it is possible to grasp the status of passengers and adjust the timing of departure according to the status of passengers by controlling operation in response to commands from the remote monitoring terminal 5 and the user terminal 6, and the operating states of input / output devices and sensor outputs in the vehicle 2. Here, before describing the characteristic configuration and operation of the autonomous driving system 1 according to the first embodiment, the basic configuration and operation of the main devices constituting the autonomous driving system 1 of the present application will be described.

[0013] <Remote monitoring terminal> The remote monitoring terminal 5 is installed, for example, in a corner of a control center that controls the operation of multiple autonomous vehicles including vehicle 2, and is a device operated mainly by a remote monitor who monitors the status of passengers getting on and off vehicle 2, or an operator who compiles requests from passengers. It is an input / output terminal that has the function of displaying information to the operator using images, audio, etc., and accepting input from the operator using a keyboard, touching the display screen, etc., and is configured to be able to send and receive information to and from vehicle 2 and user terminal 6 via communication 8 and cloud 7.

[0014] Although the remote monitoring terminal 5 may be configured to perform all management of the operation control of the vehicle 2, the present application will be described focusing on functions related to the management of passenger boarding and disembarking.

[0015] <User device> The user terminal 6 is an input / output terminal that can be realized by installing an app (program) compatible with this system on a terminal such as a smartphone owned by each passenger using the vehicle 2. As with the remote monitoring terminal, it is configured to be able to send and receive data between the vehicle 2 and the remote monitoring terminal 5 via the cloud 7 and communication 8.

[0016] The user terminal 6 can be used to perform various processes, such as booking a ride on the vehicle 2, boarding and disembarking including payment, as well as requesting package delivery, but this application will focus on explaining functions related to boarding and disembarking the vehicle 2.

[0017] <Vehicle> Vehicle 2 is an autonomous vehicle that can communicate with an external communication network, carries passengers, and autonomously drives to a destination without any driver operation. For example, it has an autonomous driving function 2f0 (Figure 2) that automatically controls the operation of the accelerator, brakes, steering, etc. in response to information from sensors installed in vehicle 2 and information from outside the vehicle via the communication network. However, the movement control from one location to another in response to road conditions (autonomous driving function 2f0) is the same as that of a general autonomous vehicle, so a detailed explanation will be omitted.

[0018] The automatic driving system 1 according to the first embodiment will be described in detail, assuming a configuration in which passengers are transported by the above-described automatic driving vehicle.

[0019] 2 and the above-described FIG. 1, a vehicle 2 is provided with a vehicle control device 20 having an automatic driving function 2fo. Each device installed in the vehicle 2, which will be described below, is configured to be able to transmit and receive data to and from the vehicle control device 20 via an in-vehicle communication path 2c.

[0020] Departure buttons 32 are arranged in several locations within reach of passengers inside the vehicle (only one location is shown in the figure) to indicate that passengers are ready to depart, and the details of the passengers' pressing of the buttons are transmitted to the remote monitoring terminal 5 via the vehicle control device 20. In addition, a lamp 32i (annular in shape surrounding the departure button 32 in the figure) is provided near the departure button 32, and is configured to light up or flash in response to the pressing of the departure button 32. The departure button 32 can also function as a standby button by being configured so that the details of the pressing can be interpreted as a standby instruction, as will be described later.

[0021] A display device 31 for displaying messages to passengers is also provided on a wall within the passenger's field of vision. A time limit indicator 34 for displaying a time limit to passengers (described later) and a buzzer 33 for alerting passengers with a sound are provided above the windshield. An in-car camera 30 is also provided above the windshield to capture images of the passengers inside the vehicle and transmit the captured image data to a remote monitoring terminal 5 via a network (cloud 7, communication 8).

[0022] On the other hand, outside the vehicle, a boarding / alighting person counting sensor 35 that counts the number of people getting on and off is placed above the boarding / alighting door that is not numbered, and an outside departure waiting button 36 that can be pressed from outside the vehicle to indicate a desire to wait for departure is provided next to the boarding / alighting door.

[0023] The vehicle control device 20, cloud 7, user terminal 6, and remote monitoring terminal 5 are configured to have functions for performing various controls according to the operation of each of the above-mentioned devices or the operation schedule. Note that in Fig. 2 and the following figures (Figs. 9, 12, and 14), parts that represent functions are indicated by the letter "f," for example, "autonomous driving function 2f0," but the notation "function" is omitted in the text due to space constraints.

[0024] In addition to the automatic driving function 2f0 described above, the vehicle control device 20 has a boarding / alighting number counter function 2f1 that counts the number of boarding and alighting passengers, a departure waiting time timer function 2f2m that measures the departure waiting time, a standby button press count counter function 2f3 that measures the number of times the outside-vehicle departure waiting button 36 is pressed, a buzzer sound start timer function 2f4 that measures the time to start sounding the buzzer 33, and a buzzer sound duration timer function 2f5 that measures the time the buzzer 33 continues sounding.

[0025] The cloud 7 has a passenger number management function 7f1 for managing the number of passengers. The user terminal 6 has a ride reservation function 6f1 for a user (passenger) to make a ride reservation.

[0026] The remote monitoring terminal 5 has a departure preparation completion display function 5f1 for displaying on a screen that departure preparation is complete, a departure standby input determination function 5f2 for determining whether a departure standby input has been made, and a departure input determination function 5f3 for determining whether a departure (start) input has been made. It also has a buzzer sounding display function 5f4 for indicating that the buzzer 33 is sounding, and a time limit display function 5f5 for displaying the time limit on the time limit indicator 34. It also has a departure standby input location display function 5f6 for indicating the location where the departure standby input was accepted (for example, the departure button 32 or the outside-vehicle departure standby button 36), and an in-vehicle image display function 5f7 for displaying an image of the inside of the vehicle captured by the in-vehicle camera 30.

[0027] Based on the above-described configuration, the basic operation of the automatic driving system 1 according to the first embodiment will be described with reference to the flowcharts in Figures 3 to 5. For simplicity, an example will be described in which a passenger who has made a reservation for boarding, including setting a boarding section via a user terminal 6, gets on and off the vehicle 2.

[0028] Upon receiving a boarding reservation from a user via the user terminal 6 and arriving at the bus stop where the boarding is planned, the vehicle 2 executes arrival processing, such as operating the suspension to set the vehicle in boarding mode, which lowers the floor on the boarding door side, and opening the boarding door (step S100). At this time, in addition to the vehicle operations described above, the vehicle 2 inquires of the details of the boarding reservation from the cloud 7, as shown in Fig. 6, for example. In response, the cloud 7 transmits information regarding the number of passengers planning to board and disembark at that bus stop to the vehicle 2, the user terminal 6, and the remote monitoring terminal 5 using the passenger number management function 7f1.

[0029] Then, the process waits for passengers who are scheduled to disembark to disembark and passengers who have booked to board to complete boarding (step S110). In vehicle 2, when the number of passengers getting on and off counted by the boarding / alighting number counter based on a signal from boarding / alighting number counting sensor 35 matches the planned number of passengers, the process determines that boarding and alighting are complete and proceeds to the next step (departure input reception display process: step S120).

[0030] In the departure input reception display process, a message prompting the passenger to press the departure button 32 (departure input) to indicate their intention to depart (that it is time to depart) is displayed on the display device 31, and the process waits for the departure input (step S130). When the passenger presses the departure button 32 in response, the vehicle control device 20 determines that the passenger has notified it that it is time to prepare for departure. Then, the lamp 32i is turned on to notify the passenger that the departure input has been accepted, and a departure preparation completion notification is sent to the remote monitoring terminal 5 via the cloud 7, notifying the remote monitor that it is time to prepare for departure (step S140).

[0031] When the remote monitoring terminal 5 receives the notification that departure preparations are complete, the departure input determination function 5f3 and the departure preparation completion display function 5f1 output a departure preparation completion display on the screen, and the in-car image display function 5f7 displays the in-car image captured by the in-car camera 30. The remote monitor checks the status of the passengers from the in-car image and determines whether there are any problems with starting departure.

[0032] At this time, the vehicle 2 inquires of the remote monitoring terminal 5 whether or not there has been a standby instruction from the remote monitor, and whether or not there has been a departure instruction. If a departure instruction is received as a response to the inquiry from the remote monitoring terminal 5 ("Yes" in step S150), it is determined whether or not a "departure standby input" described later in the vehicle 2 is valid (step S160). If the "departure standby input" is not valid, for example, the vehicle 2 closes the boarding door, returns the suspension to a running mode, and departs (departure process S430).

[0033] If a departure instruction is not received ("No" in step S150), or if a departure instruction is received but the departure standby input is valid ("Yes" in step S160), the departure standby time timer function 2f2 in vehicle 2 initializes the departure standby time timer (step S170). Furthermore, the standby button press count counter function 2f3 initializes the standby button press count counter (step S180).

[0034] Furthermore, the buzzer sounding start timer function 2f4 initializes the buzzer sounding start timer (step S190), starts the buzzer 33, and transmits a notification to that effect to the remote monitoring terminal 5, and the process proceeds to step S200, where it is determined whether the departure standby input is valid or invalid. At this time, the remote monitoring terminal 5 uses the buzzer sounding display function 5f4 to display on the screen that the buzzer is sounding inside the vehicle so that the remote monitor can recognize it.

[0035] If the departure standby input is not valid in step S200 (No), the process proceeds to step S230, where it is determined whether the departure standby input is valid or invalid. On the other hand, if the departure standby input is valid (Yes), the departure standby time timer function 2f2 initializes the departure standby time timer (step S210). Furthermore, the location where the departure standby input was made is notified to the remote monitoring terminal 5 (step S220). For example, as will be described later, if it is determined that the standby input was made by pressing and holding the departure button 32, the remote monitoring terminal 5 notifies the remote monitoring terminal 5 that the standby input was made by pressing the departure button 32. Upon receiving this notification, the remote monitoring terminal 5 determines whether the departure standby input was made by using the departure standby input determination function 5f2, and displays on the screen by using the departure standby location display function 5f6 that the standby input was made by operating the departure button 32, and then proceeds to step S230.

[0036] If the departure input is valid ("Yes" in step S230), or if the departure input is not valid ("No") but the buzzer 33 is sounding ("Yes" in step S240), the process proceeds to step S400, where it is determined whether or not there is a standby instruction from the remote monitor. On the other hand, if the departure input is not valid ("No") and the buzzer 33 is not sounding ("No" in step S240), the buzzer sound start timer function 2f4 determines whether or not the time since the buzzer 33 started sounding (buzzer sound start timer value) has exceeded the set time (step S250).

[0037] If the buzzer sound start timer value exceeds the set time ("Yes" in step S250), the process proceeds to step S270, which will be described later. Alternatively, even if the time has not been exceeded ("No"), if the number of times the standby button has been pressed exceeds the set number of times ("Yes" in step S260), the process proceeds to step S270. On the other hand, if the buzzer sound start timer value has not exceeded the set time ("No") and the number of times the button has been pressed does not exceed the set number of times ("No" in step S260), the process returns to step S200.

[0038] In step S400, if there is a standby instruction from the remote monitor (remote monitoring terminal 5) (Yes), the process returns to step S200. On the other hand, if there is no standby instruction from the remote monitor (No), the process proceeds to step S410, where it is determined whether there is a departure instruction from the remote monitor, and if there is a departure instruction (Yes), the process proceeds to departure processing S430.

[0039] If there is no departure instruction from the remote monitor (No), it is determined whether the length of the departure waiting time (departure waiting time timer value) exceeds the set time (step S420). If the departure waiting time timer value exceeds the set time ("Yes" in step S420), the process proceeds to departure processing S430, but if it has not exceeded the set time (No), the process returns to step S200.

[0040] In step S270, the buzzer sounding duration timer function 2f5 initializes the buzzer sounding duration timer (step S270) and starts sounding the buzzer 33 (step S280). Then, information is sent to the remote monitoring terminal 5 to notify the remote monitor that the buzzer sounding has started (step S290). Upon receiving the notification that the buzzer sounding has started, the remote monitoring terminal 5 uses the time limit display function 5f4 to send a command to display the time limit to passengers. Upon receiving the command, the time limit is displayed on the time limit indicator 34 inside the vehicle (step S300).

[0041] Then, it is determined whether the buzzer duration timer value exceeds the notification time (step S310). If it does not exceed the notification time (No), the process returns to step S200. If it does exceed the notification time (Yes), the process notifies the remote monitoring terminal 5 that the buzzer 33 will continue to sound (step S320), and the process returns to step S200.

[0042] Based on the above basic operations, the specific operations when the bus stops at a bus stop will be described. First, the vehicle control device 20 cooperates with the cloud 7 (passenger number management function 7f1) and waits for departure until the number of passengers expected to board and alight at the bus stop calculated by the cloud 7 matches the output of the boarding and alighting passenger counting sensor 35 and the actual number of passengers boarding and alighting counted by the boarding and alighting passenger counter function 2f1. If they match, it determines that boarding and alighting have been completed, and the completion is notified to the remote monitor by the departure preparation completion display function.

[0043] <Scene 1> On the other hand, even if passengers have finished boarding and disembarking, the system does not immediately proceed to the departure operation (departure processing step S430) but waits for the passengers to press the departure button 32. Furthermore, the remote monitor using the remote monitoring terminal 5 can determine the pressing operation by the passengers inside the vehicle 2 via the network (communication 8) (departure input determination function 5f3, step S130).

[0044] <Scene 2> Here, when boarding and disembarking are complete, a message is displayed on the display device 31 urging the passengers to press the departure button 32. This notifies the passengers that the departure button 32 is being waited for, and allows the passengers to signal without delay that they are ready to depart (by pressing the departure button 32). Here, when the departure button 32 is pressed, the lamp 32i lights up, so that the passengers can recognize that the vehicle 2 is about to depart.

[0045] <Scene 3> On the other hand, there may be cases where the departure button 32 is pressed by mistake, or the passenger is not ready to depart after that, or other passengers are not ready to depart. In such cases, if the lit departure button 32 is pressed and held down, or the outside-vehicle departure standby button 36 is pressed, a signal indicating this is sent to the remote monitoring terminal 5.

[0046] The remote monitoring terminal 5 determines that a standby input has been made using the departure standby input determination function 5f2 and displays this information on the screen. The departure mode is canceled and changed to standby mode by the remote monitor operating the terminal after viewing the screen, or by automatic control based on the determination result. At this time, the lamp 32i is turned off, allowing passengers to recognize that the vehicle 2 has changed from departure mode to standby mode.

[0047] In this case, if the standby mode can be cancelled by repeatedly pressing the departure button 32 at short intervals, such as by double-clicking, the passenger who has entered standby mode can cancel it immediately.

[0048] Here, the departure waiting input location display function 5f6 shows which device, i.e., which passenger's location, made the waiting input. Therefore, for example, by comparing it with the in-car image displayed by the in-car image display function 5f7, a remote monitor can determine whether the input is appropriate. Furthermore, passengers other than the passenger who made the input can know the input location where the reason for waiting for departure occurred and recognize the cause of the waiting for departure, so they can know that they are not being made to wait meaninglessly. Furthermore, since the operator of the input means is clearly displayed, mischief is prevented.

[0049] On the other hand, the remote monitor can judge the passengers' situation based on the in-car video displayed on the screen of the remote monitor terminal 5, and can input a departure standby instruction even if the standby input has not been made. This allows the remote monitor to decide to switch to standby mode, for example, even if there is a passenger who is unable to execute the standby input even though the train is not ready to depart.

[0050] In addition, when there is a change from departure mode to standby mode, a message indicating that departure mode has been canceled and urging the driver to press the departure button 32 to cancel standby mode can be displayed on the display device 31.

[0051] On the other hand, the departure waiting time timer function 2f2 changes the mode to the departure mode regardless of a waiting instruction when a preset time has elapsed since the mode was changed to the waiting mode, and the vehicle 2 is allowed to depart. This makes it possible to prevent the waiting time from becoming unnecessarily long.

[0052] In this case, by using the time limit display function 5f5 to display the remaining time for which standby mode can be continued on the time limit display 34 of the vehicle 2, passengers can be notified of the timing when the mode will be forcibly changed to departure mode, thereby preventing unexpected departure.

[0053] Furthermore, even before the set time in standby mode has elapsed, the remote monitor who has checked the in-car video can decide to change the mode to departure mode, thereby preventing unnecessary long wait times. In this case, by displaying a message inside the car that the mode has been changed to departure mode, passengers who think the vehicle is in standby mode can be allowed to depart without being surprised.

[0054] In particular, by configuring the remote monitoring terminal 5 so that if the standby mode continues for a preset time, a message indicating a long standby time is displayed on the screen, the remote monitor can change to departure mode taking into account the duration of the standby time and the video footage inside the vehicle.

[0055] In addition, if the standby mode continues for a predetermined time or longer, unnecessary waiting can be avoided by configuring the system to continuously output a notification to passengers urging them to end the standby mode, such as by sounding a buzzer 33.

[0056] Alternatively, the standby mode may be cancelled when the standby button press count exceeds a preset number of times using the standby button press counter function 2f3. In this case, passengers can be prompted to cancel the standby mode by a different sounding method than that used to prompt cancellation of standby, for example, by intermittently sounding the buzzer 33.

[0057] At this time, if the sound urging the user to cancel the standby mode continues for a preset time, the sound duration timer function 2f5 sends a message to the remote monitoring terminal 5. This allows the remote monitor to confirm that the sound urging the user to cancel the standby mode has continued for the preset time, which serves as a guide for determining whether to cancel the standby mode.

[0058] Alternatively, the standby button press count function 2f3 may be configured to display a message on the screen of the remote monitoring terminal 5 when the standby input is made more than a preset number of times. In this case, the remote monitor can also confirm that the standby mode has continued for a long period of time, and can quickly change the mode to departure mode by checking the in-vehicle video.

[0059] <Scene 4> Note that, as a determination of standby input, if the button is pressed and held for more than a certain number of seconds, the standby mode may be maintained only while the button is pressed, and the standby mode may be canceled when the button is released. In this case, by flashing the lamp 32i while the button is pressed, passengers can recognize that the vehicle 2 is continuing in standby mode and that continuing to press the button will continue the standby mode, and it is possible to prevent the waiting time from becoming unnecessarily long.

[0060] In the case where the part of the autonomous driving system 1 that executes arithmetic processing is configured using software that uses a microcomputer, it may be configured using a single microcomputer 100 that includes a processor 101 and a storage device 102, as shown in Fig. 7. Although not shown, the storage device 102 includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory.

[0061] Furthermore, a hard disk auxiliary storage device may be provided instead of flash memory. Processor 101 executes a program input from storage device 102. In this case, the program is input from the auxiliary storage device to processor 101 via a volatile storage device. Processor 101 may output data such as calculation results to a volatile storage device of storage device 802, or may store the data in the auxiliary storage device via the volatile storage device.

[0062] By connecting the devices equipped with this hardware 100 (vehicle 2, user terminal 6, remote monitoring terminal 5, cloud 7) to a network via communication 8, the autonomous driving system 1 of the present application can be constructed, not limited to embodiment 1.

[0063] Embodiment 2 In the above-described first embodiment, a mode in which a departure button is used to also accept a standby input has been described. In the second embodiment, a mode in which a destination input device provided in a vehicle is used to accept a departure input and a standby input will be described.

[0064] 8 to 10 are diagrams for explaining the configuration and operation of the automatic driving system according to the second embodiment, in which Fig. 8 is a schematic diagram showing the configuration of the vehicle part in the automatic driving system, Fig. 9 is a functional block diagram showing the configuration of the vehicle part, and Fig. 10 is a diagram showing three examples of display patterns of a destination display device provided in a vehicle. Note that the second embodiment also has the same basic configuration as the automatic driving system according to the first embodiment, and is capable of the same basic operation.

[0065] 8 and 9 depict only the parts that differ from the first embodiment. Therefore, any configurations and functions corresponding to those shown in FIGS. 1 and 2 in the first embodiment can be added, and FIGS. 3 to 6 are to be used.

[0066] As shown in Fig. 8, the automatic driving system 1 according to the second embodiment is provided with a destination display device 37 that has an operable screen (touch panel) located in a position that is visible and operable by passengers of the vehicle 2. As shown in Fig. 9, the destination display device 37 has a departure instruction input determination function 37f1 that determines whether or not a departure input has been made from the operation of the operation panel, and a departure button operation method display function 37f3 that displays the button operations on the screen for making a departure input.

[0067] Similarly, it has a departure standby instruction input determination function 37f2 that determines whether or not a departure standby input has been made from the operation of the operation panel, and a departure standby button operation method display function 37f4 that displays the button operations on the screen for making a departure standby input.

[0068] Based on the above-described configuration, a description will be given of a characteristic operation of the automated driving system 1 according to the second embodiment. When the vehicle 2 arrives at a bus stop, the vehicle control device 20 transmits a destination button display command to the destination display device 37. The destination display device 37 displays the display pattern Dp1 shown on the left side of FIG. 10 on the touch panel. The top two rows of the display pattern Dp1 display a section listing the names of the two destination bus stops (Bus Stop A and Bus Stop B). Then, the departure button operation method display function 37f3 displays, in the bottom row, the operation method for entering departure information, saying, "Tap the destination to depart."

[0069] When a passenger taps on the section for "Bus Stop A," which is the destination, the departure instruction input determination function 37f1 determines that a departure input has been made, and sends a signal to that effect to the vehicle control device 20, which then initiates the departure preparation operations described in the first embodiment, such as closing the vehicle doors. When the departure preparation operations are initiated, the destination display device 37 lights up the section for "Bus Stop A," as in the display pattern Dp2 in the center of FIG. 10, to clearly indicate that the bus is scheduled to stop at Bus Stop A (destination). Furthermore, the departure standby button operation method display function 37f4 displays, in the bottom row, the message "Tap the destination to enter departure standby" as the operation method for entering departure standby.

[0070] When a passenger taps on the section for the destination "Bus Stop A," the departure wait instruction input determination function 37f2 determines that a departure wait input has been made, and a signal to that effect is sent to the vehicle control device 20, starting the operation in the wait mode as described in embodiment 1. Then, similar to the time limit display 34 in embodiment 1, the destination display device 37 displays the wait time as "Waiting, xx seconds until departure," as in the display pattern Dp3 on the right side of Fig. 10.

[0071] In this way, by using the destination display device 37, i.e., the destination input means, as a device for inputting departure and standby, passengers can intuitively recognize that it is an input device that prompts departure. Furthermore, it is possible to clearly indicate, using words and illustrations, that the departure input device has been switched to the standby input device, or the standby time, etc.

[0072] Embodiment 3 In the above-described first and second embodiments, the standby input is received by the passenger manually inputting the input to the device. In the third embodiment, the standby input is received by voice recognition.

[0073] 11 and 12 are diagrams for explaining the configuration and operation of an autonomous driving system according to embodiment 3, with Fig. 11 being a schematic diagram showing the relationship between a vehicle and a remote monitoring terminal in the autonomous driving system, and Fig. 12 being a functional block diagram showing the configuration of the vehicle and the remote monitoring terminal. Note that, like embodiment 2, embodiment 3 also has the same basic configuration as embodiment 1 as an autonomous driving system, and is capable of the same basic operation.

[0074] 11 and 12 depict only the parts that differ from the first embodiment. Therefore, any configurations and functions corresponding to those shown in FIGS. 1 and 2 in the first embodiment can be added, and FIGS. 3 to 6 are to be used. Furthermore, the configurations described in the second embodiment can be added to enable the functions to be realized.

[0075] As shown in FIG. 11, the automatic driving system 1 according to the third embodiment includes a voice recognition device 38 provided at a position where voices from passengers of the vehicle 2 reach (next to the display device 31 in the figure).

[0076] 12, the vehicle control device 20 has a keyword setting function 2f6 for setting keywords to be recognized by the voice recognition device 38 and displaying the set keywords on the display device 31. It also has a voice recognition result notification function 2f7 for notifying the remote monitoring terminal 5 of the results of voice recognition by the voice recognition device 38. It also has a voice recognition acceptance suitability determination function 2f8 for determining whether it is appropriate to accept the voice recognition result depending on the driving state of the vehicle 2, such as not accepting the voice recognition result while the vehicle is driving.

[0077] Based on the above-described configuration, a characteristic operation of the automated driving system 1 according to the third embodiment will be described. When the vehicle 2 arrives at a bus stop, the keyword setting function 2f6 displays a keyword indicating a voice command to wait for departure, such as "wait," on the display device 31, and after a departure input is made, passengers are notified by voice that they can wait for departure. Note that the keyword indicating a voice command to wait for departure may be displayed when boarding and alighting are completed, a departure input is made, and departure preparation operations are started.

[0078] Furthermore, when the bus arrives at a bus stop, the voice recognition device 38 starts voice recognition and attempts to detect a keyword that instructs the bus to wait for departure. If the set keyword is detected, the voice recognition device 38 notifies the vehicle control device 20 that a wait instruction has been input, transitions to standby mode, and notifies the remote monitoring terminal 5 of this fact by the voice recognition result notification function 2f7.

[0079] However, even if the voice recognition acceptance suitability determination function 2f8 detects a keyword, it will not accept voice recognition until a departure input is made even after arriving at a bus stop, and while the vehicle 2 is "in motion" from departing until it stops at the next stop. In other words, "standby input" by voice recognition is accepted only from the time the departure input waiting process (step S130) is performed until the departure process (step S430) is started.

[0080] Furthermore, the voice recognition result notification function 2f7 may be configured to notify the remote monitoring terminal 5 when voice recognition fails for a predetermined time or a predetermined number of times. In this case, the remote monitor who recognizes the notification can use the in-vehicle image display function 5f7 to check the image from the in-vehicle camera 30 on the remote monitoring terminal 5, determine whether or not to wait for the vehicle 2 to depart, and perform the operation to wait for departure if necessary.

[0081] Embodiment 4 In the above-described third embodiment, a mode in which a standby input is received by voice recognition has been described. In a fourth embodiment, a mode in which a standby input is received from a gesture of a passenger will be described.

[0082] 13 and 14 are diagrams for explaining the configuration and operation of an automatic driving system according to the fourth embodiment, with Fig. 13 being a schematic diagram showing the configuration of a vehicle in the automatic driving system and Fig. 14 being a functional block diagram showing the configuration of the vehicle. Note that, like the second and third embodiments, the fourth embodiment also has the same basic configuration as the automatic driving system as the first embodiment, and is capable of the same basic operation.

[0083] 13 and 14 depict only the parts that differ from the first embodiment. Therefore, any configurations and functions corresponding to those shown in FIGS. 1 and 2 in the first embodiment can be added, and FIGS. 3 to 6 are to be used. Furthermore, the configurations described in the second and third embodiments can be added to enable the functions to be realized.

[0084] 13, the automatic driving system 1 according to the fourth embodiment includes an image recognition device 39 provided at a position (for example, on the windshield) where the actions of passengers inside the vehicle 2 can be captured as images. In addition, the display device 31 is installed on the windshield alongside the image recognition device 39 so that the line of sight is directed toward the image recognition device 39.

[0085] 14, the vehicle control device 20 has a gesture setting function 2f9 that sets a gesture to be recognized by the image recognition device 39 and displays the set gesture as characters, illustrations, etc. on the display device 31. It also has a gesture recognition result notification function 2f10 that notifies the remote monitoring terminal 5 of the result of gesture recognition by the image recognition device 39. It also has a gesture recognition acceptance suitability determination function 2f11 that determines whether it is appropriate to accept the gesture recognition result depending on the running state of the vehicle 2, such as not accepting the gesture recognition result while the vehicle is running.

[0086] Based on the above-described configuration, a characteristic operation of the automated driving system 1 according to the fourth embodiment will be described. When the vehicle 2 arrives at a bus stop, the gesture setting function 2f9 displays on the display device 31 characters or an illustration indicating a gesture, such as "raising your hand," to instruct the vehicle to wait for departure. Furthermore, after a departure input is made, passengers are notified that they can wait for departure using a gesture. Note that the display of the gesture instructing the vehicle to wait for departure may be made when boarding and alighting is completed, a departure input is made, and the departure preparation operation is started, as in the third embodiment.

[0087] Furthermore, when the bus arrives at a bus stop, the image recognition device 39 starts image recognition and attempts to detect a gesture instructing the bus to wait for departure. If the set gesture is detected, the image recognition device 39 notifies the vehicle control device 20 that a wait instruction has been input, transitions to standby mode, and notifies the remote monitoring terminal 5 of this fact by the gesture recognition result notification function 2f10.

[0088] However, as in the third embodiment, even if a gesture is detected, it is not accepted by the gesture recognition acceptance suitability determination function 2f11 during the period from when the vehicle 2 arrives at a bus stop until a departure input is made, and during the period when the vehicle 2 is "in motion" from when the vehicle 2 departs until it stops at the next bus stop. In other words, "standby input" by image recognition is accepted only during the period from when the departure input waiting process (step S130) is performed until the process transitions to the departure process (step S430).

[0089] Although various exemplary embodiments and examples are described in this application, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are contemplated within the scope of the technology disclosed in this specification. For example, this includes cases where at least one component is modified, added, or omitted, or where at least one component is extracted and combined with components of another embodiment.

[0090] For example, in each of the above embodiments, the content displayed on a display device such as the display device 31 for passengers inside the vehicle may be displayed on each passenger's user terminal 6. In this case, the user terminal 6 may be used as an input device for at least one of departure and waiting. Also, instead of the cloud 7, a server installed in a monitoring center, for example, may be used.

[0091] As described above, the autonomous driving system 1 of the present application is a system in which an autonomously driving vehicle (vehicle 2), a user terminal 6 used by each passenger to make reservations for the autonomous vehicle, and a remote monitoring terminal 5 used by a monitor who monitors the status of the autonomous vehicle from a location remote from the autonomous vehicle are connected via a network (communication 8, cloud 7). The autonomous vehicle is equipped with devices (departure button 32, voice recognition device 38, image recognition device 39) that accept input operations by passengers and / or detect passenger movements. The autonomous vehicle is configured to manage the autonomous vehicle so that when the autonomous vehicle stops at a boarding / disembarking location (e.g., a bus stop) and passengers have completed boarding and disembarking, it begins preparations for departure only after detecting at least one of an input operation (button operation) by the passenger indicating their intention to depart, an action (speech, gesture) by the passenger indicating their intention to depart, or a departure instruction from the monitor. This allows the timing of departure operations to be adjusted according to passenger requests or instructions from the monitor based on the passengers' situations, enabling departure operations to be timed appropriately according to the passengers' situations.

[0092] At least one of the autonomous vehicle (vehicle 2) and the user terminal 6 has a display function (display device 31, destination display device 37) that notifies passengers that preparations for departure have begun, and is configured to manage the autonomous vehicle so that it waits for departure when it detects at least one of an input operation by the passenger indicating their intention (desire) to wait for departure, an action by the passenger indicating their intention to wait for departure, or an instruction from an observer to wait for departure. This allows the departure to be delayed if a passenger's schedule becomes inconvenient after preparations for departure has begun, thereby enabling departure operations to be timed appropriately according to the passenger's situation.

[0093] In this case, if the display function (display device 31, destination display device 37) is configured to display at least one of an input operation method and an action expression method for indicating that the passengers wish to wait for departure when it notifies the passengers that preparations for departure are beginning, the passengers will be able to accurately convey their desire to wait.

[0094] The display function (display device 31, destination display device 37) is configured to notify passengers when the train is waiting to depart, and also to display at least one of an input operation method and an action expression method for canceling the waiting, so that passengers can accurately convey their desire to cancel the waiting.

[0095] If the device for accepting input operations is a push button switch (departure button 32, destination display device 37) provided on the autonomous vehicle (vehicle 2), and the device is configured to determine the passenger's intention based on how the push button switch is pressed (for example, one click, double click, long press, different timing of pressing depending on the display state, etc.), different intentions (desire to depart, desire to wait, desire to cancel input operation) can be conveyed through the same device, reducing the burden on passengers. In particular, if departure or waiting can be instructed using the destination display device 37, passengers can intuitively instruct departure or waiting.

[0096] Among the devices that indicate the intention to wait for departure, if the devices (departure button 32, destination display device 37, outside vehicle departure waiting button 36) installed on the automatically operated vehicle (vehicle) are configured to have a function to display that an input operation has been received, passengers other than the passenger who performed the input operation will know the location where the reason for waiting for departure occurred and will be aware of the reason for waiting for departure, so they will know that they are not being made to wait meaninglessly.In addition, since the operator of the input means is clearly indicated, mischief will be prevented.

[0097] If an input device (external departure standby button 36) is provided on the outside of the autonomous vehicle (vehicle) as equipment for accepting input operations for waiting for departure, it will be easier for passengers to wait for departure until they have completed disembarking, not just while they are inside the vehicle.

[0098] The device for detecting actions is a voice recognition device 38 installed in the self-driving vehicle (vehicle 2), and if the voice recognized by the voice recognition device 38 matches a predetermined keyword, it is determined that an action indicating an intention has been detected.This reduces erroneous recognition and makes it possible to accurately reflect the intentions of passengers.

[0099] An image recognition device 39 is provided in the self-driving vehicle (vehicle 2) as a device for detecting movements, and if the movement recognized by the image recognition device 39 matches a predetermined movement pattern, it is determined that a movement indicating an intention has been detected, thereby reducing misidentification and accurately reflecting the passenger's intention.

[0100] If the monitor is notified when the failure to detect a movement exceeds at least one of a predetermined time and a predetermined number of times, the intentions of passengers who are not good at speaking or gesturing can be understood by the monitor who views the in-car video via the network.

[0101] Misidentification can be further reduced if the detection of the gesture indicating intention is performed while the autonomously driven vehicle (vehicle) is stopped at the boarding / alighting location.

[0102] The autonomous vehicle (vehicle 2) is provided with a boarding / alighting number counting sensor 35 that counts the number of passengers boarding and alighting, and has a function of comparing the counted number of passengers boarding and alighting with the planned number of passengers boarding and alighting calculated from the contents of the boarding reservation.If the sensor is configured to cancel the waiting for departure preparation when the counted number matches the planned number, unnecessary continuation of waiting time can be prevented.

[0103] The device has a measurement function that measures at least one of the number of waiting times and waiting time for preparing for departure, and if at least one of the number of waiting times and waiting time exceeds a set value, a notification is sent to the monitor urging them to end the waiting time, thereby preventing unnecessary continuation of waiting time.

[0104] If the system is configured to display to passengers at least one of the remaining number of times and the remaining time for preparation for departure, passengers can know the timing of departure, thereby reducing the risk of falling or the like due to a surprise departure.

[0105] Various aspects of the present disclosure are summarized below as appendices.

[0106] (Appendix 1) A system in which an autonomously driven vehicle, a user terminal used by each passenger to make a reservation to ride in the autonomously driven vehicle, and a remote monitoring terminal used by a monitor who monitors the state of the autonomously driven vehicle at a location remote from the autonomously driven vehicle are linked via a network, The autonomous driving vehicle is provided with a device that performs at least one of receiving an input operation by the passenger and detecting a movement of the passenger, When the automated driving vehicle stops at the boarding and alighting location and boarding and alighting are completed, An autonomous driving system characterized by managing the autonomous vehicle so that it begins preparations for departure after detecting at least one of an input operation by the passenger indicating an intention to depart, an action by the passenger indicating an intention to depart, and an instruction to depart from the supervisor.

[0107] (Appendix 2) At least one of the autonomously driven vehicle and the user terminal has a display function that displays to the passenger that the departure preparations have started, When the above-mentioned preparations for departure began, The autonomous driving system described in Appendix 1 is characterized in that, when it detects at least one of an input operation by the passenger indicating an intention to wait for departure, an action by the passenger indicating an intention to wait for departure, and an instruction by the monitor to wait for departure, it manages the autonomous driving vehicle to wait for departure preparation.

[0108] (Appendix 3) The automatic driving system described in Appendix 2 is characterized in that, when the display function displays to the passenger that the departure preparations have begun, it displays to the passenger at least one of an input operation method and an action expression method for indicating the departure waiting.

[0109] (Appendix 4) The automatic driving system described in Appendix 2 or 3, characterized in that when the departure preparation is put on hold, the display function displays that fact to the passenger, and also displays at least one of an input operation method and an action expression method for canceling the hold to the passenger.

[0110] (Appendix 5) The device for receiving the input operation includes a push button switch provided in the autonomous driving vehicle, An automatic driving system described in any one of appendices 2 to 4, characterized in that the content of the passenger's intention is determined based on the way the push button switch is pressed.

[0111] (Appendix 6) An autonomous driving system as described in any one of appendices 2 to 5, characterized in that among the devices that indicate the intention to wait for departure, a device installed in the autonomous driving vehicle has a function to display that the input operation has been accepted.

[0112] (Appendix 7) An autonomous driving system as described in any one of appendices 2 to 6, characterized in that the autonomous driving system includes an input device provided on the outside of the autonomous driving vehicle as a device for accepting the input operation for the departure waiting.

[0113] (Appendix 8) The device for detecting the operation includes a voice recognition device provided in the autonomous driving vehicle, An autonomous driving system as described in any one of appendices 2 to 7, characterized in that it determines that an action indicating the intention has been detected when the voice recognized by the voice recognition device matches a predetermined keyword.

[0114] (Appendix 9) The device for detecting the movement includes an image recognition device provided in the autonomous driving vehicle, An autonomous driving system as described in any one of appendices 2 to 8, characterized in that it determines that a movement indicating the intention has been detected when the movement recognized by the image recognition device matches a predetermined movement pattern.

[0115] (Appendix 10) An autonomous driving system as described in Appendix 9, characterized in that when the failure to detect the movement occurs for more than a predetermined time and / or a predetermined number of times, the monitor is notified of this.

[0116] (Appendix 11) The autonomous driving system described in any one of appendices 8 to 10, wherein the detection of the action indicating the intention is performed while the autonomous driving vehicle is stopped at the boarding and disembarking location.

[0117] (Appendix 12) a sensor for counting the number of passengers getting on and off the autonomous vehicle, the sensor being provided in the autonomous vehicle and counting the number of passengers getting on and off the vehicle; a function of comparing the counted number of passengers and the number of passengers disembarking with the expected number of passengers and the expected number of passengers disembarking calculated from the contents of the boarding reservation; An automatic driving system according to any one of appendices 2 to 11, characterized in that when the count value matches the scheduled number, the departure preparation standby is cancelled.

[0118] (Appendix 13) a measurement function for measuring at least one of the number of waiting times and the waiting time for the departure preparation; An autonomous driving system as described in any one of appendices 2 to 12, characterized in that when at least one of the number of waiting times and the waiting time exceeds a set value, a notification is sent to the monitor urging them to end the waiting state.

[0119] (Appendix 14) An automatic driving system described in any one of Appendices 2 to 13, characterized in that it displays to the passenger at least one of the remaining number of times and the remaining time for which the departure preparation should be waited. [Explanation of symbols]

[0120] 1: Autonomous driving system, 2: Vehicle (autonomous driving vehicle), 20: Vehicle control device, 31: Display device, 32: Departure button (push button switch), 33: Buzzer, 34: Time limit display device, 35: Boarding and alighting number counting sensor, 36: Outside vehicle departure standby button, 37: Destination display device, 38: Voice recognition device, 39: Image recognition device, 5: Remote monitoring terminal, 6: User terminal, 7: Cloud (server), 8: Communication.

Claims

1. A system in which an autonomously driven vehicle, a user terminal used by each passenger to make a reservation to ride in the autonomously driven vehicle, and a remote monitoring terminal used by a monitor who monitors the state of the autonomously driven vehicle at a location remote from the autonomously driven vehicle are linked together via a network, The autonomous driving vehicle is provided with a device that performs at least one of receiving an input operation by the passenger and detecting a movement of the passenger, When the automated driving vehicle stops at the boarding and alighting location and boarding and alighting are completed, managing the autonomous vehicle so that it starts preparing for departure after detecting at least one of an input operation by the passenger indicating an intention to depart, an action by the passenger indicating an intention to depart, and an instruction to depart from the supervisor; At least one of the autonomously driven vehicle and the user terminal has a display function that displays to the passenger that the departure preparations have started, When the above-mentioned preparations for departure began, When detecting at least one of an input operation by the passenger indicating an intention to wait for departure, an action by the passenger indicating an intention to wait for departure, and an instruction to wait for departure from the monitor, managing the autonomously driven vehicle to wait for the departure preparation, An autonomous driving system characterized in that the autonomous driving system includes an input device provided on the outside of the autonomous driving vehicle as a device for accepting the input operation for the departure waiting.

2. A system in which an autonomously driving vehicle, a user terminal used by each passenger to make a reservation for a ride in the autonomously driving vehicle, and a remote monitoring terminal used by a monitor who monitors the status of the autonomously driving vehicle at a location remote from the autonomously driving vehicle are linked via a network, The autonomous driving vehicle is provided with a device that performs at least one of receiving an input operation by the passenger and detecting a movement of the passenger, When the automated driving vehicle stops at the boarding and alighting location and boarding and alighting are completed, managing the autonomous vehicle so that it starts preparing for departure after detecting at least one of an input operation by the passenger indicating an intention to depart, an action by the passenger indicating an intention to depart, and an instruction to depart from the supervisor; At least one of the autonomously driven vehicle and the user terminal has a display function that displays to the passenger that the departure preparations have started, When the above-mentioned preparations for departure began, When detecting at least one of an input operation by the passenger indicating an intention to wait for departure, an action by the passenger indicating an intention to wait for departure, and an instruction to wait for departure from the monitor, managing the autonomously driven vehicle to wait for the departure preparation, The device for detecting the operation includes a voice recognition device provided in the autonomous driving vehicle, When the voice recognized by the voice recognition device matches a predetermined keyword, it is determined that the action indicating the intention has been detected; An automatic driving system characterized in that when the failure to detect the movement occurs for more than a predetermined time and / or a predetermined number of times, the supervisor is notified of this.

3. A system in which an autonomously driving vehicle, a user terminal used by each passenger to make a reservation to ride in said autonomously driving vehicle, and a remote monitoring terminal used by a monitor who monitors the status of said autonomously driving vehicle at a location away from said autonomously driving vehicle are linked via a network, The autonomous driving vehicle is provided with a device that performs at least one of receiving an input operation by the passenger and detecting a movement of the passenger, When the automated driving vehicle stops at the boarding and alighting location and boarding and alighting are completed, managing the autonomous vehicle so that it starts preparing for departure after detecting at least one of an input operation by the passenger indicating an intention to depart, an action by the passenger indicating an intention to depart, and an instruction to depart from the supervisor; At least one of the autonomously driven vehicle and the user terminal has a display function that displays to the passenger that the departure preparations have started, When the above-mentioned preparations for departure began, When detecting at least one of an input operation by the passenger indicating an intention to wait for departure, an action by the passenger indicating an intention to wait for departure, and an instruction to wait for departure from the monitor, managing the autonomously driven vehicle to wait for the departure preparation, The device for detecting the movement includes an image recognition device provided in the autonomous driving vehicle, When the movement recognized by the image recognition device matches a predetermined movement pattern, it is determined that the movement indicating the intention has been detected; An automatic driving system characterized in that when the failure to detect the movement occurs for more than a predetermined time and / or a predetermined number of times, the supervisor is notified of this.

4. A system in which an autonomously driving vehicle, a user terminal used by each passenger to make a reservation to ride in said autonomously driving vehicle, and a remote monitoring terminal used by a monitor who monitors the status of said autonomously driving vehicle at a location remote from said autonomously driving vehicle are linked via a network, The autonomous driving vehicle is provided with a device that performs at least one of receiving an input operation by the passenger and detecting a movement of the passenger, When the automated driving vehicle stops at the boarding and alighting location and boarding and alighting are completed, managing the autonomous vehicle so that it starts preparing for departure after detecting at least one of an input operation by the passenger indicating an intention to depart, an action by the passenger indicating an intention to depart, and an instruction to depart from the supervisor; At least one of the autonomously driven vehicle and the user terminal has a display function that displays to the passenger that the departure preparations have started, When the above-mentioned preparations for departure began, When detecting at least one of an input operation by the passenger indicating an intention to wait for departure, an action by the passenger indicating an intention to wait for departure, and an instruction to wait for departure from the monitor, managing the autonomously driven vehicle to wait for the departure preparation, a measurement function for measuring at least one of the number of waiting times and the waiting time for the departure preparation; An automatic driving system characterized in that, when at least one of the number of waiting times and the waiting time exceeds a set value, a notification is sent to the monitor urging him or her to end the waiting state.

5. The automatic driving system described in any one of claims 1 to 4, characterized in that when the display function displays to the passenger that the departure preparations have begun, it displays to the passenger at least one of an input operation method and an action expression method for indicating the departure waiting.

6. The automatic driving system described in any one of claims 1 to 4, characterized in that when the departure preparation is put on hold, the display function displays to the passenger that fact and also displays to the passenger at least one of an input operation method and an action expression method for canceling the hold.

7. The device for receiving the input operation includes a push button switch provided in the autonomous driving vehicle, 5. The automatic driving system according to claim 1, wherein the content of the passenger's intention is determined based on how the push button switch is pressed.

8. The autonomous driving system according to any one of claims 1 to 4, characterized in that among the devices that indicate the intention to wait for departure, a device provided in the autonomous driving vehicle has a function of displaying that the input operation has been accepted.

9. The device for detecting the operation includes a voice recognition device provided in the autonomous driving vehicle, The autonomous driving system according to any one of claims 1, 3 and 4, characterized in that it determines that an action indicating the intention has been detected when the voice recognized by the voice recognition device matches a predetermined keyword.

10. The device for detecting the movement includes an image recognition device provided in the autonomous driving vehicle, The autonomous driving system according to any one of claims 1, 2 and 4, characterized in that it determines that a movement indicating the intention has been detected when the movement recognized by the image recognition device matches a predetermined movement pattern.

11. The automated driving system according to claim 2, wherein the detection of the action indicating the intention is performed while the automated driving vehicle is parked at the boarding and disembarking location.

12. a sensor for counting the number of passengers getting on and off the autonomous vehicle, the sensor being provided in the autonomous vehicle and counting the number of passengers getting on and off the vehicle; a function of comparing the counted number of passengers and the number of passengers disembarking with the expected number of passengers and the expected number of passengers disembarking calculated from the contents of the boarding reservation; The automatic driving system according to any one of claims 1 to 4, characterized in that, when the count value matches the scheduled number, the departure preparation standby is cancelled.

13. The automatic driving system according to any one of claims 1 to 4, characterized in that at least one of the remaining number of times and the remaining time for the departure preparation to be held is displayed to the passenger.

Images